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Merge branch 'master' into MapWindRotation

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# Conflicts:
#	racevisionGame/src/main/java/mock/app/Event.java
#	racevisionGame/src/main/java/mock/model/MockRace.java
#	racevisionGame/src/main/java/visualiser/app/VisualiserInput.java
#	racevisionGame/src/main/java/visualiser/model/VisualiserRace.java
This commit is contained in:
Fan-Wu Yang
2017-08-14 03:54:02 +12:00
parent b5e414f97a a8af866228
commit ac42c07c69
114 changed files with 7215 additions and 2441 deletions
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racevisionGame/src/main/java/mock/model/MockBoat.java
+14 -14
View File
@@ -22,6 +22,11 @@ public class MockBoat extends Boat {
*/
private long timeSinceTackChange = 0;
/**
* Stores whether the boat is on autoVMG or not
*/
private boolean autoVMG = false;
/**
@@ -66,7 +71,6 @@ public class MockBoat extends Boat {
//Calculate bearing.
Bearing bearing = GPSCoordinate.calculateBearing(currentPosition, nextMarkerPosition);
return bearing;
}
@@ -135,20 +139,9 @@ public class MockBoat extends Boat {
/**
* Moves the boat meters forward in the direction that it is facing
* @param meters The number of meters to move forward.
* @param milliseconds The number of milliseconds to advance the boat's timers by.
*
*/
public void moveForwards(double meters, long milliseconds) {
//Update the boat's time since last tack.
this.setTimeSinceTackChange(this.getTimeSinceTackChange() + milliseconds);
//Update the time into the current leg.
this.setTimeElapsedInCurrentLeg(this.getTimeElapsedInCurrentLeg() + milliseconds);
//Update the distance into the current leg.
this.setDistanceTravelledInLeg(this.getDistanceTravelledInLeg() + meters);
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);
@@ -203,4 +196,11 @@ public class MockBoat extends Boat {
return distanceTravelledMeters;
}
public boolean isAutoVMG() {
return autoVMG;
}
public void setAutoVMG(boolean autoVMG) {
this.autoVMG = autoVMG;
}
}
racevisionGame/src/main/java/mock/model/MockRace.java
+64 -552
View File
@@ -6,13 +6,13 @@ import network.Messages.BoatLocation;
import network.Messages.BoatStatus;
import network.Messages.Enums.BoatStatusEnum;
import network.Messages.LatestMessages;
import network.Messages.RaceStatus;
import network.Utils.AC35UnitConverter;
import org.opengis.geometry.primitive.*;
import shared.dataInput.BoatDataSource;
import shared.dataInput.RaceDataSource;
import network.Messages.Enums.RaceStatusEnum;
import shared.dataInput.RegattaDataSource;
import shared.model.*;
import shared.model.Bearing;
import shared.model.Race;
import java.time.ZonedDateTime;
@@ -49,37 +49,10 @@ public class MockRace extends Race {
*/
private int scaleFactor;
/**
* The percent chance that a boat fails the race, and enters a DNF state, at each checkpoint.
* 0 = 0%, 100 = 100%.
* Object used to generate changes in wind speed/direction.
*/
private int dnfChance = 0;
/**
* Used to generate random numbers when changing the wind direction.
*/
private int changeWind = 4;
/**
* The bearing the wind direction starts at.
*/
private static final Bearing windBaselineBearing = Bearing.fromDegrees(225);
/**
* The lower bearing angle that the wind may have.
*/
private static final Bearing windLowerBound = Bearing.fromDegrees(215);
/**
* The upper bearing angle that the wind may have.
*/
private static final Bearing windUpperBound = Bearing.fromDegrees(235);
private WindGenerator windGenerator;
/**
* Constructs a race object with a given RaceDataSource, BoatDataSource, and RegattaDataSource and sends events to the given mockOutput.
@@ -100,12 +73,17 @@ public class MockRace extends Race {
this.shrinkBoundary = GPSCoordinate.getShrinkBoundary(this.boundary);
//Set up wind generator. It may be tidier to create this outside the race (with the values sourced from a data file maybe?) and pass it in.
this.windGenerator = new WindGenerator(
Bearing.fromDegrees(225),
Bearing.fromDegrees(215),
Bearing.fromDegrees(235),
12d,
8d,
16d );
this.windSpeed = 12;
this.windDirection = Bearing.fromDegrees(180);
//Wind.
this.setWind(windGenerator.generateBaselineWind());
}
/**
@@ -137,103 +115,11 @@ public class MockRace extends Race {
}
/**
* Runnable for the thread.
*/
public void run() {
initialiseBoats();
initialiseWindDirection();
this.countdownTimer.start();
}
/**
* Parse the compound marker boats through mock output.
*/
private void parseMarks() {
for (CompoundMark compoundMark : this.compoundMarks) {
//Get the individual marks from the compound mark.
