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Added some debug statements, and WIP MarkRoundingSequence class.

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Temporarily disabled source id allocator time checks.
Added mark rounding stuff to race canvas to help debug.
#story[1185]
main
fjc40 8 years ago
parent ec82e65ae7
commit 346aa148ef
6 changed files with 217 additions and 34 deletions
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64
racevisionGame/src/main/java/mock/model/MockRace.java
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@ -8,6 +8,7 @@ import network.Messages.BoatLocation;
import network.Messages.BoatStatus;
import network.Messages.Enums.BoatStatusEnum;
import network.Messages.Enums.RaceStatusEnum;
import network.Utils.AC35UnitConverter;
import shared.dataInput.BoatDataSource;
import shared.dataInput.RaceDataSource;
import shared.dataInput.RegattaDataSource;
@ -524,12 +525,22 @@ public class MockRace extends RaceState {
boolean gateCheck = boat.getCurrentLeg().getEndCompoundMark().getMark2() == null || boat.isBetweenGate(boat.getCurrentLeg().getEndCompoundMark());
Mark roundingMark = boat.getCurrentLeg().getEndCompoundMark().getMarkForRounding(legBearing);
System.out.println("boat rounding state: " + boat.getRoundingStatus());//TEMP REMOVE
switch (boat.getRoundingStatus()) {
case 0://hasn't started rounding
System.out.println("portside? " + boat.isPortSide(roundingMark));//TEMP REMOVE
System.out.println("passes line? " + GPSCoordinate.passesLine(roundingMark.getPosition(), roundingChecks.get(0), boat.getPosition(), legBearing));//TEMP REMOVE
System.out.println("gatecheck? " + gateCheck);//TEMP REMOVE
System.out.println("between gates? " + boat.isBetweenGate(roundingMark, Mark.tempMark(roundingChecks.get(0))));//TEMP REMOVE
if (boat.isPortSide(roundingMark) &&
GPSCoordinate.passesLine(roundingMark.getPosition(),
roundingChecks.get(0), boat.getPosition(), legBearing) &&
gateCheck && boat.isBetweenGate(roundingMark, Mark.tempMark(roundingChecks.get(0)))) {
GPSCoordinate.passesLine(
roundingMark.getPosition(),
roundingChecks.get(0),
boat.getPosition(),
legBearing) &&
gateCheck &&
boat.isBetweenGate(roundingMark, Mark.tempMark(roundingChecks.get(0)))) {
boat.increaseRoundingStatus();
if (boat.getCurrentLeg().getLegNumber() + 2 >= getLegs().size()){
//boat has finished race
@ -539,8 +550,10 @@ public class MockRace extends RaceState {
break;
case 1://has been parallel to the mark;
if (boat.isPortSide(roundingMark) &&
GPSCoordinate.passesLine(roundingMark.getPosition(),
roundingChecks.get(1), boat.getPosition(),
GPSCoordinate.passesLine(
roundingMark.getPosition(),
roundingChecks.get(1),
boat.getPosition(),
Bearing.fromDegrees(legBearing.degrees() - 90)) &&//negative 90 from bearing because of port rounding
boat.isBetweenGate(roundingMark, Mark.tempMark(roundingChecks.get(1)))) {
boat.increaseRoundingStatus();
@ -568,6 +581,8 @@ public class MockRace extends RaceState {
boolean gateCheck = boat.getCurrentLeg().getEndCompoundMark().getMark2() == null || boat.isBetweenGate(boat.getCurrentLeg().getEndCompoundMark());
Mark roundingMark = boat.getCurrentLeg().getEndCompoundMark().getMarkForRounding(legBearing);
System.out.println("boat rounding state: " + boat.getRoundingStatus());//TEMP REMOVE
switch (boat.getRoundingStatus()) {
case 0://hasn't started rounding
if (boat.isStarboardSide(roundingMark) &&
@ -606,19 +621,27 @@ public class MockRace extends RaceState {
*/
protected void checkPosition(MockBoat boat, long timeElapsed) {
//The distance, in nautical miles, within which the boat needs to get in order to consider that it has reached the marker.
double epsilonNauticalMiles = boat.getCurrentLeg().getEndCompoundMark().getRoundingDistance(); //250 meters.
double epsilonMeters = boat.getCurrentLeg().getEndCompoundMark().getRoundingDistance(); //250 meters.
