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Linking up course stream with visualiser. Boats moving, and course drawing. Boats however are not moving as intended. Needs to be fixed/looked into.

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#story[820] #pair[kre39,cir27]
This commit is contained in:
Kusal Ekanayake
2017-04-26 18:45:58 +12:00
parent 749c6b7fef
commit c776d22941
9 changed files with 222 additions and 85 deletions
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src/main/java/seng302/controllers/CanvasController.java
+90 -48
View File
@@ -4,6 +4,7 @@ import javafx.animation.*;
import javafx.beans.property.SimpleDoubleProperty;
import javafx.fxml.FXML;
import javafx.geometry.Point2D;
import javafx.geometry.Point3D;
import javafx.scene.Group;
import javafx.scene.canvas.Canvas;
import javafx.scene.canvas.GraphicsContext;
@@ -18,6 +19,8 @@ import seng302.models.mark.GateMark;
import seng302.models.mark.Mark;
import seng302.models.mark.MarkType;
import seng302.models.mark.SingleMark;
import seng302.models.parsers.StreamParser;
import seng302.models.parsers.StreamReceiver;
import java.sql.Time;
import java.util.*;
@@ -132,8 +135,12 @@ public class CanvasController {
//}catch (Exception e) {
// e.printStackTrace();
//}
timer = new AnimationTimer() {
StreamReceiver sr = new StreamReceiver("csse-s302staff.canterbury.ac.nz", 4941,"TestThread1");
// StreamReceiver sr = new StreamReceiver("livedata.americascup.com", 4941, "TestThread1");
sr.start();
timer = new AnimationTimer() {
private int countdown = 60;
private int[] currentRaceMarker = {1, 1, 1, 1, 1, 1};
List<Mark> marks = raceViewController.getRace().getCourse();
@@ -144,44 +151,56 @@ public class CanvasController {
boolean descending;
boolean leftToRight;
int boatIndex = 0;
Mark nextMark;
if (countdown == 0) {
//if (countdown == 0) {
for (BoatGroup boatGroup : boatGroups) {
if (currentRaceMarker[boatIndex] < marks.size()) {
if (currentRaceMarker[boatIndex] == 6) {
int debugLine = 4;
}
//if (currentRaceMarker[boatIndex] < marks.size()) {
//if (currentRaceMarker[boatIndex] == 6) {
// int debugLine = 4;
//}
double xb4 = boatGroup.getLayoutX();
double yb4 = boatGroup.getLayoutY();
nextMark = marks.get(currentRaceMarker[boatIndex]);
descending = nextMark.getY() > boatGroup.getLayoutY();
leftToRight = nextMark.getX() < boatGroup.getLayoutX();
//descending = nextMark.getY() > boatGroup.getLayoutY();
//leftToRight = nextMark.getX() < boatGroup.getLayoutX();
boatGroup.updatePosition(1000 / 60);
// Point2D p = latLonToXY(lat, lon);
// boatGroup.setDestination(p.getX(), p.getY());
if (descending && nextMark.getY() < boatGroup.getLayoutY()) {
currentRaceMarker[boatIndex]++;
boatGroup.setDestination(
marks.get(currentRaceMarker[boatIndex]).getX(), marks.get(currentRaceMarker[boatIndex]).getY()
);
} else if (!descending && nextMark.getY() > boatGroup.getLayoutY()) {
currentRaceMarker[boatIndex]++;
boatGroup.setDestination(
marks.get(currentRaceMarker[boatIndex]).getX(), marks.get(currentRaceMarker[boatIndex]).getY()
);
} else if (leftToRight && nextMark.getX() > boatGroup.getLayoutX()) {
currentRaceMarker[boatIndex]++;
boatGroup.setDestination(
marks.get(currentRaceMarker[boatIndex]).getX(), marks.get(currentRaceMarker[boatIndex]).getY()
);
} else if (!leftToRight && nextMark.getX() < boatGroup.getLayoutX()) {
currentRaceMarker[boatIndex]++;
boatGroup.setDestination(
marks.get(currentRaceMarker[boatIndex]).getX(), marks.get(currentRaceMarker[boatIndex]).getY()
);
boatGroup.updatePosition(1000 / 6);
Point3D p = StreamParser.boatPositions.get((long)boatGroup.getBoat().getId());
//System.out.println("boatGroup = " + boatGroup.getBoat().getId());
//System.out.println("StreamParser.boatPositions.toString() = " + StreamParser.boatPositions.toString());
