Fixed Annotations and bound windarrow

- Wind arrow for the bermuda race is bound between 215 and 235 degrees
- annotations will not correctly highlight what they are showing
#story[877] #story[882]

mock/src/main/java/seng302/DataInput/XMLReader.java

@@ -50,8 +50,8 @@ public abstract class XMLReader {
 
     /**
      * Alternate constructor
-     * @param xmlFile
-     * @param isWholeFile
+     * @param xmlFile File to be read
+     * @param isWholeFile boolean value whether entire file is being passed
      */
     public XMLReader(String xmlFile, Boolean isWholeFile) {
 
@@ -91,9 +91,9 @@ public abstract class XMLReader {
 
     /**
      * Get the contents of the XML FILe.
-     * @param document
-     * @return
-     * @throws TransformerException
+     * @param document holds all xml information
+     * @return String representation of document
+     * @throws TransformerException when document is malformed, and cannot be turned into a string
      */
     public static String getContents(Document document) throws TransformerException {
         DOMSource source = new DOMSource(document);

mock/src/main/java/seng302/MockOutput.java

@@ -108,10 +108,11 @@ public class MockOutput implements Runnable
      * @param lon longitude of boat
      * @param heading heading of boat
      * @param speed speed of boat
+     * @param time historical time of race
      */
-    public synchronized void parseBoatLocation(int sourceID, double lat, double lon, double heading, double speed){
+    public synchronized void parseBoatLocation(int sourceID, double lat, double lon, double heading, double speed, long time){
 
-        BoatLocation boatLocation = new BoatLocation(sourceID, lat, lon, boatLocationSequenceNumber, heading, speed);
+        BoatLocation boatLocation = new BoatLocation(sourceID, lat, lon, boatLocationSequenceNumber, heading, speed, time);
         //iterates the sequence number
         boatLocationSequenceNumber++;
 

mock/src/main/java/seng302/Model/Angle.java

@@ -54,9 +54,6 @@ public class Angle implements Comparable<Angle> {
         return this.degrees;
     }
 
-    public void setDegrees(double degrees) {
-        this.degrees = degrees;
-    }
 
     /**
      * Returns the value of this Angle object, in radians.

mock/src/main/java/seng302/Model/Boat.java

@@ -81,6 +81,8 @@ public class Boat {
     */
     private long timeSinceTackChange = 0;
 
+    private long estimatedTime = 0;
+
 
     /**
      * Constructs a boat object with a given sourceID, name, country/team abbreviation, and polars table.
@@ -442,4 +444,11 @@ public class Boat {
         return distanceTravelledMeters;
     }
 
+    public long getEstimatedTime() {
+        return estimatedTime;
+    }
+
+    public void setEstimatedTime(long estimatedTime) {
+        this.estimatedTime = estimatedTime;
+    }
 }

mock/src/main/java/seng302/Model/GPSCoordinate.java

@@ -1,10 +1,12 @@
 package seng302.Model;
 
+import javafx.util.Pair;
 import org.geotools.referencing.GeodeticCalculator;
 import org.opengis.geometry.DirectPosition;
 import seng302.Constants;
 
 import java.awt.geom.Point2D;
+import java.util.ArrayList;
 import java.util.Comparator;
 import java.util.List;
 
