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Stripped down the boatgroup to the basic movement components and then tried to adjust how position updates are being dealt with to make everything more logically understandable. I made some progress in terms of understanding but the position update is still not as reliable as I would like. I will be explaining to other team members how this part of the code is working so the time I have spent is not completely wasted #story[923]

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This commit is contained in:
Peter Galloway
2017-05-15 23:17:36 +12:00
parent fc3ca70e5d
commit 9e3036e134
7 changed files with 250 additions and 640 deletions
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src/main/java/seng302/models/BoatGroup.java
+53 -140
View File
@@ -19,7 +19,7 @@ import java.util.List;
* UpdatePosition is called unless the window is minimized in which case it attempts to store animations and apply them
* when the window is maximised.
*/
public class BoatGroup extends RaceObject{
public class BoatGroup extends Group{
//Constants for drawing
private static final double TEAMNAME_X_OFFSET = 10d;
@@ -30,8 +30,15 @@ public class BoatGroup extends RaceObject{
private static final double BOAT_WIDTH = 10d;
//Variables for boat logic.
private Point2D lastPoint;
private int wakeGenerationDelay = 10;
private double distanceTravelled;
double oldTime;
double newTime;
double lastYValue = 0;
double lastXValue = 0;
private double dx;
private double dy;
private double pixelVelocityX;
private double pixelVelocityY;
private static final int expectedUpdateInterval = 200;
//Graphical objects
private Yacht boat;
private Group lineGroup = new Group();
@@ -39,14 +46,6 @@ public class BoatGroup extends RaceObject{
private Text teamNameObject;
private Text velocityObject;
private Wake wake;
//Handles boat moving when connecting to a stream
private boolean setToInitialLocation = false;
private boolean destinationSet;
//Variables for handling minimization
private Stage stage;
private boolean isMaximized= true;
private List<Line> lineStorage = new ArrayList<>();
private int setCallCount = 5;
/**
* Creates a BoatGroup with the default triangular boat polygon.
@@ -91,7 +90,6 @@ public class BoatGroup extends RaceObject{
velocityObject.setX(VELOCITY_X_OFFSET);
velocityObject.setY(VELOCITY_Y_OFFSET);
velocityObject.relocate(velocityObject.getX(), velocityObject.getY());
destinationSet = false;
wake = new Wake(0, -BOAT_HEIGHT);
super.getChildren().addAll(teamNameObject, velocityObject, boatPoly);
@@ -103,9 +101,9 @@ public class BoatGroup extends RaceObject{
*/
private void initChildren (Color color) {
initChildren(color,
-BOAT_WIDTH / 2, BOAT_HEIGHT / 2,
0.0, -BOAT_HEIGHT / 2,
BOAT_WIDTH / 2, BOAT_HEIGHT / 2);
-BOAT_WIDTH / 2, BOAT_HEIGHT / 2,
0.0, -BOAT_HEIGHT / 2,
BOAT_WIDTH / 2, BOAT_HEIGHT / 2);
}
/**
@@ -113,7 +111,7 @@ public class BoatGroup extends RaceObject{
* @param dx The amount to move the X coordinate by
* @param dy The amount to move the Y coordinate by
*/
public void moveGroupBy(double dx, double dy, double rotation) {
public void moveGroupBy(double dx, double dy) {
boatPoly.setLayoutX(boatPoly.getLayoutX() + dx);
boatPoly.setLayoutY(boatPoly.getLayoutY() + dy);
teamNameObject.setLayoutX(teamNameObject.getLayoutX() + dx);
@@ -122,19 +120,16 @@ public class BoatGroup extends RaceObject{
velocityObject.setLayoutY(velocityObject.getLayoutY() + dy);
wake.setLayoutX(wake.getLayoutX() + dx);
wake.setLayoutY(wake.getLayoutY() + dy);
currentRotation = rotation + currentRotation;
boatPoly.getTransforms().setAll(new Rotate(rotation));
}
/**
* Moves the boat and its children annotations to coordinates specified
* @param x The X coordinate to move the boat to
* @param y The Y coordinate to move the boat to
* @param rotation The heading in degrees from north the boat should rotate to.