if (p != null) {
Point2D p2d = latLonToXY(p.getX(), p.getY());
System.out.println("p2d = " + p2d);
if (!boatGroup.getBoat().isSamePos(p2d)) {
//System.out.println("p.toString() = " + p.toString());
double heading = 360.0 / 0xffff * p.getZ();
System.out.println("heading = " + heading);
boatGroup.setDestination(p.getX(), p.getY(), heading);
}
}
// if (descending && nextMark.getY() < boatGroup.getLayoutY()) {
// currentRaceMarker[boatIndex]++;
// boatGroup.setDestination(
// marks.get(currentRaceMarker[boatIndex]).getX(), marks.get(currentRaceMarker[boatIndex]).getY()
// );
// } else if (!descending && nextMark.getY() > boatGroup.getLayoutY()) {
// currentRaceMarker[boatIndex]++;
// boatGroup.setDestination(
// marks.get(currentRaceMarker[boatIndex]).getX(), marks.get(currentRaceMarker[boatIndex]).getY()
// );
// } else if (leftToRight && nextMark.getX() > boatGroup.getLayoutX()) {
// currentRaceMarker[boatIndex]++;
// boatGroup.setDestination(
// marks.get(currentRaceMarker[boatIndex]).getX(), marks.get(currentRaceMarker[boatIndex]).getY()
// );
// } else if (!leftToRight && nextMark.getX() < boatGroup.getLayoutX()) {
// currentRaceMarker[boatIndex]++;
// boatGroup.setDestination(
// marks.get(currentRaceMarker[boatIndex]).getX(), marks.get(currentRaceMarker[boatIndex]).getY()
// );
// }
double xnew = boatGroup.getLayoutX();
double ynew = boatGroup.getLayoutY();
@@ -190,18 +209,19 @@ public class CanvasController {
raceFinished = false;
boatIndex++;
}
}
if (raceFinished) {
System.out.println("DONZEO LADS");
this.stop();
}
} else {
countdown--;
}
//}
//if (raceFinished) {
// System.out.println("DONZEO LADS");
// this.stop();
//}
//} else {
// countdown--;
//}
}
};
for (Mark m : raceViewController.getRace().getCourse())
for (Mark m : raceViewController.getRace().getCourse()) {
System.out.println(m.getName());
}
//timer.start();
}
@@ -261,7 +281,7 @@ public class CanvasController {
for (Boat boat : boats) {
BoatGroup boatGroup = new BoatGroup(boat, Colors.getColor());
boatGroup.moveBoatTo(startingX, startingY, 0d);
boatGroup.setDestination(firstMarkX, firstMarkY);
// boatGroup.setDestination(firstMarkX, firstMarkY);
boatGroup.forceRotation();
group.getChildren().add(boatGroup);
boatGroups.add(boatGroup);
@@ -515,6 +535,7 @@ public class CanvasController {
}
private Point2D findScaledXY (Mark unscaled) {
System.out.println("unscaled.getName() = " + unscaled.getName());
return findScaledXY (minLatPoint.getLatitude(), minLatPoint.getLongitude(),
unscaled.getLatitude(), unscaled.getLongitude());
}
@@ -527,15 +548,36 @@ public class CanvasController {
angleFromReference = Mark.calculateHeadingRad(latA, lonA, latB, lonB);
distanceFromReference = Mark.calculateDistance(latA, lonA, latB, lonB);
if (angleFromReference > (Math.PI / 2)) {
angleFromReference = (Math.PI * 2) - angleFromReference;
xAxisLocation -= (int) Math.round(distanceScaleFactor * Math.sin(angleFromReference) * distanceFromReference);
} else {
if (angleFromReference >= 0 && angleFromReference <= Math.PI / 2) {
//System.out.println("1");
xAxisLocation += (int) Math.round(distanceScaleFactor * Math.sin(angleFromReference) * distanceFromReference);
yAxisLocation -= (int) Math.round(distanceScaleFactor * Math.cos(angleFromReference) * distanceFromReference);
} else if (angleFromReference >= 0) {
//System.out.println("2");
angleFromReference = angleFromReference - Math.PI / 2;
xAxisLocation += (int) Math.round(distanceScaleFactor * Math.cos(angleFromReference) * distanceFromReference);
yAxisLocation += (int) Math.round(distanceScaleFactor * Math.sin(angleFromReference) * distanceFromReference);
} else if (angleFromReference < 0 && angleFromReference >= -Math.PI / 2) {
//System.out.println("3");
System.out.println(distanceFromReference);
angleFromReference = Math.abs(angleFromReference);
