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Merge branch 'master' into MapWindRotation

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# Conflicts:
#	racevisionGame/src/main/java/shared/model/CompoundMark.java
#	racevisionGame/src/main/java/shared/model/Mark.java
This commit is contained in:
Fan-Wu Yang
2017-08-17 12:59:54 +12:00
parent a3fe57ed5a 96acb6251e
commit 7546c65893
29 changed files with 547 additions and 324 deletions
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racevisionGame/src/main/java/mock/app/ConnectionAcceptor.java
+2 -17
View File
@@ -4,6 +4,7 @@ import mock.model.RaceLogic;
import mock.model.ClientConnection;
import mock.model.SourceIdAllocator;
import mock.model.commandFactory.CompositeCommand;
import network.AckSequencer;
import network.Messages.Enums.XMLMessageType;
import network.Messages.LatestMessages;
import network.Messages.XMLMessage;
@@ -58,11 +59,6 @@ public class ConnectionAcceptor implements Runnable {
*/
private SourceIdAllocator sourceIdAllocator;
//Acknowledgement number for packets
private int ackNumber = 0;
//race xml sequence number
private short raceXMLSequenceNumber;
//boat xml sequence number
@@ -263,7 +259,7 @@ public class ConnectionAcceptor implements Runnable {
//Create the message.
XMLMessage message = new XMLMessage(
XMLMessage.currentVersionNumber,
getNextAckNumber(),
AckSequencer.getNextAckNum(),
System.currentTimeMillis(),
messageType,
sequenceNumber,
@@ -272,15 +268,4 @@ public class ConnectionAcceptor implements Runnable {
return message;
}
/**
* Increments the ackNumber value, and returns it.
* @return Incremented ackNumber.
*/
private int getNextAckNumber(){
this.ackNumber++;
return this.ackNumber;
}
}
racevisionGame/src/main/java/mock/model/MockBoat.java
+10 -15
View File
@@ -1,6 +1,5 @@
package mock.model;
import shared.model.*;
@@ -74,7 +73,7 @@ public class MockBoat extends Boat {
public Bearing calculateBearingToNextMarker() {
//Get the start and end points.
GPSCoordinate currentPosition = this.getCurrentPosition();
GPSCoordinate currentPosition = this.getPosition();
GPSCoordinate nextMarkerPosition;
// if boat is at the finish
@@ -87,7 +86,6 @@ public class MockBoat extends Boat {
//Calculate bearing.
Bearing bearing = GPSCoordinate.calculateBearing(currentPosition, nextMarkerPosition);
return bearing;
}
@@ -100,7 +98,7 @@ public class MockBoat extends Boat {
public double calculateDistanceToNextMarker() {
//Get start and end markers.
GPSCoordinate startPosition = this.getCurrentPosition();
GPSCoordinate startPosition = this.getPosition();
//When boats finish, their "current leg" doesn't have an end marker.
if (this.getCurrentLeg().getEndCompoundMark() == null) {
@@ -111,9 +109,7 @@ public class MockBoat extends Boat {
//Calculate distance.
double distanceNauticalMiles = GPSCoordinate.calculateDistanceNauticalMiles(startPosition, endMarker);
return distanceNauticalMiles;
return GPSCoordinate.calculateDistanceNauticalMiles(startPosition, endMarker);
}
@@ -160,8 +156,8 @@ public class MockBoat extends Boat {
*/
public void moveForwards(double meters) {
//Updates the current position of the boat.
GPSCoordinate newPosition = GPSCoordinate.calculateNewPosition(this.getCurrentPosition(), meters, Azimuth.fromBearing(this.getBearing()));
this.setCurrentPosition(newPosition);
GPSCoordinate newPosition = GPSCoordinate.calculateNewPosition(this.getPosition(), meters, Azimuth.fromBearing(this.getBearing()));
this.setPosition(newPosition);
}
@@ -219,7 +215,7 @@ public class MockBoat extends Boat {
* @return true if mark is on port side
*/
public boolean isPortSide(Mark mark){
Bearing towardsMark = GPSCoordinate.calculateBearing(this.getCurrentPosition(), mark.getPosition());
Bearing towardsMark = GPSCoordinate.calculateBearing(this.getPosition(), mark.getPosition());
if (towardsMark.degrees() > 315 || towardsMark.degrees() <= 45){
//south quadrant
return this.getBearing().degrees() <= 180;
@@ -245,7 +241,7 @@ public class MockBoat extends Boat {
*/
public boolean isStarboardSide(Mark mark){
//if this boat is lower than the mark check which way it is facing
Bearing towardsMark = GPSCoordinate.calculateBearing(this.getCurrentPosition(), mark.getPosition());
Bearing towardsMark = GPSCoordinate.calculateBearing(this.getPosition(), mark.getPosition());
if (towardsMark.degrees() > 315 || towardsMark.degrees() <= 45){
//south quadrant
return !(this.getBearing().degrees() <= 180);
@@ -297,12 +293,11 @@ public class MockBoat extends Boat {
this.roundingStatus = 0;
}
public boolean getAutoVMG(){
return autoVMG;
}
public void setAutoVMG(boolean autoVMG) {
this.autoVMG = autoVMG;
}
public boolean getAutoVMG(){
return autoVMG;
}
}
racevisionGame/src/main/java/mock/model/MockRace.java
+8 -9
View File
@@ -6,7 +6,6 @@ import network.Messages.BoatLocation;
import network.Messages.BoatStatus;
import network.Messages.Enums.BoatStatusEnum;
import network.Messages.Enums.RaceStatusEnum;
import network.Messages.LatestMessages;
import shared.dataInput.BoatDataSource;
import shared.dataInput.RaceDataSource;
import shared.dataInput.RegattaDataSource;
@@ -35,8 +34,6 @@ public class MockRace extends Race {
*/
private List<MockBoat> boats;
/**
* A copy of the boundary list, except "shrunk" inwards by 50m.
