Race.simulateRace() function now generates a BoatLocationMessage after updating the position of each boat. Currently we just print the message to stdout.

Added functions to convert knots (as a double) to mm/sec (as an int) to BoatLocationMessage class. Added toString function to BoatLocationMessage class. Added a sequence number member to the BoatInRace class. Added Knots to meters per second conversion factor to Contants class. #story[788]
2017-04-24 20:19:39 +12:00
parent 5304f7df7d
commit 091ee4735b
4 changed files with 177 additions and 5 deletions
@@ -11,6 +11,9 @@ public class Constants {

    public static final int NMToMetersConversion = 1852; // 1 nautical mile = 1852 meters

+    //Knots x this = meters per second.
+    public static final double KnotsToMetersPerSecondConversionFactor = 0.514444;
+
    public static final GPSCoordinate startLineMarker1 = new GPSCoordinate(32.296577, -64.854304);
    public static final GPSCoordinate startLineMarker2 = new GPSCoordinate(32.293771, -64.855242);
    public static final GPSCoordinate mark1 = new GPSCoordinate(32.293039, -64.843983);
@@ -29,6 +29,9 @@ public class BoatInRace extends Boat {
    private StringProperty position;
    private double heading;

+    ///While generating BoatLocationMessages, each one needs a sequence number relating to each boat.
+    private long sequenceNumber = 0;
+
    private boolean trackVisible = true;

    /**
@@ -263,4 +266,18 @@ public class BoatInRace extends Boat {
        this.position.set(position);
    }

+
+    /**
+     * Returns the current sequence number, and increments the internal value, such that that next call will return a value 1 larger than the current call.
+     * @return Current sequence number.
+     */
+    public long getNextSequenceNumber(){
+        //Make a copy of current value.
+        long oldNumber = this.sequenceNumber;
+        //Increment.
+        this.sequenceNumber += 1;
+        //Return the previous value.
+        return oldNumber;
+    }
+
 }
@@ -11,6 +11,7 @@ import org.geotools.referencing.GeodeticCalculator;
 import seng302.Constants;
 import seng302.GPSCoordinate;
 import seng302.RaceDataSource;
+import seng302.RaceEventMessages.BoatLocationMessage;


 import java.awt.geom.Point2D;
@@ -158,20 +159,61 @@ public class Race implements Runnable {
        }

        new AnimationTimer() {
-
-            long timeRaceStarted = System.currentTimeMillis(); //start time of loop
+            //Start time of loop.
+            long timeRaceStarted = System.currentTimeMillis();

            @Override
            public void handle(long arg0) {
                if (boatsFinished < startingBoats.size()) {
-                    totalTimeElapsed = System.currentTimeMillis() - timeRaceStarted;
+                    //Get the current time.
+                    long currentTime = System.currentTimeMillis();
+                    //Update the total elapsed time.
+                    totalTimeElapsed = currentTime - timeRaceStarted;

+                    //For each boat, we update it's position, and generate a BoatLocationMessage.
                    for (BoatInRace boat : startingBoats) {
                        if (boat != null && !boat.isFinished()) {
+                            //Update position.
                            updatePosition(boat, Math.round(1000 / lastFPS) > 20 ? 15 : Math.round(1000 / lastFPS));
                            checkPosition(boat, totalTimeElapsed);
+
+
+                            //Generate a boat location message for the updated boat.
+                            BoatLocationMessage boatLocationMessage = new BoatLocationMessage();
+                            boatLocationMessage.setTime(currentTime);
+                            boatLocationMessage.setSourceID(boat.getSourceID());
+                            boatLocationMessage.setSequenceNumber(boat.getNextSequenceNumber());
+                            boatLocationMessage.setDeviceType(BoatLocationMessage.RacingYacht);
+
+                            boatLocationMessage.setLatitude(BoatLocationMessage.convertCoordinateDoubleToInt(boat.getCurrentPosition().getLatitude()));
+                            boatLocationMessage.setLongitude(BoatLocationMessage.convertCoordinateDoubleToInt(boat.getCurrentPosition().getLongitude()));
+
+                            boatLocationMessage.setAltitude(0);//Junk value.
+                            boatLocationMessage.setHeading(BoatLocationMessage.convertHeadingDoubleToInt(boat.getHeading()));
+
+                            boatLocationMessage.setPitch((short)0);//Junk value.
+                            boatLocationMessage.setRoll((short)0);//Junk value.
+
+                            boatLocationMessage.setBoatSpeed(BoatLocationMessage.convertBoatSpeedDoubleToInt(boat.getVelocity()));
+                            boatLocationMessage.setBoatCOG(0);//Junk value.
+                            boatLocationMessage.setBoatSOG(0);//Junk value.
+
+                            boatLocationMessage.setApparentWindSpeed(0);//Junk value.
+                            boatLocationMessage.setApparentWindAngle((short)0);//Junk value.
+                            boatLocationMessage.setTrueWindSpeed(0);//Junk value.
+                            boatLocationMessage.setTrueWindAngle((short)0);//Junk value.
+
+                            boatLocationMessage.setCurrentDrift(0);//Junk value.
+                            boatLocationMessage.setCurrentSet(0);//Junk value.
+                            boatLocationMessage.setRudderAngle((short)0);//Junk value.
+
+                            //We have finished creating the message.
+                            //TODO at this point, we need to send the event to the visualiser.
+                            System.out.println(boatLocationMessage);//TEMP debug print
+
+
                        } else {
-                            System.out.println("Race is over");
+                            System.out.println("Race is over");//TEMP debug print
                            //raceFinish =  true;
                            stop();
                        }
@@ -194,7 +236,7 @@ public class Race implements Runnable {
                    boat.setPosition("-");
            }
        }
-        System.out.println("=====");
+        System.out.println("=====");//TEMP debug print
    }

