boat movement working reliably now, still need to fix one bug at initialization #story[923]

src/main/java/seng302/App.java

@@ -62,7 +62,7 @@ public class App extends Application
         }
         //Change the StreamReceiver in this else block to change the default data source.
         else{
-            sr = new StreamReceiver("livedata.americascup.com", 4941, "RaceStream");
+            sr = new StreamReceiver("localhost", 4949, "RaceStream");
         }
 
         sr.start();

src/main/java/seng302/controllers/CanvasController.java

@@ -51,10 +51,12 @@ public class CanvasController {
     private Mark maxLonPoint;
     private double referencePointX;
     private double referencePointY;
+
     private List<MarkGroup> markGroups = new ArrayList<>();
     private List<BoatGroup> boatGroups = new ArrayList<>();
 
     //FRAME RATE
+    private Double frameRate = 60.0;
     private final long[] frameTimes = new long[30];
     private int frameTimeIndex = 0;
     private boolean arrayFilled = false;
@@ -93,7 +95,7 @@ public class CanvasController {
 
 
         // TODO: 1/05/17 wmu16 - Change this call to now draw the marks as from the xml
-        drawBoats();
+        initializeBoats();
         timer = new AnimationTimer() {
 
             @Override
@@ -110,7 +112,7 @@ public class CanvasController {
                 if (arrayFilled) {
                     elapsedNanos = now - oldFrameTime ;
                     long elapsedNanosPerFrame = elapsedNanos / frameTimes.length ;
-                    Double frameRate = 1_000_000_000.0 / elapsedNanosPerFrame ;
+                    frameRate = 1_000_000_000.0 / elapsedNanosPerFrame ;
                     drawFps(frameRate.intValue());
                 }
 
@@ -167,30 +169,38 @@ public class CanvasController {
 
     private void updateGroups(){
         for (BoatGroup boatGroup : boatGroups) {
-            boatGroup.updatePosition();
             // some raceObjects will have multiple ID's (for instance gate marks)
             //checking if the current "ID" has any updates associated with it
             if (StreamParser.boatPositions.containsKey(boatGroup.getRaceId())) {
-                moveBoatGroup(boatGroup);
+                if (boatGroup.isStopped()) {
+                    updateBoatGroup(boatGroup);
                 }
             }
+            boatGroup.move();
+        }
         for (MarkGroup markGroup : markGroups) {
             for (int id : markGroup.getRaceIds()) {
                 if (StreamParser.boatPositions.containsKey(id)) {
-                    moveMarkGroup(id, markGroup);
+                    UpdateMarkGroup(id, markGroup);
                 }
             }
         }
     }
 
-    private void moveBoatGroup(BoatGroup boatGroup) {
+    private void updateBoatGroup(BoatGroup boatGroup) {
         PriorityBlockingQueue<BoatPositionPacket> movementQueue = StreamParser.boatPositions.get(boatGroup.getRaceId());
-        if (movementQueue.size() > 0){
+        // giving the movementQueue a 5 packet buffer to account for slightly out of order packets
+        if (movementQueue.size() > 5){
             try {
                 BoatPositionPacket positionPacket = movementQueue.take();
                 Point2D p2d = findScaledXY(positionPacket.getLat(), positionPacket.getLon());
+                if (boatGroup.getRaceId() == 106){
+//                    System.out.println("p2d.getX() = " + p2d.getX());
+//                    System.out.println("p2d.getY() = " + p2d.getY());
+//                    System.out.println("positionPacket.getTimeValid() = " + positionPacket.getTimeValid());
+                }
                 double heading = 360.0 / 0xffff * positionPacket.getHeading();
-                boatGroup.setDestination(p2d.getX(), p2d.getY(), heading, positionPacket.getGroundSpeed(), boatGroup.getRaceId());
+                boatGroup.setDestination(p2d.getX(), p2d.getY(), heading, positionPacket.getGroundSpeed(), positionPacket.getTimeValid(), frameRate, boatGroup.getRaceId());
             } catch (InterruptedException e){
                 e.printStackTrace();
             }
@@ -198,7 +208,7 @@ public class CanvasController {
         }
     }
 
-    void moveMarkGroup (int raceId, MarkGroup markGroup) {
+    void UpdateMarkGroup (int raceId, MarkGroup markGroup) {
         PriorityBlockingQueue<BoatPositionPacket> movementQueue = StreamParser.boatPositions.get(raceId);
         if (movementQueue.size() > 0){
             try {
@@ -211,6 +221,23 @@ public class CanvasController {
         }
     }
 
+    /**
+     * Draws all the boats.
+     */
+    private void initializeBoats() {
+        Map<Integer, Yacht> boats = StreamParser.getBoats();
+        Group boatAnnotations = new Group();
+
+        for (Yacht boat : boats.values()) {
+            boat.setColour(Colors.getColor());
+            BoatGroup boatGroup = new BoatGroup(boat, boat.getColour());
+            boatGroups.add(boatGroup);
+            boatAnnotations.getChildren().add(boatGroup.getLowPriorityAnnotations());
+        }
+        group.getChildren().add(boatAnnotations);
+        group.getChildren().addAll(boatGroups);
+    }
+
     class ResizableCanvas extends Canvas {
 
         ResizableCanvas() {
@@ -236,11 +263,11 @@ public class CanvasController {
         public double prefWidth(double height) {
             return getWidth();
         }
-
         @Override
         public double prefHeight(double width) {
             return getHeight();
         }
+
     }
 
     private void drawFps(int fps){
@@ -259,23 +286,6 @@ public class CanvasController {
         }
     }
 