//System.out.println("epsilon dist meters: " + epsilonMeters);//TEMP REMOVE
//System.out.println("boat dist to next point NM: " + boat.calculateDistanceToNextMarker());//TEMP REMOVE
double epsilonNM = epsilonMeters / Constants.NMToMetersConversion;
if (boat.calculateDistanceToNextMarker() < epsilonNauticalMiles) {
//System.out.println("epsilon NM: " + epsilonNM);//TEMP REMOVE
if (boat.calculateDistanceToNextMarker() < epsilonNM) {
//Boat is within an acceptable distance from the mark.
GPSCoordinate startDirectionLinePoint = boat.getCurrentLeg().getStartCompoundMark().getMark1Position();
GPSCoordinate endDirectionLinePoint = boat.getCurrentLeg().getEndCompoundMark().getMark1Position();
GPSCoordinate startDirectionLinePoint = boat.getCurrentLeg().getStartCompoundMark().getAverageGPSCoordinate();
GPSCoordinate endDirectionLinePoint = boat.getCurrentLeg().getEndCompoundMark().getAverageGPSCoordinate();
Bearing bearingOfDirectionLine = GPSCoordinate.calculateBearing(startDirectionLinePoint, endDirectionLinePoint);
//use the direction line to create three invisible points that act as crossover lines a boat must cross
//to round a mark
double bearingToAdd;
//System.out.println("leg: " + boat.getCurrentLeg().getName() + " has bearing DL of: " + bearingOfDirectionLine.degrees());//TEMP REMOVE
if (boat.getCurrentLeg().getEndCompoundMark().getRoundingType() == RoundingType.Port ||
boat.getCurrentLeg().getEndCompoundMark().getRoundingType() == RoundingType.SP){
bearingToAdd = 90;
@ -626,25 +649,32 @@ public class MockRace extends RaceState {
bearingToAdd = -90;
}
GPSCoordinate roundCheck1 = GPSCoordinate.calculateNewPosition(endDirectionLinePoint,
epsilonNauticalMiles, Azimuth.fromDegrees(bearingOfDirectionLine.degrees() + bearingToAdd));
//System.out.println("so new bearing is " + (bearingToAdd + bearingOfDirectionLine.degrees()));//TEMP REMOVE
GPSCoordinate roundCheck1 = GPSCoordinate.calculateNewPosition(
endDirectionLinePoint,
epsilonMeters,
Azimuth.fromDegrees(bearingOfDirectionLine.degrees() + bearingToAdd) );
//System.out.println("this has a rounding coordinate of (" + roundCheck1.getLongitude() + ", " + roundCheck1.getLatitude() + ")");//TEMP REMOVE
GPSCoordinate roundCheck2;
try{
Leg nextLeg = getLegs().get(getLegs().indexOf(boat.getCurrentLeg()) + 1);
GPSCoordinate startNextDirectionLinePoint = nextLeg.getStartCompoundMark().getMark1Position();
GPSCoordinate endNextDirectionLinePoint = nextLeg.getEndCompoundMark().getMark1Position();
GPSCoordinate startNextDirectionLinePoint = nextLeg.getStartCompoundMark().getAverageGPSCoordinate();
GPSCoordinate endNextDirectionLinePoint = nextLeg.getEndCompoundMark().getAverageGPSCoordinate();
Bearing bearingOfNextDirectionLine = GPSCoordinate.calculateBearing(startNextDirectionLinePoint, endNextDirectionLinePoint);
roundCheck2 = GPSCoordinate.calculateNewPosition(endDirectionLinePoint,
epsilonNauticalMiles, Azimuth.fromDegrees(bearingOfNextDirectionLine.degrees() + bearingToAdd));
roundCheck2 = GPSCoordinate.calculateNewPosition(
endDirectionLinePoint,
epsilonMeters,
Azimuth.fromDegrees(bearingOfNextDirectionLine.degrees() + bearingToAdd) );
}catch(NullPointerException e){
//this is caused by the last leg not being having a leg after it
roundCheck2 = roundCheck1;
}
List<GPSCoordinate> roundingChecks = new ArrayList<GPSCoordinate>(Arrays.asList(roundCheck1, roundCheck2));
List<GPSCoordinate> roundingChecks = new ArrayList<>(Arrays.asList(roundCheck1, roundCheck2));
switch (boat.getCurrentLeg().getEndCompoundMark().getRoundingType()) {
case SP://Not yet implemented so these gates will be rounded port side
@ -657,6 +687,8 @@ public class MockRace extends RaceState {
break;
}
System.out.println("resultant boat rounding state: " + boat.getRoundingStatus());//TEMP REMOVE
//Check if the boat has finished or stopped racing.
if (this.isLastLeg(boat.getCurrentLeg())) {

