VMG now works however some little bug in the interpolation in some quadrant that is making the speed all the same in the quadrant #story[1182]

racevisionGame/pom.xml

@@ -25,10 +25,30 @@
         <!-- https://mvnrepository.com/artifact/org.mockito/mockito-all -->
         <dependency>
             <groupId>org.mockito</groupId>
-            <artifactId>mockito-all</artifactId>
-            <version>1.9.5</version>
+            <artifactId>mockito-core</artifactId>
+            <version>2.9.0</version>
         </dependency>
 
+        <!-- Maven Dependencies block START-->
+        <dependency>
+            <groupId>net.bytebuddy</groupId>
+            <artifactId>byte-buddy</artifactId>
+            <version>1.7.0</version>
+            <scope>runtime</scope>
+        </dependency>
+        <dependency>
+            <groupId>net.bytebuddy</groupId>
+            <artifactId>byte-buddy-agent</artifactId>
+            <version>1.7.0</version>
+            <scope>runtime</scope>
+        </dependency>
+        <dependency>
+            <groupId>org.objenesis</groupId>
+            <artifactId>objenesis</artifactId>
+            <version>2.6</version>
+            <scope>runtime</scope>
+        </dependency>
+        <!-- Maven Dependencies block END-->
 
 
         <dependency>

racevisionGame/src/main/java/mock/dataInput/PolarParser.java

@@ -108,7 +108,6 @@ public class PolarParser {
     /**
      * Given a filename, this function parses it and generates a Polar object, which can be queried for polar information.
      * @param filename The filename to load and read data from (loaded as a resource).
-     * @return A Polar table containing data from the given file.
      */
     public static void parseNewPolars(String filename) throws InvalidPolarFileException {
         NewPolars newPolars = new NewPolars();

racevisionGame/src/main/java/mock/model/MockRace.java

@@ -209,7 +209,9 @@ public class MockRace extends Race {
             boat.setStatus(BoatStatusEnum.PRESTART);
 
             //We set a large time since tack change so that it calculates a new VMG when the simulation starts.
-            boat.setTimeSinceTackChange(Long.MAX_VALUE);
+            //boat.setTimeSinceTackChange(Long.MAX_VALUE);
+            boat.setTimeSinceTackChange(0);
+
         }
 
     }
@@ -353,8 +355,8 @@ public class MockRace extends Race {
 
     private void newOptimalVMG(MockBoat boat) {
         long tackPeriod = 1000;
-
         if (boat.getTimeSinceTackChange() > tackPeriod) {
+            //System.out.println("optim called");
             //Calculate the new VMG.
 //            VMG newVMG = boat.getPolars().calculateVMG(
 //                    this.getWindDirection(),
@@ -364,7 +366,7 @@ public class MockRace extends Race {
 //                    Bearing.fromDegrees(359.99999d));
 
             VMG newVMG = NewPolars.setBestVMG(this.getWindDirection(), this.getWindSpeed(), boat.getBearing());
-            System.out.println(newVMG);
+            //System.out.println(newVMG);
             //If the new vmg improves velocity, use it.
             if (improvesVelocity(boat, newVMG)) {
                 boat.setVMG(newVMG);

racevisionGame/src/main/java/mock/model/NewPolars.java

@@ -31,7 +31,7 @@ public class NewPolars {
         }
         polars.get(tws).putIfAbsent(twa, bs);
         polars.get(tws).putIfAbsent(360d - twa, bs);
-        System.out.println(String.format("tws %f, twa %f, bs %f", tws, twa, bs));
+        //System.out.println(String.format("tws %f, twa %f, bs %f", tws, twa, bs));
     }
 
     public static void linearInterpolatePolars(){
@@ -69,7 +69,7 @@ public class NewPolars {
                     double mult = i - previousTWA;
                     double newSpeed = diff * mult + prevSpeed;
                     //System.out.println(newSpeed);
-                    System.out.println(String.format("tws %f, twa %f, bs %f", windSpeed, i, newSpeed));
+                    //System.out.println(String.format("tws %f, twa %f, bs %f", windSpeed, i, newSpeed));
                     tws.put(i, newSpeed);
                 }
                 previousTWA = twa;
@@ -104,8 +104,10 @@ public class NewPolars {
     }
 
     private static double getBestSpeedInQuadrant(int quad, Map<Double, Double> set){
-        double min = quad* 90;
-        double max = (quad + 1) * 90;
+        double min = (quad - 1)* 90;
+        double max = quad * 90;
+        System.out.println(quad);
+        System.out.println(min + " " + max);
         double maxAngle = 0;
         double maxSpeed = 0;
         for (Double s: set.keySet()){
@@ -116,9 +118,6 @@ public class NewPolars {
                 }
             }
         }
-        if (quad > 2){
-            maxAngle += 180;
-        }
         return maxAngle;
     }
 
@@ -130,13 +129,12 @@ public class NewPolars {
      * @return
      */
     public static VMG setBestVMG(Bearing trueWindAngle, double trueWindSpeed, Bearing boatAngle){
+        //System.out.println("VMG AUTO CALLED");
         //speed
         double closestSpeed = getClosest(trueWindSpeed, polars.keySet());
 