    public void initialiseBoats() {
@@ -4,6 +4,8 @@ package seng302.RaceEventMessages;
 * Created by f123 on 21-Apr-17.
 */

+import seng302.Constants;
+
 /**
 * Represents the information in a boat location message (AC streaming spec: 4.9).
 */
@@ -442,4 +444,112 @@ public class BoatLocationMessage
        return angleShort;
    }

+
+    /**
+     * Converts a double representing the speed of a boat in knots to an int in millimeters per second, as required by the streaming spec format.
+     * @param speed Speed in knots, stored as a double.
+     * @return Speed in millimeters per second, stored as an int (using only the two least significant bytes).
+     */
+    public static int convertBoatSpeedDoubleToInt(double speed)
+    {
+        //Calculate meters per second.
+        double metersPerSecond = speed * Constants.KnotsToMetersPerSecondConversionFactor;
+
+        //Calculate millimeters per second.
+        double millimetersPerSecond = metersPerSecond * 1000.0;
+
+        //Convert to an int.
+        int millimetersPerSecondInt = (int)Math.round(millimetersPerSecond);
+
+        return millimetersPerSecondInt;
+    }
+
+
+    /**
+     * Converts an int representing the speed of a boat in millimeters per second to a double in knots, as required by the streaming spec format.
+     * @param speed Speed in millimeters per second, stored as an int.
+     * @return Speed in knots, stored as a double.
+     */
+    public static double convertBoatSpeedIntToDouble(int speed)
+    {
+        //Calculate meters per second.
+        double metersPerSecond = speed / 1000.0;
+
+        //Calculate knots.
+        double knots = metersPerSecond / Constants.KnotsToMetersPerSecondConversionFactor;
+
+        return knots;
+    }
+
+
+    @Override
+    public String toString()
+    {
+        StringBuilder builder = new StringBuilder();
+
+        builder.append("Message version number: ");
+        builder.append(this.getMessageVersionNumber());
+
+        builder.append("\nTime: ");
+        builder.append(this.getTime());
+
+        builder.append("\nSource ID: ");
+        builder.append(this.getSourceID());
+
+        builder.append("\nSequence number: ");
+        builder.append(this.getSequenceNumber());
+
+        builder.append("\nDevice type: ");
+        builder.append(this.getDeviceType());
+
+        builder.append("\nLatitude: ");
+        builder.append(this.getLatitude());
+
+        builder.append("\nLongitude: ");
+        builder.append(this.getLongitude());
+
+        builder.append("\nAltitude: ");
+        builder.append(this.getAltitude());
+
+        builder.append("\nHeading: ");
+        builder.append(this.getHeading());
+
+        builder.append("\nPitch: ");
+        builder.append(this.getPitch());
+
+        builder.append("\nRoll: ");
+        builder.append(this.getRoll());
+
+        builder.append("\nBoat speed (mm/sec): ");
+        builder.append(this.getBoatSpeed());
+
+        builder.append("\nBoat COG: ");
+        builder.append(this.getBoatCOG());
+
+        builder.append("\nBoat SOG: ");
+        builder.append(this.getBoatSOG());
+
+        builder.append("\nApparent wind speed: ");
+        builder.append(this.getApparentWindSpeed());
+
+        builder.append("\nApparent wind angle: ");
+        builder.append(this.getApparentWindAngle());
+
+        builder.append("\nTrue wind speed: ");
+        builder.append(this.getTrueWindSpeed());
+
+        builder.append("\nTrue wind angle: ");
+        builder.append(this.getTrueWindAngle());
+
+        builder.append("\nCurrent drift: ");
+        builder.append(this.getCurrentDrift());
+
+        builder.append("\nCurrent set: ");
+        builder.append(this.getCurrentSet());
+
+        builder.append("\nRudder angle: ");
+        builder.append(this.getRudderAngle());
+
+        return builder.toString();
+    }
 }