Mark mark1 = compoundMark.getMark1();
Mark mark2 = compoundMark.getMark2();
//If they aren't null, parse them (some compound marks only have one mark).
if (mark1 != null) {
this.parseIndividualMark(mark1);
}
if (mark2 != null) {
this.parseIndividualMark(mark2);
}
}
}
/**
* Parses an individual marker boat, and sends it to mockOutput.
* @param mark The marker boat to parse.
*/
private void parseIndividualMark(Mark mark) {
//Create message.
BoatLocation boatLocation = new BoatLocation(
mark.getSourceID(),
mark.getPosition().getLatitude(),
mark.getPosition().getLongitude(),
this.boatLocationSequenceNumber,
0, 0,
this.raceClock.getCurrentTimeMilli());
//Iterates the sequence number.
this.boatLocationSequenceNumber++;
this.latestMessages.setBoatLocation(boatLocation);
}
/**
* Parse the boats in the race, and send it to mockOutput.
*/
private void parseBoatLocations() {
//Parse each boat.
for (MockBoat boat : this.boats) {
this.parseIndividualBoatLocation(boat);
}
}
/**
* Parses an individual boat, and sends it to mockOutput.
* @param boat The boat to parse.
*/
private void parseIndividualBoatLocation(MockBoat boat) {
BoatLocation boatLocation = new BoatLocation(
boat.getSourceID(),
boat.getCurrentPosition().getLatitude(),
boat.getCurrentPosition().getLongitude(),
this.boatLocationSequenceNumber,
boat.getBearing().degrees(),
boat.getCurrentSpeed(),
this.raceClock.getCurrentTimeMilli());
//Iterates the sequence number.
this.boatLocationSequenceNumber++;
this.latestMessages.setBoatLocation(boatLocation);
}
/**
* Updates the race time to a specified value, in milliseconds since the unix epoch.
* @param currentTime Milliseconds since unix epoch.
*/
private void updateRaceTime(long currentTime) {
public void updateRaceTime(long currentTime) {
this.raceClock.setUTCTime(currentTime);
}
@@ -241,7 +127,7 @@ public class MockRace extends Race {
/**
* Updates the race status enumeration based on the current time.
*/
private void updateRaceStatusEnum() {
public void updateRaceStatusEnum() {
//The millisecond duration of the race. Negative means it hasn't started, so we flip sign.
long timeToStart = - this.raceClock.getDurationMilli();
@@ -266,55 +152,13 @@ public class MockRace extends Race {
}
}
/**
* Parses the race status, and sends it to mockOutput.
*/
private void parseRaceStatus() {
//A race status message contains a list of boat statuses.
List<BoatStatus> boatStatuses = new ArrayList<>();
//Add each boat status to the status list.
for (MockBoat boat : this.boats) {
BoatStatus boatStatus = new BoatStatus(
boat.getSourceID(),
boat.getStatus(),
boat.getCurrentLeg().getLegNumber(),
boat.getEstimatedTimeAtNextMark().toInstant().toEpochMilli() );
boatStatuses.add(boatStatus);
}
//Convert wind direction and speed to ints. //TODO this conversion should be done inside the racestatus class.
int windDirectionInt = AC35UnitConverter.encodeHeading(this.windDirection.degrees());
int windSpeedInt = (int) (this.windSpeed * Constants.KnotsToMMPerSecond);
//Create race status object, and send it.
RaceStatus raceStatus = new RaceStatus(
System.currentTimeMillis(),
this.raceId,
this.getRaceStatusEnum().getValue(),
this.raceClock.getStartingTimeMilli(),
windDirectionInt,
windSpeedInt,
this.getRaceType().getValue(),
boatStatuses);
this.latestMessages.setRaceStatus(raceStatus);
}
/**
* Sets the status of all boats in the race to RACING.
*/
private void setBoatsStatusToRacing() {
public void setBoatsStatusToRacing() {
for (MockBoat boat : this.boats) {
boat.setStatus(BoatStatusEnum.RACING);
@@ -326,7 +170,7 @@ public class MockRace extends Race {
* Sets the estimated time at next mark for each boat to a specified time. This is used during the countdown timer to provide this value to boat before the race starts.
* @param time The time to provide to each boat.
*/
private void setBoatsTimeNextMark(ZonedDateTime time) {
public void setBoatsTimeNextMark(ZonedDateTime time) {
for (MockBoat boat : this.boats) {
boat.setEstimatedTimeAtNextMark(time);
@@ -334,150 +178,12 @@ public class MockRace extends Race {
}
/**
* Countdown timer until race starts.