-        //not using true vmg, using general concept
-        double angle = Math.abs(trueWindAngle.degrees() - boatAngle.degrees());
-
-        int quad = getQuadrant(boatAngle.degrees());
+        double angle = ((boatAngle.degrees() - trueWindAngle.degrees()) % 360 + 360) % 360;
+        int quad = getQuadrant(angle);
         double bestAngle = getBestSpeedInQuadrant(quad, polars.get(closestSpeed));
 
         Bearing vmgAngle = Bearing.fromDegrees((bestAngle) % 360);
@@ -159,4 +157,9 @@ public class NewPolars {
 
     }
 
+    private Map<Double, TreeMap<Double, Double>> getPolars(){
+        //this function is just for testing so therefore it is private
+        return polars;
+    }
+
 }

racevisionGame/src/test/java/mock/model/NewPolarsTest.java

@@ -0,0 +1,107 @@
+package mock.model;
+
+import mock.dataInput.PolarParser;
+import org.junit.Before;
+import org.junit.Test;
+import shared.model.Bearing;
+
+import java.lang.reflect.Field;
+import java.lang.reflect.InvocationTargetException;
+import java.lang.reflect.Method;
+import java.util.Map;
+import java.util.Set;
+import java.util.TreeMap;
+
+import static org.junit.Assert.assertEquals;
+import static org.junit.Assert.assertTrue;
+import static org.mockito.Mockito.*;
+
+/**
+ * Created by fwy13 on 5/09/17.
+ */
+public class NewPolarsTest {
+
+    @Before
+    public void setUp(){
+        PolarParser.parseNewPolars("mock/polars/acc_polars.csv");
+        NewPolars.linearInterpolatePolars();
+    }
+
+    @Test
+    public void testQuads() throws NoSuchMethodException, InvocationTargetException, IllegalAccessException {
+        //reflection for private class
+        Class[] parameterTypes = new Class[1];
+        parameterTypes[0] = Double.TYPE;
+        Method getQuads = NewPolars.class.getDeclaredMethod("getQuadrant", parameterTypes);
+        getQuads.setAccessible(true);
+
+        //start invoking
+        Object[] paras1 = new Object[1];
+        paras1[0] = (new Double(0)).doubleValue();
+        int q1 = (int) getQuads.invoke(NewPolars.newPolars, paras1);
+        assertEquals(q1, 1);
+
+        //start invoking
+        Object[] paras2 = new Object[1];
+        paras2[0] = (new Double(90)).doubleValue();
+        int q2 = (int) getQuads.invoke(NewPolars.newPolars, paras2);
+        assertEquals(q2, 2);
+
+        //start invoking
+        Object[] paras3 = new Object[1];
+        paras3[0] = (new Double(180)).doubleValue();
+        int q3 = (int) getQuads.invoke(NewPolars.newPolars, paras3);
+        assertEquals(q3, 3);
+
+        //start invoking
+        Object[] paras4 = new Object[1];
+        paras4[0] = (new Double(270)).doubleValue();
+        int q4 = (int) getQuads.invoke(NewPolars.newPolars, paras4);
+        assertEquals(q4, 4);
+
+        //start invoking
+        Object[] paras5 = new Object[1];
+        paras5[0] = (new Double(360)).doubleValue();
+        int q5 = (int) getQuads.invoke(NewPolars.newPolars, paras5);
+        assertEquals(q5, 1);
+
+    }
+
+    @Test
+    public void testEdgeSpeeds(){
+        //just make sure that speeds at certain angles do not throw a null exception and are not negative
+        double maxTWS = 15;
+
+        for (double tws = 0; tws < maxTWS; tws += 0.1){
+            for (double j = 0; j < 360; j++){
+                Bearing twa = Bearing.fromDegrees(j);
+                for (double i = 0; i < 360; i++){
+                    Bearing boatBearing = Bearing.fromDegrees(i);
+                    double speed = NewPolars.calculateSpeed(twa, tws, boatBearing);
+                    assertTrue(speed >= 0);
+                }
+            }
+        }
+
+    }
+
+    @Test
+    public void testClosestSpeeds() throws NoSuchMethodException, NoSuchFieldException, InvocationTargetException, IllegalAccessException {
+        //reflection for private class
+        Method getClosest = NewPolars.class.getDeclaredMethod("getClosest", double.class, Set.class);
+        getClosest.setAccessible(true);
+
+        Method getPolars = NewPolars.class.getDeclaredMethod("getPolars");
+        getPolars.setAccessible(true);
+
+        double maxTWS = 15;
+
+        //only catches for nulls
+        for (double tws = 0; tws < maxTWS; tws += 0.1){
+            Map<Double, TreeMap<Double, Double>> polars = (Map<Double, TreeMap<Double, Double>>) getPolars.invoke(NewPolars.newPolars);
+            double speed = (double) getClosest.invoke(NewPolars.newPolars, tws, polars.keySet());
+            assertTrue(speed >= 0);
+        }
+    }
+
+}