@@ -292,5 +294,226 @@ public class GPSCoordinate {
 
     }
 
+
+    /**
+     * Takes a list of GPS coordinates describing a course boundary, and "shrinks" it inwards by 50m.
+     * @param boundary The boundary of course.
+     * @return A copy of the course boundary list, shrunk inwards by 50m.
+     */
+    public static List<GPSCoordinate> getShrinkBoundary(List<GPSCoordinate> boundary) {
+
+
+        double shrinkDistance = 50d;
+        List<GPSCoordinate> shrunkBoundary = new ArrayList<>(boundary.size());
+        //This is a list of edges that have been shrunk/shifted inwards.
+        List<Pair<GPSCoordinate, GPSCoordinate>> shrunkEdges = new ArrayList<>();
+
+
+        //We need to invert some of our opertations depending if the boundary is clockwise or anti-clockwise.
+        boolean isClockwise = GPSCoordinate.isClockwisePolygon(boundary);
+        double clockwiseScaleFactor = 0;
+
+        if (isClockwise) {
+            clockwiseScaleFactor = 1;
+        } else {
+            clockwiseScaleFactor = -1;
+        }
+
+
+        /**
+         * Starting at a vertex, face anti-clockwise along an adjacent edge.
+         Replace the edge with a new, parallel edge placed at distance d to the "left" of the old one.
+         Repeat for all edges.
+         Find the intersections of the new edges to get the new vertices.
+         Detect if you've become a crossed polynomial and decide what to do about it. Probably add a new vertex at the crossing-point and get rid of some old ones. I'm not sure whether there's a better way to detect this than just to compare every pair of non-adjacent edges to see if their intersection lies between both pairs of vertices.
+         */
+
+        //For the first (size-1) adjacent pairs.
+        for (int i = 0; i < (boundary.size() - 1); i++) {
+
+            //Get the points.
+            GPSCoordinate firstPoint = boundary.get(i);
+            GPSCoordinate secondPoint = boundary.get(i + 1);
+
+            //Get the bearing between two adjacent points.
+            Bearing bearing = GPSCoordinate.calculateBearing(firstPoint, secondPoint);
+
+            //Calculate angle perpendicular to bearing.
+            Bearing perpindicularBearing = Bearing.fromDegrees(bearing.degrees() + (90d * clockwiseScaleFactor));
+
+            //Translate both first and second point by 50m, using this bearing. These form our inwards shifted edge.
+            GPSCoordinate firstPointTranslated = GPSCoordinate.calculateNewPosition(firstPoint, shrinkDistance, Azimuth.fromBearing(perpindicularBearing));
+            GPSCoordinate secondPointTranslated = GPSCoordinate.calculateNewPosition(secondPoint, shrinkDistance, Azimuth.fromBearing(perpindicularBearing));
+
+            //Add edge to list.
+            shrunkEdges.add(new Pair<>(firstPointTranslated, secondPointTranslated));
+
+        }
+
+        //For the final adjacent pair, between the last and first point.
+        //Get the points.
+        GPSCoordinate firstPoint = boundary.get(boundary.size() - 1);
+        GPSCoordinate secondPoint = boundary.get(0);
+
+        //Get the bearing between two adjacent points.
+        Bearing bearing = GPSCoordinate.calculateBearing(firstPoint, secondPoint);
+
+        //Calculate angle perpendicular to bearing.
+        Bearing perpindicularBearing = Bearing.fromDegrees(bearing.degrees() + (90d * clockwiseScaleFactor));
+
+        //Translate both first and second point by 50m, using this bearing. These form our inwards shifted edge.
+        GPSCoordinate firstPointTranslated = GPSCoordinate.calculateNewPosition(firstPoint, shrinkDistance, Azimuth.fromBearing(perpindicularBearing));
+        GPSCoordinate secondPointTranslated = GPSCoordinate.calculateNewPosition(secondPoint, shrinkDistance, Azimuth.fromBearing(perpindicularBearing));
+
+        //Add edge to list.
+        shrunkEdges.add(new Pair<>(firstPointTranslated, secondPointTranslated));
+
+
+        //We now have a list of edges that have been shifted inwards.
+        //We need to find the intersections between adjacent vertices in our edge list. E.g., intersection between edge1-right, and edge2-left.
+
+        //For the first (size-1) adjacent pairs.
+        for (int i = 0; i < (shrunkEdges.size() - 1); i++) {
+
+            //Get the pair of adjacent edges.
+            Pair<GPSCoordinate, GPSCoordinate> edge1 = shrunkEdges.get(i);
+            Pair<GPSCoordinate, GPSCoordinate> edge2 = shrunkEdges.get(i + 1);
+
+            //Get the x and y coordinates of first edge.
+            double x1 = edge1.getKey().getLongitude();
+            double x2 = edge1.getValue().getLongitude();
+            double y1 = edge1.getKey().getLatitude();
+            double y2 = edge1.getValue().getLatitude();
+
+            //Get the x and y coordinates of second edge.
+            double x3 = edge2.getKey().getLongitude();
+            double x4 = edge2.getValue().getLongitude();
+            double y3 = edge2.getKey().getLatitude();
+            double y4 = edge2.getValue().getLatitude();
+
+            //Find the equations for both edges.
+            // y = a*x + b
+            //First equation.
+            double a1 = (y2 - y1) / (x2 - x1);
+            double b1 = y1 - a1 * x1;
+
+            //Second equation.
+            double a2 = (y4 - y3) / (x4 - x3);
+            double b2 = y3 - a2 * x3;
+
+
+            //Find intersecting x coordinate.
+            // a1 * x + b1 = a2 * x + b2
+            double x0 = -(b1 - b2) / (a1 - a2);
+            //Find intersecting y coordinate.
+            double y0 = x0 * a1 + b1;
+
+            //Add this to shrunk boundary list.
+            GPSCoordinate coordinate = new GPSCoordinate(y0, x0);
+            shrunkBoundary.add(coordinate);
+
+        }
+
+
+        //For the final adjacent pair, between the last and first point.
+        //Get the pair of adjacent edges.
+        Pair<GPSCoordinate, GPSCoordinate> edge1 = shrunkEdges.get(shrunkEdges.size() - 1);
+        Pair<GPSCoordinate, GPSCoordinate> edge2 = shrunkEdges.get(0);
+
+        //Get the x and y coordinates of first edge.
+        double x1 = edge1.getKey().getLongitude();
+        double x2 = edge1.getValue().getLongitude();
+        double y1 = edge1.getKey().getLatitude();
+        double y2 = edge1.getValue().getLatitude();
+
+        //Get the x and y coordinates of second edge.
+        double x3 = edge2.getKey().getLongitude();
+        double x4 = edge2.getValue().getLongitude();
+        double y3 = edge2.getKey().getLatitude();
+        double y4 = edge2.getValue().getLatitude();
+
+        //Find the equations for both edges.
+        // y = a*x + b
+        //First equation.
+        double a1 = (y2 - y1) / (x2 - x1);
+        double b1 = y1 - a1 * x1;
+
+        //Second equation.
+        double a2 = (y4 - y3) / (x4 - x3);
+        double b2 = y3 - a2 * x3;
+
+
+        //Find intersecting x coordinate.
+        // a1 * x + b1 = a2 * x + b2
+        double x0 = -(b1 - b2) / (a1 - a2);
+        //Find intersecting y coordinate.
+        double y0 = x0 * a1 + b1;
+
+        //Add this to shrunk boundary list.
+        GPSCoordinate coordinate = new GPSCoordinate(y0, x0);
+        shrunkBoundary.add(coordinate);
+
+
+
+        return shrunkBoundary;
+
+    }
+
+
+    /**
+     * Determines if a list of coordinates describes a boundary polygon in clockwise or anti-clockwise order.
+     * @param boundary The list of coodinates.
+     * @return True if clockwise, false if anti-clockwise.
+     */
+    public static boolean isClockwisePolygon(List<GPSCoordinate> boundary) {
+
+        /** From https://stackoverflow.com/questions/1165647/how-to-determine-if-a-list-of-polygon-points-are-in-clockwise-order
+         * sum all pairs (x2 − x1)(y2 + y1)
+         point[0] = (5,0)   edge[0]: (6-5)(4+0) =   4
+         point[1] = (6,4)   edge[1]: (4-6)(5+4) = -18
+         point[2] = (4,5)   edge[2]: (1-4)(5+5) = -30
+         point[3] = (1,5)   edge[3]: (1-1)(0+5) =   0
+         point[4] = (1,0)   edge[4]: (5-1)(0+0) =   0
+         ---
+         -44  counter-clockwise
+         */
+
+        double sum = 0;
+
+        //For the first (size-1) adjacent pairs.
+        for (int i = 0; i < (boundary.size() - 1); i++) {
+
+            //Get the points.
+            GPSCoordinate firstPoint = boundary.get(i);
+            GPSCoordinate secondPoint = boundary.get(i + 1);
+
+            double xDelta = secondPoint.getLongitude() - firstPoint.getLongitude();
+            double ySum = secondPoint.getLatitude() + firstPoint.getLatitude();
+
+            double product = xDelta * ySum;
+
+            sum += product;
+
+        }
+
+        //For the final adjacent pair, between the last and first point.
+        //Get the points.
+        GPSCoordinate firstPoint = boundary.get(boundary.size() - 1);
+        GPSCoordinate secondPoint = boundary.get(0);
+
+        double xDelta = secondPoint.getLongitude() - firstPoint.getLongitude();
+        double ySum = secondPoint.getLatitude() + firstPoint.getLatitude();
+
+        double product = xDelta * ySum;
+
+        sum += product;
+
+
+        //sum > 0 is clockwise, sum < 0 is anticlockwise.
+        return sum > 0;
+
+
+    }
+
 }
 

mock/src/main/java/seng302/Model/Polars.java

@@ -118,10 +118,7 @@ public class Polars {
 
 
         //If the lower bound is greater than the upper bound, we have a "flipped" interval. That is for, e.g., [70, 55] the lower bound is greater than the upper bound, and so it checks that (VMGAngle >= 70 OR VMGAngle =< 55), instead of (VMGAngle >= 70 AND VMGAngle =< 55).
-        boolean flippedInterval = false;
-        if (bearingLowerBound.degrees() > bearingUpperBound.degrees()) {
-            flippedInterval = true;
-        }
+        boolean flippedInterval = Polars.isFlippedInterval(bearingLowerBound, bearingUpperBound);
 
 
 
@@ -179,7 +176,7 @@ public class Polars {
             Bearing bestVMGAngle = Bearing.fromDegrees(0d);
 
             //Calculate the VMG for all possible angles at this wind speed.
-            for (double angleDegree = 0; angleDegree < 360; angleDegree += 0.1) {
+            for (double angleDegree = 0; angleDegree < 360; angleDegree += 1) {
                 Bearing angle = Bearing.fromDegrees(angleDegree);
 
                 //This is the true bearing of the boat, if it went at the angle against the wind.
@@ -191,22 +188,11 @@ public class Polars {
 
                 //Check that the boat's bearing would actually be acceptable.
                 //We continue (skip to next iteration) if it is outside of the interval.
-                if (flippedInterval) {
-                    //Bearing must be inside [lower, upper], where lower > upper. So, bearing must be >= lower, or bearing < upper. We use inverted logic since we are skipping if it is true.
-                    if ((trueBoatBearing.degrees() < bearingLowerBound.degrees()) & (trueBoatBearing.degrees() > bearingUpperBound.degrees())) {
-                        continue;
-                    }
-
-                } else {
-                    //Bearing must be inside [lower, upper].
-                    if ((trueBoatBearing.degrees() < bearingLowerBound.degrees()) || (trueBoatBearing.degrees() > bearingUpperBound.degrees())) {
-                        continue;
-                    }
-
+                if (!Polars.isBearingInsideInterval(trueBoatBearing, bearingLowerBound, bearingUpperBound)) {
+                    continue;
                 }
 
 
-
                 //Basic linear interpolation. Find the nearest two angles from the table, and interpolate between them.
 