4
racevisionGame/src/main/java/mock/model/SourceIdAllocator.java
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@ -36,10 +36,10 @@ public class SourceIdAllocator {
*/
public synchronized int allocateSourceID() throws SourceIDAllocationException {
if (!((mockRace.getRaceStatusEnum() == RaceStatusEnum.PRESTART)
/*if (!((mockRace.getRaceStatusEnum() == RaceStatusEnum.PRESTART)
|| (mockRace.getRaceStatusEnum() == RaceStatusEnum.WARNING))) {
throw new SourceIDAllocationException("Could not allocate a source ID. Can only allocate during pre-start period. It is currently: " + mockRace.getRaceStatusEnum());
}
}*///TEMP DISABLED FOR TESTING - RE-ENABLE THIS
List<Integer> allocatedIDs = mockRace.getRaceDataSource().getParticipants();
List<Integer> allIDs = new ArrayList<>(mockRace.getBoatDataSource().getBoats().keySet());

2
racevisionGame/src/main/java/shared/model/CompoundMark.java
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@ -187,7 +187,7 @@ public class CompoundMark extends XMLCompoundMark{
}
//finds the mark furthest west and east
if(this.getMark1Position().getLongitude() > this.getMark2Position().getLongitude()){
if(this.getMark1Position().getLongitude() < this.getMark2Position().getLongitude()){
westMostMark = this.mark1;
eastMostMark = this.mark2;
}else{

2
racevisionGame/src/main/java/shared/model/Constants.java
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@ -33,7 +33,7 @@ public class Constants {
* Frame periods are multiplied by this to get the amount of time a single frame represents.
* E.g., frame period = 20ms, scale = 5, frame represents 20 * 5 = 100ms, and so boats are simulated for 100ms, even though only 20ms actually occurred.
*/
public static final int RaceTimeScale = 2;//10;
public static final int RaceTimeScale = 10;//10;
/**
* The race pre-start time, in milliseconds. 3 minutes.

78
racevisionGame/src/main/java/shared/model/MarkRoundingSequence.java
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@ -0,0 +1,78 @@
package shared.model;
import org.jetbrains.annotations.Nullable;
import java.util.HashMap;
import java.util.List;
import java.util.Map;
import java.util.Optional;
/**
* This class contains a sequence of points that describe the mark rounding order for a course.
*/
public class MarkRoundingSequence {
/**
* Legs in the race.
*/
private List<Leg> legs;
/**
* For each leg, a sequence of rounding points.
*/
private Map<Leg, List<GPSCoordinate>> roundingPoints;
public MarkRoundingSequence(List<Leg> legs) {
this.legs = legs;
generateRoundingPoints();
}
/**
* Generates the rounding points for all legs in the race.
*/
private void generateRoundingPoints() {
this.roundingPoints = new HashMap<>(this.legs.size());
for (int i = 0; i < this.legs.size(); i++) {
Leg currentLeg = this.legs.get(i);
Optional<Leg> nextLeg = Optional.ofNullable(this.legs.get(i + 1));
generateRoundingPoint(currentLeg, nextLeg);
}
}
/**
* Generates the rounding points for a specific leg.
* @param currentLeg The leg to generate rounding points for.
* @param nextLeg The following leg, used to help generate rounding points.
*/
private void generateRoundingPoint(Leg currentLeg, Optional<Leg> nextLeg) {
//Rounding points:
//each mark/gate has a specific mark to round. Call this ROUNDINGMARK
// with a mark, it is the mark
// with a gate, it depends if it is a starboard or port gate.
// it is the mark that allows the boat to enter between both marks of the gate, whilst obeying the starboard/port requirement.
//let the bearing between start of leg and end of leg be called LEGBEARING
//the first rounding point is ROUNDINGDISTANCE units away from the ROUNDINGMARK, on an angle perpendicular to LEGBEARING.
// the angle means that the rounding mark is at the center of a gate, for gates.
//the second rounding point is the same as the first, except LEGBEARING is the bearing between end of current leg, and start of next leg.
}
}