*/
protected AnimationTimer countdownTimer = new AnimationTimer() {
long currentTime = System.currentTimeMillis();
@Override
public void handle(long arg0) {
//Update race time.
updateRaceTime(currentTime);
//Update the race status based on the current time.
updateRaceStatusEnum();
//Provide boat's with an estimated time at next mark until the race starts.
setBoatsTimeNextMark(raceClock.getCurrentTime());
//Parse the boat locations.
parseBoatLocations();
//Parse the marks.
parseMarks();
// Change wind direction
changeWindDirection();
//Parse the race status.
parseRaceStatus();
if (getRaceStatusEnum() == RaceStatusEnum.STARTED) {
setBoatsStatusToRacing();
raceTimer.start();
this.stop();
}
//Update the animations timer's time.
currentTime = System.currentTimeMillis();
}
};
/**
* Timer that runs for the duration of the race, until all boats finish.
*/
private AnimationTimer raceTimer = new AnimationTimer() {
/**
* Start time of loop, in milliseconds.
*/
long timeRaceStarted = System.currentTimeMillis();
/**
* Current time during a loop iteration.
*/
long currentTime = System.currentTimeMillis();
/**
* The time of the previous frame, in milliseconds.
*/
long lastFrameTime = timeRaceStarted;
@Override
public void handle(long arg0) {
//Get the current time.
currentTime = System.currentTimeMillis();
//Update race time.
updateRaceTime(currentTime);
//As long as there is at least one boat racing, we still simulate the race.
if (getNumberOfActiveBoats() != 0) {
//Get the time period of this frame.
long framePeriod = currentTime - lastFrameTime;
//For each boat, we update its position, and generate a BoatLocationMessage.
for (MockBoat boat : boats) {
//If it is still racing, update its position.
if (boat.getStatus() == BoatStatusEnum.RACING) {
updatePosition(boat, framePeriod, raceClock.getDurationMilli());
}
}
} else {
//Otherwise, the race is over!
raceFinished.start();
setRaceStatusEnum(RaceStatusEnum.FINISHED);
this.stop();
}
if (getNumberOfActiveBoats() != 0) {
// Change wind direction
changeWindDirection();
//Parse the boat locations.
parseBoatLocations();
//Parse the marks.
parseMarks();
//Parse the race status.
parseRaceStatus();
//Update the last frame time.
this.lastFrameTime = currentTime;
}
}
};
/**
* Broadcast that the race has finished.
*/
protected AnimationTimer raceFinished = new AnimationTimer(){
int iters = 0;
@Override
public void handle(long now) {
parseRaceStatus();
if (iters > 500) {
stop();
}
iters++;
}
};
/**
* Initialise the boats in the race.
* This sets their starting positions and current legs.
*/
@Override
protected void initialiseBoats() {
public void initialiseBoats() {
//Gets the starting positions of the boats.
List<GPSCoordinate> startingPositions = getSpreadStartingPositions();
@@ -510,8 +216,7 @@ 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(999999);
boat.setTimeSinceTackChange(Long.MAX_VALUE);
}
}
@@ -522,7 +227,7 @@ public class MockRace extends Race {
*
* @return A list of starting positions.
*/
public List<GPSCoordinate> getSpreadStartingPositions() {
private List<GPSCoordinate> getSpreadStartingPositions() {
//The first compound marker of the race - the starting gate.
CompoundMark compoundMark = this.legs.get(0).getStartCompoundMark();
@@ -564,28 +269,6 @@ public class MockRace extends Race {
}
/**
* Calculates a boat's VMG.
* @param boat The boat to calculate VMG for.
* @param bearingBounds An array containing the lower and upper acceptable bearing bounds to keep the boat in the course.
* @return VMG for the specified boat.
*/
private VMG calculateVMG(MockBoat boat, Bearing[] bearingBounds) {
//Get the lower and upper acceptable bounds.
Bearing lowerAcceptableBound = bearingBounds[0];
Bearing upperAcceptableBound = bearingBounds[1];
//Find the VMG inside these bounds.
VMG bestVMG = boat.getPolars().calculateVMG(this.windDirection, this.windSpeed, boat.calculateBearingToNextMarker(), lowerAcceptableBound, upperAcceptableBound);
return bestVMG;
}
/**
* Determines whether or not a given VMG improves the velocity of a boat, if it were currently using currentVMG.
* @param currentVMG The current VMG of the boat.
@@ -593,7 +276,7 @@ public class MockRace extends Race {
* @param bearingToDestination The bearing between the boat and its destination.
* @return True if the new VMG is improves velocity, false otherwise.
*/
private boolean improvesVelocity(VMG currentVMG, VMG potentialVMG, Bearing bearingToDestination) {
public boolean improvesVelocity(VMG currentVMG, VMG potentialVMG, Bearing bearingToDestination) {
//Calculates the angle between the boat and its destination.
