fanwuyang/SENG302
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Merge remote-tracking branch 'remotes/origin/master' into CommandFactory

Browse Source 
# Conflicts:
#	racevisionGame/src/main/java/mock/model/commandFactory/TackGybeCommand.java
#	racevisionGame/src/main/java/mock/model/commandFactory/VMGCommand.java
This commit is contained in:
Connor Taylor-Brown
2017-08-15 01:01:06 +12:00
parent b97bfe62a6 cdcd326b7c
commit 847cd1251e
19 changed files with 951 additions and 83 deletions
Download Patch File Download Diff File Expand all files Collapse all files
racevisionGame/src/main/java/mock/model/MockBoat.java
+102 -1
View File
@@ -22,6 +22,14 @@ public class MockBoat extends Boat {
*/
private long timeSinceTackChange = 0;
/**
* This stores the boats current status of rounding a mark
* 0: not started rounding
* 1: passed only first check
* 2: passed first and second check
*/
private Integer roundingStatus = 0;
/**
* Stores whether the boat is on autoVMG or not
*/
@@ -67,10 +75,19 @@ public class MockBoat extends Boat {
//Get the start and end points.
GPSCoordinate currentPosition = this.getCurrentPosition();
GPSCoordinate nextMarkerPosition = this.getCurrentLeg().getEndCompoundMark().getAverageGPSCoordinate();
GPSCoordinate nextMarkerPosition;
// if boat is at the finish
if (this.getCurrentLeg().getEndCompoundMark() == null) {
nextMarkerPosition = currentPosition;
}
else {
nextMarkerPosition = this.getCurrentLeg().getEndCompoundMark().getAverageGPSCoordinate();
}
//Calculate bearing.
Bearing bearing = GPSCoordinate.calculateBearing(currentPosition, nextMarkerPosition);
return bearing;
}
@@ -196,6 +213,90 @@ public class MockBoat extends Boat {
return distanceTravelledMeters;
}
/**
* Check if a mark is on the port side of the boat
* @param mark mark to be passed
* @return true if mark is on port side
*/
public boolean isPortSide(Mark mark){
Bearing towardsMark = GPSCoordinate.calculateBearing(this.getCurrentPosition(), mark.getPosition());
if (towardsMark.degrees() > 315 || towardsMark.degrees() <= 45){
//south quadrant
return this.getBearing().degrees() <= 180;
} else if(towardsMark.degrees() > 45 && towardsMark.degrees() <= 135){
//west quadrant
return (this.getBearing().degrees() <= 270 && this.getBearing().degrees() >= 90);
}else if(towardsMark.degrees() > 135 && towardsMark.degrees() <= 225){
//north quadrant
return this.getBearing().degrees() >= 180;
}else if(towardsMark.degrees() > 225 && towardsMark.degrees() <= 315){
//east quadrant
return (this.getBearing().degrees() <= 90 || this.getBearing().degrees() >= 270);
}else{
//should not reach here
return false;
}
}
/**
* Check if a mark is on the starboard side of the boat
* @param mark mark to be passed
* @return true if mark is on starboard side
*/
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());
if (towardsMark.degrees() > 315 || towardsMark.degrees() <= 45){
//south quadrant
return !(this.getBearing().degrees() <= 180);
} else if(towardsMark.degrees() > 45 && towardsMark.degrees() <= 135){
//west quadrant
return !(this.getBearing().degrees() <= 270 && this.getBearing().degrees() >= 90);
}else if(towardsMark.degrees() > 135 && towardsMark.degrees() <= 225){
//north quadrant
return !(this.getBearing().degrees() >= 180);
}else if(towardsMark.degrees() > 225 && towardsMark.degrees() <= 315){
//east quadrant
return !(this.getBearing().degrees() <= 90 || this.getBearing().degrees() >= 270);
}else{
//should not reach here
return false;
}
}
/**
* Used to check if this boat is between a gate
* @param gate the gate to be checked
* @return true if the boat is between two marks that make up a gate
*/
public boolean isBetweenGate(CompoundMark gate){
return (this.isPortSide(gate.getMark1()) && this.isStarboardSide(gate.getMark2())) ||
(this.isStarboardSide(gate.getMark1()) && this.isPortSide(gate.getMark2()));
}
/**
* Used to check if this boat is between a two marks
* @param mark1 the first mark
* @param mark2 the second mark
* @return true if the boat is between two marks
*/
public boolean isBetweenGate(Mark mark1, Mark mark2){
return (this.isPortSide(mark1) && this.isStarboardSide(mark2)) ||
(this.isStarboardSide(mark1) && this.isPortSide(mark2));
}
public Integer getRoundingStatus() {
return Integer.valueOf(roundingStatus);
}
public void increaseRoundingStatus() {
this.roundingStatus++;
}
public void resetRoundingStatus() {
this.roundingStatus = 0;
}
public boolean isAutoVMG() {
return autoVMG;
}
racevisionGame/src/main/java/mock/model/MockRace.java
+249 -4
View File
@@ -1,18 +1,16 @@
package mock.model;
import network.Messages.Enums.BoatStatusEnum;
import network.Messages.Enums.RaceStatusEnum;
import network.Messages.LatestMessages;
import org.opengis.geometry.primitive.*;
import shared.dataInput.BoatDataSource;
import shared.dataInput.RaceDataSource;
import network.Messages.Enums.RaceStatusEnum;
import shared.dataInput.RegattaDataSource;
import shared.enums.RoundingType;
import shared.model.*;
import shared.model.Bearing;
import java.time.ZonedDateTime;
import java.time.temporal.ChronoUnit;
import java.time.temporal.TemporalUnit;
import java.util.*;
import static java.lang.Math.cos;
@@ -322,6 +320,8 @@ public class MockRace extends Race {
if (!finish && totalElapsedMilliseconds >= updatePeriodMilliseconds) {
checkPosition(boat, totalElapsedMilliseconds);
if (boat.getCurrentSpeed() == 0) {
newOptimalVMG(boat);
boat.setBearing(boat.calculateBearingToNextMarker());
@@ -381,6 +381,251 @@ public class MockRace extends Race {
}
}
/**
* Calculates the upper and lower bounds that the boat may have in order to not go outside of the course.