System.out.println(Math.cos(angleFromReference) * distanceFromReference);
xAxisLocation -= (int) Math.round(distanceScaleFactor * Math.sin(angleFromReference) * distanceFromReference);
yAxisLocation -= (int) Math.round(distanceScaleFactor * Math.cos(angleFromReference) * distanceFromReference);
} else {
//System.out.println("4");
angleFromReference = Math.abs(angleFromReference) - Math.PI / 2;
xAxisLocation -= (int) Math.round(distanceScaleFactor * Math.cos(angleFromReference) * distanceFromReference);
yAxisLocation += (int) Math.round(distanceScaleFactor * Math.sin(angleFromReference) * distanceFromReference);
}
yAxisLocation -= (int) Math.round(distanceScaleFactor * Math.cos(angleFromReference) * distanceFromReference);
// if (angleFromReference > (Math.PI / 2)) {
// angleFromReference = (Math.PI * 2) - angleFromReference;
// xAxisLocation -= (int) Math.round(distanceScaleFactor * Math.sin(angleFromReference) * distanceFromReference);
// } else {
// xAxisLocation += (int) Math.round(distanceScaleFactor * Math.sin(angleFromReference) * distanceFromReference);
// }
// yAxisLocation -= (int) Math.round(distanceScaleFactor * Math.cos(angleFromReference) * distanceFromReference);
//System.out.println(xAxisLocation + " *** " + yAxisLocation);
return new Point2D(xAxisLocation, yAxisLocation);
}
src/main/java/seng302/controllers/RaceViewController.java
+4 -1
View File
@@ -25,7 +25,7 @@ import java.util.*;
/**
* Created by ptg19 on 29/03/17.
*/
public class RaceViewController {
public class RaceViewController extends Thread{
@FXML
private VBox positionVbox;
@FXML
@@ -48,6 +48,7 @@ public class RaceViewController {
private Race race;
public void initialize() {
RaceController raceController = new RaceController();
raceController.initializeRace();
race = raceController.getRace();
@@ -73,6 +74,8 @@ public class RaceViewController {
includedCanvasController.timer.start();
}
private void initializeSettings(){
displayAnnotations = true;
displayFps = true;
src/main/java/seng302/models/Boat.java
+20 -1
View File
@@ -1,5 +1,6 @@
package seng302.models;
import javafx.geometry.Point2D;
import javafx.scene.paint.Color;
import javafx.scene.shape.Polygon;
import javafx.scene.text.Text;
@@ -19,6 +20,8 @@ public class Boat {
private double heading;
private int markLastPast;
private String shortName;
private int id;
private Point2D currentPos;
public Boat(String teamName) {
this.teamName = teamName;
@@ -26,6 +29,16 @@ public class Boat {
this.lat = 0.0;
this.lon = 0.0;
this.shortName = "";
currentPos = null;
}
public boolean isSamePos(Point2D newPos){
if(newPos.equals(currentPos)){
return true;
} else {
currentPos = newPos;
return false;
}
}
/**
@@ -35,10 +48,13 @@ public class Boat {
* @param boatVelocity The speed of the boat in meters/second
* @param shortName A shorter version of the teams name
*/
public Boat(String teamName, double boatVelocity, String shortName) {
public Boat(String teamName, double boatVelocity, String shortName, int id) {
this.teamName = teamName;
this.velocity = boatVelocity;
this.shortName = shortName;
this.id = id;
currentPos = null;
}
/**
@@ -133,4 +149,7 @@ public class Boat {
return this.shortName;
}
public int getId() {
return id;
}
}
src/main/java/seng302/models/BoatGroup.java
+13
View File
@@ -117,6 +117,15 @@ public class BoatGroup extends Group{
moveBy(dx, dy, rotation);
}
public void setDestination (double newXValue, double newYValue, double rotation) {
this.pixelVelocityX = (newXValue - super.getLayoutX()) / expectedUpdateInterval;
this.pixelVelocityY = (newYValue - super.getLayoutY()) / expectedUpdateInterval;
//this.destinationX = newXValue;
//this.destinationY = newYValue;
this.rotationalGoal = rotation;
this.rotationalVelocity = (rotationalGoal - currentRotation) / expectedUpdateInterval;