*/
public void moveTo (double x, double y, double rotation) {
currentRotation = rotation;
boatPoly.getTransforms().setAll(new Rotate(rotation));
rotateTo(rotation);
boatPoly.setLayoutX(x);
boatPoly.setLayoutY(y);
teamNameObject.setLayoutX(x);
@@ -143,42 +138,14 @@ public class BoatGroup extends RaceObject{
velocityObject.setLayoutY(y);
wake.setLayoutX(x);
wake.setLayoutY(y);
wake.rotate(currentRotation);
}
/**
* Updates the position of all graphics in the BoatGroup based off of the given time interval.
* @param timeInterval The interval, in milliseconds, the boat should update it's position based on.
*/
public void updatePosition (long timeInterval) {
//Calculate the movement of the boat.
if (isMaximized) {
double dx = pixelVelocityX * timeInterval;
double dy = pixelVelocityY * timeInterval;
double rotation = rotationalVelocity * timeInterval;
distanceTravelled += Math.abs(dx) + Math.abs(dy);
moveGroupBy(dx, dy, rotation);
public void rotateTo (double rotation) {
boatPoly.getTransforms().setAll(new Rotate(rotation));
}
//Draw a new section of the trail every 20 pixels of movement.
if (distanceTravelled > 20) {
distanceTravelled = 0;
if (lastPoint != null) {
Line l = new Line(
lastPoint.getX(),
lastPoint.getY(),
boatPoly.getLayoutX(),
boatPoly.getLayoutY()
);
l.getStrokeDashArray().setAll(3d, 7d);
l.setStroke(boatPoly.getFill());
lineGroup.getChildren().add(l);
}
if (destinationSet) { //Only begin drawing after the first destination is set
lastPoint = new Point2D(boatPoly.getLayoutX(), boatPoly.getLayoutY());
}
}
wake.updatePosition(timeInterval);
}
public void updatePosition () {
moveGroupBy(dx, dy);
}
/**
@@ -188,59 +155,26 @@ public class BoatGroup extends RaceObject{
* @param rotation Rotation to move graphics to.
* @param raceIds RaceID of the object to move.
*/
public void setDestination (double newXValue, double newYValue, double rotation, double groundSpeed, int... raceIds) {
if (hasRaceId(raceIds)) {
if (setToInitialLocation) {
destinationSet = true;
boat.setVelocity(groundSpeed);
if (currentRotation < 0)
currentRotation = 360 - currentRotation;
double dx = newXValue - boatPoly.getLayoutX();
double dy = newYValue - boatPoly.getLayoutY();
public void setDestination (double newXValue, double newYValue, double rotation, double groundSpeed, long raceIds) {
System.currentTimeMillis();
moveTo(lastXValue, lastYValue, rotation);
pixelVelocityX = dx / expectedUpdateInterval;
pixelVelocityY = dy / expectedUpdateInterval;
rotationalGoal = rotation;
calculateRotationalVelocity();
dx = (newXValue - lastXValue)/12;
dy = (newYValue - lastYValue)/12;
if (wakeGenerationDelay > 0) {
wake.rotate(rotationalGoal);
rotationalVelocity = 0;
wakeGenerationDelay--;
} else {
wake.setRotationalVelocity(rotationalVelocity, rotationalGoal, boat.getVelocity());
}
velocityObject.setText(String.format("%.2f m/s", boat.getVelocity()));
} else {
setToInitialLocation = true;
rotationalGoal = rotation;
moveTo(newXValue, newYValue, rotation);
}
}
//If minimized generate lines every 5 calls to set destination.
