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Tidied up code

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- Removed prints from tests
- Added Javadocs in necessary places
- Reenabled boat status message to send
- Added boat average angle
- pulled out modulateAngle function
- Commented harder to read loops
- Disabled toggled VMG
#story[1182]
This commit is contained in:
Fan-Wu Yang
2017-09-05 21:37:33 +12:00
parent d602c1ec6f
commit 06517b7b47
5 changed files with 69 additions and 47 deletions
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racevisionGame/src/main/java/mock/model/MockRace.java
+1
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@@ -343,6 +343,7 @@ public class MockRace extends Race {
if (boat.getAutoVMG()) {
newOptimalVMG(boat);
boat.setAutoVMG(false);
}
} else {
racevisionGame/src/main/java/mock/model/NewPolars.java
+49 -31
View File
@@ -8,7 +8,8 @@ import java.util.Set;
import java.util.TreeMap;
/**
* Created by fwy13 on 4/09/17.
* New Polars are the revampe of the old Polars class which interpolates the data after being parsed from the Polar Parser
* There can only be one NewPolars instance stored statically however if a boat does happen to have a special case it can be assigned.
*/
public class NewPolars {
@@ -22,6 +23,12 @@ public class NewPolars {
newPolars = this;
}
/**
* Add polars from the polar table
* @param trueWindSpeed True Wind Speed that the true wind angle and speed corresponds to
* @param trueWindAngle True Wind Angle of the race
* @param boatSpeed The speed the boat should be going at given the true wind angle
*/
public static void addPolars(double trueWindSpeed, Bearing trueWindAngle, double boatSpeed){
double tws = trueWindSpeed;
double bs = boatSpeed;
@@ -31,31 +38,33 @@ public class NewPolars {
}
polars.get(tws).putIfAbsent(twa, bs);
polars.get(tws).putIfAbsent(360d - twa, bs);
//System.out.println(String.format("tws %f, twa %f, bs %f", tws, twa, bs));
}
/**
* Linearly Interpolates this should only be called once per parsing of a polar table
*/
public static void linearInterpolatePolars(){
// double maxTWS = 0;
// for (double key: polars.keySet()){
// if (maxTWS < key){
// maxTWS = key;
// }
// }
/*for (double windSpeed: polars.keySet()){
if (!polars.get(windSpeed).containsKey(180d)){
polars.get(windSpeed).put(180d, windSpeed);
}
}*/
TreeMap<Double, Double> prevTWS = null;
TreeMap<Double, TreeMap<Double, Double>> iterablePolars = new TreeMap<>(polars);
//this loop averages out the speed between tow angles
//Example: Pair one: 0 degrees, 0 knots
// Pair two: 3 degrees, 6 knots
//This loop will add
//Pair one: 0 degrees, 0 knots
//Pair two: 1 degrees, 2 knots
//Pair three: 2 degrees, 4 knots
//Pair four: 3 degrees, 6 knots
for (double windSpeed: iterablePolars.keySet()){
TreeMap<Double, Double> tws = iterablePolars.get(windSpeed);
if (prevTWS == null){
prevTWS = tws;
continue;
}
double previousTWA = -1;
TreeMap<Double, Double> iterableTWS = new TreeMap<>(tws);
for (double twa: iterableTWS.keySet()){
if (previousTWA == -1){
previousTWA = twa;
@@ -65,11 +74,10 @@ public class NewPolars {
double speedDiff = iterableTWS.get(twa) - iterableTWS.get(previousTWA);
double prevSpeed = iterableTWS.get(previousTWA);
double diff = speedDiff/twaDiff;
for (double i = previousTWA; i < twa; i ++){
double mult = i - previousTWA;
double newSpeed = diff * mult + prevSpeed;
//System.out.println(newSpeed);
//System.out.println(String.format("tws %f, twa %f, bs %f", windSpeed, i, newSpeed));
tws.put(i, newSpeed);
}
previousTWA = twa;
@@ -100,17 +108,18 @@ public class NewPolars {
* @return
*/
private static int getQuadrant(double degrees){
return ((((int) degrees % 360) + 360) % 360) / 90 + 1;
return (int) modulateAngle(degrees) / 90 + 1;
}
private static double getBestSpeedInQuadrant(int quad, Map<Double, Double> set){
double min = (quad - 1)* 90;
double max = quad * 90;
//System.out.println(quad);
//System.out.println(min + " " + max);
double maxAngle = 0;
double maxSpeed = 0;
double dupAngle = 0;//index where speed is duplicated
double dupAngle = 0;
//DupAngle will average the angle between maxAngles that have the same speed
//Example: if 150 degrees, 180 degrees, and 210 degrees all go at 10 knots
//then the average will be taken as (150 + 210) / 2 and the angle will be returned on that.
for (Double s: set.keySet()){
if (s >= min && s < max){
if (set.get(s) > maxSpeed){
@@ -121,42 +130,48 @@ public class NewPolars {
dupAngle = s;
}
}
}/*
}
if (dupAngle != 0 ){
return getClosest((dupAngle + maxAngle) / 2, set.keySet());
}*/
}
return maxAngle;
}
/**
*
* @param trueWindAngle
* @param trueWindSpeed
* @param boatAngle
* @return
* Returns the best VMG that the boat can change to given it's current diagonal heading direction.