}
public void setDestination (double newXValue, double newYValue) {
this.pixelVelocityX = (newXValue - super.getLayoutX()) / expectedUpdateInterval;
this.pixelVelocityY = (newYValue - super.getLayoutY()) / expectedUpdateInterval;
@@ -174,4 +183,8 @@ public class BoatGroup extends Group{
super.getChildren().get(2).setVisible(false);
super.getChildren().get(3).setVisible(false);
}
public Boat getBoat() {
return boat;
}
}
src/main/java/seng302/models/parsers/StreamPacket.java
+5 -5
View File
@@ -19,11 +19,11 @@ public class StreamPacket {
this.payload = payload;
// System.out.println("type = " + this.type.toString());
//switch the packet type to deal with what ever specific packet you want to deal with
if (this.type == PacketType.XML_MESSAGE){
System.out.println("--------");
System.out.println(new String(payload));
StreamParser.parsePacket(this);
}
// if (this.type == PacketType.XML_MESSAGE){
// System.out.println("--------");
// System.out.println(new String(payload));
// StreamParser.parsePacket(this);
// }
}
PacketType getType() {
src/main/java/seng302/models/parsers/StreamParser.java
+51 -15
View File
@@ -1,6 +1,8 @@
package seng302.models.parsers;
import javafx.geometry.Point2D;
import javafx.geometry.Point3D;
import org.w3c.dom.Document;
import org.xml.sax.InputSource;
import org.xml.sax.SAXException;
@@ -13,13 +15,48 @@ import java.io.IOException;
import java.io.StringReader;
import java.util.ArrayList;
import java.util.Arrays;
import java.util.Collections;
import java.util.HashMap;
import java.util.concurrent.ConcurrentHashMap;
/**
* Created by kre39 on 23/04/17.
*/
public class StreamParser {
public class StreamParser extends Thread{
public static ConcurrentHashMap<Long,Point3D> boatPositions = new ConcurrentHashMap<>();
private static ArrayList<Long> boat_IDS = new ArrayList<>();
private String threadName;
private Thread t;
StreamParser(String threadName){
this.threadName = threadName;
}
public void run(){
try {
while (StreamReceiver.packetBuffer.size() <= 1) {
Thread.sleep(1);
}
StreamPacket packet = StreamReceiver.packetBuffer.take();
while (packet != null){
parsePacket(packet);
Thread.sleep(10);
packet = StreamReceiver.packetBuffer.take();
}
} catch (Exception e){
e.printStackTrace();
}
}
public void start () {
System.out.println("Starting " + threadName );
if (t == null) {
t = new Thread (this, threadName);
t.start ();
}
}
static void parsePacket(StreamPacket packet) {
switch (packet.getType()){
case HEARTBEAT:
@@ -65,7 +102,7 @@ public class StreamParser {
private static void extractHeartBeat(StreamPacket packet) {
long heartbeat = bytesToLong(packet.getPayload());
System.out.println("Heartbeat: " + heartbeat);
// System.out.println("Heartbeat: " + heartbeat);
}
@@ -75,7 +112,7 @@ public class StreamParser {
long currentTime = extractTimeStamp(Arrays.copyOfRange(payload,1,7), 6);
long raceId = bytesToLong(Arrays.copyOfRange(payload,7,11));
int raceStatus = payload[11];
System.out.println("raceStatus = " + raceStatus);
// System.out.println("raceStatus = " + raceStatus);
long expectedStartTime = extractTimeStamp(Arrays.copyOfRange(payload,12,18), 6);
long windDir = bytesToLong(Arrays.copyOfRange(payload,18,20));
long windSpeed = bytesToLong(Arrays.copyOfRange(payload,20,22));
@@ -172,7 +209,7 @@ public class StreamParser {
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);
// System.out.println("eventId = " + eventId);
}
private static void extractChatterText(StreamPacket packet){
@@ -191,27 +228,26 @@ public class StreamParser {
byte[] latBytes = Arrays.copyOfRange(payload,16,20);
byte[] lonBytes = Arrays.copyOfRange(payload,20,24);
byte[] boatIdBytes = Arrays.copyOfRange(payload,7,11);
byte[] headingBytes = Arrays.copyOfRange(payload,28,30);
long timeStamp = 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 heading = bytesToLong(headingBytes);