                 //Check which pair of adjacent angles the angle is between.
@@ -313,6 +299,58 @@ public class Polars {
     }
 
 
+    /**
+     * Determines whether an interval is "flipped". This means that the lower bound is greater than the upper bound (e.g., [290, 43] degrees).
+     * @param lowerBound The lower bound.
+     * @param upperBound The upper bound.
+     * @return True if the interval is flipped, false otherwise.
+     */
+    public static boolean isFlippedInterval(Bearing lowerBound, Bearing upperBound) {
+
+        //If the lower bound is greater than the upper bound, we have a "flipped" interval.
+        boolean flippedInterval = false;
+        if (lowerBound.degrees() > upperBound.degrees()) {
+            flippedInterval = true;
+        }
+
+        return flippedInterval;
+    }
+
+
+    /**
+     * Determines if a bearing is inside an interval.
+     * @param bearing The bearing to check.
+     * @param lowerBound The lower bound of the interval.
+     * @param upperBound The upper bound of the interval.
+     * @return True if the bearing is inside the interval, false otherwise.
+     */
+    public static boolean isBearingInsideInterval(Bearing bearing, Bearing lowerBound, Bearing upperBound) {
+
+        //Check if it's a flipped interval.
+        boolean flippedInterval = Polars.isFlippedInterval(lowerBound, upperBound);
+
+        if (flippedInterval) {
+            //Bearing must be inside [lower, upper], where lower > upper. So, bearing must be >= lower, or bearing < upper. We use inverted logic since we are skipping if it is true.
+            if ((bearing.degrees() >= lowerBound.degrees()) || (bearing.degrees() <= upperBound.degrees())) {
+                return true;
+            } else {
+                return false;
+            }
+
+        } else {
+            //Bearing must be inside [lower, upper].
+            if ((bearing.degrees() >= lowerBound.degrees()) && (bearing.degrees() <= upperBound.degrees())) {
+                return true;
+            } else {
+                return false;
+            }
+
+        }
+
+
+    }
+
+
     /**
      * Calculate the linear interpolation scalar for a value between two bounds. E.g., lower = 7, upper = 10, value = 8, therefore the scalar (or the proportion between the bounds) is 0.333.
      * Also assumes that the bounds are periodic - e.g., for angles a lower bound of 350deg and upper bound of 5deg is in interval of 15 degrees.

mock/src/main/java/seng302/Model/Race.java

@@ -19,6 +19,8 @@ import java.util.Iterator;
 import java.util.List;
 import java.util.Random;
 
+import static java.lang.Math.cos;
+
 
 /**
  * Represents a yacht race.
@@ -47,6 +49,11 @@ public class Race implements Runnable {
      */
     private List<GPSCoordinate> boundary;
 
+    /**
+     * A copy of the boundary list, except "shrunk" inwards by 50m.
+     */
+    private List<GPSCoordinate> shrinkBoundary;
+
     /**
      * The elapsed time, in milliseconds, of the race.
      */
@@ -62,7 +69,7 @@ public class Race implements Runnable {
      * 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.
      */
-    private int scaleFactor = 5;
+    private int scaleFactor = 15;
 
     /**
      * The race ID of the course.
@@ -123,13 +130,16 @@ public class Race implements Runnable {
         this.boats = FXCollections.observableArrayList(raceData.getBoats());
         this.compoundMarks = FXCollections.observableArrayList(raceData.getCompoundMarks());
         this.boundary = raceData.getBoundary();
+        this.shrinkBoundary = GPSCoordinate.getShrinkBoundary(this.boundary);
+
+
         this.legs = raceData.getLegs();
         this.legs.add(new Leg("Finish", this.legs.size()));
 
         this.raceId = raceData.getRaceId();
 
         //The start time is current time + 4 minutes, scaled. prestart is 3 minutes, and we add another.
-        this.startTime = System.currentTimeMillis() + ((Constants.RacePreStartTime + (1 * 1000)) / this.scaleFactor);
+        this.startTime = System.currentTimeMillis() + ((Constants.RacePreStartTime + (1 * 60 * 1000)) / this.scaleFactor);
 
         this.setRaceStatusEnum(RaceStatusEnum.NOT_ACTIVE);
         this.raceType = RaceTypeEnum.FLEET_RACE;
@@ -177,7 +187,7 @@ public class Race implements Runnable {
      */
     private void parseIndividualMark(Mark mark) {
 
-        this.mockOutput.parseBoatLocation(mark.getSourceID(), mark.getPosition().getLatitude(), mark.getPosition().getLongitude(),0,0);
+        this.mockOutput.parseBoatLocation(mark.getSourceID(), mark.getPosition().getLatitude(), mark.getPosition().getLongitude(),0,0, totalTimeElapsed+startTime);
 
     }
 
@@ -206,7 +216,8 @@ public class Race implements Runnable {
                 boat.getCurrentPosition().getLatitude(),
                 boat.getCurrentPosition().getLongitude(),
                 boat.getBearing().degrees(),
-                boat.getCurrentSpeed()
+                boat.getCurrentSpeed(),
+                startTime + totalTimeElapsed
         );
 
     }
@@ -257,7 +268,7 @@ public class Race implements Runnable {
         //Add each boat status to the status list.
         for (Boat boat : boats) {
 
-            BoatStatus boatStatus = new BoatStatus(boat.getSourceID(), boat.getStatus(), boat.getCurrentLeg().getLegNumber());
+            BoatStatus boatStatus = new BoatStatus(boat.getSourceID(), boat.getStatus(), boat.getCurrentLeg().getLegNumber(), boat.getEstimatedTime());
 
             boatStatuses.add(boatStatus);
         }
@@ -380,21 +391,23 @@ public class Race implements Runnable {
                 this.stop();
             }
 
-            // Change wind direction
-            changeWindDir();
+            if (getNumberOfActiveBoats() != 0) {
+                // Change wind direction
+                changeWindDir();
 
-            //Parse the boat locations.
-            parseBoatLocations();
+                //Parse the boat locations.
+                parseBoatLocations();
 
-            //Parse the marks.
-            parseMarks();
+                //Parse the marks.
+                parseMarks();
 
-            //Parse the race status.
-            parseRaceStatus();
+                //Parse the race status.
+                parseRaceStatus();
 
 
-            //Update the last frame time.
-            this.lastFrameTime = currentTime;
+                //Update the last frame time.
+                this.lastFrameTime = currentTime;
+            }
         }
     };
 