if (!isMaximized) {
setToInitialLocation = false;
wakeGenerationDelay = 2;
if(setCallCount-- == 0) {
setCallCount = 5;
if (lastPoint != null) {
Line l = new Line(
lastPoint.getX(),
lastPoint.getY(),
newXValue,
newYValue
);
l.getStrokeDashArray().setAll(3d, 7d);
l.setStroke(boatPoly.getFill());
lineStorage.add(l);
}
if (destinationSet) { //Only begin drawing after the first destination is set
lastPoint = new Point2D(newXValue, newYValue);
}
}
}
lastXValue = newXValue;
lastYValue = newYValue;
boat.setVelocity(groundSpeed);
velocityObject.setText(String.format("%.2f m/s", boat.getVelocity()));
}
public void setTeamNameObjectVisible(Boolean visible) {
teamNameObject.setVisible(visible);
}
@@ -261,27 +195,27 @@ public class BoatGroup extends RaceObject{
return boat;
}
/**
* Returns true if this BoatGroup contains at least one of the given IDs.
*
* @param raceIds The ID's to check the BoatGroup for.
* @return True if the BoatGroup contains at east one of the given IDs, false otherwise.
*/
public boolean hasRaceId (int... raceIds) {
for (int id : raceIds) {
if (id == boat.getSourceID())
return true;
}
return false;
}
// /**
// * Returns true if this BoatGroup contains at least one of the given IDs.
// *
// * @param raceIds The ID's to check the BoatGroup for.
// * @return True if the BoatGroup contains at east one of the given IDs, false otherwise.
// */
// public boolean hasRaceId (long... raceIds) {
// for (long id : raceIds) {
// if (id == boat.getSourceID())
// return true;
// }
// return false;
// }
/**
* Returns all raceIds associated with this group. For BoatGroups the ID's are for the boat.
*
* @return An array containing all ID's associated with this RaceObject.
*/
public int[] getRaceIds () {
return new int[] {boat.getSourceID()};
public long getRaceId() {
return boat.getSourceID();
}
/**
@@ -296,25 +230,4 @@ public class BoatGroup extends RaceObject{
group.getChildren().addAll(wake, lineGroup);
return group;
}
/**
* Use this function to let the BoatGroup know about the stage it is in. If it knows about it's stage then it will
* listen to the iconified property of that stage and change it's behaviour upon minimization. Without setting the
* Stage there is guarantee that the BoatGroup will draw properly when the stage is minimized.
*
* @param stage The stage that the BoatGroup is added to.
*/
public void setStage (Stage stage) {
/* TODO: 4/05/17 cir27 - Find a way to get the stage to this point. Need to pass it through multiple controllers.
App.start() -> Controller.setContentPane -> RaceViewController -> CanvasController
*/
this.stage = stage;
this.stage.iconifiedProperty().addListener(e -> {
isMaximized = !stage.isIconified();
if (!lineStorage.isEmpty()) {
lineGroup.getChildren().addAll(lineStorage);
lineStorage.clear();
}
});
}
}
}
src/main/java/seng302/models/mark/MarkGroup.java
+40 -153
View File
@@ -1,12 +1,11 @@
package seng302.models.mark;
import javafx.geometry.Point2D;
import javafx.scene.Node;
import javafx.scene.Group;
import javafx.scene.paint.Color;
import javafx.scene.shape.Circle;
import javafx.scene.shape.Line;
import javafx.scene.transform.Rotate;
import seng302.models.RaceObject;
import java.util.ArrayList;
import java.util.List;
@@ -14,7 +13,7 @@ import java.util.List;
/**
* Created by CJIRWIN on 26/04/2017.