* @param boat The boat to check.
* @return An array of bearings. The first is the lower bound, the second is the upper bound.
*/
private Bearing[] calculateBearingBounds(MockBoat boat) {
Bearing[] bearings = new Bearing[2];
Bearing lowerBearing = Bearing.fromDegrees(0.001);
Bearing upperBearing = Bearing.fromDegrees(359.999);
double lastAngle = -1;
boolean lastAngleWasGood = false;
//Check all bearings between [0, 360).
for (double angle = 0; angle < 360; angle += 1) {
//Create bearing from angle.
Bearing bearing = Bearing.fromDegrees(angle);
//Check that if it is acceptable.
boolean bearingIsGood = this.checkBearingInsideCourse(bearing, boat.getCurrentPosition());
if (lastAngle != -1) {
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);
}
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;
return bearings;
}
/**
* 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) {
//Get azimuth from bearing.
Azimuth azimuth = Azimuth.fromBearing(bearing);
//Tests to see if a point in front of the boat is out of bounds.
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.shrinkBoundary)) {
return true;
} else {
return false;
}
}
/**
* Checks to be run on boats rounding marks on the port side
* @param boat the boat that is rounding a mark
* @param roundingChecks the checks to run
* @param legBearing the direction of the leg
*/
private void boatRoundingCheckPort(MockBoat boat, List<GPSCoordinate> roundingChecks, Bearing legBearing) {
//boats must pass all checks in order to round a mark
//boolean for if boat has to/needs to pass through a gate
boolean gateCheck = boat.getCurrentLeg().getEndCompoundMark().getMark2() == null || boat.isBetweenGate(boat.getCurrentLeg().getEndCompoundMark());
Mark roundingMark = boat.getCurrentLeg().getEndCompoundMark().getMarkForRounding(legBearing);
switch (boat.getRoundingStatus()) {
case 0://hasn't started rounding
if (boat.isPortSide(roundingMark) &&
GPSCoordinate.passesLine(roundingMark.getPosition(),
roundingChecks.get(0), boat.getCurrentPosition(), legBearing) &&
gateCheck && boat.isBetweenGate(roundingMark, Mark.tempMark(roundingChecks.get(0)))) {
boat.increaseRoundingStatus();
if (boat.getCurrentLeg().getLegNumber() + 2 >= legs.size()){
//boat has finished race
boat.increaseRoundingStatus();
}
}
break;
case 1://has been parallel to the mark;
if (boat.isPortSide(roundingMark) &&
GPSCoordinate.passesLine(roundingMark.getPosition(),
roundingChecks.get(1), boat.getCurrentPosition(),
Bearing.fromDegrees(legBearing.degrees() - 90)) &&//negative 90 from bearing because of port rounding
boat.isBetweenGate(roundingMark, Mark.tempMark(roundingChecks.get(1)))) {
boat.increaseRoundingStatus();
}
break;
case 2://has traveled 180 degrees around the mark
//Move boat on to next leg.
boat.resetRoundingStatus();
Leg nextLeg = this.legs.get(boat.getCurrentLeg().getLegNumber() + 1);
boat.setCurrentLeg(nextLeg);
break;
}
}
/**
* Checks to be run on boats rounding marks on the starboard side
* @param boat the boat that is rounding a mark
* @param roundingChecks the checks to run
* @param legBearing the direction of the leg
*/
private void boatRoundingCheckStarboard(MockBoat boat, List<GPSCoordinate> roundingChecks, Bearing legBearing){
//boats must pass all checks in order to round a mark
//boolean for if boat has to/needs to pass through a gate
boolean gateCheck = boat.getCurrentLeg().getEndCompoundMark().getMark2() == null || boat.isBetweenGate(boat.getCurrentLeg().getEndCompoundMark());
Mark roundingMark = boat.getCurrentLeg().getEndCompoundMark().getMarkForRounding(legBearing);
switch (boat.getRoundingStatus()) {
case 0://hasn't started rounding
if (boat.isStarboardSide(roundingMark) &&
GPSCoordinate.passesLine(roundingMark.getPosition(),
roundingChecks.get(0), boat.getCurrentPosition(), legBearing) &&
gateCheck &&
boat.isBetweenGate(roundingMark, Mark.tempMark(roundingChecks.get(0)))) {
boat.increaseRoundingStatus();
if (boat.getCurrentLeg().getLegNumber() + 2 >= legs.size()){
//boat has finished race
boat.increaseRoundingStatus();
}
}
break;
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
boat.isBetweenGate(roundingMark, Mark.tempMark(roundingChecks.get(1)))) {
boat.increaseRoundingStatus();
}
break;
case 2://has traveled 180 degrees around the mark
//Move boat on to next leg.
boat.resetRoundingStatus();
Leg nextLeg = this.legs.get(boat.getCurrentLeg().getLegNumber() + 1);
boat.setCurrentLeg(nextLeg);
break;
}
}
/**
* Checks if a boat has finished any legs, or has pulled out of race (DNF).