Angle angleBetweenDestAndHeading = Angle.fromDegrees(currentVMG.getBearing().degrees() - bearingToDestination.degrees());
@@ -637,13 +320,19 @@ public class MockRace extends Race {
* @param updatePeriodMilliseconds The time, in milliseconds, since the last update.
* @param totalElapsedMilliseconds The total number of milliseconds that have elapsed since the start of the race.
*/
protected void updatePosition(MockBoat boat, long updatePeriodMilliseconds, long totalElapsedMilliseconds) {
public void updatePosition(MockBoat boat, long updatePeriodMilliseconds, long totalElapsedMilliseconds) {
//Checks if the current boat has finished the race or not.
boolean finish = this.isLastLeg(boat.getCurrentLeg());
if (!finish) {
if (!finish && totalElapsedMilliseconds >= updatePeriodMilliseconds) {
if (boat.getCurrentSpeed() == 0) {
newOptimalVMG(boat);
boat.setBearing(boat.calculateBearingToNextMarker());
}
setBoatSpeed(boat);
//Calculates the distance travelled, in meters, in the current timeslice.
double distanceTravelledMeters = boat.calculateMetersTravelled(updatePeriodMilliseconds);
@@ -653,203 +342,50 @@ public class MockRace extends Race {
//Move the boat forwards that many meters, and advances its time counters by enough milliseconds.
boat.moveForwards(distanceTravelledMeters, updatePeriodMilliseconds * this.scaleFactor);
boat.moveForwards(distanceTravelledMeters);
boat.setTimeSinceTackChange(boat.getTimeSinceTackChange() + updatePeriodMilliseconds);
//Only get a new VMG if the boat will go outside the course, or X seconds have elapsed.
boolean willStayInsideCourse = this.checkBearingInsideCourse(boat.getBearing(), boat.getCurrentPosition());
long tackPeriod = 15000;
if (!willStayInsideCourse || (boat.getTimeSinceTackChange() > tackPeriod)) {
//Calculate the boat's bearing bounds, to ensure that it doesn't go out of the course.
Bearing[] bearingBounds = this.calculateBearingBounds(boat);
//Calculate the new VMG.
VMG newVMG = this.calculateVMG(boat, bearingBounds);
//If the new vmg improves velocity, use it.
if (improvesVelocity(boat, newVMG)) {
boat.setVMG(newVMG);
} else {
//We also need to use the new VMG if our current bearing will take us out of the course.
if (!willStayInsideCourse) {
boat.setVMG(newVMG);
}
}
if (boat.isAutoVMG()) {
newOptimalVMG(boat);
}
this.updateEstimatedTime(boat);
//Check the boats position (update leg and stuff).
this.checkPosition(boat, totalElapsedMilliseconds);
}
}
/**
* 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) {
private void newOptimalVMG(MockBoat boat) {
long tackPeriod = 15000;
Bearing[] bearings = new Bearing[2];
Bearing lowerBearing = Bearing.fromDegrees(0.001);
Bearing upperBearing = Bearing.fromDegrees(359.999);
if (boat.getTimeSinceTackChange() > tackPeriod) {
//Calculate the new VMG.
VMG newVMG = boat.getPolars().calculateVMG(
this.getWindDirection(),
this.getWindSpeed(),
boat.calculateBearingToNextMarker(),
Bearing.fromDegrees(0d),
Bearing.fromDegrees(359.99999d));
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);
}
//If the new vmg improves velocity, use it.
if (improvesVelocity(boat, newVMG)) {
boat.setVMG(newVMG);
}
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 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 = 100.0 / Constants.NMToMetersConversion; //100 meters. TODO should be more like 5-10.
if (boat.calculateDistanceToNextMarker() < epsilonNauticalMiles) {
//Boat has reached its target marker, and has moved on to a new leg.
//Calculate how much the boat overshot the marker by.
double overshootMeters = boat.calculateDistanceToNextMarker();
//Move boat on to next leg.
Leg nextLeg = this.legs.get(boat.getCurrentLeg().getLegNumber() + 1);
boat.setCurrentLeg(nextLeg);
//Add overshoot distance into the distance travelled for the next leg.
boat.setDistanceTravelledInLeg(overshootMeters);
//Setting a high value for this allows the boat to immediately do a large turn, as it needs to in order to get to the next mark.
boat.setTimeSinceTackChange(999999);
//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);
} else if (doNotFinish()) {
//Boat has pulled out of race.
boat.setTimeFinished(timeElapsed);
boat.setCurrentLeg(new Leg("DNF", -1));
boat.setCurrentSpeed(0);
boat.setStatus(BoatStatusEnum.DNF);
}
}
}
/**
* Sets the chance each boat has of failing at a gate or marker
*
* @param chance percentage chance a boat has of failing per checkpoint.
