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Merge branch 'Story71_TackAndGybeSmoothly' into 'develop'

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Story 71 Tack/Gybe, Story 65 VMG Autopilot

# Implementation
- Added autopilot functionality to move boat towards a given heading with a single function call.
- Added functionality to move boat from one side of the wind to the other (tack/gybe) with a single button press.
- Added functionality to move boat to correct VMG from polars with single button press.
- Pressing a button a second time will disable the autopilot, as will pressing the Upwind/Downwind keys.

# Testing
- Fairly simple JUnit testing for a set of beginning headings and expected ends for the autopilot
- Unsure how cucumber testing would actually be better than simple junit testing in this case.

See merge request !55
This commit is contained in:
Zhi You Tan
2017-08-13 14:22:28 +12:00
parent 55c22fa7e2 6ddaaa0dfa
commit fda233f5ad
9 changed files with 223 additions and 61 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/main/java/seng302/gameServer/server/simulator/parsers/CourseParser.java
+7 -7
View File
@@ -8,10 +8,10 @@ import org.w3c.dom.Document;
import org.w3c.dom.Element;
import org.w3c.dom.Node;
import org.w3c.dom.NodeList;
import seng302.model.mark.CompoundMark;
import seng302.gameServer.server.simulator.Corner;
import seng302.model.mark.Mark;
import seng302.gameServer.server.simulator.RoundingType;
import seng302.model.mark.CompoundMark;
import seng302.model.mark.Mark;
/**
* Parses the race xml file to get course details
@@ -84,17 +84,17 @@ public class CourseParser extends FileParser {
NodeList marks = e.getElementsByTagName("Mark");
List<Mark> subMarks = new ArrayList<>();
for (int i = 0; i < marks.getLength(); i++) {
Mark mark = getMark(marks.item(i));
Mark mark = getMark(marks.item(i));
if (mark != null) {
subMarks.add(mark);
}
}
}
return new CompoundMark(markID, name, subMarks);
}
System.out.println("Failed to create compound mark.");
return null;
}
System.out.println("Failed to create compound mark.");
return null;
}
private Mark getMark(Node node) {
src/main/java/seng302/model/Yacht.java
+99 -26
View File
@@ -58,6 +58,8 @@ public class Yacht {
private GeoPoint location;
private Integer boatStatus;
private Double velocity;
private Boolean isAuto;
private Double autoHeading;
//MARK ROUNDING INFO
private GeoPoint lastLocation; //For purposes of mark rounding calculations
@@ -84,6 +86,7 @@ public class Yacht {
this.boatName = boatName;
this.country = country;
this.sailIn = false;
this.isAuto = false;
this.location = new GeoPoint(57.670341, 11.826856);
this.lastLocation = location;
this.heading = 120.0; //In degrees
@@ -128,6 +131,8 @@ public class Yacht {
}
}
runAutoPilot();
//UPDATE BOAT LOCATION
lastLocation = location;
location = GeoUtility.getGeoCoordinate(location, heading, velocity * secondsElapsed);
@@ -300,15 +305,60 @@ public class Yacht {
}
/**
* Adjusts the heading of the boat by a given amount, while recording the boats
* last heading.
*
* @param amount the amount by which to adjust the boat heading.
*/
public void adjustHeading(Double amount) {
Double newVal = heading + amount;
lastHeading = heading;
heading = (double) Math.floorMod(newVal.longValue(), 360L);
}
/**
* Swaps the boats direction from one side of the wind to the other.
*/
public void tackGybe(Double windDirection) {
Double normalizedHeading = normalizeHeading();
adjustHeading(-2 * normalizedHeading);
if (isAuto) {
disableAutoPilot();
} else {
Double normalizedHeading = normalizeHeading();
Double newVal = (-2 * normalizedHeading) + heading;
Double newHeading = (double) Math.floorMod(newVal.longValue(), 360L);
setAutoPilot(newHeading);
}
}
/**
* Enables the boats auto pilot feature, which will move the boat towards a given heading.
* @param thisHeading The heading to move the boat towards.
*/
private void setAutoPilot(Double thisHeading) {
isAuto = true;
autoHeading = thisHeading;
}
/**
* Disables the auto pilot function.
*/
public void disableAutoPilot() {
isAuto = false;
}
/**
* Moves the boat towards the given heading when the auto pilot was set. Disables the auto pilot
* in the event that the boat is within the range of 1 turn step of its goal.