*/
@@ -78,6 +75,8 @@ public class MockRace extends Race {
//Wind.
this.setWind(windGenerator.generateBaselineWind());
this.colliderRegistry.addAllColliders(boats);
}
/**
@@ -201,7 +200,7 @@ public class MockRace extends Race {
boat.setCurrentSpeed(0d);
//Place the boat at its starting position.
boat.setCurrentPosition(startPosition);
boat.setPosition(startPosition);
//Boats start facing their next marker.
boat.setBearing(boat.calculateBearingToNextMarker());
@@ -406,7 +405,7 @@ public class MockRace extends Race {
Bearing bearing = Bearing.fromDegrees(angle);
//Check that if it is acceptable.
boolean bearingIsGood = this.checkBearingInsideCourse(bearing, boat.getCurrentPosition());
boolean bearingIsGood = this.checkBearingInsideCourse(bearing, boat.getPosition());
if (lastAngle != -1) {
@@ -481,7 +480,7 @@ public class MockRace extends Race {
case 0://hasn't started rounding
if (boat.isPortSide(roundingMark) &&
GPSCoordinate.passesLine(roundingMark.getPosition(),
roundingChecks.get(0), boat.getCurrentPosition(), legBearing) &&
roundingChecks.get(0), boat.getPosition(), legBearing) &&
gateCheck && boat.isBetweenGate(roundingMark, Mark.tempMark(roundingChecks.get(0)))) {
boat.increaseRoundingStatus();
if (boat.getCurrentLeg().getLegNumber() + 2 >= legs.size()){
@@ -493,7 +492,7 @@ public class MockRace extends Race {
case 1://has been parallel to the mark;
if (boat.isPortSide(roundingMark) &&
GPSCoordinate.passesLine(roundingMark.getPosition(),
roundingChecks.get(1), boat.getCurrentPosition(),
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();
@@ -525,7 +524,7 @@ public class MockRace extends Race {
case 0://hasn't started rounding
if (boat.isStarboardSide(roundingMark) &&
GPSCoordinate.passesLine(roundingMark.getPosition(),
roundingChecks.get(0), boat.getCurrentPosition(), legBearing) &&
roundingChecks.get(0), boat.getPosition(), legBearing) &&
gateCheck &&
boat.isBetweenGate(roundingMark, Mark.tempMark(roundingChecks.get(0)))) {
boat.increaseRoundingStatus();
@@ -538,7 +537,7 @@ public class MockRace extends Race {
case 1://has been parallel to the mark
if (boat.isStarboardSide(roundingMark) &&
GPSCoordinate.passesLine(roundingMark.getPosition(),
roundingChecks.get(1), boat.getCurrentPosition(), Bearing.fromDegrees(legBearing.degrees() + 90)) && //positive 90 from bearing because of starboard rounding
roundingChecks.get(1), boat.getPosition(), Bearing.fromDegrees(legBearing.degrees() + 90)) && //positive 90 from bearing because of starboard rounding
boat.isBetweenGate(roundingMark, Mark.tempMark(roundingChecks.get(1)))) {
boat.increaseRoundingStatus();
}
racevisionGame/src/main/java/mock/model/RaceLogic.java
+19 -2
View File
@@ -1,6 +1,8 @@
package mock.model;
import javafx.animation.AnimationTimer;
import mock.model.collider.Collision;
import mock.model.commandFactory.Command;
import mock.model.commandFactory.CompositeCommand;
import mock.model.commandFactory.CommandFactory;
import network.Messages.Enums.BoatActionEnum;
@@ -9,8 +11,11 @@ import network.Messages.Enums.RaceStatusEnum;
import network.Messages.LatestMessages;
import shared.model.RunnableWithFramePeriod;
import java.util.Observable;
import java.util.Observer;
public class RaceLogic implements RunnableWithFramePeriod {
public class RaceLogic implements RunnableWithFramePeriod, Observer {
/**
* State of current race modified by this object
*/
@@ -32,6 +37,8 @@ public class RaceLogic implements RunnableWithFramePeriod {
this.race = race;
this.server = new RaceServer(race, messages);
this.commands = compositeCommand;
race.getColliderRegistry().addObserver(this);
}
/**
@@ -116,7 +123,7 @@ public class RaceLogic implements RunnableWithFramePeriod {
//If it is still racing, update its position.
if (boat.getStatus() == BoatStatusEnum.RACING) {
race.updatePosition(boat, framePeriod, race.getRaceClock().getDurationMilli());
race.getColliderRegistry().rayCast(boat);
}
}
@@ -168,4 +175,14 @@ public class RaceLogic implements RunnableWithFramePeriod {
public MockRace getRace() {
return race;
}
@Override
public void update(Observable o, Object arg) {
Collision e = (Collision)arg;
if(e.getBearing().degrees() == 0) System.out.println("Ahead");
else if(e.getBearing().degrees() < 90) System.out.println("Starboard");
else if(e.getBearing().degrees() > 270) System.out.println("Port");
else System.out.println("Behind");
}
}
racevisionGame/src/main/java/mock/model/RaceServer.java
+2 -5
View File
@@ -2,10 +2,8 @@ package mock.model;
import network.Messages.*;
import network.Messages.Enums.BoatLocationDeviceEnum;
import network.Utils.AC35UnitConverter;
import shared.model.Bearing;
import shared.model.CompoundMark;
import shared.model.Constants;
import shared.model.Mark;
import java.util.ArrayList;
@@ -30,7 +28,6 @@ public class RaceServer {
this.latestMessages = latestMessages;
}
/**
* Parses the race to create a snapshot, and places it in latestMessages.
*/
@@ -127,8 +124,8 @@ public class RaceServer {
BoatLocation boatLocation = new BoatLocation(
boat.getSourceID(),
boat.getCurrentPosition().getLatitude(),
boat.getCurrentPosition().getLongitude(),
boat.getPosition().getLatitude(),
boat.getPosition().getLongitude(),
this.boatLocationSequenceNumber,
BoatLocationDeviceEnum.RacingYacht,
boat.getBearing(),
racevisionGame/src/main/java/mock/model/collider/Collider.java
+52
View File
@@ -0,0 +1,52 @@
package mock.model.collider;
import shared.model.Bearing;
import shared.model.Boat;
import shared.model.GPSCoordinate;
import shared.model.Locatable;
import java.util.Observable;
/**
* Interface for all objects sensitive to collision in a race.
*/
public abstract class Collider extends Observable implements Locatable {
/**
* Indicates whether a ray cast from a boat to a target collider is within the specified length.