@@ -405,7 +418,7 @@ public class Race implements Runnable {
         int iters = 0;
         @Override
         public void handle(long now) {
-            RaceStatus raceStatus = new RaceStatus(System.currentTimeMillis(), raceId, 4, startTime, 0, 2300, 2, null);
+            RaceStatus raceStatus = new RaceStatus(System.currentTimeMillis(), raceId, 4, startTime, 0, 2300, 2, new ArrayList<>());
             mockOutput.parseRaceStatus(raceStatus);
             if (iters > 500){
                 mockOutput.stop();
@@ -514,67 +527,64 @@ public class Race implements Runnable {
      */
     private VMG calculateVMG(Boat boat, Bearing[] bearingBounds) {
 
-        //How fast a boat can turn, in degrees per millisecond.
-        double turnRate = 0.03;
-
-        //How much the boat is allowed to turn, considering how long since it last turned.
-        double turnAngle = turnRate * boat.getTimeSinceTackChange();
-        //This ensures that the boat bounds don't flip around.
-        turnAngle = Math.min(turnAngle, 179.999);
-
-        //Find the bounds on what angle the boat is allowed to travel at. The bounds cap out at [0, 360).
-        double bound1Degrees = boat.getBearing().degrees() - turnAngle;
-        double bound2Degrees = boat.getBearing().degrees() + turnAngle;
-
-        Bearing bound1 = Bearing.fromDegrees(bound1Degrees);
-        Bearing bound2 = Bearing.fromDegrees(bound2Degrees);
-
-
         //Get the lower and upper acceptable bounds.
         Bearing lowerAcceptableBound = bearingBounds[0];
         Bearing upperAcceptableBound = bearingBounds[1];
 
 
-        //Find the bounds on what angle the boat can travel on, taking into account both turning rate and the acceptable bounds.
-        bound1Degrees = Math.max(bound1.degrees(), lowerAcceptableBound.degrees());
-        bound2Degrees = Math.min(bound2.degrees(), upperAcceptableBound.degrees());
+        //Find the VMG inside these bounds.
+        VMG bestVMG = boat.getPolars().calculateVMG(this.windDirection, this.windSpeed, boat.calculateBearingToNextMarker(), lowerAcceptableBound, upperAcceptableBound);
 
-        bound1 = Bearing.fromDegrees(bound1Degrees);
-        bound2 = Bearing.fromDegrees(bound2Degrees);
 
 
-        //Calculate VMG using these bounds.
-        return boat.getPolars().calculateVMG(this.windDirection, this.windSpeed, boat.calculateBearingToNextMarker(), bound1, bound2);
+        return bestVMG;
 
     }
 
 
     /**
-     * Determines whether or not a given VMG improves the velocity of a boat.
-     * @param boat The boat to test.
-     * @param vmg The new VMG to test.
+     * Determines whether or not a given VMG improves the velocity of a boat, if it were currently using currentVMG.
+     * @param currentVMG The current VMG of the boat.
+     * @param potentialVMG The new VMG to test.
+     * @param bearingToDestination The bearing between the boat and its destination.
      * @return True if the new VMG is improves velocity, false otherwise.
      */
-    private boolean improvesVelocity(Boat boat, VMG vmg) {
+    private boolean improvesVelocity(VMG currentVMG, VMG potentialVMG, Bearing bearingToDestination) {
 
         //Calculates the angle between the boat and its destination.
-        Angle angleBetweenDestAndHeading = Angle.fromDegrees(boat.getBearing().degrees() - boat.calculateBearingToNextMarker().degrees());
+        Angle angleBetweenDestAndHeading = Angle.fromDegrees(currentVMG.getBearing().degrees() - bearingToDestination.degrees());
 
         //Calculates the angle between the new VMG and the boat's destination.
-        Angle angleBetweenDestAndNewVMG = Angle.fromDegrees(vmg.getBearing().degrees() - boat.calculateBearingToNextMarker().degrees());
+        Angle angleBetweenDestAndNewVMG = Angle.fromDegrees(potentialVMG.getBearing().degrees() - bearingToDestination.degrees());
 
 
         //Calculate the boat's current velocity.
-        double currentVelocity = Math.cos(angleBetweenDestAndHeading.radians()) * boat.getCurrentSpeed();
+        double currentVelocity = Math.cos(angleBetweenDestAndHeading.radians()) * currentVMG.getSpeed();
 
         //Calculate the potential velocity with the new VMG.
-        double vmgVelocity =  Math.cos(angleBetweenDestAndNewVMG.radians()) * vmg.getSpeed();
+        double vmgVelocity =  Math.cos(angleBetweenDestAndNewVMG.radians()) * potentialVMG.getSpeed();
 
         //Return whether or not the new VMG gives better velocity.
         return vmgVelocity > currentVelocity;
 
     }
 
+    /**
+     * Determines whether or not a given VMG improves the velocity of a boat.
+     * @param boat The boat to test.
+     * @param vmg The new VMG to test.
+     * @return True if the new VMG is improves velocity, false otherwise.
+     */
+    private boolean improvesVelocity(Boat boat, VMG vmg) {
+
+        //Get the boats "current" VMG.
+        VMG boatVMG = new VMG(boat.getCurrentSpeed(), boat.getBearing());
+
+        //Check if the new VMG is better than the boat's current VMG.
+        return this.improvesVelocity(boatVMG, vmg, boat.calculateBearingToNextMarker());
+
+    }
+
 
     /**
      * Calculates the distance a boat has travelled and updates its current position according to this value.
@@ -602,30 +612,33 @@ public class Race implements Runnable {
             boat.moveForwards(distanceTravelledMeters, updatePeriodMilliseconds * this.scaleFactor);
 
 
-            //Calculate the boat's bearing bounds, to ensure that it doesn't go out of the course.
-            Bearing[] bearingBounds = this.calculateBearingBounds(boat);
+            //Only get a new VMG if the boat will go outside the course, or X seconds have elapsed.
+            boolean willStayInsideCourse = this.checkBearingInsideCourse(boat.getBearing(), boat.getCurrentPosition());
+            long tackPeriod = 15000;
+            if (!willStayInsideCourse || (boat.getTimeSinceTackChange() > tackPeriod)) {
 
-            //Calculate the new VMG.
-            VMG newVMG = this.calculateVMG(boat, bearingBounds);
+                //Calculate the boat's bearing bounds, to ensure that it doesn't go out of the course.
+                Bearing[] bearingBounds = this.calculateBearingBounds(boat);
 
 
+                //Calculate the new VMG.
+                VMG newVMG = this.calculateVMG(boat, bearingBounds);
 
 
-            Azimuth azimuth = Azimuth.fromBearing(boat.getBearing());
-            GPSCoordinate testBounds = GPSCoordinate.calculateNewPosition(boat.getCurrentPosition(),
-                    (100.0 / Constants.NMToMetersConversion), azimuth);
-            //If the new vmg improves velocity, use it.
-            if (improvesVelocity(boat, newVMG)) {
-                boat.setVMG(newVMG);
-            }else if (!GPSCoordinate.isInsideBoundary(testBounds, boundary)){
-                //checks to see if the new vmg sends the boat out of bounds and if so mirrors its direction in the wind
-                double currDegrees = newVMG.getBearing().degrees();
-                double windDirectionDegrees = this.windDirection.degrees();
-                double tempHeading = (currDegrees - windDirectionDegrees +90)%360;
-                newVMG.getBearing().setDegrees(tempHeading);
-                boat.setVMG(newVMG);
+                //If the new vmg improves velocity, use it.
+                if (improvesVelocity(boat, newVMG)) {
+                    boat.setVMG(newVMG);
+
+                } else {
+                    //We also need to use the new VMG if our current bearing will take us out of the course.
+                    if (!willStayInsideCourse) {
+                        boat.setVMG(newVMG);
+                    }
+                }
             }
 