*/
public void runAutoPilot() {
if (isAuto) {
turnTowardsHeading(autoHeading);
if (Math.abs(heading - autoHeading)
<= TURN_STEP) { //Cancel when within 1 turn step of target.
isAuto = false;
}
}
}
public void toggleSailIn() {
@@ -316,6 +366,7 @@ public class Yacht {
}
public void turnUpwind() {
disableAutoPilot();
Double normalizedHeading = normalizeHeading();
if (normalizedHeading == 0) {
if (lastHeading < 180) {
@@ -337,6 +388,7 @@ public class Yacht {
}
public void turnDownwind() {
disableAutoPilot();
Double normalizedHeading = normalizeHeading();
if (normalizedHeading == 0) {
if (lastHeading < 180) {
@@ -357,38 +409,59 @@ public class Yacht {
}
}
/**
* Takes the VMG from the polartable for upwind or downwind depending on the boats direction,
* and uses this to calculate a heading to move the yacht towards.
*/
public void turnToVMG() {
Double normalizedHeading = normalizeHeading();
Double optimalHeading;
HashMap<Double, Double> optimalPolarMap;
if (normalizedHeading >= 90 && normalizedHeading <= 270) { // Downwind
optimalPolarMap = PolarTable.getOptimalDownwindVMG(GameState.getWindSpeedKnots());
optimalHeading = optimalPolarMap.keySet().iterator().next();
if (isAuto) {
disableAutoPilot();
} else {
optimalPolarMap = PolarTable.getOptimalUpwindVMG(GameState.getWindSpeedKnots());
optimalHeading = optimalPolarMap.keySet().iterator().next();
}
// Take optimal heading and turn into correct
optimalHeading =
optimalHeading + (double) Math.floorMod(GameState.getWindDirection().longValue(), 360L);
Double normalizedHeading = normalizeHeading();
Double optimalHeading;
HashMap<Double, Double> optimalPolarMap;
turnTowardsHeading(optimalHeading);
}
private void turnTowardsHeading(Double newHeading) {
if (heading < 90 && newHeading > 270) {
adjustHeading(-TURN_STEP);
} else {
if (heading < newHeading) {
adjustHeading(TURN_STEP);
if (normalizedHeading >= 90 && normalizedHeading <= 270) { // Downwind
optimalPolarMap = PolarTable.getOptimalDownwindVMG(GameState.getWindSpeedKnots());
} else {
adjustHeading(-TURN_STEP);
optimalPolarMap = PolarTable.getOptimalUpwindVMG(GameState.getWindSpeedKnots());
}
optimalHeading = optimalPolarMap.keySet().iterator().next();
if (normalizedHeading > 180) {
optimalHeading = 360 - optimalHeading;
}
// Take optimal heading and turn into a boat heading rather than a wind heading.
optimalHeading =
optimalHeading + GameState.getWindDirection();
setAutoPilot(optimalHeading);
}
}
/**
* Takes a given heading and rotates the boat towards that heading.
* This does not care about being upwind or downwind, just which direction will reach a given
* heading faster.
*
* @param newHeading The heading to turn the yacht towards.
*/
private void turnTowardsHeading(Double newHeading) {
Double newVal = heading - newHeading;
if (Math.floorMod(newVal.longValue(), 360L) > 180) {
adjustHeading(TURN_STEP);
} else {
adjustHeading(-TURN_STEP);
}
}
/**
* Returns a heading normalized for the wind direction. Heading direction into the wind is 0,
* directly away is 180.
*
* @return The normalized heading accounting for wind direction.