* @param boat potentially colliding with target
* @param distance distance for valid collision
* @return whether or not a collision has occurred
*/
public boolean rayCast(Boat boat, double distance) {
double actualDistance = GPSCoordinate.calculateDistanceMeters(boat.getPosition(), this.getPosition());
// Compass direction of collider
Bearing absolute = Bearing.fromAzimuth(GPSCoordinate.calculateAzimuth(boat.getPosition(), this.getPosition()));
// Direction of collider from heading
Bearing relative = Bearing.fromDegrees(absolute.degrees() - boat.getBearing().degrees());
if(actualDistance <= distance) {
Collision collision = new Collision(relative, distance);
// Notify object of collision
onCollisionEnter(boat, collision);
// Notify observers of collision
notifyObservers(collision);
this.setChanged();
return true;
} else return false;
}
/**
* Indicates whether a ray cast from a boat to a target collider triggers a collision. Distance is set by the object.
* @param boat potentially colliding with target
* @return whether or not a collision has occurred
*/
public abstract boolean rayCast(Boat boat);
/**
* Handle a collision event
* @param collider Boat that is colliding
* @param e details of collision
*/
public abstract void onCollisionEnter(Boat collider, Collision e);
}
racevisionGame/src/main/java/mock/model/collider/ColliderRegistry.java
+66
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@@ -0,0 +1,66 @@
package mock.model.collider;
import shared.model.Boat;
import shared.model.GPSCoordinate;
import java.util.*;
/**
* Registry for all Collider objects in a MockRace. Wraps the Collider interface as part of a Composite Pattern.
*/
public class ColliderRegistry extends Collider implements Observer {
/**
* List of all registered Colliders
*/
private List<Collider> colliders;
/**
* Default constructor for ColliderRegistry
*/
public ColliderRegistry() {
this.colliders = new ArrayList<>();
}
public void addCollider(Collider collider) {
collider.addObserver(this);
colliders.add(collider);
}
public void addAllColliders(Collection<? extends Collider> colliders) {
for(Collider collider: colliders) addCollider(collider);
}
@Override
public boolean rayCast(Boat boat) {
for(Collider collider: colliders) {
if(collider.rayCast(boat)) return true;
}
return false;
}
@Override
public void onCollisionEnter(Boat collider, Collision e) {}
@Override
public GPSCoordinate getPosition() {
return null;
}
@Override
public void setPosition(GPSCoordinate position) {
}
/**
* Fire onCollisionEnter when collision bubbles up from registered colliders.
* @param o object collided with
* @param arg parameters of the collision
*/
@Override
public void update(Observable o, Object arg) {
Collision collision = (Collision)arg;
notifyObservers(collision);
this.setChanged();
}
}
racevisionGame/src/main/java/mock/model/collider/Collision.java
+35
View File
@@ -0,0 +1,35 @@
package mock.model.collider;
import shared.model.Bearing;
/**
* Data structure for holding collision details for ray casting and event handling.
*/
public class Collision {
/**
* Bearing from boat heading to target
*/
private Bearing bearing;
/**
* Distance from boat centre to target centre
*/
private double distance;
/**
* Constructor for Collision structure
* @param bearing from boat heading to target
* @param distance from boat centre to target centre
*/
public Collision(Bearing bearing, double distance) {
this.bearing = bearing;
this.distance = distance;
}
public Bearing getBearing() {
return bearing;
}
public double getDistance() {
return distance;
}
}
racevisionGame/src/main/java/network/AckSequencer.java
+21
View File
@@ -0,0 +1,21 @@
package network;
import java.util.concurrent.atomic.AtomicInteger;
/**
* Common source of ack numbers for all messages
*/
public class AckSequencer {
/**
* Generator for ack numbers
*/
private static AtomicInteger ackNum = new AtomicInteger(0);
/**
* Retrieve next ack number
* @return next ack number
*/
public static int getNextAckNum() {
return ackNum.getAndIncrement();
}
}
racevisionGame/src/main/java/network/MessageDecoders/DecoderFactory.java
+1 -1
View File
@@ -39,7 +39,7 @@ public class DecoderFactory {
case RACESTARTSTATUS: return new RaceStartStatusDecoder();
//case YACHTEVENTCODE: return new YachtEventCodeDecoder();//TODO
case YACHTEVENTCODE: return new YachtEventCodeDecoder();
//case YACHTACTIONCODE: return new YachtActionCodeDecoder();//TODO
racevisionGame/src/main/java/network/MessageDecoders/YachtEventCodeDecoder.java
+47
View File
@@ -0,0 +1,47 @@
package network.MessageDecoders;
import network.Exceptions.InvalidMessageException;
import network.Messages.AC35Data;
import network.Messages.Enums.YachtEventEnum;
import network.Messages.YachtEvent;
import java.util.Arrays;
import static network.Utils.ByteConverter.bytesToInt;
import static network.Utils.ByteConverter.bytesToLong;
import static network.Utils.ByteConverter.bytesToShort;
/**
* Decodes {@link YachtEvent} messages.
*/
public class YachtEventCodeDecoder implements MessageDecoder {
private YachtEvent message;
@Override
public AC35Data decode(byte[] encodedMessage) throws InvalidMessageException {
// Deserialise message
byte[] timestamp = Arrays.copyOfRange(encodedMessage, 1, 7);
byte[] ackNum = Arrays.copyOfRange(encodedMessage, 7, 9);
byte[] raceID = Arrays.copyOfRange(encodedMessage, 9, 13);
byte[] sourceID = Arrays.copyOfRange(encodedMessage, 13, 17);
byte[] incidentID = Arrays.copyOfRange(encodedMessage, 17, 21);
byte eventID = encodedMessage[21];
// Unpack bytes into YachtEvent
this.message = new YachtEvent(
bytesToLong(timestamp),
bytesToShort(ackNum),
bytesToInt(raceID),
bytesToInt(sourceID),
bytesToInt(incidentID),
YachtEventEnum.fromByte(eventID)
);
// Return YachtEvent
return message;
}
public YachtEvent getMessage() {
return message;
}
}
racevisionGame/src/main/java/network/MessageEncoders/EncoderFactory.java
+1 -1
View File
@@ -39,7 +39,7 @@ public class EncoderFactory {
case RACESTARTSTATUS: return new RaceStartStatusEncoder();
//case YACHTEVENTCODE: return new YachtEventCodeEncoder();//TODO
case YACHTEVENTCODE: return new YachtEventCodeEncoder();
//case YACHTACTIONCODE: return new YachtActionCodeEncoder();//TODO
racevisionGame/src/main/java/network/MessageEncoders/YachtEventCodeEncoder.java
+43
View File
@@ -0,0 +1,43 @@
package network.MessageEncoders;
import network.Exceptions.InvalidMessageException;
import network.Messages.AC35Data;
import network.Messages.YachtEvent;
import java.nio.ByteBuffer;
import static network.Utils.ByteConverter.intToBytes;
import static network.Utils.ByteConverter.longToBytes;
/**
* Encodes a {@link YachtEvent} message.