*/
public class MarkGroup extends RaceObject {
public class MarkGroup extends Group {
private static int MARK_RADIUS = 5;
private static int LINE_THICKNESS = 2;
@@ -23,14 +22,8 @@ public class MarkGroup extends RaceObject {
private List<Mark> marks = new ArrayList<>();
private Mark mainMark;
private double[] nodePixelVelocitiesX;
private double[] nodePixelVelocitiesY;
private Point2D[] nodeDestinations;
public MarkGroup (Mark mark, Point2D... points) {
nodePixelVelocitiesX = new double[points.length];
nodePixelVelocitiesY = new double[points.length];
nodeDestinations = new Point2D[points.length];
marks.add(mark);
mainMark = mark;
Color color = Color.BLACK;
@@ -42,45 +35,33 @@ public class MarkGroup extends RaceObject {
Circle markCircle;
if (mark.getMarkType() == MarkType.SINGLE_MARK) {
markCircle = new Circle(
points[0].getX(),
points[0].getY(),
MARK_RADIUS,
color
points[0].getX(),
points[0].getY(),
MARK_RADIUS,
color
);
nodeDestinations = new Point2D[]{
new Point2D(markCircle.getCenterX(), markCircle.getCenterY()
)
};
super.getChildren().add(markCircle);
} else {
// marks.add(((GateMark) mark).getSingleMark1());
// marks.add(((GateMark) mark).getSingleMark2());
nodePixelVelocitiesX = new double[]{0d,0d};
nodePixelVelocitiesY = new double[]{0d,0d};
nodeDestinations = new Point2D[2];
markCircle = new Circle(
points[0].getX(),
points[0].getY(),
MARK_RADIUS,
color
points[0].getX(),
points[0].getY(),
MARK_RADIUS,
color
);
nodeDestinations[0] = new Point2D(markCircle.getCenterX(), markCircle.getCenterY());
super.getChildren().add(markCircle);
markCircle = new Circle(
points[1].getX(),
points[1].getY(),
MARK_RADIUS,
color
points[1].getX(),
points[1].getY(),
MARK_RADIUS,
color
);
nodeDestinations[1] = new Point2D(markCircle.getCenterX(), markCircle.getCenterY());
super.getChildren().add(markCircle);
Line line = new Line(
points[0].getX(),
points[0].getY(),
points[1].getX(),
points[1].getY()
points[0].getX(),
points[0].getY(),
points[1].getX(),
points[1].getY()
);
line.setStrokeWidth(LINE_THICKNESS);
line.setStroke(color);
@@ -91,132 +72,38 @@ public class MarkGroup extends RaceObject {
}
}
public void setDestination (double x, double y, double rotation, double groundSpeed, int... raceIds) {
for (int i = 0; i < marks.size(); i++)
for (int id : raceIds)
if (id == marks.get(i).getId())
setDestinationChild(x, y, 0, Math.max(0, i-1));
this.rotationalGoal = rotation;
calculateRotationalVelocity();
}
private void setDestinationChild (double x, double y, double speed, int childIndex) {
//double relativeX = x - super.getLayoutX();
//double relativeY = y - super.getLayoutY();
Circle markCircle = (Circle) super.getChildren().get(childIndex);
this.nodeDestinations[childIndex] = new Point2D(x, y);
//if (Math.abs(relativeX - markCircle.getCenterX()) > 30 && Math.abs(relativeY - markCircle.getCenterY()) > 30) {
this.nodePixelVelocitiesX[childIndex] = (x - markCircle.getCenterX()) / expectedUpdateInterval;
this.nodePixelVelocitiesY[childIndex] = (y - markCircle.getCenterY()) / expectedUpdateInterval;
//}
}
public void rotateTo (double rotation) {
if (mainMark.getMarkType() != MarkType.SINGLE_MARK) {
Line line = (Line) super.getChildren().get(2);
double xCenter = Math.abs(line.getEndX() - line.getStartX());
double yCenter = Math.abs(line.getEndY() - line.getStartY());
super.getTransforms().setAll(new Rotate(rotation, xCenter, yCenter));
}
}
public void updatePosition (long timeInterval) {