+            this.updateEstimatedTime(boat);
+
 
             //Check the boats position (update leg and stuff).
             this.checkPosition(boat, totalTimeElapsed);
@@ -643,12 +656,13 @@ public class Race implements Runnable {
 
         Bearing[] bearings = new Bearing[2];
 
-        Bearing lowerBearing = Bearing.fromDegrees(0);
+        Bearing lowerBearing = Bearing.fromDegrees(0.001);
         Bearing upperBearing = Bearing.fromDegrees(359.999);
 
 
-        boolean foundAnyBadBearing = false;
-        boolean foundLowerBearing = false;
+
+        double lastAngle = -1;
+        boolean lastAngleWasGood = false;
 
         //Check all bearings between [0, 360).
         for (double angle = 0; angle < 360; angle += 1) {
@@ -659,29 +673,29 @@ public class Race implements Runnable {
             //Check that if it is acceptable.
             boolean bearingIsGood = this.checkBearingInsideCourse(bearing, boat.getCurrentPosition());
 
-            if (bearingIsGood) {
 
-                //The lower bearing will be the first acceptable bearing after finding any unacceptable bearing.
-                if (foundAnyBadBearing && !foundLowerBearing) {
-                    lowerBearing = bearing;
-                    foundLowerBearing = true;
-                }
+            if (lastAngle != -1) {
 
-                //The upper bearing will be the last acceptable bearing before finding any unacceptable bearing.
-                if (!foundAnyBadBearing) {
-                    upperBearing = bearing;
+                if (lastAngleWasGood && !bearingIsGood) {
+                    //We have flipped over from good bearings to bad bearings. So the last good bearing is the upper bearing.
+                    upperBearing = Bearing.fromDegrees(lastAngle);
                 }
 
-
-            } else {
-
-                foundAnyBadBearing = true;
+                if (!lastAngleWasGood && bearingIsGood) {
+                    //We have flipped over from bad bearings to good bearings. So the current bearing is the lower bearing.
+                    lowerBearing = Bearing.fromDegrees(angle);
+                }
 
             }
 
+            lastAngle = angle;
+            lastAngleWasGood = bearingIsGood;
+
         }
 
 
+
+        //TODO BUG if it can't find either upper or lower, it returns (0, 359.999). Should return (boatbearing, boatbearing+0.0001)
         bearings[0] = lowerBearing;
         bearings[1] = upperBearing;
 
@@ -694,6 +708,7 @@ public class Race implements Runnable {
      * Checks if a given bearing, starting at a given position, would put a boat out of the course boundaries.
      * @param bearing The bearing to check.
      * @param position The position to start from.
+     * @return True if the bearing would keep the boat in the course, false if it would take it out of the course.
      */
     private boolean checkBearingInsideCourse(Bearing bearing, GPSCoordinate position) {
 
@@ -702,11 +717,11 @@ public class Race implements Runnable {
 
 
         //Tests to see if a point in front of the boat is out of bounds.
-        double epsilonMeters = 100d;
+        double epsilonMeters = 50d;
         GPSCoordinate testCoord = GPSCoordinate.calculateNewPosition(position, epsilonMeters, azimuth);
 
         //If it isn't inside the boundary, calculate new bearing.
-        if (GPSCoordinate.isInsideBoundary(testCoord, this.boundary)) {
+        if (GPSCoordinate.isInsideBoundary(testCoord, this.shrinkBoundary)) {
             return true;
         } else {
             return false;
@@ -752,7 +767,6 @@ public class Race implements Runnable {
                 boat.setTimeFinished(timeElapsed);
                 boat.setCurrentSpeed(0);
                 boat.setStatus(BoatStatusEnum.FINISHED);
-
             } else if (doNotFinish()) {
                 //Boat has pulled out of race.
                 boat.setTimeFinished(timeElapsed);
@@ -889,8 +903,6 @@ public class Race implements Runnable {
         }
 
         windDir = AC35UnitConverter.convertHeading(windDirDegrees);
-
-        System.out.println(windDirDegrees + " + " + windDir);
         this.windDirection = new Bearing(windDirDegrees);
     }
 
@@ -903,4 +915,16 @@ public class Race implements Runnable {
     protected int getWind(){
         return (int)windDir;
     }
-}
+
+    /**
+     * Updates the boat's estimated time to next mark if positive
+     * @param boat to estimate time given its velocity
+     */
+    private void updateEstimatedTime(Boat boat) {
+        double velocityToMark = boat.getCurrentSpeed() * cos(boat.getBearing().radians() - boat.calculateBearingToNextMarker().radians()) / Constants.KnotsToMMPerSecond;
+        if (velocityToMark > 0) {
+            long timeFromNow = (long)(1000*boat.calculateDistanceToNextMarker()/velocityToMark);
+            boat.setEstimatedTime(startTime + totalTimeElapsed + timeFromNow);
+        }
+    }
+}

mock/src/test/java/seng302/Model/RaceTest.java

@@ -57,7 +57,7 @@ public class RaceTest{
             Race testRace = new Race(raceDataSource, mockOutput);
             testRace.initialiseBoats();
             testRace.countdownTimer.handle(1);
-            verify(mockOutput, atLeast(boatDataSource.getBoats().size())).parseBoatLocation(anyInt(), anyDouble(), anyDouble(), anyDouble(), anyDouble());
+            verify(mockOutput, atLeast(boatDataSource.getBoats().size())).parseBoatLocation(anyInt(), anyDouble(), anyDouble(), anyDouble(), anyDouble(), anyLong());
 
         } catch (ParserConfigurationException | IOException | SAXException | ParseException | StreamedCourseXMLException e) {
             e.printStackTrace();

network/src/main/java/seng302/Networking/Messages/BoatLocation.java

@@ -152,11 +152,11 @@ public class BoatLocation extends AC35Data {
         this.rudderAngle = rudderAngle;
     }
 
-    public BoatLocation(int sourceID, double lat, double lon, long sequenceNumber, double heading, double boatSpeed) {
+    public BoatLocation(int sourceID, double lat, double lon, long sequenceNumber, double heading, double boatSpeed, long time) {
         super(MessageType.BOATLOCATION);
 
         this.messageVersionNumber = (byte) 1;
-        this.time = System.currentTimeMillis();
+        this.time = time;
         this.sourceID = sourceID;
         this.sequenceNumber = sequenceNumber;
         this.deviceType = 1;
@@ -227,7 +227,7 @@ public class BoatLocation extends AC35Data {
      */
     public static int convertHeadingDoubleToInt(double heading) {
 