*/
public class YachtEventCodeEncoder implements MessageEncoder {
@Override
public byte[] encode(AC35Data message) throws InvalidMessageException {
// Downcast message
YachtEvent yachtEvent = (YachtEvent)message;
// Serialise message
byte messageVersion = 0b10;
byte[] timestamp = longToBytes(yachtEvent.getCurrentTime(), 6);
byte[] ackNum = intToBytes(yachtEvent.getAckNum(), 2);
byte[] raceID = intToBytes(yachtEvent.getRaceID());
byte[] sourceID = intToBytes(yachtEvent.getSourceID());
byte[] incidentID = intToBytes(yachtEvent.getIncidentID());
byte eventID = yachtEvent.getYachtEvent().getValue();
// Pack bytes into string
ByteBuffer yachtEventMessage = ByteBuffer.allocate(22);
yachtEventMessage.put(messageVersion);
yachtEventMessage.put(timestamp);
yachtEventMessage.put(ackNum);
yachtEventMessage.put(raceID);
yachtEventMessage.put(sourceID);
yachtEventMessage.put(incidentID);
yachtEventMessage.put(eventID);
// Return byte string
return yachtEventMessage.array();
}
}
racevisionGame/src/main/java/network/Messages/Enums/YachtEventEnum.java
+24
View File
@@ -0,0 +1,24 @@
package network.Messages.Enums;
/**
* Yacht event codes
*/
public enum YachtEventEnum {
NOT_AN_EVENT(-1),
COLLISION(1);
private byte value;
YachtEventEnum(int value) { this.value = (byte)value; }
public byte getValue() {
return value;
}
public static YachtEventEnum fromByte(byte value) {
switch(value) {
case 1: return COLLISION;
default: return NOT_AN_EVENT;
}
}
}
racevisionGame/src/main/java/network/Messages/YachtEvent.java
+51
View File
@@ -0,0 +1,51 @@
package network.Messages;
import network.Messages.Enums.MessageType;
import network.Messages.Enums.YachtEventEnum;
/**
* Represents a Yacht Event Code message defined in the AC35 spec, with Event IDs amended for the purposes of
* a game.
*/
public class YachtEvent extends AC35Data {
private long currentTime;
private int ackNum;
private int raceID;
private int sourceID;
private int incidentID;
private YachtEventEnum yachtEvent;
public YachtEvent(long currentTime, int ackNum, int raceID, int sourceID, int incidentID, YachtEventEnum yachtEvent) {
super(MessageType.YACHTEVENTCODE);
this.currentTime = currentTime;
this.ackNum = ackNum;
this.raceID = raceID;
this.sourceID = sourceID;
this.incidentID = incidentID;
this.yachtEvent = yachtEvent;
}
public YachtEventEnum getYachtEvent() {
return yachtEvent;
}
public int getSourceID() {
return sourceID;
}
public int getIncidentID() {
return incidentID;
}
public long getCurrentTime() {
return currentTime;
}
public int getAckNum() {
return ackNum;
}
public int getRaceID() {
return raceID;
}
}
racevisionGame/src/main/java/shared/model/Boat.java
+33 -22
View File
@@ -2,6 +2,8 @@ package shared.model;
import javafx.beans.property.*;
import mock.model.collider.Collider;
import mock.model.collider.Collision;
import network.Messages.Enums.BoatStatusEnum;
import org.jetbrains.annotations.Nullable;
@@ -10,7 +12,7 @@ import java.time.ZonedDateTime;
/**
* Boat Model that is used to store information on the boats that are running in the race.
*/
public class Boat {
public class Boat extends Collider {
/**
* The name of the boat/team.
*/
@@ -30,7 +32,7 @@ public class Boat {
/**
* The current position of the boat.
*/
private GPSCoordinate currentPosition;
private GPSCoordinate position;
/**
* The country or team abbreviation of the boat.
@@ -57,7 +59,7 @@ public class Boat {
/**
* The boat's position within the race (e.g., 5th).
*/
private StringProperty positionInRace = new SimpleStringProperty();
private StringProperty placing = new SimpleStringProperty();
/**
@@ -107,7 +109,7 @@ public class Boat {
this.bearing = Bearing.fromDegrees(0d);
setCurrentPosition(new GPSCoordinate(0, 0));
setPosition(new GPSCoordinate(0, 0));
this.status = BoatStatusEnum.UNDEFINED;
}
@@ -256,41 +258,32 @@ public class Boat {
* Returns the position within the race the boat has (e.g., 5th).
* @return The boat's position in race.
*/
public StringProperty positionProperty() {
return positionInRace;
public StringProperty placingProperty() {
return placing;
}
/**
* Sets the position within the race the boat has (e.g., 5th).
* @param position The boat's position in race.
*/
public void setPosition(String position) {
this.positionInRace.set(position);
public void setPlacing(String position) {
this.placing.set(position);
}
/**
* Returns the position within the race the boat has (e.g., 5th).
* @return The boat's position in race.
*/
public String getPosition() {
return this.positionInRace.get();
}
/**
* Returns the current position of the boat.
* @return The current position of the boat.
*/
public GPSCoordinate getCurrentPosition() {
return currentPosition;
public GPSCoordinate getPosition() {
return position;
}
/**
* Sets the current position of the boat.
* @param currentPosition The new position for the boat.
* @param position The new position for the boat.
*/
public void setCurrentPosition(GPSCoordinate currentPosition) {
this.currentPosition = currentPosition;
public void setPosition(GPSCoordinate position) {
this.position = position;
}
@@ -399,4 +392,22 @@ public class Boat {
this.timeAtLastMark = timeAtLastMark;
}
public void bounce(double repulsionRadius) {
Azimuth reverseAzimuth = Azimuth.fromDegrees(getBearing().degrees() - 180d);
setPosition(GPSCoordinate.calculateNewPosition(getPosition(), 2 * repulsionRadius, reverseAzimuth));
}
@Override
public boolean rayCast(Boat boat) {
if(boat != this) {
return rayCast(boat, 100);
} else return false;
}
@Override
public void onCollisionEnter(Boat collider, Collision e) {
if(e.getBearing().degrees() > 270 || e.getBearing().degrees() < 90) {
collider.bounce(100);
}
}
}
racevisionGame/src/main/java/shared/model/CompoundMark.java
+1 -8
View File
@@ -114,7 +114,7 @@ public class CompoundMark extends XMLCompoundMark{
* @return The position of the second mark in the compound mark.