Circle markCircle = (Circle) super.getChildren().get(0);
if (nodePixelVelocitiesX[0] > 0 && markCircle.getCenterX() > nodeDestinations[0].getX() ||
nodePixelVelocitiesX[0] < 0 && markCircle.getCenterX() < nodeDestinations[0].getY())
nodePixelVelocitiesX[0] = 0;
else if (nodePixelVelocitiesX[0] != 0)
markCircle.setCenterX(markCircle.getCenterX() + nodePixelVelocitiesX[0] * timeInterval);
if (nodePixelVelocitiesY[0] > 0 && markCircle.getCenterY() > nodeDestinations[0].getY() ||
nodePixelVelocitiesY[0] < 0 && markCircle.getCenterY() < nodeDestinations[0].getY())
nodePixelVelocitiesY[0] = 0;
else if (nodePixelVelocitiesY[0] != 0)
markCircle.setCenterY(markCircle.getCenterY() + nodePixelVelocitiesY[0] * timeInterval);
if (mainMark.getMarkType() != MarkType.SINGLE_MARK) {
Line line = (Line) super.getChildren().get(2);
line.setStartX(markCircle.getCenterX());
line.setStartY(markCircle.getCenterY());
markCircle = (Circle) super.getChildren().get(1);
if (nodePixelVelocitiesX[1] > 0 && markCircle.getCenterX() >= nodeDestinations[1].getX() ||
nodePixelVelocitiesX[1] < 0 && markCircle.getCenterX() <= nodeDestinations[1].getX())
nodePixelVelocitiesX[1] = 0;
else if (nodePixelVelocitiesX[1] != 0)
markCircle.setCenterX(markCircle.getCenterX() + nodePixelVelocitiesX[1] * timeInterval);
if (nodePixelVelocitiesY[1] > 0 && markCircle.getCenterY() > nodeDestinations[1].getY() ||
nodePixelVelocitiesY[1] < 0 && markCircle.getCenterY() < nodeDestinations[1].getY())
nodePixelVelocitiesY[1] = 0;
else if (nodePixelVelocitiesY[1] != 0)
markCircle.setCenterY(markCircle.getCenterY() + nodePixelVelocitiesY[1] * timeInterval);
line.setEndX(markCircle.getCenterX());
line.setEndY(markCircle.getCenterY());
}
}
public void moveGroupBy (double x, double y, double rotation) {
if (mainMark.getMarkType() != MarkType.SINGLE_MARK) {
Line line = (Line) super.getChildren().get(2);
for (int childIndex = 0; childIndex < 2; childIndex++){
Circle mark = (Circle) super.getChildren().get(childIndex);
mark.setCenterY(mark.getCenterY() + y);
mark.setCenterX(mark.getCenterX() + x);
}
line.setStartX(line.getStartX() + x);
line.setStartY(line.getStartY() + y);
line.setEndX(line.getEndX() + x);
line.setEndY(line.getEndY() + y);
} else {
Circle mark = (Circle) super.getChildren().get(0);
mark.setCenterY(mark.getCenterY() + y);
mark.setCenterX(mark.getCenterX() + x);
}
rotateTo(currentRotation + rotation);
}
public void moveTo (double x, double y, double rotation) {
moveTo(x, y);
rotateTo(rotation);
}
public void moveTo (double x, double y) {
Circle markCircle = (Circle) super.getChildren().get(0);
markCircle.setCenterX(x);
markCircle.setCenterY(y);
if (mainMark.getMarkType() != MarkType.SINGLE_MARK) {
markCircle = (Circle) super.getChildren().get(1);
public void moveMarkTo (double x, double y, int raceId)
{
if (mainMark.getMarkType() == MarkType.SINGLE_MARK) {
Circle markCircle = (Circle) super.getChildren().get(0);
markCircle.setCenterX(x);
markCircle.setCenterY(y);
Line line = (Line) super.getChildren().get(2);
line.setStartX(x);
line.setStartY(y);
line.setEndX(x);
line.setEndY(y);
} else {
Circle markCircle1 = (Circle) super.getChildren().get(0);
Circle markCircle2 = (Circle) super.getChildren().get(1);
Line connectingLine = (Line) super.getChildren().get(2);
if (marks.get(1).getId() == raceId) {
markCircle1.setCenterX(x);
markCircle1.setCenterY(y);
connectingLine.setStartX(markCircle1.getCenterX());
connectingLine.setStartY(markCircle1.getCenterY());