-        int headingInt = (int) ((heading / 360.0) * 65536.0);
+        int headingInt = (int) ((heading * 65536.0) / 360.0);
 
         return headingInt;
     }

network/src/main/java/seng302/Networking/Messages/BoatStatus.java

@@ -27,14 +27,14 @@ public class BoatStatus {
     }
 
 
-    public BoatStatus(int sourceID, BoatStatusEnum boatStatusEnum, int legNum) {
+    public BoatStatus(int sourceID, BoatStatusEnum boatStatusEnum, int legNum, long estTimeAtNextMark) {
         this.sourceID = sourceID;
         this.boatStatus = boatStatusEnum.getValue();
         this.legNumber = ByteConverter.intToBytes(legNum)[0];
         this.numPenaltiesAwarded = 0;
         this.numPenaltiesServed = 0;
         this.estTimeAtFinish = 0;
-        this.estTimeAtNextMark = 0;
+        this.estTimeAtNextMark = estTimeAtNextMark;
     }
 
 

visualiser/src/main/java/seng302/Controllers/RaceController.java

@@ -39,6 +39,7 @@ public class RaceController extends Controller {
     private static String speedCheckAnno = "speed";
     private static String pathCheckAnno = "path";
     private static String timeCheckAnno = "time";
+    private static String estTimeCheckAnno = "est time";
 
     private static int noBtn = 0;
     private static int hideBtn = 1;
@@ -67,6 +68,7 @@ public class RaceController extends Controller {
     @FXML CheckBox showAbbrev;
     @FXML CheckBox showSpeed;
     @FXML CheckBox showTime;
+    @FXML CheckBox showEstTime;
     @FXML Label timer;
     @FXML Label FPS;
     @FXML Label timeZone;
@@ -356,7 +358,6 @@ public class RaceController extends Controller {
         if (buttonChecked != hideBtn) {
             //if we are checking the box straight out of hide instead of using the radio buttons
             annoShownBeforeHide.put(dictionaryAnnotationKey, selected);
-            System.out.println();
             if (prevBtnChecked == hideBtn && buttonChecked == noBtn){
                 storeCurrentAnnotationDictionary();
             }
@@ -373,6 +374,7 @@ public class RaceController extends Controller {
         annoShownBeforeHide.put(pathCheckAnno, showBoatPath.isSelected());
         annoShownBeforeHide.put(speedCheckAnno, showSpeed.isSelected());
         annoShownBeforeHide.put(timeCheckAnno, showTime.isSelected());
+        annoShownBeforeHide.put(estTimeCheckAnno, showEstTime.isSelected());
     }
 
     /**
@@ -386,7 +388,8 @@ public class RaceController extends Controller {
         importantAnno.put(abbrevCheckAnno, false);
         importantAnno.put(pathCheckAnno, false);
         importantAnno.put(speedCheckAnno, false);
-        importantAnno.put(timeCheckAnno, true);
+        importantAnno.put(timeCheckAnno, false);
+        importantAnno.put(estTimeCheckAnno, false);
 
         annoShownBeforeHide = new HashMap<>();
         annoShownBeforeHide.put(nameCheckAnno, true);
@@ -394,6 +397,7 @@ public class RaceController extends Controller {
         annoShownBeforeHide.put(pathCheckAnno, true);
         annoShownBeforeHide.put(speedCheckAnno, true);
         annoShownBeforeHide.put(timeCheckAnno, true);
+        annoShownBeforeHide.put(estTimeCheckAnno, true);
         //listener for show name in annotation
         showName.selectedProperty().addListener((ov, old_val, new_val) -> {
             if (old_val != new_val) {
@@ -439,6 +443,14 @@ public class RaceController extends Controller {
                 raceMap.update();
             }
         });
+        showEstTime.selectedProperty().addListener((ov, old_val, new_val) -> {
+            if (old_val != new_val) {
+                raceMap.toggleAnnoEstTime();
+                radioBtnChecked = false;
+                storeCurrentAnnotationState(estTimeCheckAnno, new_val);
+                raceMap.update();
+            }
+        });
         //listener to save currently selected annotation
         saveAnno.setOnAction(event -> {
             presetAnno.clear();
@@ -447,9 +459,10 @@ public class RaceController extends Controller {
             presetAnno.add(showSpeed.isSelected());
             presetAnno.add(showBoatPath.isSelected());
             presetAnno.add(showTime.isSelected());
+            presetAnno.add(showEstTime.isSelected());
         });
+        //listener for hiding
         hideAnnoRBTN.setOnAction((e)->{
-            System.out.println("called hide");
             buttonChecked = hideBtn;
             selectShow = false;
             showName.setSelected(false);
@@ -457,39 +470,14 @@ public class RaceController extends Controller {
             showBoatPath.setSelected(false);
             showSpeed.setSelected(false);
             showTime.setSelected(false);
+            showEstTime.setSelected(false);
             raceMap.update();
             buttonChecked = noBtn;
             prevBtnChecked = hideBtn;
             selectShow = true;
         });
-        //listener for hiding
-        /*hideAnnoRBTN.selectedProperty().addListener((ov, old_val, new_val) ->{
-            buttonChecked = hideBtn;
-            showName.setSelected(false);
-            showAbbrev.setSelected(false);
-            showBoatPath.setSelected(false);
-            showSpeed.setSelected(false);
-            showTime.setSelected(false);
-            raceMap.update();
-            buttonChecked = noBtn;
-            prevBtnChecked = hideBtn;
-        });*/
         //listener for showing all annotations
         showAnnoRBTN.setOnAction((e)->{
-            if (selectShow) {
-                System.out.println("called show");
-                buttonChecked = showBtn;
-                showName.setSelected(annoShownBeforeHide.get(nameCheckAnno));
-                showAbbrev.setSelected(annoShownBeforeHide.get(abbrevCheckAnno));
-                showBoatPath.setSelected(annoShownBeforeHide.get(pathCheckAnno));
-                showSpeed.setSelected(annoShownBeforeHide.get(speedCheckAnno));
-                showTime.setSelected(annoShownBeforeHide.get(timeCheckAnno));
-                raceMap.update();
-                buttonChecked = noBtn;
-                prevBtnChecked = showBtn;
-            }
-            selectShow = true;
-        });/*.addListener((ov, old_val, new_val) ->{
             if (selectShow) {
                 buttonChecked = showBtn;
                 showName.setSelected(annoShownBeforeHide.get(nameCheckAnno));
@@ -497,15 +485,15 @@ public class RaceController extends Controller {
                 showBoatPath.setSelected(annoShownBeforeHide.get(pathCheckAnno));
                 showSpeed.setSelected(annoShownBeforeHide.get(speedCheckAnno));
                 showTime.setSelected(annoShownBeforeHide.get(timeCheckAnno));
+                showEstTime.setSelected(annoShownBeforeHide.get(estTimeCheckAnno));
                 raceMap.update();
                 buttonChecked = noBtn;
                 prevBtnChecked = showBtn;
             }
             selectShow = true;
-        });*/
+        });
         //listener for showing all important
         partialAnnoRBTN.setOnAction((e)->{
-            System.out.println("called Partial");
             selectShow = false;
             buttonChecked = partialBtn;
             showName.setSelected(false);
@@ -513,6 +501,7 @@ public class RaceController extends Controller {
             showSpeed.setSelected(true);
             showBoatPath.setSelected(false);
             showTime.setSelected(false);
+            showEstTime.setSelected(false);
 