*/
protected void setDnfChance(int chance) {
if (chance >= 0 && chance <= 100) {
dnfChance = chance;
}
}
/**
* Decides if a boat should received a DNF status.
* @return True means it should DNF, false means it shouldn't.
*/
protected boolean doNotFinish() {
Random rand = new Random();
return rand.nextInt(100) < dnfChance;
private void setBoatSpeed(MockBoat boat) {
VMG vmg = boat.getPolars().calculateVMG(
this.getWindDirection(),
this.getWindSpeed(),
boat.getBearing(),
boat.getBearing(),
boat.getBearing());
if (vmg.getSpeed() > 0) {
boat.setCurrentSpeed(vmg.getSpeed());
}
}
/**
* Returns the number of boats that are still active in the race.
* They become inactive by either finishing or withdrawing.
@@ -880,42 +416,14 @@ public class MockRace extends Race {
return boats;
}
/**
* Initialises the wind bearing with the value of the windBaselineBearing.
*/
protected void initialiseWindDirection() {
//Set the starting bearing.
this.windDirection = Bearing.fromDegrees(MockRace.windBaselineBearing.degrees());
}
/**
* Changes the wind direction randomly, while keeping it within [windLowerBound, windUpperBound].
*/
protected void changeWindDirection() {
public void changeWindDirection() {
//Randomly add or remove 0.5 degrees.
int r = new Random().nextInt(changeWind) + 1;
Wind nextWind = windGenerator.generateNextWind(raceWind.getValue());
if (r == 1) {
//Add 0.5 degrees to the wind bearing.
this.windDirection.setDegrees(this.windDirection.degrees() + 0.5);
} else if (r == 2) {
//Minus 0.5 degrees from the wind bearing.
this.windDirection.setDegrees(this.windDirection.degrees() - 0.5);
}
//Ensure that the wind is in the correct bounds.
if (this.windDirection.degrees() > MockRace.windUpperBound.degrees()) {
this.windDirection.setBearing(MockRace.windUpperBound);
} else if (this.windDirection.degrees() < MockRace.windLowerBound.degrees()) {
this.windDirection.setBearing(MockRace.windLowerBound);
}
setWind(nextWind);
}
@@ -939,4 +447,8 @@ public class MockRace extends Race {
}
}
public List<CompoundMark> getCompoundMarks() {
return compoundMarks;
}
}
racevisionGame/src/main/java/mock/model/RaceLogic.java
+196
View File
@@ -0,0 +1,196 @@
package mock.model;
import javafx.animation.AnimationTimer;
import mock.model.commandFactory.Command;
import mock.model.commandFactory.CommandFactory;
import mock.model.commandFactory.CompositeCommand;
import network.Messages.Enums.BoatActionEnum;
import network.Messages.Enums.BoatStatusEnum;
import network.Messages.Enums.RaceStatusEnum;
import network.Messages.LatestMessages;
import visualiser.gameController.ControllerServer;
import java.util.Observable;
import java.util.Observer;
import java.util.Stack;
public class RaceLogic implements Observer, Runnable {
/**
* State of current race modified by this object
*/
private MockRace race;
/**
* High-level interface to AC35 protocol server
*/
private RaceServer server;
private CompositeCommand commands;
/**
* Initialises race loop with state and server message queue
* @param race state of race to modify
* @param messages to send to server
*/
public RaceLogic(MockRace race, LatestMessages messages) {
this.race = race;
this.server = new RaceServer(race, messages);
this.commands = new CompositeCommand();
}
/**
* Initialise boats and start countdown timer
*/
@Override
public void run() {
race.initialiseBoats();
this.countdownTimer.start();
}
/**
* Countdown timer until race starts.
*/
protected AnimationTimer countdownTimer = new AnimationTimer() {
long currentTime = System.currentTimeMillis();
@Override
public void handle(long arg0) {
//Update race time.
race.updateRaceTime(currentTime);
//Update the race status based on the current time.
race.updateRaceStatusEnum();
//Provide boat's with an estimated time at next mark until the race starts.
race.setBoatsTimeNextMark(race.getRaceClock().getCurrentTime());
//Parse the boat locations.
server.parseBoatLocations();
//Parse the marks.
server.parseMarks();
// Change wind direction
race.changeWindDirection();
//Parse the race status.
server.parseRaceStatus();
if (race.getRaceStatusEnum() == RaceStatusEnum.STARTED) {
race.setBoatsStatusToRacing();
raceTimer.start();
this.stop();
}
//Update the animations timer's time.
currentTime = System.currentTimeMillis();
}
};
/**
* Timer that runs for the duration of the race, until all boats finish.
*/
private AnimationTimer raceTimer = new AnimationTimer() {
/**
* Start time of loop, in milliseconds.
*/
long timeRaceStarted = System.currentTimeMillis();
/**
* Current time during a loop iteration.