-    /**
-     * Draws all the boats.
-     */
-    private void drawBoats() {
-        Map<Integer, Yacht> boats = StreamParser.getBoats();
-        Group boatAnnotations = new Group();
-
-        for (Yacht boat : boats.values()) {
-            boat.setColour(Colors.getColor());
-            BoatGroup boatGroup = new BoatGroup(boat, boat.getColour());
-            boatGroups.add(boatGroup);
-            boatAnnotations.getChildren().add(boatGroup.getLowPriorityAnnotations());
-        }
-        group.getChildren().add(boatAnnotations);
-        group.getChildren().addAll(boatGroups);
-    }
-
     /**
      * Calculates x and y location for every marker that fits it to the canvas the race will be drawn on.
      */
@@ -382,6 +392,7 @@ public class CanvasController {
      * Give all markers in the course an x,y location relative to a given reference with a known x,y location. Distances
      * are scaled according to the distanceScaleFactor variable.
      */
+    // DEPRECATED create an initialize marks method like the initialize boats method
     private void givePointsXY() {
 //        List<XMLParser.RaceXMLObject.CompoundMark> allPoints = StreamParser.getXmlObject().getRaceXML().getCompoundMarks();
 //        List<XMLParser.RaceXMLObject.CompoundMark> processed = new ArrayList<>();

src/main/java/seng302/models/BoatGroup.java

@@ -29,13 +29,16 @@ public class BoatGroup extends Group{
     private static final double BOAT_HEIGHT = 15d;
     private static final double BOAT_WIDTH = 10d;
     //Variables for boat logic.
+    private boolean isStopped = true;
+    private double xIncrement;
+    private double yIncrement;
+    private long lastTimeValid = 0;
+    private long framesToMove;
     private Point2D lastPoint;
     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;
@@ -118,8 +121,6 @@ public class BoatGroup extends Group{
         teamNameObject.setLayoutY(teamNameObject.getLayoutY() + dy);
         velocityObject.setLayoutX(velocityObject.getLayoutX() + dx);
         velocityObject.setLayoutY(velocityObject.getLayoutY() + dy);
-        wake.setLayoutX(wake.getLayoutX() + dx);
-        wake.setLayoutY(wake.getLayoutY() + dy);
     }
 
 
@@ -136,16 +137,18 @@ public class BoatGroup extends Group{
         teamNameObject.setLayoutY(y);
         velocityObject.setLayoutX(x);
         velocityObject.setLayoutY(y);
-        wake.setLayoutX(x);
-        wake.setLayoutY(y);
     }
 
     public void rotateTo (double rotation) {
         boatPoly.getTransforms().setAll(new Rotate(rotation));
     }
 
-    public void updatePosition () {
+    public void move() {
-        moveGroupBy(dx, dy);
+        moveGroupBy(xIncrement, yIncrement);
+        framesToMove = framesToMove - 1;
+        if (framesToMove <= 0){
+            isStopped = true;
+        }
     }
 
     /**
@@ -153,20 +156,32 @@ public class BoatGroup extends Group{
      * @param newXValue The X co-ordinate the boat needs to move to.
      * @param newYValue The Y co-ordinate the boat needs to move to.
      * @param rotation Rotation to move graphics to.
-     * @param raceIds RaceID of the object to move.
+     * @param timeValid the time the position values are valid for
      */
-    public void setDestination (double newXValue, double newYValue, double rotation, double groundSpeed, long raceIds) {
+    public void setDestination (double newXValue, double newYValue, double rotation, double groundSpeed, long timeValid, double frameRate, long id) {
-        System.currentTimeMillis();
+        if (lastTimeValid == 0){
-        moveTo(lastXValue, lastYValue, rotation);
+            lastTimeValid = timeValid - 200;
+            moveTo(newXValue, newYValue, rotation);
+        }
 
-        dx = (newXValue - lastXValue)/12;
-        dy = (newYValue - lastYValue)/12;
 
-        lastXValue = newXValue;
+        rotateTo(rotation);
-        lastYValue = newYValue;
+        framesToMove = Math.round((frameRate/(1000.0f/(timeValid-lastTimeValid))));
 
-        boat.setVelocity(groundSpeed);
+        double dx = newXValue - boatPoly.getLayoutX();
-        velocityObject.setText(String.format("%.2f m/s", boat.getVelocity()));
+        double dy = newYValue - boatPoly.getLayoutY();
+
+        xIncrement = dx/framesToMove;
+        yIncrement = dy/framesToMove;
+
+        if (id == 106){
+            System.out.println(framesToMove);
+            System.out.println("xIncrement = " + xIncrement);
+        }
+
+        velocityObject.setText(String.format("%.2f m/s", groundSpeed));
+        lastTimeValid = timeValid;
+        isStopped = false;
     }
 
 
@@ -230,4 +245,8 @@ public class BoatGroup extends Group{
         group.getChildren().addAll(wake, lineGroup);
         return group;
     }
+
+    public boolean isStopped() {
+        return isStopped;
+    }
 }

src/main/java/seng302/server/messages/BoatLocationMessage.java

@@ -44,7 +44,7 @@ public class BoatLocationMessage extends Message {
     public BoatLocationMessage(int sourceId, int sequenceNum, double latitude, double longitude, double heading, long boatSpeed){
         boatSpeed /= 10;
         messageVersionNumber = 1;
-        time = System.currentTimeMillis() / 1000L;
+        time = System.currentTimeMillis();
         this.sourceId = sourceId;
         this.sequenceNum = sequenceNum;
         this.deviceType = DeviceType.RACING_YACHT;