* @param boat The boat to check.
* @param timeElapsed The total time, in milliseconds, that has elapsed since the race started.
*/
protected void checkPosition(MockBoat boat, long timeElapsed) {
//The distance, in nautical miles, within which the boat needs to get in order to consider that it has reached the marker.
double epsilonNauticalMiles = boat.getCurrentLeg().getEndCompoundMark().getRoundingDistance(); //250 meters.
if (boat.calculateDistanceToNextMarker() < epsilonNauticalMiles) {
//Boat is within an acceptable distance from the mark.
GPSCoordinate startDirectionLinePoint = boat.getCurrentLeg().getStartCompoundMark().getMark1Position();
GPSCoordinate endDirectionLinePoint = boat.getCurrentLeg().getEndCompoundMark().getMark1Position();
Bearing bearingOfDirectionLine = GPSCoordinate.calculateBearing(startDirectionLinePoint, endDirectionLinePoint);
//use the direction line to create three invisible points that act as crossover lines a boat must cross
//to round a mark
double bearingToAdd;
if (boat.getCurrentLeg().getEndCompoundMark().getRoundingType() == RoundingType.Port ||
boat.getCurrentLeg().getEndCompoundMark().getRoundingType() == RoundingType.SP){
bearingToAdd = 90;
}else{
bearingToAdd = -90;
}
GPSCoordinate roundCheck1 = GPSCoordinate.calculateNewPosition(endDirectionLinePoint,
epsilonNauticalMiles, Azimuth.fromDegrees(bearingOfDirectionLine.degrees() + bearingToAdd));
GPSCoordinate roundCheck2;
try{
Leg nextLeg = legs.get(legs.indexOf(boat.getCurrentLeg()) + 1);
GPSCoordinate startNextDirectionLinePoint = nextLeg.getStartCompoundMark().getMark1Position();
GPSCoordinate endNextDirectionLinePoint = nextLeg.getEndCompoundMark().getMark1Position();
Bearing bearingOfNextDirectionLine = GPSCoordinate.calculateBearing(startNextDirectionLinePoint, endNextDirectionLinePoint);
roundCheck2 = GPSCoordinate.calculateNewPosition(endDirectionLinePoint,
epsilonNauticalMiles, Azimuth.fromDegrees(bearingOfNextDirectionLine.degrees() + bearingToAdd));
}catch(NullPointerException e){
//this is caused by the last leg not being having a leg after it
roundCheck2 = roundCheck1;
}
List<GPSCoordinate> roundingChecks = new ArrayList<GPSCoordinate>(Arrays.asList(roundCheck1, roundCheck2));
switch (boat.getCurrentLeg().getEndCompoundMark().getRoundingType()) {
case SP://Not yet implemented so these gates will be rounded port side
case Port:
boatRoundingCheckPort(boat, roundingChecks, bearingOfDirectionLine);
break;
case PS://not yet implemented so these gates will be rounded starboard side
case Starboard:
boatRoundingCheckStarboard(boat, roundingChecks, bearingOfDirectionLine);
break;
}
//Check if the boat has finished or stopped racing.
if (this.isLastLeg(boat.getCurrentLeg())) {
//Boat has finished.
boat.setTimeFinished(timeElapsed);
boat.setCurrentSpeed(0);
boat.setStatus(BoatStatusEnum.FINISHED);
}
}
}
/**
* Returns the number of boats that are still active in the race.
* They become inactive by either finishing or withdrawing.
racevisionGame/src/main/java/mock/model/commandFactory/TackGybeCommand.java
+1 -3
View File
@@ -2,7 +2,6 @@ package mock.model.commandFactory;
import mock.model.MockBoat;
import mock.model.MockRace;
import mock.model.VMG;
import shared.model.Bearing;
/**
@@ -44,8 +43,7 @@ public class TackGybeCommand implements Command {
*/
public double calcDistance(double degreeA, double degreeB){
double phi = Math.abs(degreeB - degreeA) % 360;
double distance = phi > 180 ? 360 - phi : phi;
return distance;
return phi > 180 ? 360 - phi : phi;
}
}
racevisionGame/src/main/java/shared/dataInput/RaceXMLReader.java
+16
View File
@@ -5,6 +5,7 @@ import org.w3c.dom.Element;
import org.w3c.dom.NamedNodeMap;
import org.w3c.dom.Node;
import org.w3c.dom.NodeList;
import shared.enums.RoundingType;
import shared.enums.XMLFileType;
import shared.exceptions.InvalidRaceDataException;
import shared.exceptions.XMLReaderException;
@@ -313,6 +314,8 @@ public class RaceXMLReader extends XMLReader implements RaceDataSource {
return element.getAttribute("Name");
}
private String getCompoundMarkRounding(Element element){return element.getAttribute("Rounding");}
/**
* Populates list of legs given CompoundMarkSequence element and referenced CompoundMark elements.