*/
long currentTime = System.currentTimeMillis();
/**
* The time of the previous frame, in milliseconds.
*/
long lastFrameTime = timeRaceStarted;
long framePeriod = currentTime - lastFrameTime;
@Override
public void handle(long arg0) {
//Get the current time.
currentTime = System.currentTimeMillis();
//Update race time.
race.updateRaceTime(currentTime);
//As long as there is at least one boat racing, we still simulate the race.
if (race.getNumberOfActiveBoats() != 0) {
//Get the time period of this frame.
framePeriod = currentTime - lastFrameTime;
//For each boat, we update its position, and generate a BoatLocationMessage.
for (MockBoat boat : race.getBoats()) {
//If it is still racing, update its position.
if (boat.getStatus() == BoatStatusEnum.RACING) {
commands.execute();
race.updatePosition(boat, framePeriod, race.getRaceClock().getDurationMilli());
}
}
} else {
//Otherwise, the race is over!
raceFinished.start();
race.setRaceStatusEnum(RaceStatusEnum.FINISHED);
this.stop();
}
if (race.getNumberOfActiveBoats() != 0) {
// Change wind direction
race.changeWindDirection();
//Parse the boat locations.
server.parseBoatLocations();
//Parse the marks.
server.parseMarks();
//Parse the race status.
server.parseRaceStatus();
//Update the last frame time.
this.lastFrameTime = currentTime;
}
}
};
/**
* Broadcast that the race has finished.
*/
protected AnimationTimer raceFinished = new AnimationTimer(){
int iters = 0;
@Override
public void handle(long now) {
server.parseRaceStatus();
if (iters > 500) {
stop();
}
iters++;
}
};
@Override
public void update(Observable o, Object arg) {
ControllerServer server = (ControllerServer)o;
BoatActionEnum action = server.getAction();
MockBoat boat = race.getBoats().get(0);
commands.addCommand(CommandFactory.createCommand(race, boat, action));
}
}
racevisionGame/src/main/java/mock/model/RaceServer.java
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package mock.model;
import network.Messages.BoatLocation;
import network.Messages.BoatStatus;
import network.Messages.Enums.BoatLocationDeviceEnum;
import network.Messages.LatestMessages;
import network.Messages.RaceStatus;
import network.Utils.AC35UnitConverter;
import shared.model.Bearing;
import shared.model.CompoundMark;
import shared.model.Constants;
import shared.model.Mark;
import java.util.ArrayList;
import java.util.List;
/**
* Created by connortaylorbrown on 2/08/17.
*/
public class RaceServer {
private MockRace race;
private LatestMessages latestMessages;
/**
* The sequence number of the latest RaceStatus message sent or received.
*/
private int raceStatusSequenceNumber = 1;
/**
* The sequence number of the latest BoatLocation message sent or received.
*/
private int boatLocationSequenceNumber = 1;
public RaceServer(MockRace race, LatestMessages latestMessages) {
this.race = race;
this.latestMessages = latestMessages;
}
/**
* Parses an individual marker boat, and sends it to mockOutput.
* @param mark The marker boat to parse.
*/
private void parseIndividualMark(Mark mark) {
//Create message.
BoatLocation boatLocation = new BoatLocation(
mark.getSourceID(),
mark.getPosition().getLatitude(),
mark.getPosition().getLongitude(),
this.boatLocationSequenceNumber,
BoatLocationDeviceEnum.Mark,
Bearing.fromDegrees(0),
0,
race.getRaceClock().getCurrentTimeMilli());
//Iterates the sequence number.
this.boatLocationSequenceNumber++;
this.latestMessages.setBoatLocation(boatLocation);
}
/**
* Parse the compound marker boats through mock output.
*/
public void parseMarks() {
for (CompoundMark compoundMark : race.getCompoundMarks()) {
//Get the individual marks from the compound mark.
Mark mark1 = compoundMark.getMark1();
Mark mark2 = compoundMark.getMark2();
//If they aren't null, parse them (some compound marks only have one mark).
if (mark1 != null) {
this.parseIndividualMark(mark1);
}
if (mark2 != null) {
this.parseIndividualMark(mark2);
}
}
}
/**
* Parse the boats in the race, and send it to mockOutput.
*/
public void parseBoatLocations() {
//Parse each boat.
for (MockBoat boat : race.getBoats()) {
this.parseIndividualBoatLocation(boat);
}
}
/**
* Parses an individual boat, and sends it to mockOutput.
* @param boat The boat to parse.
