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Mock.Race:

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An alternate tacking implementation during race simulate. Doesn't handle keeping the boats in-bounds, and sometimes has issues with landing directly on a mark.
Also seems to use wrong starting velocities (from the XML file).

#story[873]
main
fjc40 9 years ago
parent f4d5df9df2
commit 572e54b076
3 changed files with 90 additions and 33 deletions
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20
mock/src/main/java/seng302/Model/Boat.java
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@ -23,6 +23,9 @@ public class Boat {
private double heading;
private Polars polars;
///This stores the milliseconds since the boat has changed its tack, to allow for only updating the tack every X milliseconds.
private long timeSinceTackChange = 0;
/**
* Boat initialiser which keeps all of the information of the boat.
*
@ -223,4 +226,21 @@ public class Boat {
public void setPolars(Polars polars) {
this.polars = polars;
}
/**
* Returns the time since the boat changed its tack, in milliseconds.
* @return Time since the boat changed its tack, in milliseconds.
*/
public long getTimeSinceTackChange() {
return timeSinceTackChange;
}
/**
* Sets the time since the boat changed it's tack, in milliseconds.
* @param timeSinceTackChange Time since the boat changed its tack, in milliseconds.
*/
public void setTimeSinceTackChange(long timeSinceTackChange) {
this.timeSinceTackChange = timeSinceTackChange;
}
}

2
mock/src/main/java/seng302/Model/Event.java
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@ -45,7 +45,7 @@ public class Event {
System.out.println("Sending Boat");
sendBoatData();
int scaleFactor = 5;//TEMP - was 15.
int scaleFactor = 25;//TEMP - was 15.
Race newRace = new Race(raceDataSource, scaleFactor, mockOutput);
new Thread((newRace)).start();
}