*/
public GPSCoordinate getMark2Position() {
return mark2.getPosition();
return mark2 == null? mark1.getPosition() : mark2.getPosition();
}
@@ -132,13 +132,6 @@ public class CompoundMark extends XMLCompoundMark{
* @return The average coordinate of the compound mark.
*/
private GPSCoordinate calculateAverage() {
//If the compound mark only contains one mark, the average is simply the first mark's position.
if (this.mark2 == null) {
return this.getMark1Position();
}
//Otherwise, calculate the average of both marks.
GPSCoordinate averageCoordinate = GPSCoordinate.calculateAverageCoordinate(this.getMark1Position(), this.getMark2Position());
racevisionGame/src/main/java/shared/model/Locatable.java
+9
View File
@@ -0,0 +1,9 @@
package shared.model;
/**
* Created by cbt24 on 16/08/17.
*/
public interface Locatable {
GPSCoordinate getPosition();
void setPosition(GPSCoordinate position);
}
racevisionGame/src/main/java/shared/model/Mark.java
+28 -1
View File
@@ -5,17 +5,34 @@ import shared.xml.Race.XMLMark;
import java.math.BigDecimal;
import java.math.BigInteger;
import mock.model.collider.Collider;
import mock.model.collider.Collision;
/**
* Represents an individual mark.
* Has a source ID, name, and position.
*/
public class Mark extends XMLMark{
public class Mark extends Collider, XMLMark {
/**
* The source ID of the mark.
*/
private int sourceID;
/**
* The name of the mark.
*/
private String name;
/**
* The position of the mark.
*/
private GPSCoordinate position;
/**
* Repulsion radius of the mark
*/
private double repulsionRadius = 50;
/**
* Constructs a mark with a given source ID, name, and position.
@@ -66,4 +83,14 @@ public class Mark extends XMLMark{
public void setPosition(GPSCoordinate position) {
this.position = position;
}
@Override
public boolean rayCast(Boat boat) {
return rayCast(boat, repulsionRadius);
}
@Override
public void onCollisionEnter(Boat collider, Collision e) {
collider.bounce(repulsionRadius);
}
}
racevisionGame/src/main/java/shared/model/Race.java
+17 -69
View File
@@ -4,108 +4,87 @@ import javafx.beans.property.IntegerProperty;
import javafx.beans.property.Property;
import javafx.beans.property.SimpleIntegerProperty;
import javafx.beans.property.SimpleObjectProperty;
import mock.model.collider.ColliderRegistry;
import network.Messages.Enums.RaceStatusEnum;
import network.Messages.Enums.RaceTypeEnum;
import shared.dataInput.BoatDataSource;
import shared.dataInput.RaceDataSource;
import shared.dataInput.RegattaDataSource;
import visualiser.model.VisualiserRaceEvent;
import java.util.List;
/**
* Represents a yacht race.
* This is a base class inherited by {@link mock.model.MockRace} and {@link VisualiserRaceEvent}.
* Has a course, state, wind, boundaries, etc.... Boats are added by inheriting classes (see {@link Boat}, {@link mock.model.MockBoat}, {@link visualiser.model.VisualiserBoat}.
*/
public abstract class Race {
/**
* The source of race related data.
*/
protected RaceDataSource raceDataSource;
/**
* The source of boat related data.
*/
protected BoatDataSource boatDataSource;
/**
* The source of regatta related data.
*/
protected RegattaDataSource regattaDataSource;
/**
* A list of compound marks in the race.
*/
protected List<CompoundMark> compoundMarks;
/**
* A list of legs in the race.
*/
protected List<Leg> legs;
/**
* A list of coordinates describing the boundary of the course.
*/
protected List<GPSCoordinate> boundary;
/**
* The clock which tracks the race's start time, current time, and elapsed duration.
*/
protected RaceClock raceClock;
/**
* The race ID of the course.
*/
protected int raceId;
/**
* The name of the regatta.
*/
protected String regattaName;
/**
* The current status of the race.
*/
protected RaceStatusEnum raceStatusEnum;
/**
* The type of race this is.
*/
protected RaceTypeEnum raceType;
/**
* The race's wind.
*/
protected Property<Wind> raceWind = new SimpleObjectProperty<>();
/**
* Registry for all collider object in this race
*/
protected ColliderRegistry colliderRegistry;
/**
* The number of frames per second.
* We essentially track the number of frames generated per second, over a one second period. When {@link #lastFpsResetTime} reaches 1 second, {@link #currentFps} is reset.
* We essentially track the number of frames generated per second, over a one second period. When {@link #lastFpsResetTime} reaches 1 second, currentFps is reset.
*/
private int currentFps = 0;
/**
* The number of frames per second we generated over the last 1 second period.
*/
private IntegerProperty lastFps = new SimpleIntegerProperty(0);
/**
* The time, in milliseconds, since we last reset our {@link #currentFps} counter.
*/
private long lastFpsResetTime;
/**
* Constructs a race object with a given BoatDataSource, RaceDataSource, and RegattaDataSource.
* @param boatDataSource Data source for boat related data (yachts and marker boats).
@@ -119,39 +98,36 @@ public abstract class Race {
this.boatDataSource = boatDataSource;
this.regattaDataSource = regattaDataSource;
//Marks.
this.compoundMarks = raceDataSource.getCompoundMarks();
//Boundaries.
this.boundary = raceDataSource.getBoundary();
//Legs.
this.useLegsList(raceDataSource.getLegs());
//Race ID.
this.raceId = raceDataSource.getRaceId();
//Regatta name.
this.regattaName = regattaDataSource.getRegattaName();
//Race clock.
this.raceClock = new RaceClock(this.raceDataSource.getStartDateTime());
//Race status.
this.setRaceStatusEnum(RaceStatusEnum.NOT_ACTIVE);
//Race type.
this.raceType = raceDataSource.getRaceType();
//Wind.
this.setWind(Bearing.fromDegrees(0), 0);
// Set up colliders
this.colliderRegistry = new ColliderRegistry();
for(CompoundMark mark: compoundMarks) {
colliderRegistry.addCollider(mark.getMark1());
if(mark.getMark2() != null) colliderRegistry.addCollider(mark.getMark2());
}
}
public ColliderRegistry getColliderRegistry() {
return colliderRegistry;
}
/**
* Initialise the boats in the race.