*/
private void parseIndividualBoatLocation(MockBoat boat) {
BoatLocation boatLocation = new BoatLocation(
boat.getSourceID(),
boat.getCurrentPosition().getLatitude(),
boat.getCurrentPosition().getLongitude(),
this.boatLocationSequenceNumber,
BoatLocationDeviceEnum.RacingYacht,
boat.getBearing(),
boat.getCurrentSpeed(),
race.getRaceClock().getCurrentTimeMilli());
//Iterates the sequence number.
this.boatLocationSequenceNumber++;
this.latestMessages.setBoatLocation(boatLocation);
}
/**
* Parses the race status, and sends it to mockOutput.
*/
public void parseRaceStatus() {
//A race status message contains a list of boat statuses.
List<BoatStatus> boatStatuses = new ArrayList<>();
//Add each boat status to the status list.
for (MockBoat boat : race.getBoats()) {
BoatStatus boatStatus = new BoatStatus(
boat.getSourceID(),
boat.getStatus(),
boat.getCurrentLeg().getLegNumber(),
boat.getEstimatedTimeAtNextMark().toInstant().toEpochMilli() );
boatStatuses.add(boatStatus);
}
//Create race status object, and send it.
RaceStatus raceStatus = new RaceStatus(
RaceStatus.currentMessageVersionNumber,
System.currentTimeMillis(),
race.getRaceId(),
race.getRaceStatusEnum(),
race.getRaceClock().getStartingTimeMilli(),
race.getWindDirection(),
race.getWindSpeed(),
race.getRaceType(),
boatStatuses);
this.latestMessages.setRaceStatus(raceStatus);
}
}
racevisionGame/src/main/java/mock/model/WindGenerator.java
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package mock.model;
import shared.model.Bearing;
import shared.model.Wind;
import java.util.Random;
/**
* This class generates Wind objects for use in a MockRace.
* Bounds on bearing and speed can be specified.
* Wind can be completely random, or random incremental change.
*/
public class WindGenerator {
/**
* The bearing the wind direction starts at.
*/
private Bearing windBaselineBearing;
/**
* The lower bearing angle that the wind may have.
*/
private Bearing windBearingLowerBound;
/**
* The upper bearing angle that the wind may have.
*/
private Bearing windBearingUpperBound;
/**
* The speed the wind starts at, in knots.
*/
private double windBaselineSpeed;
/**
* The lower speed that the wind may have, in knots.
*/
private double windSpeedLowerBound;
/**
* The upper speed that the wind may have, in knots.
*/
private double windSpeedUpperBound;
/**
* Creates a wind generator, with a baseline, lower bound, and upper bound, for the wind speed and direction.
* @param windBaselineBearing Baseline wind direction.
* @param windBearingLowerBound Lower bound for wind direction.
* @param windBearingUpperBound Upper bound for wind direction.
* @param windBaselineSpeed Baseline wind speed, in knots.
* @param windSpeedLowerBound Lower bound for wind speed, in knots.
* @param windSpeedUpperBound Upper bound for wind speed, in knots.
*/
public WindGenerator(Bearing windBaselineBearing, Bearing windBearingLowerBound, Bearing windBearingUpperBound, double windBaselineSpeed, double windSpeedLowerBound, double windSpeedUpperBound) {
this.windBaselineBearing = windBaselineBearing;
this.windBearingLowerBound = windBearingLowerBound;
this.windBearingUpperBound = windBearingUpperBound;
this.windBaselineSpeed = windBaselineSpeed;
this.windSpeedLowerBound = windSpeedLowerBound;
this.windSpeedUpperBound = windSpeedUpperBound;
}
/**
* Generates a wind object using the baseline wind speed and bearing.
* @return Baseline wind object.
*/
public Wind generateBaselineWind() {
return new Wind(windBaselineBearing, windBaselineSpeed);
}
/**
* Generates a random Wind object, that is within the provided bounds.
* @return Generated wind object.
*/
public Wind generateRandomWind() {
double windSpeed = generateRandomWindSpeed();
Bearing windBearing = generateRandomWindBearing();
return new Wind(windBearing, windSpeed);
}
/**
* Generates a random wind speed within the specified bounds. In knots.
* @return Wind speed, in knots.
*/
private double generateRandomWindSpeed() {
double randomSpeedKnots = generateRandomValueInBounds(windSpeedLowerBound, windSpeedUpperBound);
return randomSpeedKnots;
}
/**
* Generates a random wind bearing within the specified bounds.
* @return Wind bearing.
*/
private Bearing generateRandomWindBearing() {
double randomBearingDegrees = generateRandomValueInBounds(windBearingLowerBound.degrees(), windBearingUpperBound.degrees());
return Bearing.fromDegrees(randomBearingDegrees);
}
/**
* Generates a random value within a specified interval.
* @param lowerBound The lower bound of the interval.
* @param upperBound The upper bound of the interval.
* @return A random value within the interval.
*/
private static double generateRandomValueInBounds(double lowerBound, double upperBound) {
float proportion = new Random().nextFloat();
double delta = upperBound - lowerBound;
double amount = delta * proportion;
double finalAmount = amount + lowerBound;
return finalAmount;
}
/**
* Generates a new value within an interval, given a start value, chance to change, and change amount.