             raceMap.update();
             buttonChecked = noBtn;
@@ -521,7 +510,6 @@ public class RaceController extends Controller {
         });
         //listener for showing all important
         importantAnnoRBTN.setOnAction((e) ->{
-            System.out.println("called Important");
             selectShow = false;
             buttonChecked = importantBtn;
             if (presetAnno.size() > 0) {
@@ -530,6 +518,7 @@ public class RaceController extends Controller {
                 showSpeed.setSelected(presetAnno.get(2));
                 showBoatPath.setSelected(presetAnno.get(3));
                 showTime.setSelected(presetAnno.get(4));
+                showEstTime.setSelected(presetAnno.get(5));
                 storeCurrentAnnotationDictionary();
                 raceMap.update();
             }

visualiser/src/main/java/seng302/Controllers/StartController.java

@@ -98,7 +98,6 @@ public class StartController extends Controller implements Observer {
                 raceStat = visualiserInput.getRaceStatus().getRaceStatus();
                 raceStatusLabel.setText("Race Status: " + visualiserInput.getRaceStatus().getRaceStatus());
                 if (raceStat==2 || raceStat == 3) {
-                    System.out.println("countdown finished!");//TEMP DEBUG REMOVE
                     stop();
 
                     startWrapper.setVisible(false);

visualiser/src/main/java/seng302/Mock/StreamedRace.java

@@ -114,16 +114,17 @@ public class StreamedRace implements Runnable {
      * Updates the boat's gps coordinates
      *
      * @param boat to be updated
-     * @param millisecondsElapsed time since last update
      */
-    private void updatePosition(Boat boat, int millisecondsElapsed) {
+    private void updatePosition(Boat boat) {
         int sourceID = boat.getSourceID();
         BoatLocation boatLocation = visualiserInput.getBoatLocationMessage(sourceID);
+        BoatStatus boatStatus = visualiserInput.getBoatStatusMessage(sourceID);
         if(boatLocation != null) {
             double lat = boatLocation.getLatitudeDouble();
             double lon = boatLocation.getLongitudeDouble();
             boat.setCurrentPosition(new GPSCoordinate(lat, lon));
             boat.setHeading(boatLocation.getHeadingDegrees());
+            boat.setEstTime(convertEstTime(boatStatus.getEstTimeAtNextMark(), boatLocation.getTime()));
             double MMPS_TO_KN = 0.001944;
             boat.setVelocity(boatLocation.getBoatSOG() * MMPS_TO_KN);
         }
@@ -198,19 +199,20 @@ public class StreamedRace implements Runnable {
             public void handle(long arg0) {
                 totalTimeElapsed = System.currentTimeMillis() - timeRaceStarted;
 
-                for (Boat boat : startingBoats) {
-                    if (boat != null && !boat.isFinished()) {
-                        updatePosition(boat, Math.round(1000 / lastFPS) > 20 ? 15 : Math.round(1000 / lastFPS));
-                        checkPosition(boat, totalTimeElapsed);
+                    for (Boat boat : startingBoats) {
+                        if (boat != null && !boat.isFinished()) {
+                            updatePosition(boat);
+                            checkPosition(boat, totalTimeElapsed);
+                        }
+
                     }
-                }
-                for (Marker mark: boatMarkers){
-                    if (mark != null){
-                        updateMarker(mark);
+                    for (Marker mark: boatMarkers){
+                        if (mark != null){
+                            updateMarker(mark);
+                        }
                     }
-                }
-                //System.out.println(boatsFinished + ":" + startingBoats.size());
-                if (visualiserInput.getRaceStatus().isFinished()){
+
+                if (visualiserInput.getRaceStatus().isFinished()) {
                     controller.finishRace(startingBoats);
                     stop();
                 }
@@ -258,4 +260,18 @@ public class StreamedRace implements Runnable {
         return startingBoats;
     }
 
+    /**
+     * Takes an estimated time an event will occur, and converts it to the number of seconds before the event will occur.
+     *
+     * @param estTimeMillis
+     * @return int difference between time the race started and the estimated time
+     */
+    private int convertEstTime(long estTimeMillis, long currentTime) {
+
+        long estElapsedMillis = estTimeMillis - currentTime;
+        int estElapsedSecs = Math.round(estElapsedMillis/1000);
+        return estElapsedSecs;
+
+    }
+
 }

visualiser/src/main/java/seng302/Model/Boat.java

@@ -29,6 +29,7 @@ public class Boat {
     private boolean started = false;
     private boolean dnf = false;
     private int sourceID;
+    private int estTime;
     private final Queue<TrackPoint> track = new ConcurrentLinkedQueue<>();
     private long nextValidTime = 0;
 
@@ -248,4 +249,21 @@ public class Boat {
     public void setTimeSinceLastMark(ZonedDateTime timeSinceLastMark) {
         this.timeSinceLastMark = timeSinceLastMark;
     }
+
+    public void setEstTime(int estTime) { this.estTime = estTime; }
+
+    public String getFormattedEstTime() {
+        if (estTime < 0) {
+            return " -";
+        }
+        if (estTime <= 60) {
+            return " " + estTime + "s";
+        } else {
+            int seconds = estTime % 60;
+            int minutes = (estTime - seconds) / 60;
+            return String.format(" %dm %ds", minutes, seconds);
+        }
+
+
+    }
 }

visualiser/src/main/java/seng302/Model/ResizableRaceCanvas.java

@@ -31,6 +31,7 @@ public class ResizableRaceCanvas extends ResizableCanvas {
     private boolean annoAbbrev = true;
     private boolean annoSpeed = true;
     private boolean annoPath = true;
+    private boolean annoEstTime = true;
     private boolean annoTimeSinceLastMark = true;
     private List<Color> colours;
     private final List<Marker> markers;
@@ -177,7 +178,7 @@ public class ResizableRaceCanvas extends ResizableCanvas {
      * @param coordinate coordinate the text appears
      * @param timeSinceLastMark time since the last mark was passed
      */
-    private void displayText(String name, String abbrev, double speed, GraphCoordinate coordinate, ZonedDateTime timeSinceLastMark) {
+    private void displayText(String name, String abbrev, double speed, GraphCoordinate coordinate, String estTime, ZonedDateTime timeSinceLastMark) {
         String text = "";
         //Check name toggle value
         if (annoName){
@@ -191,10 +192,13 @@ public class ResizableRaceCanvas extends ResizableCanvas {
         if (annoSpeed){
             text += String.format("%.2fkn ", speed);
         }
+        if (annoEstTime) {
+            text += estTime;
+        }
         //Check time since last mark toggle value
         if(annoTimeSinceLastMark){
             Duration timeSince = Duration.between(timeSinceLastMark, raceClock.getTime());
-            text += String.format("%d",  timeSince.getSeconds());
+            text += String.format(" %ds ",  timeSince.getSeconds());
         }
         //String text = String.format("%s, %2$.2fkn", name, speed);
         long xCoord = coordinate.getX() + 20;
@@ -277,6 +281,10 @@ public class ResizableRaceCanvas extends ResizableCanvas {
         annoPath = !annoPath;
     }
 