@@ -159,7 +135,6 @@ public abstract class Race {
*/
protected abstract void initialiseBoats();
/**
* Updates the race to use a new list of legs, and adds a dummy "Finish" leg at the end.
* @param legs The new list of legs to use.
@@ -191,10 +166,6 @@ public abstract class Race {
return legID == lastLegID;
}
/**
* Returns the current race status.
* @return The current race status.
@@ -211,7 +182,6 @@ public abstract class Race {
this.raceStatusEnum = raceStatusEnum;
}
/**
* Returns the type of race this is.
* @return The type of race this is.
@@ -228,13 +198,12 @@ public abstract class Race {
return regattaName;
}
/**
* Updates the race to have a specified wind bearing and speed.
* @param windBearing New wind bearing.
* @param windSpeedKnots New wind speed, in knots.
*/
public void setWind(Bearing windBearing, double windSpeedKnots) {
protected void setWind(Bearing windBearing, double windSpeedKnots) {
Wind wind = new Wind(windBearing, windSpeedKnots);
setWind(wind);
}
@@ -243,11 +212,10 @@ public abstract class Race {
* Updates the race to have a specified wind (bearing and speed).
* @param wind New wind.
*/
public void setWind(Wind wind) {
protected void setWind(Wind wind) {
this.raceWind.setValue(wind);
}
/**
* Returns the wind bearing.
* @return The wind bearing.
@@ -265,14 +233,6 @@ public abstract class Race {
return raceWind.getValue().getWindSpeed();
}
/**
* Returns the race's wind.
* @return The race's wind.
*/
public Property<Wind> windProperty() {
return raceWind;
}
/**
* Returns the RaceClock for this race.
* This is used to track the start time, current time, and elapsed duration of the race.
@@ -282,7 +242,6 @@ public abstract class Race {
return raceClock;
}
/**
* Returns the RaceDataSource used for the race.
* @return The RaceDataSource used for the race.
@@ -300,7 +259,6 @@ public abstract class Race {
return legs.size() - 1;
}
/**
* Returns the race boundary.
* @return The race boundary.
@@ -326,14 +284,6 @@ public abstract class Race {
return legs;
}
/**
* Returns the number of frames generated per second.
* @return Frames per second.
*/
public int getFps() {
return lastFps.getValue();
}
/**
* Returns the fps property.
* @return The fps property.
@@ -342,8 +292,6 @@ public abstract class Race {
return lastFps;
}
/**
* Increments the FPS counter, and adds timePeriod milliseconds to our FPS reset timer.
* @param timePeriod Time, in milliseconds, to add to {@link #lastFpsResetTime}.
racevisionGame/src/main/java/visualiser/Commands/VisualiserRaceCommands/BoatLocationCommand.java
+2 -3
View File
@@ -8,7 +8,6 @@ import shared.exceptions.MarkNotFoundException;
import shared.model.GPSCoordinate;
import shared.model.Mark;
import visualiser.model.VisualiserBoat;
import visualiser.model.VisualiserRaceEvent;
import visualiser.model.VisualiserRaceState;
import java.util.logging.Level;
@@ -68,7 +67,7 @@ public class BoatLocationCommand implements Command {
boatLocation.getLatitude(),
boatLocation.getLongitude());
boat.setCurrentPosition(gpsCoordinate);
boat.setPosition(gpsCoordinate);
//Bearing.
boat.setBearing(boatLocation.getHeading());
@@ -96,7 +95,7 @@ public class BoatLocationCommand implements Command {
*/
private void attemptAddTrackPoint(VisualiserBoat boat) {
if (boat.getStatus() == BoatStatusEnum.RACING) {
boat.addTrackPoint(boat.getCurrentPosition(), visualiserRace.getRaceClock().getCurrentTime());
boat.addTrackPoint(boat.getPosition(), visualiserRace.getRaceClock().getCurrentTime());
}
}
racevisionGame/src/main/java/visualiser/Controllers/FinishController.java
+1 -1
View File
@@ -67,7 +67,7 @@ public class FinishController extends Controller {
boatNameColumn.setCellValueFactory(cellData -> cellData.getValue().nameProperty());
//Rank/position.
boatRankColumn.setCellValueFactory(cellData -> cellData.getValue().positionProperty());
boatRankColumn.setCellValueFactory(cellData -> cellData.getValue().placingProperty());
//Winner label.
racevisionGame/src/main/java/visualiser/Controllers/RaceController.java
+1 -2
View File
@@ -23,7 +23,6 @@ import visualiser.gameController.ControllerClient;
import visualiser.gameController.Keys.ControlKey;
import visualiser.gameController.Keys.KeyFactory;
import visualiser.model.*;
import visualiser.network.ServerConnection;
import java.net.URL;
import java.util.ResourceBundle;
@@ -293,7 +292,7 @@ public class RaceController extends Controller {
//Current place within race.
boatPlacingColumn.setCellValueFactory(
cellData -> cellData.getValue().positionProperty() );
cellData -> cellData.getValue().placingProperty() );
}
racevisionGame/src/main/java/visualiser/model/ResizableRaceCanvas.java
+4 -4
View File
@@ -269,7 +269,7 @@ public class ResizableRaceCanvas extends ResizableCanvas {
boat.getName(),
boat.getCountry(),
boat.getCurrentSpeed(),
this.map.convertGPS(boat.getCurrentPosition()),
this.map.convertGPS(boat.getPosition()),
boat.getTimeToNextMarkFormatted(this.visualiserRace.getVisualiserRaceState().getRaceClock().getCurrentTime()),
boat.getTimeSinceLastMarkFormatted(this.visualiserRace.getVisualiserRaceState().getRaceClock().getCurrentTime()) );
@@ -322,7 +322,7 @@ public class ResizableRaceCanvas extends ResizableCanvas {
}
//Convert position to graph coordinate.
GraphCoordinate pos = this.map.convertGPS(boat.getCurrentPosition());
GraphCoordinate pos = this.map.convertGPS(boat.getPosition());
//The x coordinates of each vertex of the boat.
double[] x = {
@@ -356,7 +356,7 @@ public class ResizableRaceCanvas extends ResizableCanvas {
private void drawClientBoat(VisualiserBoat boat) {
//Convert position to graph coordinate.
