Merge branch 'Story71_TackAndGybeSmoothly' into 'develop'

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

.mailmap

@@ -23,5 +23,5 @@ Haoming Yin <hyi25@uclive.ac.nz> <haoming.y@icloud.com>
 Peter Galloway <ptg19@uclive.ac.nz> Peter <ptg19@uclive.ac.nz>
 Zhi You Tan <zyt10@uclive.ac.nz> zyt10 <zyt10@uclive.ac.nz>
 Zhi You Tan <zyt10@uclive.ac.nz> Ryan Tan <ryan_zhiyou@hotmail.com>
-Alistair McIntyre <ajm412@uclive.ac.nz> alistairjmcintyre <alistairjmcintyre@gmail.com>
+Alistair McIntyre <ajm412@uclive.ac.nz> <alistairjmcintyre@gmail.com>
 Calum <cir27@uclive.ac.nz> cir27 <cir27@uclive.ac.nz>

src/main/java/seng302/gameServer/server/simulator/parsers/CourseParser.java

@@ -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.");
+        System.out.println("Failed to create compound mark.");
-		return null;
+        return null;
-	}
+    }
 
 
 	private Mark getMark(Node node) {

src/main/java/seng302/model/Yacht.java

@@ -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();
+        if (isAuto) {
-        adjustHeading(-2 * normalizedHeading);
+            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();
+        if (isAuto) {
-        Double optimalHeading;
+            disableAutoPilot();
-        HashMap<Double, Double> optimalPolarMap;
-
-        if (normalizedHeading >= 90 && normalizedHeading <= 270) { // Downwind
-            optimalPolarMap = PolarTable.getOptimalDownwindVMG(GameState.getWindSpeedKnots());
-            optimalHeading = optimalPolarMap.keySet().iterator().next();
         } else {
-            optimalPolarMap = PolarTable.getOptimalUpwindVMG(GameState.getWindSpeedKnots());
+            Double normalizedHeading = normalizeHeading();
-            optimalHeading = optimalPolarMap.keySet().iterator().next();
+            Double optimalHeading;
-        }
+            HashMap<Double, Double> optimalPolarMap;
-        // Take optimal heading and turn into correct
-        optimalHeading =
-            optimalHeading + (double) Math.floorMod(GameState.getWindDirection().longValue(), 360L);
 
-        turnTowardsHeading(optimalHeading);
+            if (normalizedHeading >= 90 && normalizedHeading <= 270) { // Downwind
-
+                optimalPolarMap = PolarTable.getOptimalDownwindVMG(GameState.getWindSpeedKnots());
-    }
-
-    private void turnTowardsHeading(Double newHeading) {
-        if (heading < 90 && newHeading > 270) {
-            adjustHeading(-TURN_STEP);
-        } else {
-            if (heading < newHeading) {
-                adjustHeading(TURN_STEP);
             } 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

@@ -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

@@ -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.
+     * @throws IndexOutOfBoundsException if there is no next mark. Check seqID != 0 first
-     *         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.
+     * @throws IndexOutOfBoundsException if there is no next mark. Check using {@link
-     *         Check using {@link #isLastMark(Integer)}
+     * #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

@@ -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;

src/test/java/seng302/model/mark/CompoundMarkTest.java

@@ -1,6 +1,8 @@
 package seng302.model.mark;
 
-import static org.junit.Assert.*;
+import static org.junit.Assert.assertEquals;
+import static org.junit.Assert.assertFalse;
+import static org.junit.Assert.assertTrue;
 
 import java.util.ArrayList;
 import java.util.List;

src/test/java/seng302/models/MarkOrderTest.java

@@ -1,16 +1,15 @@
 package seng302.models;
 
+import static junit.framework.TestCase.assertEquals;
+import static junit.framework.TestCase.assertFalse;
+import static junit.framework.TestCase.assertTrue;
+
 import org.junit.AfterClass;
 import org.junit.BeforeClass;
 import org.junit.Test;
 import seng302.model.mark.CompoundMark;
-import seng302.model.mark.Mark;
 import seng302.model.mark.MarkOrder;
 
-import static junit.framework.TestCase.assertEquals;
-import static junit.framework.TestCase.assertFalse;
-import static junit.framework.TestCase.assertTrue;
-
 public class MarkOrderTest {
     private static MarkOrder markOrder;
     private static Integer currentSeqID;

src/test/java/seng302/models/YachtTest.java

@@ -0,0 +1,89 @@
+package seng302.models;
+
+import static org.junit.Assert.assertEquals;
+
+import java.util.HashMap;
+import org.junit.AfterClass;
+import org.junit.BeforeClass;
+import org.junit.Test;
+import seng302.gameServer.GameState;
+import seng302.model.PolarTable;
+import seng302.model.Yacht;
+
+
+public class YachtTest {
+
+    private static Yacht y1;
+    //Yacht y2;
+    private static Double windDirection = 180d;
+    private static Double windSpeed = 20d;
+    private static GameState gs;
+
+    @BeforeClass
+    public static void setUp() {
+        y1 = new Yacht("Yacht", 101, "Y1", "Y1", "Yacht 1", "C1");
+        gs = new GameState("localhost");
+    }
+
+    @Test
+    public void tackGybeTest() {
+        HashMap<Double, Double> values = new HashMap<>();
+        values.put(280.0, 80.0);
+        values.put(270.0, 90.0);
+        values.put(359.0, 1.0);
+        values.put(180.0, 180.0);
+        values.put(75.0, 285.0);
+
+        for (Double begin : values.keySet()) {
+            y1.setHeading(begin);
+            y1.tackGybe(windDirection);
+            for (int i = 0; i < 50; i++) {
+                y1.runAutoPilot();
+            }
+            assertEquals(values.get(begin), y1.getHeading(), 5.0);
+        }
+
+    }
+
+    @Test
+    public void vmgTest() {
+
+        PolarTable.parsePolarFile(getClass().getResourceAsStream("/config/acc_polars.csv"));
+        Double upwind = PolarTable.getOptimalUpwindVMG(windSpeed).keySet().iterator().next();
+        Double downwind = PolarTable.getOptimalDownwindVMG(windSpeed).keySet().iterator().next();
+
+        HashMap<Double, Double> values = new HashMap<>();
+
+        upwind = (double) Math.floorMod(upwind.longValue() + windDirection.longValue(), 360L);
+        Double upwindRight = upwind;
+        Double upwindLeft = 360 - upwindRight;
+        downwind = (double) Math.floorMod(downwind.longValue() + windDirection.longValue(), 360L);
+        Double downwindRight = downwind;
+        Double downwindLeft = 360 - downwindRight;
+
+        values.put(190d, upwindRight);
+        values.put(170d, upwindLeft);
+        values.put(10d, downwindLeft);
+        values.put(350d, downwindRight);
+
+        for (Double begin : values.keySet()) {
+            System.out.println(begin);
+            y1.setHeading(begin);
+            y1.turnToVMG();
+            for (int i = 0; i < 50; i++) {
+                y1.runAutoPilot();
+                System.out.println(y1.getHeading());
+            }
+            y1.disableAutoPilot();
+            assertEquals(values.get(begin), y1.getHeading(), 5.0);
+        }
+
+    }
+
+
+    @AfterClass
+    public static void tearDown() {
+        y1 = null;
+    }
+
+}