@@ -331,12 +334,19 @@ public class RaceXMLReader extends XMLReader implements RaceDataSource {
//Gets the ID number of this corner element.
int cornerID = getCompoundMarkID(cornerElement);
//gets the Rounding of this corner element
String cornerRounding = getCompoundMarkRounding(cornerElement);
//Gets the CompoundMark associated with this corner.
CompoundMark lastCompoundMark = this.compoundMarkMap.get(cornerID);
//The name of the leg is the name of the first compoundMark in the leg.
String legName = lastCompoundMark.getName();
//Sets the rounding type of this compound mark
lastCompoundMark.setRoundingType(RoundingType.getValueOf(cornerRounding));
//For each following corner, create a leg between cornerN and cornerN+1.
for(int i = 1; i < corners.getLength(); i++) {
@@ -346,9 +356,15 @@ public class RaceXMLReader extends XMLReader implements RaceDataSource {
//Gets the ID number of this corner element.
cornerID = getCompoundMarkID(cornerElement);
//gets the Rounding of this corner element
cornerRounding = getCompoundMarkRounding(cornerElement);
//Gets the CompoundMark associated with this corner.
CompoundMark currentCompoundMark = this.compoundMarkMap.get(cornerID);
//Sets the rounding type of this compound mark
currentCompoundMark.setRoundingType(RoundingType.valueOf(cornerRounding));
//Create a leg from these two adjacent compound marks.
Leg leg = new Leg(legName, lastCompoundMark, currentCompoundMark, i - 1);
legs.add(leg);
racevisionGame/src/main/java/shared/enums/RoundingType.java
+49
View File
@@ -0,0 +1,49 @@
package shared.enums;
/**
* Enum for the types of rounding that can be done
*/
public enum RoundingType {
/**
* This is means it must be rounded port side
*/
Port,
/**
* This is means it must be rounded starboard side
*/
Starboard,
/**
* The boat within the compound mark with the SeqID
* of 1 should be rounded to starboard and the boat
* within the compound mark with the SeqID of 2 should
* be rounded to port.
*/
SP,
/**
* The boat within the compound mark with the SeqID
* of 1 should be rounded to port and the boat
* within the compound mark with the SeqID of 2 should
* be rounded to starboard.
*
* opposite of SP
*/
PS;
public static RoundingType getValueOf(String value) {
switch (value) {
case "Port":
return RoundingType.Port;
case "Starboard":
return RoundingType.Starboard;
case "SP":
return RoundingType.Port;
case "PS":
return RoundingType.Starboard;
default:
return null;
}
}
}
racevisionGame/src/main/java/shared/model/CompoundMark.java
+123
View File
@@ -1,6 +1,8 @@
package shared.model;
import shared.enums.RoundingType;
/**
* Represents a compound mark - that is, either one or two individual marks which form a single compound mark.
*/
@@ -31,6 +33,11 @@ public class CompoundMark {
*/
private GPSCoordinate averageGPSCoordinate;
/**
* The side that the mark must be rounded on
*/
private RoundingType roundingType;
/**
* Constructs a compound mark from a single mark.
@@ -141,4 +148,120 @@ public class CompoundMark {
return averageCoordinate;
}
/**
* Used to find how far apart the marks that make up this gate are
* If this compound mark is only one point return base length of 250m
* @return the acceptable distance to round a mark
*/
public double getRoundingDistance(){
if (mark2 != null){
return GPSCoordinate.calculateDistanceMeters(mark1.getPosition(), mark2.getPosition());
}else{
return 400;
}
}
/**
* Used to get how this mark should be rounded
* @return rounding type for mark
*/
public RoundingType getRoundingType() {
return roundingType;
}
/**
* Used to set the type of rounding for this mark
* @param roundingType rounding type to set
*/
public void setRoundingType(RoundingType roundingType) {
this.roundingType = roundingType;
}
/**
* Used to find the mark that is to be rounded at a gate when approaching from the south
* will also give the single mark if there is only one
* @param bearing the bearing a boat will approach form
* @return the mark to round
*/
public Mark getMarkForRounding(Bearing bearing){
Mark westMostMark;
Mark eastMostMark;
Mark northMostMark;
Mark southMostMark;
//check to see if there are two marks
if (mark2 == null){
return mark1;
}
//finds the mark furthest west and east
if(this.getMark1Position().getLatitude() > this.getMark2Position().getLatitude()){
westMostMark = this.mark1;
eastMostMark = this.mark2;
}else{
westMostMark = this.mark2;
eastMostMark = this.mark1;
}
//finds the mark furthest north and south
if(this.getMark1Position().getLongitude() > this.getMark2Position().getLongitude()){
northMostMark = this.mark1;
southMostMark = this.mark2;
}else{
northMostMark = this.mark2;
southMostMark = this.mark1;
}
if (bearing.degrees() > 315 || bearing.degrees() <= 45){
//north
switch (this.getRoundingType()){
case SP:
case Port:
return westMostMark;
case PS:
case Starboard:
return eastMostMark;
default:return null;
}
}else if(bearing.degrees() > 45 && bearing.degrees() <= 135){
//east
switch (this.getRoundingType()){
case SP:
case Port:
return northMostMark;
case PS:
case Starboard:
return southMostMark;
default:return null;
}
}else if(bearing.degrees() > 135 && bearing.degrees() <= 225){
//south
switch (this.getRoundingType()){
case SP:
case Port:
return eastMostMark;
case PS:
case Starboard:
return westMostMark;
default:return null;
}
}else if(bearing.degrees() > 225 && bearing.degrees() <= 315){
//west
switch (this.getRoundingType()){
case SP:
case Port:
return southMostMark;
case PS:
case Starboard:
return northMostMark;
default:return null;
}
}else{
return null;
}
}
}
racevisionGame/src/main/java/shared/model/GPSCoordinate.java
+41 -1
View File
@@ -142,7 +142,7 @@ public class GPSCoordinate {
* @param coordinate The coordinate to test.