101
mock/src/main/java/seng302/Model/Race.java
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@ -72,7 +72,7 @@ public class Race implements Runnable {
this.boundary = boundary;
this.windSpeed = 12;//TODO could use input parameters for these. And should fluctuate during race.
this.windDirection = 0;
this.windDirection = 180;
//TODO refactor
this.startTime = System.currentTimeMillis() + (this.PRERACE_TIME / this.scaleFactor);
@ -246,6 +246,7 @@ public class Race implements Runnable {
startLeg.calculateDistance();
boat.setCurrentLeg(startLeg);
boat.setHeading(boat.calculateHeading());
boat.setTimeSinceTackChange(999999);//We set a large time since tack change so that it calculates a new VMG when the simulation starts.
}
}
}
@ -308,27 +309,40 @@ public class Race implements Runnable {
protected void updatePosition(Boat boat, int millisecondsElapsed) {
//distanceTravelled = velocity (nm p hr) * time taken to update loop
double distanceTravelled = (boat.getScaledVelocity() * millisecondsElapsed) / 3600000;
double distanceTravelled = (boat.getVelocity() * this.scaleFactor * millisecondsElapsed) / 3600000;
double totalDistanceTravelled = distanceTravelled + boat.getDistanceTravelledInLeg();
boolean finish = boat.getCurrentLeg().getName().equals("Finish");
if (!finish) {
int windAngle = 360;//todo - get the wind speed from somewhere, using 360 for now
if(boat.getCurrentLeg().getName().endsWith("to Windward Gate")){//todo something is broken in this if statement, not sure what
double totalDistanceTravelledInTack = distanceTravelled + boat.getDistanceTravelledInTack();
double totalDistanceTravelledInTack = distanceTravelled + boat.getDistanceTravelledInTack();
double bound1 = (boat.calculateBearingToDestination()-90)%360;
double bound2 = (boat.calculateBearingToDestination()+90)%360;
double bound1 = (boat.calculateBearingToDestination() - 90) % 360;
double bound2 = (boat.calculateBearingToDestination() + 90) % 360;
//TODO the actual bearing bounds need to be the interval in which the boat won't go out of bounds.
bound1 = 0;
bound2 = 360;
VMG newHeading = boat.getPolars().calculateVMG(windAngle, 30,
boat.calculateBearingToDestination(), min(bound1, bound2), max(bound1,bound2));
boat.setTimeSinceTackChange(boat.getTimeSinceTackChange() + this.scaleFactor * millisecondsElapsed);
double azimuth = newHeading.getBearing();
if (newHeading.getBearing() > 180){
azimuth = newHeading.getBearing() -360;
}
//How fast a boat can turn, in degrees per millisecond.
double turnRate = 0.03; //Roughly 30 per second, or 12 seconds per revolution.
//How much the boat is allowed to turn, considering how long since it last turned.
double turnAngle = turnRate * boat.getTimeSinceTackChange();
//System.out.println("boat " + boat.getAbbrev() + " turn angle is " + turnAngle + ".");//TEMP DEBUG REMOVE
//Find the bounds on what angle the boat is allowed to travel at.
bound1 = boat.getHeading() - turnAngle;
bound2 = boat.getHeading() + turnAngle;
VMG newHeading = boat.getPolars().calculateVMG(this.windDirection, this.windSpeed,
boat.calculateBearingToDestination(), bound1, bound2);
// if (!GPSCoordinate.isInsideBoundary(calculatePosition(boat.getCurrentPosition(),
// 1, azimuth), boundary)){
@ -337,35 +351,55 @@ public class Race implements Runnable {
// newHeading.bearing = tempHeading;
// }
//Is this new VMG better than the current VMG?
double angleBetweenDestAndHeading = boat.getHeading() - boat.calculateBearingToDestination();
double angleBetweenDestAndNewVMG = newHeading.getBearing() - boat.calculateBearingToDestination();
double currentVelocity = cos(Math.toRadians(angleBetweenDestAndHeading)) * boat.getVelocity();
double vmgVelocity = cos(Math.toRadians(angleBetweenDestAndNewVMG)) * newHeading.getSpeed();
//System.out.println("boat " + boat.getAbbrev() + " current velocity is " + currentVelocity + " knots, possible VMG is " + vmgVelocity + " knots.");//TEMP DEBUG REMOVE
if (vmgVelocity > currentVelocity) {
boat.setHeading(newHeading.getBearing());
boat.setVelocity(newHeading.getSpeed());
boat.setTimeSinceTackChange(0);
//calc the distance travelled in a straight line to windward
double angleBetweenDestAndHeading = newHeading.getBearing() - boat.calculateBearingToDestination();
totalDistanceTravelled = cos(angleBetweenDestAndHeading)*totalDistanceTravelledInTack;
boat.setDistanceTravelledInLeg(totalDistanceTravelled);
//System.out.println("boat " + boat.getAbbrev() + " has a new bearing " + boat.getHeading() + " degrees, and is " + boat.calculateDistanceToNextMarker() + " nautical miles to the next marker. Velocity to next marker is " + boat.getVelocity() + " knots.");//TEMP DEBUG REMOVE
}
//Calculate boat's new position by adding the distance travelled onto the start point of the leg
boat.setCurrentPosition(calculatePosition(boat.getCurrentPosition(),
totalDistanceTravelledInTack, azimuth));
}else{
boat.setHeading(boat.calculateHeading());
//update boat's distance travelled
boat.setDistanceTravelledInLeg(totalDistanceTravelled);
//Calculate boat's new position by adding the distance travelled onto the start point of the leg
boat.setCurrentPosition(calculatePosition(boat.getCurrentLeg().getStartMarker().getAverageGPSCoordinate(),
totalDistanceTravelled, boat.calculateAzimuth(boat.getCurrentLeg().getStartMarker().getAverageGPSCoordinate(),
boat.getCurrentLeg().getEndMarker().getAverageGPSCoordinate())));
//TODO one way to fix the boat's rapid turning it to only update the velocity/heading every X seconds (e.g., every 5 seconds).
//TODO may need a lower tack period
//TODO another way would be to allow boats use a better VMG if it is within turnRate * timeSinceTackChange. E.g., after 100ms a boat can select a more optimal VMG within 5deg of their current bearing. After 500ms VMG can be within 25deg of current bearing. After 2sec it can be 100deg of bearing, etc...
//calc the distance travelled in a straight line to windward
//double angleBetweenDestAndHeading = boat.getHeading() - boat.calculateBearingToDestination();
totalDistanceTravelled = cos(Math.toRadians(angleBetweenDestAndHeading))*totalDistanceTravelledInTack;
boat.setDistanceTravelledInLeg(totalDistanceTravelled);
//Calculate boat's new position by adding the distance travelled onto the start point of the leg
double azimuth = boat.getHeading();
if (azimuth > 180) {
azimuth = azimuth - 360;
}
boat.setCurrentPosition(calculatePosition(boat.getCurrentPosition(),
totalDistanceTravelledInTack, azimuth));
}
}
protected void checkPosition(Boat boat, long timeElapsed) {
System.out.println(boat.getDistanceTravelledInLeg());
System.out.println(boat.getCurrentLeg().getDistance());
System.out.println(" ");
if (boat.getDistanceTravelledInLeg() > boat.getCurrentLeg().getDistance()) {
//System.out.println(boat.getDistanceTravelledInLeg());
//System.out.println(boat.getCurrentLeg().getDistance());
//System.out.println(" ");
//if (boat.getDistanceTravelledInLeg() > boat.getCurrentLeg().getDistance()) {
//The distance (in nautical miles) within which the boat needs to get in order to consider that it has reached the marker.
double epsilon = 100.0 / Constants.NMToMetersConversion; //100 meters. TODO should be more like 5-10.
if (boat.calculateDistanceToNextMarker() < epsilon) {
//boat has passed onto new leg
if (boat.getCurrentLeg().getName().equals("Finish")) {
//boat has finished
@ -387,6 +421,9 @@ public class Race implements Runnable {
boat.setCurrentLeg(nextLeg);
//Add overshoot distance into the distance travelled for the next leg
boat.setDistanceTravelledInLeg(boat.getDistanceTravelledInLeg());
//Setting a high value for this allows the boat to immediately do a large turn, as it has needs to in order to get to the next mark.
boat.setTimeSinceTackChange(999999);
}
}
}

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