if ((int)deviceType == 1){
if (!boat_IDS.contains(boatId)){
boat_IDS.add(boatId);
}
System.out.println("boatId = " + boatId);
System.out.println("deviceType = " + (long)deviceType);
System.out.println("seq = " + seq);
// System.out.println("boatId = " + boatId);
// System.out.println("deviceType = " + (long)deviceType);
// System.out.println("seq = " + seq);
//needs to be validated
System.out.println("lon = " + ((180d * (double)lon)/Math.pow(2,31)));
System.out.println("lat = " + ((180d *(double)lat)/Math.pow(2,31)));
Point3D point = new Point3D(((180d * (double)lat)/Math.pow(2,31)),((180d *(double)lon)/Math.pow(2,31)),(double)heading);
boatPositions.putIfAbsent(boatId, point);
boatPositions.replace(boatId, point);
// System.out.println("lon = " + ((180d * (double)lon)/Math.pow(2,31)));
// System.out.println("lat = " + ((180d *(double)lat)/Math.pow(2,31)));
}
System.out.println("boat_IDS = " + boat_IDS);
System.out.println("boat_IDS = " + boat_IDS.size());
}
src/main/java/seng302/models/parsers/StreamReceiver.java
+36 -13
View File
@@ -12,22 +12,47 @@ import java.util.zip.CRC32;
import java.util.zip.Checksum;
public class StreamReceiver {
public class StreamReceiver extends Thread {
private InputStream stream;
private Socket host;
private ByteArrayOutputStream crcBuffer;
public PriorityBlockingQueue<StreamPacket> packetBuffer;
private Thread t;
private String threadName;
public static PriorityBlockingQueue<StreamPacket> packetBuffer;
public StreamReceiver(String hostAddress, int hostPort, PriorityBlockingQueue packetBuffer) {
public StreamReceiver(String hostAddress, int hostPort, String threadName) {
this.threadName = threadName;
try {
host = new Socket(hostAddress, hostPort);
} catch (IOException e) {
e.printStackTrace();
System.exit(1);
}
this.packetBuffer = packetBuffer;
}
public void run(){
PriorityBlockingQueue<StreamPacket> pq = new PriorityBlockingQueue<>(256, new Comparator<StreamPacket>() {
@Override
public int compare(StreamPacket s1, StreamPacket s2) {
return (int) (s1.getTimeStamp() - s2.getTimeStamp());
}
});
packetBuffer = pq;
connect();
StreamParser streamParser = new StreamParser("TestThread2");
streamParser.start();
}
public void start () {
System.out.println("Starting " + threadName );
if (t == null) {
t = new Thread (this, threadName);
t.start ();
}
}
public void connect(){
try {
stream = host.getInputStream();
@@ -121,15 +146,13 @@ public class StreamReceiver {
}
public static void main(String[] args) {
PriorityBlockingQueue<StreamPacket> pq = new PriorityBlockingQueue<>(256, new Comparator<StreamPacket>() {
@Override
public int compare(StreamPacket s1, StreamPacket s2) {
return (int) (s1.getTimeStamp() - s2.getTimeStamp());
}
});
StreamReceiver sr = new StreamReceiver("csse-s302staff.canterbury.ac.nz", 4941, pq);
// StreamReceiver sr = new StreamReceiver("livedata.americascup.com", 4941, pq);
sr.connect();
StreamReceiver sr = new StreamReceiver("csse-s302staff.canterbury.ac.nz", 4941,"TestThread1");
//StreamReceiver sr = new StreamReceiver("livedata.americascup.com", 4941, pq);
sr.start();
}
}
src/main/java/seng302/models/parsers/TeamsParser.java
+2 -1
View File
@@ -27,7 +27,8 @@ public class TeamsParser extends FileParser {
String name = element.getElementsByTagName("name").item(0).getTextContent();
String alias = element.getElementsByTagName("alias").item(0).getTextContent();
double velocity = Double.valueOf(element.getElementsByTagName("velocity").item(0).getTextContent());
Boat boat = new Boat(name, velocity, alias);
int id = Integer.valueOf(element.getElementsByTagName("id").item(0).getTextContent());
Boat boat = new Boat(name, velocity, alias, id);
return boat;
} else {
throw new NoSuchElementException("Cannot generate a boat by given node");