GraphCoordinate pos = this.map.convertGPS(boat.getCurrentPosition());
GraphCoordinate pos = this.map.convertGPS(boat.getPosition());
//The x coordinates of each vertex of the boat.
double[] x = {
@@ -390,7 +390,7 @@ public class ResizableRaceCanvas extends ResizableCanvas {
private void drawWake(VisualiserBoat boat) {
//Calculate either end of wake line.
GraphCoordinate wakeFrom = this.map.convertGPS(boat.getCurrentPosition());
GraphCoordinate wakeFrom = this.map.convertGPS(boat.getPosition());
GraphCoordinate wakeTo = this.map.convertGPS(boat.getWake());
//Draw.
racevisionGame/src/main/java/visualiser/model/VisualiserBoat.java
+1 -3
View File
@@ -1,7 +1,5 @@
package visualiser.model;
import javafx.beans.property.SimpleStringProperty;
import javafx.beans.property.StringProperty;
import javafx.scene.paint.Color;
import network.Messages.Enums.BoatStatusEnum;
import shared.model.Azimuth;
@@ -102,7 +100,7 @@ public class VisualiserBoat extends Boat {
//Calculate the new coordinate.
GPSCoordinate wakeCoordinate = GPSCoordinate.calculateNewPosition(getCurrentPosition(), wakeDistanceMeters, reverseAzimuth);
GPSCoordinate wakeCoordinate = GPSCoordinate.calculateNewPosition(getPosition(), wakeDistanceMeters, reverseAzimuth);
return wakeCoordinate;
}
racevisionGame/src/main/java/visualiser/model/VisualiserRaceState.java
+3 -4
View File
@@ -1,7 +1,6 @@
package visualiser.model;
import javafx.application.Platform;
import javafx.collections.FXCollections;
import javafx.collections.ObservableList;
import javafx.scene.paint.Color;
@@ -228,7 +227,7 @@ public class VisualiserRaceState extends RaceState {
boat.setCurrentLeg(startingLeg);
boat.setTimeAtLastMark(getRaceClock().getCurrentTime());
boat.setCurrentPosition(new GPSCoordinate(0, 0));
boat.setPosition(new GPSCoordinate(0, 0));
}
@@ -253,10 +252,10 @@ public class VisualiserRaceState extends RaceState {
if ((boat.getStatus() == BoatStatusEnum.DNF) || (boat.getStatus() == BoatStatusEnum.PRESTART) || (boat.getCurrentLeg().getLegNumber() < 0)) {
boat.setPosition("-");
boat.setPlacing("-");
} else {
boat.setPosition(Integer.toString(i + 1));
boat.setPlacing(Integer.toString(i + 1));
}
}
racevisionGame/src/test/java/mock/model/MockBoatTest.java
+13 -152
View File
@@ -1,174 +1,35 @@
package mock.model;
import mock.dataInput.PolarParser;
import mock.exceptions.InvalidPolarFileException;
import org.junit.Before;
import org.junit.Test;
import shared.model.Bearing;
import shared.model.CompoundMark;
import shared.model.GPSCoordinate;
import shared.model.Mark;
import static org.junit.Assert.assertEquals;
import static org.junit.Assert.fail;
import static org.junit.Assert.*;
public class MockBoatTest {
private MockBoat boat;
private Mark near;
private Mark far;
/**
* boat made for testing
*/
private MockBoat firstTestBoat;
private Mark markToTest;
private Mark markToTest2;
private GPSCoordinate highGPS;
private GPSCoordinate middleGPS;
private GPSCoordinate lowGPS;
/**
* Creates the Polars object for the tests.
*/
@Before
public void setUp() {
//Read in polars.
try {
//Parse data file.
Polars polars = PolarParser.parse("mock/polars/acc_polars.csv");
boat = new MockBoat(0, "Bob", "NZ", null);
boat.setPosition(new GPSCoordinate(0,0));
boat.setBearing(Bearing.fromDegrees(180));
firstTestBoat = new MockBoat(1, "test", "NZ", polars);
highGPS = new GPSCoordinate(32.296577, -64.854000);
middleGPS = new GPSCoordinate(32.292500, -64.854000);
lowGPS = new GPSCoordinate(32.290000, -64.854000);
markToTest = new Mark(1, "test MARK", middleGPS);
markToTest2 = new Mark(2, "test MARK2", middleGPS);
}
catch (InvalidPolarFileException e) {
fail("Couldn't parse polar file.");
}
near = new Mark(0, "Near", new GPSCoordinate(-.0001, 0));
far = new Mark(0, "Far", new GPSCoordinate(.001, 0));
}
//////////////////////////////Mark Higher////////////////////////////////
/**
* Tests if the boat is lower than the mark that the port side method works if
* boat is facing east
*/
@Test
public void testIsPortSide() {
firstTestBoat.setBearing(Bearing.fromDegrees(90));
firstTestBoat.setCurrentPosition(lowGPS);
markToTest.setPosition(highGPS);
assertEquals(firstTestBoat.isPortSide(markToTest), true);
public void nearMarkWithin100m() {
assertTrue(near.rayCast(boat, 100));
}
/**
* Tests if the boat is lower than the mark that the port side method works if
* boat is facing west
*/
@Test
public void testIsPortSideWrong() {
firstTestBoat.setBearing(Bearing.fromDegrees(270));
firstTestBoat.setCurrentPosition(lowGPS);
markToTest.setPosition(highGPS);
assertEquals(firstTestBoat.isPortSide(markToTest), false);
}
/**
* Tests if the boat is lower than the mark that the starboard side method works if
* boat is facing east
*/
@Test
public void testIsStarboardSideWrong() {
firstTestBoat.setBearing(Bearing.fromDegrees(90));
firstTestBoat.setCurrentPosition(lowGPS);
markToTest.setPosition(highGPS);
assertEquals(firstTestBoat.isStarboardSide(markToTest), false);
}
/**
* Tests if the boat is lower than the mark that the starboard side method works if
* boat is facing west
*/
@Test
public void testIsStarboardSide() {
firstTestBoat.setBearing(Bearing.fromDegrees(270));
firstTestBoat.setCurrentPosition(lowGPS);
markToTest.setPosition(highGPS);
assertEquals(firstTestBoat.isStarboardSide(markToTest), true);
}