* @return true if a line from the point intersects the two boundary points
*/
private static boolean intersects(GPSCoordinate boundaryA, GPSCoordinate boundaryB, GPSCoordinate coordinate) {
public static boolean intersects(GPSCoordinate boundaryA, GPSCoordinate boundaryB, GPSCoordinate coordinate) {
double boundaryALat = boundaryA.getLatitude();
double boundaryALon = boundaryA.getLongitude();
double boundaryBLat = boundaryB.getLatitude();
@@ -170,6 +170,46 @@ public class GPSCoordinate {
}
/**
* Checks to see if a point passes or lands on a line
* @param linePointA first point for a line
* @param linePointB second point for a line
* @param point point to check
* @param directionBearing direction of the correct side of line
* @return true if on the correct side
*/
public static boolean passesLine(GPSCoordinate linePointA, GPSCoordinate linePointB, GPSCoordinate point, Bearing directionBearing) {
double d = lineCheck(linePointA, linePointB, point);//this gives a number < 0 for one side and > 0 for an other
//to find if the side is the correct one
//compare with point that is known on the correct side
GPSCoordinate pointForComparison = GPSCoordinate.calculateNewPosition(linePointA,
250, Azimuth.fromDegrees(directionBearing.degrees()));
double d2 = lineCheck(linePointA, linePointB, pointForComparison);
return (d > 0 && d2 > 0) || (d < 0 && d2 < 0) || d == 0;
}
/**
* returns a double that is positive or negative based on which
* side of the line it is on. returns 0 if it is on the line
* @param linePointA first point to make up the line
* @param linePointB second point to make up the line
* @param point the point to check
* @return greater than 0 for one side, less than 0 for another
*/
private static double lineCheck(GPSCoordinate linePointA, GPSCoordinate linePointB, GPSCoordinate point) {
double linePointALat = linePointA.getLatitude();
double linePointALon = linePointA.getLongitude();
double linePointBLat = linePointB.getLatitude();
double linePointBLon = linePointB.getLongitude();
double pointLat = point.getLatitude();
double pointLon = point.getLongitude();
double d1 = (pointLat - linePointALat) * (linePointBLon - linePointALon);
double d2 = (pointLon - linePointALon) * (linePointBLat - linePointALat);
return d1 - d2; //this gives a number < 0 for one side and > 0 for an other
}
/**
racevisionGame/src/main/java/shared/model/Mark.java
+9 -1
View File
@@ -22,7 +22,6 @@ public class Mark {
private GPSCoordinate position;
/**
* Constructs a mark with a given source ID, name, and position.
* @param sourceID The source ID of the mark.
@@ -35,6 +34,15 @@ public class Mark {
this.position = position;
}
/**
* Used to create marks that are not visible in the race
* @param position position of the mark
* @return the new mark
*/
public static Mark tempMark(GPSCoordinate position){
return new Mark(-1, "Hidden Mark", position);
}
/**
* Returns the name of the mark.
racevisionGame/src/main/java/shared/model/Race.java
+7
View File
@@ -332,6 +332,13 @@ public abstract class Race {
return lastFps;
}
/**
* Returns the legs of this race
* @return list of legs
*/
public List<Leg> getLegs() {
return legs;
}
/**
* Increments the FPS counter, and adds timePeriod milliseconds to our FPS reset timer.