+    public void toggleAnnoEstTime() {
+        annoEstTime = !annoEstTime;
+    }
+
     /**
      * Toggle boat time display in annotation
      */
@@ -320,7 +328,7 @@ public class ResizableRaceCanvas extends ResizableCanvas {
                 if (Duration.between(boat.getTimeSinceLastMark(), raceClock.getTime()).getSeconds() < 0) {
                     boat.setTimeSinceLastMark(raceClock.getTime());
                 }
-                displayText(boat.toString(), boat.getAbbrev(), boat.getVelocity(), this.map.convertGPS(boat.getCurrentPosition()), boat.getTimeSinceLastMark());
+                displayText(boat.toString(), boat.getAbbrev(), boat.getVelocity(), this.map.convertGPS(boat.getCurrentPosition()),  boat.getFormattedEstTime(), boat.getTimeSinceLastMark());
                 //TODO this needs to be fixed.
                 drawTrack(boat, boatColours.get(sourceID));
             }

visualiser/src/main/java/seng302/VisualiserInput.java

@@ -88,6 +88,10 @@ public class VisualiserInput implements Runnable {
         return boatLocationMap.get(sourceID);
     }
 
+    public BoatStatus getBoatStatusMessage(int sourceID) {
+        return boatStatusMap.get(sourceID);
+    }
+
     /**
      * Calculates the time since last heartbeat, in milliseconds.
      * @return Time since last heartbeat, in milliseconds..

visualiser/src/main/resources/scenes/race.fxml

@@ -1,12 +1,24 @@
 <?xml version="1.0" encoding="UTF-8"?>
 
-<?import javafx.scene.chart.*?>
-<?import java.lang.*?>
-<?import javafx.geometry.*?>
-<?import javafx.scene.text.*?>
 <?import javafx.geometry.Insets?>
-<?import javafx.scene.control.*?>
-<?import javafx.scene.layout.*?>
+<?import javafx.scene.chart.LineChart?>
+<?import javafx.scene.chart.NumberAxis?>
+<?import javafx.scene.control.Accordion?>
+<?import javafx.scene.control.Button?>
+<?import javafx.scene.control.CheckBox?>
+<?import javafx.scene.control.Label?>
+<?import javafx.scene.control.RadioButton?>
+<?import javafx.scene.control.Separator?>
+<?import javafx.scene.control.SplitPane?>
+<?import javafx.scene.control.TableColumn?>
+<?import javafx.scene.control.TableView?>
+<?import javafx.scene.control.TitledPane?>
+<?import javafx.scene.layout.AnchorPane?>
+<?import javafx.scene.layout.ColumnConstraints?>
+<?import javafx.scene.layout.GridPane?>
+<?import javafx.scene.layout.Pane?>
+<?import javafx.scene.layout.RowConstraints?>
+<?import javafx.scene.layout.StackPane?>
 <?import javafx.scene.text.Font?>
 
 <SplitPane fx:id="race" dividerPositions="0.7" prefHeight="431.0" prefWidth="610.0" visible="false" AnchorPane.bottomAnchor="0.0" AnchorPane.leftAnchor="0.0" AnchorPane.rightAnchor="0.0" AnchorPane.topAnchor="0.0" xmlns="http://javafx.com/javafx/8" xmlns:fx="http://javafx.com/fxml/1" fx:controller="seng302.Controllers.RaceController">
@@ -24,7 +36,7 @@
                     <children>
                         <Accordion>
                             <panes>
-                                <TitledPane animated="false" text="Annotation Control">
+                                <TitledPane animated="false" prefHeight="395.0" prefWidth="222.0" text="Annotation Control">
                                     <content>
                                         <AnchorPane minHeight="0.0" minWidth="0.0">
                                             <children>
@@ -33,13 +45,14 @@
                                                 <CheckBox fx:id="showSpeed" layoutY="90.0" mnemonicParsing="false" selected="true" text="Show Boat Speed" AnchorPane.leftAnchor="0.0" AnchorPane.topAnchor="50.0" />
                                                 <CheckBox fx:id="showBoatPath" mnemonicParsing="false" selected="true" text="Show Boat Paths" AnchorPane.leftAnchor="0.0" AnchorPane.topAnchor="75.0" />
                                                 <CheckBox fx:id="showTime" mnemonicParsing="false" selected="true" text="Show Boat Leg Time" AnchorPane.leftAnchor="0.0" AnchorPane.topAnchor="100.0" />
-                                                <Separator prefWidth="200.0" AnchorPane.leftAnchor="0.0" AnchorPane.topAnchor="125.0" />
-                                    <Label text="Annotations" AnchorPane.leftAnchor="0.0" AnchorPane.topAnchor="130.0" />
-                                    <RadioButton fx:id="hideAnnoRBTN" mnemonicParsing="false" text="Hidden" AnchorPane.leftAnchor="0.0" AnchorPane.topAnchor="155.0" />
-                                    <RadioButton fx:id="showAnnoRBTN" mnemonicParsing="false" text="Visible" AnchorPane.leftAnchor="0.0" AnchorPane.topAnchor="180.0" />
-                                    <RadioButton fx:id="partialAnnoRBTN" mnemonicParsing="false" text="Partial" AnchorPane.leftAnchor="0.0" AnchorPane.topAnchor="205.0" />
-                                    <RadioButton fx:id="importantAnnoRBTN" mnemonicParsing="false" text="Important" AnchorPane.leftAnchor="0.0" AnchorPane.topAnchor="230.0" />
-                                                <Button fx:id="saveAnno" layoutX="11.0" layoutY="106.0" maxWidth="154.0" mnemonicParsing="false" prefWidth="154.0" text="Save Important Annotations" AnchorPane.leftAnchor="0.0" AnchorPane.topAnchor="255.0" />
+                                                <CheckBox fx:id="showEstTime" mnemonicParsing="false" selected="true" text="Show Est. Time to Next Mark" AnchorPane.leftAnchor="0.0" AnchorPane.topAnchor="125.0" />
+                                                <Separator layoutX="19.6" layoutY="175.6" prefHeight="0.0" prefWidth="200.0" AnchorPane.leftAnchor="10.0" AnchorPane.topAnchor="150.0" />
+                                    <Label text="Annotations" AnchorPane.leftAnchor="0.0" AnchorPane.topAnchor="150.0" />
+                                    <RadioButton fx:id="hideAnnoRBTN" mnemonicParsing="false" text="Hidden" AnchorPane.leftAnchor="0.0" AnchorPane.topAnchor="175.0" />
+                                    <RadioButton fx:id="showAnnoRBTN" mnemonicParsing="false" text="Visible" AnchorPane.leftAnchor="0.0" AnchorPane.topAnchor="200.0" />
+                                    <RadioButton fx:id="partialAnnoRBTN" mnemonicParsing="false" text="Partial" AnchorPane.leftAnchor="0.0" AnchorPane.topAnchor="225.0" />
+                                    <RadioButton fx:id="importantAnnoRBTN" mnemonicParsing="false" text="Important" AnchorPane.leftAnchor="0.0" AnchorPane.topAnchor="250.0" />
+                                                <Button fx:id="saveAnno" layoutX="11.0" layoutY="126.0" maxWidth="154.0" mnemonicParsing="false" prefWidth="154.0" text="Save Important Annotations" AnchorPane.leftAnchor="0.0" AnchorPane.topAnchor="275.0" />
                                             </children>
                                         </AnchorPane>
                                     </content>

visualiser/src/test/java/seng302/RaceConnectionTest.java

@@ -29,6 +29,7 @@ public class RaceConnectionTest {
         assertTrue(onlineConnection.check());
     }
 
+
     @Test
     public void offlineConnectionStatusOffline() {
         assertFalse(offlineConnection.check());