//////////////////////////////Mark Lower////////////////////////////////
/**
* Tests if the boat is higher than the mark that the port side method works if
* boat is facing east
*/
@Test
public void testIsPortSideHigherWrong() {
firstTestBoat.setBearing(Bearing.fromDegrees(90));
firstTestBoat.setCurrentPosition(highGPS);
markToTest.setPosition(lowGPS);
assertEquals(firstTestBoat.isPortSide(markToTest), false);
}
/**
* Tests if the boat is higher than the mark that the port side method works if
* boat is facing west
*/
@Test
public void testIsPortSideHigher() {
firstTestBoat.setBearing(Bearing.fromDegrees(270));
firstTestBoat.setCurrentPosition(highGPS);
markToTest.setPosition(lowGPS);
assertEquals(firstTestBoat.isPortSide(markToTest), true);
}
/**
* Tests if the boat is higher than the mark that the starboard side method works if
* boat is facing east
*/
@Test
public void testIsStarboardSideHigher() {
firstTestBoat.setBearing(Bearing.fromDegrees(90));
firstTestBoat.setCurrentPosition(highGPS);
markToTest.setPosition(lowGPS);
assertEquals(firstTestBoat.isStarboardSide(markToTest), true);
}
/**
* Tests if the boat is higher than the mark that the starboard side method works if
* boat is facing west
*/
@Test
public void testIsStarboardSideHigherWrong() {
firstTestBoat.setBearing(Bearing.fromDegrees(270));
firstTestBoat.setCurrentPosition(highGPS);
markToTest.setPosition(lowGPS);
assertEquals(firstTestBoat.isStarboardSide(markToTest), false);
}
/**
* Tests if a boat is between a gate
*/
@Test
public void testIsBetweenGate(){
markToTest.setPosition(highGPS);
markToTest2.setPosition(lowGPS);
CompoundMark testGate = new CompoundMark(1, "test GATE", markToTest, markToTest2);
firstTestBoat.setCurrentPosition(middleGPS);
assertEquals(firstTestBoat.isBetweenGate(testGate), true);
public void farMarkBeyond100m() {
assertFalse(far.rayCast(boat, 100));
}
}
racevisionGame/src/test/java/network/MessageDecoders/YachtEventCodeDecoderTest.java
+47
View File
@@ -0,0 +1,47 @@
package network.MessageDecoders;
import network.MessageEncoders.RaceVisionByteEncoder;
import network.Messages.Enums.YachtEventEnum;
import network.Messages.YachtEvent;
import org.junit.Before;
import org.junit.Test;
import static org.testng.Assert.*;
/**
* Tests for the YachtEvent decoder and encoder
*/
public class YachtEventCodeDecoderTest {
private YachtEvent decodedMessage;
private YachtEvent originalMessage;
@Before
public void setUp() throws Exception {
long timestamp = System.currentTimeMillis();
originalMessage = new YachtEvent(
timestamp,
55,
35,
0,
1,
YachtEventEnum.COLLISION
);
byte[] encodedMessage = RaceVisionByteEncoder.encode(originalMessage);
YachtEventCodeDecoder testDecoder = new YachtEventCodeDecoder();
testDecoder.decode(encodedMessage);
decodedMessage = testDecoder.getMessage();
}
@Test
public void decodingEqualsOriginal() {
assertEquals(originalMessage.getCurrentTime(), decodedMessage.getCurrentTime());
assertEquals(originalMessage.getAckNum(), decodedMessage.getAckNum());
assertEquals(originalMessage.getRaceID(), decodedMessage.getRaceID());
assertEquals(originalMessage.getSourceID(), decodedMessage.getSourceID());
assertEquals(originalMessage.getIncidentID(), decodedMessage.getIncidentID());
assertEquals(originalMessage.getYachtEvent(), decodedMessage.getYachtEvent());
}
}
racevisionGame/src/test/java/shared/model/BoatTest.java
+5 -5
View File
@@ -19,7 +19,7 @@ public class BoatTest {
public void setUp() {
ORIGIN_COORDS = new GPSCoordinate(0, 0);
TEST_BOAT = new Boat(1, "Test", "tt");
TEST_BOAT.setCurrentPosition(ORIGIN_COORDS);
TEST_BOAT.setPosition(ORIGIN_COORDS);
}
//TODO these bearing tests could be tidied up to reduce code repetition.
@@ -113,7 +113,7 @@ public class BoatTest {
Leg start = new Leg("Start", startMarker, endMarker, 0);
TEST_BOAT.setCurrentLeg(start);
assertEquals(GPSCoordinate.calculateAzimuth(TEST_BOAT.getCurrentPosition(), endMarker.getAverageGPSCoordinate()).degrees(), 0, 1e-8);
assertEquals(GPSCoordinate.calculateAzimuth(TEST_BOAT.getPosition(), endMarker.getAverageGPSCoordinate()).degrees(), 0, 1e-8);
}
@@ -131,7 +131,7 @@ public class BoatTest {
Leg start = new Leg("Start", startMarker, endMarker, 0);
TEST_BOAT.setCurrentLeg(start);
assertEquals(GPSCoordinate.calculateAzimuth(TEST_BOAT.getCurrentPosition(), endMarker.getAverageGPSCoordinate()).degrees(), 90, 1e-8);
assertEquals(GPSCoordinate.calculateAzimuth(TEST_BOAT.getPosition(), endMarker.getAverageGPSCoordinate()).degrees(), 90, 1e-8);
}
@Test
@@ -148,7 +148,7 @@ public class BoatTest {
Leg start = new Leg("Start", startMarker, endMarker, 0);
TEST_BOAT.setCurrentLeg(start);
assertEquals(GPSCoordinate.calculateAzimuth(TEST_BOAT.getCurrentPosition(), endMarker.getAverageGPSCoordinate()).degrees(), -180, 1e-8);
assertEquals(GPSCoordinate.calculateAzimuth(TEST_BOAT.getPosition(), endMarker.getAverageGPSCoordinate()).degrees(), -180, 1e-8);
}
@Test
@@ -165,7 +165,7 @@ public class BoatTest {
Leg start = new Leg("Start", startMarker, endMarker, 0);
TEST_BOAT.setCurrentLeg(start);
assertEquals(GPSCoordinate.calculateBearing(TEST_BOAT.getCurrentPosition(), endMarker.getAverageGPSCoordinate()).degrees(), 270, 1e-8);
assertEquals(GPSCoordinate.calculateBearing(TEST_BOAT.getPosition(), endMarker.getAverageGPSCoordinate()).degrees(), 270, 1e-8);
}