racevisionGame/src/main/java/visualiser/gameController/ControllerClient.java
+1 -3
View File
@@ -11,8 +11,6 @@ import visualiser.gameController.Keys.ControlKey;
import java.io.DataOutputStream;
import java.io.IOException;
import java.net.Socket;
import java.net.SocketException;
import java.nio.ByteBuffer;
import java.util.logging.Level;
import java.util.logging.Logger;
@@ -62,7 +60,7 @@ public class ControllerClient {
BinaryMessageEncoder binaryMessage = new BinaryMessageEncoder(MessageType.BOATACTION, System.currentTimeMillis(), 0,
(short) encodedBoatAction.length, encodedBoatAction);
System.out.println("Sending out key: " + protocolCode);
// System.out.println("Sending out key: " + protocolCode);
outputStream.write(binaryMessage.getFullMessage());
} catch (InvalidMessageException e) {
racevisionGame/src/main/java/visualiser/gameController/ControllerServer.java
+1 -1
View File
@@ -10,8 +10,8 @@ import network.Messages.Enums.BoatActionEnum;
import java.io.DataInputStream;
import java.io.IOException;
import java.net.Socket;
import java.util.logging.Level;
import java.util.Observable;
import java.util.logging.Level;
import java.util.logging.Logger;
/**
racevisionGame/src/main/java/visualiser/gameController/InputChecker.java
+3 -5
View File
@@ -7,8 +7,6 @@ import visualiser.gameController.Keys.KeyFactory;
import java.util.HashMap;
import static javafx.application.Application.launch;
/**
* Class for checking what keys are currently being used
*/
@@ -28,7 +26,7 @@ public class InputChecker {
ControlKey controlKey = keyFactory.getKey(codeString);
if (controlKey != null) {
controlKey.onAction();
System.out.println(controlKey.toString() + " is Pressed.");
// System.out.println(controlKey.toString() + " is Pressed.");
}
currentlyActiveKeys.put(codeString, true);
}
@@ -39,7 +37,7 @@ public class InputChecker {
ControlKey controlKey = keyFactory.getKey(codeString);
if (controlKey != null) {
controlKey.onRelease();
System.out.println(controlKey.toString() + " is Released.");
// System.out.println(controlKey.toString() + " is Released.");
}
currentlyActiveKeys.remove(event.getCode().toString());
});
@@ -51,7 +49,7 @@ public class InputChecker {
ControlKey controlKey = keyFactory.getKey(key);
if (controlKey != null){
controlKey.onHold();
System.out.println(controlKey.toString() + " is Held.");
// System.out.println(controlKey.toString() + " is Held.");
}
}
// for (String key : InputKeys.stringKeysMap.keySet()){
racevisionGame/src/main/java/visualiser/model/Annotations.java
+11
View File
@@ -40,6 +40,7 @@ public class Annotations {
private static String pathCheckAnno = "showBoatPath";
private static String timeCheckAnno = "showTime";
private static String estTimeCheckAnno = "showEstTime";
private static String guideLineAnno = "showGuideline";
// string values match the fx:id value of radio buttons
private static String noBtn = "noBtn";
@@ -160,6 +161,16 @@ public class Annotations {
raceMap.draw();
}
});
//listener to show estimated time for annotation
checkBoxes.get(guideLineAnno).selectedProperty()
.addListener((ov, old_val, new_val) -> {
if (old_val != new_val) {
raceMap.toggleGuideLine();
storeCurrentAnnotationState(guideLineAnno, new_val);
raceMap.draw();
}
});
}
/**
racevisionGame/src/main/java/visualiser/model/ResizableRaceCanvas.java
+148 -6
View File
@@ -1,16 +1,13 @@
package visualiser.model;
import javafx.scene.Node;
import javafx.scene.image.Image;
import javafx.scene.paint.Color;
import javafx.scene.paint.Paint;
import javafx.scene.transform.Rotate;
import network.Messages.Enums.BoatStatusEnum;
import shared.dataInput.RaceDataSource;
import shared.model.GPSCoordinate;
import shared.model.Mark;
import shared.model.RaceClock;
import shared.enums.RoundingType;
import shared.model.*;
import java.util.List;
@@ -45,6 +42,7 @@ public class ResizableRaceCanvas extends ResizableCanvas {
private boolean annoPath = true;
private boolean annoEstTime = true;
private boolean annoTimeSinceLastMark = true;
private boolean annoGuideLine = false;
@@ -112,6 +110,13 @@ public class ResizableRaceCanvas extends ResizableCanvas {
annoSpeed = !annoSpeed;
}
/**
* Toggle the guideline annotation
*/
public void toggleGuideLine() {
annoGuideLine = !annoGuideLine;
}
@@ -456,6 +461,11 @@ public class ResizableRaceCanvas extends ResizableCanvas {
//Race boundary.
drawBoundary();
//Guiding Line
if (annoGuideLine){
drawRaceLine();
}
//Boats.