* @param trueWindAngle True wind angle of the race
* @param trueWindSpeed True wind speed of the race
* @param boatAngle Angle that the boat is currently at
* @return the best vmg that the boat can change to
*/
public static VMG setBestVMG(Bearing trueWindAngle, double trueWindSpeed, Bearing boatAngle){
//System.out.println("VMG AUTO CALLED");
//speed
double closestSpeed = getClosest(trueWindSpeed, polars.keySet());
double angle = ((boatAngle.degrees() - trueWindAngle.degrees()) % 360 + 360) % 360;
double angle = modulateAngle(boatAngle.degrees() - trueWindAngle.degrees());
int quad = getQuadrant(angle);
double bestAngle = getBestSpeedInQuadrant(quad, polars.get(closestSpeed));
Bearing vmgAngle = Bearing.fromDegrees((bestAngle) % 360);
double boatSpeed = polars.get(closestSpeed).get(bestAngle);
double newAngle = (bestAngle + trueWindAngle.degrees() % 360 + 360) % 360;
double newAngle = modulateAngle(bestAngle + trueWindAngle.degrees());
return new VMG(boatSpeed, Bearing.fromDegrees(newAngle));
}
/**
* Calculates the speed that a certain angle should be doing
* @param trueWindAngle TrueWind Angle of the race
* @param trueWindSpeed True Wind Speed of the race
* @param boatAngle Angle that the boat is current at
* @return the speed that the boat should be traveling at.
*/
public static double calculateSpeed(Bearing trueWindAngle, double trueWindSpeed, Bearing boatAngle){
//speed
double closestSpeed = getClosest(trueWindSpeed, polars.keySet());
double angleDiff = ((boatAngle.degrees() - trueWindAngle.degrees()) % 360 + 360) % 360;
double angleDiff = modulateAngle(boatAngle.degrees() - trueWindAngle.degrees());
double closestAngle = getClosest(angleDiff, polars.get(closestSpeed).keySet());
double boatSpeed = polars.get(closestSpeed).get(closestAngle);
@@ -166,6 +181,10 @@ public class NewPolars {
}
public static double modulateAngle(double angle){
return (angle % 360 + 360) % 360;
}
private Map<Double, TreeMap<Double, Double>> getPolars(){
//this function is just for testing so therefore it is private
return polars;
@@ -178,7 +197,6 @@ public class NewPolars {
System.out.println("==================================================");
for (double twa: polars.get(tws).keySet()){
System.out.println("TWA: " + twa + ", Boat Speed: " + polars.get(tws).get(twa));
//System.out.println("--------------------------------------------------");
}
}
}
racevisionGame/src/main/java/mock/model/RaceServer.java
+2 -2
View File
@@ -151,7 +151,7 @@ public class RaceServer {
List<BoatStatus> boatStatuses = new ArrayList<>();
//Add each boat status to the status list.
/*for (MockBoat boat : race.getBoats()) {
for (MockBoat boat : race.getBoats()) {
BoatStatus boatStatus = new BoatStatus(
boat.getSourceID(),
@@ -160,7 +160,7 @@ public class RaceServer {
boat.getEstimatedTimeAtNextMark().toInstant().toEpochMilli() );
boatStatuses.add(boatStatus);
}*/
}
racevisionGame/src/main/java/visualiser/Controllers/MainController.java
+1
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@@ -40,6 +40,7 @@ public class MainController extends Controller {
* Transitions from the StartController screen (displays pre-race information) to the RaceController (displays the actual race).
* @param visualiserRace The object modelling the race.
* @param controllerClient Socket Client that manipulates the controller.
* @param isHost whether this window is the host of the race or not.
*/
public void beginRace(VisualiserRaceEvent visualiserRace, ControllerClient controllerClient, Boolean isHost) {
raceController.startRace(visualiserRace, controllerClient, isHost);
racevisionGame/src/test/java/mock/model/NewPolarsTest.java
+16 -14
View File
@@ -26,20 +26,22 @@ public class NewPolarsTest {
PolarParser.parseNewPolars("mock/polars/acc_polars.csv");
NewPolars.linearInterpolatePolars();
Method getPolars = null;
try {
getPolars = NewPolars.class.getDeclaredMethod("printOutLinearInterpolated");
} catch (NoSuchMethodException e) {
e.printStackTrace();
}
getPolars.setAccessible(true);
try {
getPolars.invoke(NewPolars.newPolars);
} catch (IllegalAccessException e) {
e.printStackTrace();
} catch (InvocationTargetException e) {
e.printStackTrace();
}
// Uncomment if you want to read the linear interpolation in text
// Method getPolars = null;
// try {
// getPolars = NewPolars.class.getDeclaredMethod("printOutLinearInterpolated");
// } catch (NoSuchMethodException e) {
// e.printStackTrace();
// }
// getPolars.setAccessible(true);
// try {
// getPolars.invoke(NewPolars.newPolars);
// } catch (IllegalAccessException e) {
// e.printStackTrace();
// } catch (InvocationTargetException e) {
// e.printStackTrace();
// }
}
@Test