101
racevisionGame/src/main/java/visualiser/model/ResizableRaceCanvas.java
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@ -325,18 +325,6 @@ public class ResizableRaceCanvas extends ResizableCanvas {
}
/*
//If the race hasn't started, we set the time since last mark to the current time, to ensure we don't start counting until the race actually starts.
if ((boat.getStatus() != BoatStatusEnum.RACING) && (boat.getStatus() == BoatStatusEnum.FINISHED)) {
boat.setTimeAtLastMark(visualiserRace.getVisualiserRaceState().getRaceClock().getCurrentTime());
}
*/
}
/**
@ -504,6 +492,87 @@ public class ResizableRaceCanvas extends ResizableCanvas {
}
private void drawRoundingLines() {
//ugly hack
//rounding lines
//Boat is within an acceptable distance from the mark.
VisualiserBoat boat = null;
for (VisualiserBoat visualiserBoat : new ArrayList<>(raceState.getBoats())) {
if (visualiserBoat.isClientBoat()) {
boat = visualiserBoat;
}
}
if (boat == null) {
return;
}
GPSCoordinate startDirectionLinePoint = boat.getCurrentLeg().getStartCompoundMark().getAverageGPSCoordinate();
GPSCoordinate endDirectionLinePoint = boat.getCurrentLeg().getEndCompoundMark().getAverageGPSCoordinate();
Bearing bearingOfDirectionLine = GPSCoordinate.calculateBearing(startDirectionLinePoint, endDirectionLinePoint);
//use the direction line to create three invisible points that act as crossover lines a boat must cross
//to round a mark
double bearingToAdd;
if (boat.getCurrentLeg().getEndCompoundMark().getRoundingType() == RoundingType.Port ||
boat.getCurrentLeg().getEndCompoundMark().getRoundingType() == RoundingType.SP) {
bearingToAdd = 90;
}else{
bearingToAdd = -90;
}
double epsilonMeters = boat.getCurrentLeg().getEndCompoundMark().getRoundingDistance();
GPSCoordinate endMarkPos = boat.getCurrentLeg().getEndCompoundMark().getMarkForRounding(bearingOfDirectionLine).getPosition();
GPSCoordinate roundCheck1 = GPSCoordinate.calculateNewPosition(
endMarkPos,
epsilonMeters,
Azimuth.fromDegrees(bearingOfDirectionLine.degrees() + bearingToAdd) );
GPSCoordinate roundCheck2;
try{
Leg nextLeg = raceState.getLegs().get(raceState.getLegs().indexOf(boat.getCurrentLeg()) + 1);
GPSCoordinate startNextDirectionLinePoint = nextLeg.getStartCompoundMark().getAverageGPSCoordinate();
GPSCoordinate endNextDirectionLinePoint = nextLeg.getEndCompoundMark().getAverageGPSCoordinate();
Bearing bearingOfNextDirectionLine = GPSCoordinate.calculateBearing(startNextDirectionLinePoint, endNextDirectionLinePoint);
roundCheck2 = GPSCoordinate.calculateNewPosition(
endDirectionLinePoint,
epsilonMeters,
Azimuth.fromDegrees(bearingOfNextDirectionLine.degrees() + bearingToAdd) );
} catch(NullPointerException e) {
//this is caused by the last leg not being having a leg after it
roundCheck2 = roundCheck1;
}
//To screen coords.
GraphCoordinate legEnd = map.convertGPS(endDirectionLinePoint);
GraphCoordinate round1 = map.convertGPS(roundCheck1);
GraphCoordinate round2 = map.convertGPS(roundCheck2);
gc.strokeLine(
legEnd.getX(),
legEnd.getY(),
round1.getX(),
round1.getY() );
gc.strokeLine(
legEnd.getX(),
legEnd.getY(),
round2.getX(),
round2.getY() );
}
/**
* Draws all of the {@link Mark}s on the canvas.
@ -513,6 +582,7 @@ public class ResizableRaceCanvas extends ResizableCanvas {
for (Mark mark : new ArrayList<>(raceState.getMarks())) {
drawMark(mark);
}
}
@ -621,6 +691,9 @@ public class ResizableRaceCanvas extends ResizableCanvas {
//Marks.
drawMarks();
//TEMP
drawRoundingLines();
}
/**
@ -655,7 +728,7 @@ public class ResizableRaceCanvas extends ResizableCanvas {
//finds the direction of the current leg as a bearing
startDirectionLinePoint = legStartPoint;
GPSCoordinate tempEndDirectionLinePoint = legs.get(index).getEndCompoundMark().getAverageGPSCoordinate();
GPSCoordinate tempEndDirectionLinePoint = legs.get(index).getEndCompoundMark().getMark1Position();
bearingOfDirectionLine = GPSCoordinate.calculateBearing(startDirectionLinePoint, tempEndDirectionLinePoint);
@ -826,4 +899,4 @@ public class ResizableRaceCanvas extends ResizableCanvas {
}
}

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