drawBoats();
@@ -464,6 +474,139 @@ public class ResizableRaceCanvas extends ResizableCanvas {
}
/**
* draws a transparent line around the course that shows the paths boats must travel
*/
public void drawRaceLine(){
List<Leg> legs = this.visualiserRace.getLegs();
GPSCoordinate legStartPoint = legs.get(0).getStartCompoundMark().getAverageGPSCoordinate();
GPSCoordinate nextStartPoint;
for (int i = 0; i < legs.size() -1; i++) {
nextStartPoint = drawLineRounding(legs, i, legStartPoint);
legStartPoint = nextStartPoint;
}
}
/**
* Draws a line around a course that shows where boats need to go. This method
* draws the line leg by leg
* @param legs the legs of a race
* @param index the index of the current leg to use
* @return the end point of the current leg that has been drawn
*/
private GPSCoordinate drawLineRounding(List<Leg> legs, int index, GPSCoordinate legStartPoint){
GPSCoordinate startDirectionLinePoint;
GPSCoordinate endDirectionLinePoint;
Bearing bearingOfDirectionLine;
GPSCoordinate startNextDirectionLinePoint;
GPSCoordinate endNextDirectionLinePoint;
Bearing bearingOfNextDirectionLine;
//finds the direction of the current leg as a bearing
startDirectionLinePoint = legStartPoint;
GPSCoordinate tempEndDirectionLinePoint = legs.get(index).getEndCompoundMark().getAverageGPSCoordinate();
bearingOfDirectionLine = GPSCoordinate.calculateBearing(startDirectionLinePoint, tempEndDirectionLinePoint);
//after finding the initial bearing pick the mark used for rounding
endDirectionLinePoint = legs.get(index).getEndCompoundMark().getMarkForRounding(bearingOfDirectionLine).getPosition();
bearingOfDirectionLine = GPSCoordinate.calculateBearing(startDirectionLinePoint, endDirectionLinePoint);
//finds the direction of the next leg as a bearing
if (index < legs.size() -2){ // not last leg
startNextDirectionLinePoint = legs.get(index + 1).getStartCompoundMark().getMark1Position();
endNextDirectionLinePoint = legs.get(index + 1).getEndCompoundMark().getMark1Position();
bearingOfNextDirectionLine = GPSCoordinate.calculateBearing(startNextDirectionLinePoint, endNextDirectionLinePoint);
double degreesToAdd;
//find which side is need to be used
if (legs.get(index).getEndCompoundMark().getRoundingType() == RoundingType.Port ||
legs.get(index).getEndCompoundMark().getRoundingType() == RoundingType.SP){
degreesToAdd = 90;
}else{
degreesToAdd = -90;
}
//use the direction line to find a point parallel to it by the mark
GPSCoordinate pointToStartCurve = GPSCoordinate.calculateNewPosition(endDirectionLinePoint,
100, Azimuth.fromDegrees(bearingOfDirectionLine.degrees()+degreesToAdd));
//use the direction line to find a point to curve too
GPSCoordinate pointToEndCurve = GPSCoordinate.calculateNewPosition(endDirectionLinePoint,
100, Azimuth.fromDegrees(bearingOfNextDirectionLine.degrees()+degreesToAdd));
//use the curve points to find the two control points for the bezier curve
GPSCoordinate controlPoint;
GPSCoordinate controlPoint2;
Bearing bearingOfCurveLine = GPSCoordinate.calculateBearing(pointToStartCurve, pointToEndCurve);
if ((bearingOfDirectionLine.degrees() - bearingOfNextDirectionLine.degrees() +360)%360< 145){
//small turn
controlPoint = GPSCoordinate.calculateNewPosition(pointToStartCurve,
50, Azimuth.fromDegrees(bearingOfCurveLine.degrees()+(degreesToAdd/2)));
controlPoint2 = controlPoint;
}else{
//large turn
controlPoint = GPSCoordinate.calculateNewPosition(pointToStartCurve,
150, Azimuth.fromDegrees(bearingOfCurveLine.degrees()+degreesToAdd));
controlPoint2 = GPSCoordinate.calculateNewPosition(pointToEndCurve,
150, Azimuth.fromDegrees(bearingOfCurveLine.degrees()+degreesToAdd));
}
//change all gps into graph coordinate
GraphCoordinate startPath = this.map.convertGPS(startDirectionLinePoint);
GraphCoordinate curvePoint = this.map.convertGPS(pointToStartCurve);
GraphCoordinate curvePointEnd = this.map.convertGPS(pointToEndCurve);
GraphCoordinate c1 = this.map.convertGPS(controlPoint);
GraphCoordinate c2 = this.map.convertGPS(controlPoint2);
gc.setLineWidth(2);
gc.setStroke(Color.MEDIUMAQUAMARINE);
gc.beginPath();
gc.moveTo(startPath.getX(), startPath.getY());
gc.lineTo(curvePoint.getX(), curvePoint.getY());
drawArrowHead(startDirectionLinePoint, pointToStartCurve);
gc.bezierCurveTo(c1.getX(), c1.getY(), c2.getX(), c2.getY(), curvePointEnd.getX(), curvePointEnd.getY());
gc.stroke();
gc.closePath();
gc.save();
return pointToEndCurve;
}else{//last leg so no curve
GraphCoordinate startPath = this.map.convertGPS(legStartPoint);
GraphCoordinate endPath = this.map.convertGPS(legs.get(index).getEndCompoundMark().getAverageGPSCoordinate());
gc.beginPath();
gc.moveTo(startPath.getX(), startPath.getY());
gc.lineTo(endPath.getX(), endPath.getY());
gc.stroke();
gc.closePath();
gc.save();
drawArrowHead(legStartPoint, legs.get(index).getEndCompoundMark().getAverageGPSCoordinate());
return null;
}
}
private void drawArrowHead(GPSCoordinate start, GPSCoordinate end){
GraphCoordinate lineStart = this.map.convertGPS(start);
GraphCoordinate lineEnd = this.map.convertGPS(end);
double arrowAngle = Math.toRadians(45.0);
double arrowLength = 10.0;
double dx = lineStart.getX() - lineEnd.getX();
double dy = lineStart.getY() - lineEnd.getY();
double angle = Math.atan2(dy, dx);
double x1 = Math.cos(angle + arrowAngle) * arrowLength + lineEnd.getX();
double y1 = Math.sin(angle + arrowAngle) * arrowLength + lineEnd.getY();
double x2 = Math.cos(angle - arrowAngle) * arrowLength + lineEnd.getX();
double y2 = Math.sin(angle - arrowAngle) * arrowLength + lineEnd.getY();
gc.strokeLine(lineEnd.getX(), lineEnd.getY(), x1, y1);
gc.strokeLine(lineEnd.getX(), lineEnd.getY(), x2, y2);
}
@@ -475,7 +618,6 @@ public class ResizableRaceCanvas extends ResizableCanvas {
* @see TrackPoint
*/
private void drawTrack(VisualiserBoat boat) {
//Check that track points are enabled.