} else if (marks.get(2).getId() == raceId) {
markCircle2.setCenterX(x);
markCircle2.setCenterY(y);
connectingLine.setEndX(markCircle2.getCenterX());
connectingLine.setEndY(markCircle2.getCenterY());
}
}
}
public boolean hasRaceId (int... raceIds) {
for (int id : raceIds)
for (Mark mark : marks)
if (id == mark.getId())
return true;
if (id == mark.getId())
return true;
return false;
}
public static int getMarkRadius() {
return MARK_RADIUS;
}
public static void setMarkRadius(int markRadius) {
MARK_RADIUS = markRadius;
}
public int[] getRaceIds () {
int[] idArray = new int[marks.size()];
int i = 0;
@@ -224,4 +111,4 @@ public class MarkGroup extends RaceObject {
idArray[i++] = mark.getId();
return idArray;
}
}
}
src/main/java/seng302/models/stream/StreamParser.java
+4 -9
View File
@@ -205,7 +205,6 @@ public class StreamParser extends Thread{
raceFinished = false;
System.out.println("[CLIENT] Race has started");
}
//System.out.println("Time since start: " + -1 * timeTillStart + " Seconds");
timeSinceStart = timeTillStart;
}
long windDir = bytesToLong(Arrays.copyOfRange(payload,18,20));
@@ -214,11 +213,10 @@ public class StreamParser extends Thread{
long windSpeed = bytesToLong(Arrays.copyOfRange(payload,20,22));
int noBoats = payload[22];
int raceType = payload[23];
// ArrayList<String> boatStatuses = new ArrayList<>();
boatsPos = new TreeMap<>();
for (int i = 0; i < noBoats; i++){
Long boatStatusSourceID = bytesToLong(Arrays.copyOfRange(payload,24 + (i * 20),28+ (i * 20)));
Yacht boat = boats.get((int)(long) boatStatusSourceID);
long boatStatusSourceID = bytesToLong(Arrays.copyOfRange(payload,24 + (i * 20),28+ (i * 20)));
Yacht boat = boats.get((int) boatStatusSourceID);
boat.setBoatStatus((int)payload[28 + (i * 20)]);
boat.setLegNumber((int)payload[29 + (i * 20)]);
boat.setPenaltiesAwarded((int)payload[29 + (i * 20)]);
@@ -281,7 +279,6 @@ public class StreamParser extends Thread{
int messageType = payload[9];
long messagelength = bytesToLong(Arrays.copyOfRange(payload,12,14));
String xmlMessage = new String((Arrays.copyOfRange(payload,14,(int) (14 + messagelength)))).trim();
//System.out.println("xmlMessage2 = " + xmlMessage);
//Create XML document Object
DocumentBuilderFactory dbf = DocumentBuilderFactory.newInstance();
@@ -344,7 +341,6 @@ public class StreamParser extends Thread{
long subjectId = bytesToLong(Arrays.copyOfRange(payload,9,13));
long incidentId = bytesToLong(Arrays.copyOfRange(payload,13,17));
int eventId = payload[17];
// System.out.println("eventId = " + eventId);
}
/**
@@ -382,19 +378,18 @@ public class StreamParser extends Thread{
double groundSpeed = bytesToLong(Arrays.copyOfRange(payload,38,40))/1000.0;
//type 1 is a racing yacht and type 3 is a mark, needed for updating positions of the mark and boat
if (deviceType == 1 || deviceType == 3){
if (deviceType == 1){
BoatPositionPacket boatPacket = new BoatPositionPacket(boatId, timeValid, lat, lon, heading, groundSpeed);
//add a new priority que to the boatPositions HashMap
if (!boatPositions.containsKey(boatId)){
boatPositions.put(boatId, new PriorityBlockingQueue<BoatPositionPacket>(256, new Comparator<BoatPositionPacket>() {
boatPositions.put(boatId, new PriorityBlockingQueue<>(256, new Comparator<BoatPositionPacket>() {
@Override
public int compare(BoatPositionPacket p1, BoatPositionPacket p2) {
return (int) (p1.getTimeValid() - p2.getTimeValid());
}
}));
}
//Adding the boatPacket to the priority que
boatPositions.get(boatId).put(boatPacket);
}
}