*/
private Double normalizeHeading() {
Double normalizedHeading = heading - GameState.windDirection;
normalizedHeading = (double) Math.floorMod(normalizedHeading.longValue(), 360L);
src/main/java/seng302/model/mark/CompoundMark.java
+1 -1
View File
@@ -15,7 +15,7 @@ public class CompoundMark {
public CompoundMark(int markID, String name, List<Mark> marks) {
this.compoundMarkId = markID;
this.name = name;
this.name = name;
this.marks.addAll(marks);
if (marks.size() > 1) {
this.midPoint = GeoUtility.getDirtyMidPoint(marks.get(0), marks.get(1));
src/main/java/seng302/model/mark/MarkOrder.java
+17 -18
View File
@@ -1,5 +1,14 @@
package seng302.model.mark;
import java.io.IOException;
import java.io.StringReader;
import java.util.ArrayList;
import java.util.Collections;
import java.util.List;
import java.util.Map;
import javax.xml.parsers.DocumentBuilder;
import javax.xml.parsers.DocumentBuilderFactory;
import javax.xml.parsers.ParserConfigurationException;
import org.slf4j.Logger;
import org.slf4j.LoggerFactory;
import org.w3c.dom.Document;
@@ -10,20 +19,11 @@ import seng302.model.stream.xml.parser.RaceXMLData;
import seng302.utilities.XMLGenerator;
import seng302.utilities.XMLParser;
import javax.xml.parsers.DocumentBuilder;
import javax.xml.parsers.DocumentBuilderFactory;
import javax.xml.parsers.ParserConfigurationException;
import java.io.IOException;
import java.io.StringReader;
import java.util.ArrayList;
import java.util.Collections;
import java.util.List;
import java.util.Map;
/**
* Class to hold the order of the marks in the race.
*/
public class MarkOrder {
private List<CompoundMark> raceMarkOrder;
private Logger logger = LoggerFactory.getLogger(MarkOrder.class);
@@ -35,7 +35,7 @@ public class MarkOrder {
* @return An ordered list of marks in the race
* OR null if the mark order could not be loaded
*/
public List<CompoundMark> getMarkOrder(){
public List<CompoundMark> getMarkOrder() {
if (raceMarkOrder == null){
logger.warn("Race order accessed but not instantiated");
return null;
@@ -55,10 +55,9 @@ public class MarkOrder {
/**
* @param currentSeqID The seqID of the current mark the boat is heading to
* @return The mark last passed
* @throws IndexOutOfBoundsException if there is no next mark.
* Check seqID != 0 first
* @throws IndexOutOfBoundsException if there is no next mark. Check seqID != 0 first
*/
public CompoundMark getPreviousMark(Integer currentSeqID) throws IndexOutOfBoundsException{
public CompoundMark getPreviousMark(Integer currentSeqID) throws IndexOutOfBoundsException {
return raceMarkOrder.get(currentSeqID - 1);
}
@@ -69,10 +68,10 @@ public class MarkOrder {
/**
* @param currentSeqID The seqID of the current mark the boat is heading to
* @return The mark following the mark that the boat is heading to
* @throws IndexOutOfBoundsException if there is no next mark.
* Check using {@link #isLastMark(Integer)}
* @throws IndexOutOfBoundsException if there is no next mark. Check using {@link
* #isLastMark(Integer)}
*/
public CompoundMark getNextMark(Integer currentSeqID) throws IndexOutOfBoundsException{
public CompoundMark getNextMark(Integer currentSeqID) throws IndexOutOfBoundsException {
return raceMarkOrder.get(currentSeqID + 1);
}
@@ -81,7 +80,7 @@ public class MarkOrder {
* @param xml An AC35 RaceXML
* @return An ordered list of marks in the race
*/
private List<CompoundMark> loadRaceOrderFromXML(String xml){
private List<CompoundMark> loadRaceOrderFromXML(String xml) {
DocumentBuilderFactory dbf = DocumentBuilderFactory.newInstance();
DocumentBuilder db;
src/main/java/seng302/visualiser/GameClient.java
+2 -2
View File
@@ -13,6 +13,8 @@ import javafx.scene.Node;
import javafx.scene.input.KeyEvent;
import javafx.scene.layout.Pane;
import seng302.gameServer.MainServerThread;
import seng302.gameServer.server.messages.BoatActionMessage;
import seng302.gameServer.server.messages.BoatActionType;
import seng302.model.RaceState;
import seng302.model.Yacht;
import seng302.model.stream.packets.StreamPacket;
@@ -22,8 +24,6 @@ import seng302.model.stream.parser.PositionUpdateData.DeviceType;
import seng302.model.stream.parser.RaceStatusData;
import seng302.model.stream.xml.parser.RaceXMLData;
import seng302.model.stream.xml.parser.RegattaXMLData;
import seng302.gameServer.server.messages.BoatActionMessage;
import seng302.gameServer.server.messages.BoatActionType;
import seng302.utilities.StreamParser;
import seng302.utilities.XMLParser;
import seng302.visualiser.controllers.LobbyController;