if (this.annoPath) {
racevisionGame/src/main/resources/mock/mockXML/raceTest.xml
+6 -6
View File
@@ -8,12 +8,12 @@
<Yacht SourceID="125"/>
</Participants>
<CompoundMarkSequence>
<Corner CompoundMarkID="1" SeqID="1"/>
<Corner CompoundMarkID="2" SeqID="2"/>
<Corner CompoundMarkID="4" SeqID="3"/>
<Corner CompoundMarkID="3" SeqID="4"/>
<Corner CompoundMarkID="4" SeqID="5"/>
<Corner CompoundMarkID="5" SeqID="6"/>
<Corner SeqID="1" CompoundMarkID="1" Rounding="SP" ZoneSize="3" />
<Corner SeqID="2" CompoundMarkID="2" Rounding="Port" ZoneSize="3" />
<Corner SeqID="3" CompoundMarkID="4" Rounding="Port" ZoneSize="3" />
<Corner SeqID="4" CompoundMarkID="3" Rounding="Starboard" ZoneSize="3" />
<Corner SeqID="5" CompoundMarkID="4" Rounding="Port" ZoneSize="3" />
<Corner SeqID="6" CompoundMarkID="5" Rounding="SP" ZoneSize="3"/>
</CompoundMarkSequence>
<Course>
<CompoundMark CompoundMarkID="1" Name="Start Line">
racevisionGame/src/main/resources/visualiser/scenes/race.fxml
+14 -8
View File
@@ -1,12 +1,17 @@
<?xml version="1.0" encoding="UTF-8"?>
<?import java.lang.*?>
<?import javafx.geometry.*?>
<?import javafx.scene.chart.*?>
<?import javafx.scene.text.*?>
<?import javafx.geometry.Insets?>
<?import javafx.scene.chart.LineChart?>
<?import javafx.scene.chart.NumberAxis?>
<?import javafx.scene.control.*?>
<?import javafx.scene.layout.*?>
<?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/8.0.111" xmlns:fx="http://javafx.com/fxml/1" fx:controller="visualiser.Controllers.RaceController">
<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="visualiser.Controllers.RaceController">
<items>
<GridPane fx:id="canvasBase">
<columnConstraints>
@@ -30,16 +35,17 @@
<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" />
<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">
<CheckBox fx:id="showGuideline" mnemonicParsing="false" text="Show Guideline" AnchorPane.leftAnchor="0.0" AnchorPane.topAnchor="150.0" />
<Separator layoutX="19.6" layoutY="175.6" prefHeight="0.0" prefWidth="200.0" AnchorPane.leftAnchor="10.0" AnchorPane.topAnchor="175.0" />
<Label text="Annotations" AnchorPane.leftAnchor="0.0" AnchorPane.topAnchor="175.0" />
<RadioButton fx:id="hideAnnoRBtn" mnemonicParsing="false" text="Hidden" AnchorPane.leftAnchor="0.0" AnchorPane.topAnchor="200.0">
<toggleGroup>
<ToggleGroup fx:id="annoToggleGroup" />
</toggleGroup></RadioButton>
<RadioButton fx:id="showAnnoRBtn" mnemonicParsing="false" text="Visible" toggleGroup="$annoToggleGroup" AnchorPane.leftAnchor="0.0" AnchorPane.topAnchor="200.0" />
<RadioButton fx:id="partialAnnoRBtn" mnemonicParsing="false" text="Partial" toggleGroup="$annoToggleGroup" AnchorPane.leftAnchor="0.0" AnchorPane.topAnchor="225.0" />
<RadioButton fx:id="importantAnnoRBtn" mnemonicParsing="false" text="Important" toggleGroup="$annoToggleGroup" AnchorPane.leftAnchor="0.0" AnchorPane.topAnchor="250.0" />
<Button fx:id="saveAnno" layoutX="11.0" layoutY="126.0" mnemonicParsing="false" text="Save Important Annotations" AnchorPane.leftAnchor="0.0" AnchorPane.topAnchor="275.0" />
<RadioButton fx:id="showAnnoRBtn" mnemonicParsing="false" text="Visible" toggleGroup="$annoToggleGroup" AnchorPane.leftAnchor="0.0" AnchorPane.topAnchor="225.0" />
<RadioButton fx:id="partialAnnoRBtn" mnemonicParsing="false" text="Partial" toggleGroup="$annoToggleGroup" AnchorPane.leftAnchor="0.0" AnchorPane.topAnchor="250.0" />
<RadioButton fx:id="importantAnnoRBtn" mnemonicParsing="false" text="Important" toggleGroup="$annoToggleGroup" AnchorPane.leftAnchor="0.0" AnchorPane.topAnchor="275.0" />
<Button fx:id="saveAnno" layoutX="11.0" layoutY="126.0" mnemonicParsing="false" text="Save Important Annotations" AnchorPane.leftAnchor="0.0" AnchorPane.topAnchor="300.0" />
</children>
</AnchorPane>
</content>