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partway through fixing boat movement to be updated from the data valid timestamp rather than the data sent timestamp #pair[kre39, ptg19] #story[820]

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This commit is contained in:
Peter Galloway
2017-04-29 20:13:34 +12:00
committed by Peter
parent 1e1e482b79
commit a898290c0b
6 changed files with 166 additions and 35 deletions
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src/main/java/seng302/models/parsers/StreamParser.java
+27 -20
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@@ -5,6 +5,8 @@ import javafx.geometry.Point3D;
import org.w3c.dom.Document;
import org.xml.sax.InputSource;
import org.xml.sax.SAXException;
import seng302.models.parsers.packets.BoatPositionPacket;
import seng302.models.parsers.packets.StreamPacket;
import javax.xml.parsers.DocumentBuilder;
import javax.xml.parsers.DocumentBuilderFactory;
@@ -12,12 +14,11 @@ import javax.xml.parsers.ParserConfigurationException;
import java.io.ByteArrayInputStream;
import java.io.IOException;
import java.io.StringReader;
import java.nio.ByteBuffer;
import java.nio.ByteOrder;
import java.text.DateFormat;
import java.text.SimpleDateFormat;
import java.util.*;
import java.util.concurrent.ConcurrentHashMap;
import java.util.concurrent.PriorityBlockingQueue;
/**
* The purpose of this class is to take in the stream of divided packets so they can be read
@@ -27,14 +28,17 @@ import java.util.concurrent.ConcurrentHashMap;
*/
public class StreamParser extends Thread{
public static ConcurrentHashMap<Long,Point3D> boatPositions = new ConcurrentHashMap<>();
public static ConcurrentHashMap<Long,Double> boatSpeeds = new ConcurrentHashMap<>();
public static ConcurrentHashMap<Long, PriorityBlockingQueue<BoatPositionPacket>> boatPositions = new ConcurrentHashMap<>();
private String threadName;
private Thread t;
private static boolean raceStarted = false;
public StreamParser(String threadName){
this.threadName = threadName;
this.threadName = threadName;
}
/**
@@ -313,28 +317,31 @@ public class StreamParser extends Thread{
byte[] headingBytes = Arrays.copyOfRange(payload,28,30);
byte[] groundSpeedBytes = Arrays.copyOfRange(payload,38,40);
long timeStamp = extractTimeStamp(Arrays.copyOfRange(payload,1,7), 6);
long timeValid = extractTimeStamp(Arrays.copyOfRange(payload,1,7), 6);
// int boatSeq = ByteBuffer.wrap(seqBytes).getInt();
long seq = bytesToLong(seqBytes);
long boatId = bytesToLong(boatIdBytes);
long lat = bytesToLong(latBytes);
long lon = bytesToLong(lonBytes);
long rawLat = bytesToLong(latBytes);
long rawLon = bytesToLong(lonBytes);
double lat = ((180d * (double)rawLat)/Math.pow(2,31));
double lon = ((180d *(double)rawLon)/Math.pow(2,31));
long heading = bytesToLong(headingBytes);
// long speed = extractTimeStamp(speedBytes, 2);
double groundSpeed = bytesToLong(groundSpeedBytes)/1000.0;
short s = (short) ((groundSpeedBytes[1] & 0xFF) << 8 | (groundSpeedBytes[0] & 0xFF));
if ((int)deviceType == 1 || (int)deviceType == 4){
// System.out.println("boatId = " + boatId);
// System.out.println("deviceType = " + (long)deviceType);
// System.out.println("seq = " + seq);
//needs to be validated
Point3D point = new Point3D(((180d * (double)lat)/Math.pow(2,31)),((180d *(double)lon)/Math.pow(2,31)),(double)heading);
boatPositions.put(boatId, point);
boatSpeeds.put(boatId, groundSpeed);
// boatPositions.replace(boatId, point);
// boatSpeeds.replace(boatId, groundSpeed);
// System.out.println("lon = " + ((180d * (double)lon)/Math.pow(2,31)));
// System.out.println("lat = " + ((180d *(double)lat)/Math.pow(2,31)));
if ((int)deviceType == 1){
BoatPositionPacket boatPacket = new BoatPositionPacket(boatId, timeValid, lat, lon, heading, groundSpeed);
if (!boatPositions.containsKey(boatId)){
boatPositions.put(boatId, new PriorityBlockingQueue<BoatPositionPacket>(256, new Comparator<BoatPositionPacket>() {
@Override
public int compare(BoatPositionPacket p1, BoatPositionPacket p2) {
return (int) (p1.getTimeValid() - p2.getTimeValid());
}
}));
}
boatPositions.get(boatId).put(boatPacket);
}
}