* @param lowerBound Lower bound of interval.
* @param upperBound Upper bound of interval.
* @param currentValue The current value to change.
* @param changeAmount The amount to change by.
* @param chanceToChange The change to actually change the value.
* @return The new value.
*/
private static double generateNextValueInBounds(double lowerBound, double upperBound, double currentValue, double changeAmount, double chanceToChange) {
float chance = new Random().nextFloat();
if (chance <= chanceToChange) {
currentValue += changeAmount;
} else if (chance <= (2 * chanceToChange)) {
currentValue -= changeAmount;
}
currentValue = clamp(lowerBound, upperBound, currentValue);
return currentValue;
}
/**
* Generates the next Wind object, that is within the provided bounds. This randomly increases or decreases the wind's speed and bearing.
* @param currentWind The current wind to change. This is not modified.
* @return Generated wind object.
*/
public Wind generateNextWind(Wind currentWind) {
double windSpeed = generateNextWindSpeed(currentWind.getWindSpeed());
Bearing windBearing = generateNextWindBearing(currentWind.getWindDirection());
return new Wind(windBearing, windSpeed);
}
/**
* Generates the next wind speed to use.
* @param windSpeed Current wind speed, in knots.
* @return Next wind speed, in knots.
*/
private double generateNextWindSpeed(double windSpeed) {
double chanceToChange = 0.2;
double changeAmount = 0.1;
double nextWindSpeed = generateNextValueInBounds(
windSpeedLowerBound,
windSpeedUpperBound,
windSpeed,
changeAmount,
chanceToChange);
return nextWindSpeed;
}
/**
* Generates the next wind speed to use.
* @param windBearing Current wind bearing.
* @return Next wind speed.
*/
private Bearing generateNextWindBearing(Bearing windBearing) {
double chanceToChange = 0.2;
double changeAmount = 0.5;
double nextWindBearingDegrees = generateNextValueInBounds(
windBearingLowerBound.degrees(),
windBearingUpperBound.degrees(),
windBearing.degrees(),
changeAmount,
chanceToChange);
return Bearing.fromDegrees(nextWindBearingDegrees);
}
/**
* Clamps a value to be within an interval.
* @param lower Lower bound of the interval.
* @param upper Upper bound of the interval.
* @param value Value to clamp.
* @return The clamped value.
*/
private static double clamp(double lower, double upper, double value) {
if (value > upper) {
value = upper;
} else if (value < lower) {
value = lower;
}
return value;
}
}
racevisionGame/src/main/java/mock/model/commandFactory/Command.java
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package mock.model.commandFactory;
import mock.model.MockBoat;
import mock.model.MockRace;
/**
* Allows RaceLogic to control MockRace state according to the Command pattern
*/
public interface Command {
/**
* Execute command - standard method name in pattern
*/
void execute();
}
racevisionGame/src/main/java/mock/model/commandFactory/CommandFactory.java
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package mock.model.commandFactory;
import mock.model.MockBoat;
import mock.model.MockRace;
import network.Messages.Enums.BoatActionEnum;
/**
* Factory class for Command objects
*/
public class CommandFactory {
/**
* Generates a command on a race and boat corresponding to the protocol action number.
* @param race to receive command
* @param boat to receive command in race
* @param action number to select command
* @return
*/
public static Command createCommand(MockRace race, MockBoat boat, BoatActionEnum action) {
switch(action) {
case AUTO_PILOT: return new VMGCommand(race, boat);
case TACK_GYBE: return new TackGybeCommand(race, boat);
case UPWIND: return new WindCommand(race, boat, true);
case DOWNWIND: return new WindCommand(race, boat, false);
default: return null; // TODO - please please have discussion over what to default to
}
}
}
racevisionGame/src/main/java/mock/model/commandFactory/CompositeCommand.java
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package mock.model.commandFactory;
import java.util.ArrayDeque;
import java.util.Queue;
/**
* Wraps multiple commands into a composite to execute queued commands during a frame.
*/
public class CompositeCommand implements Command {
private Queue<Command> commands;
public CompositeCommand() {
this.commands = new ArrayDeque<>();
}
public void addCommand(Command command) {
commands.add(command);
}
@Override
public void execute() {
while(!commands.isEmpty()) commands.remove().execute();
}
}
racevisionGame/src/main/java/mock/model/commandFactory/TackGybeCommand.java
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package mock.model.commandFactory;
import mock.model.MockBoat;
import mock.model.MockRace;
/**
* Created by David on 2/08/2017.
*/
public class TackGybeCommand implements Command {
private MockRace race;
private MockBoat boat;
public TackGybeCommand(MockRace race, MockBoat boat) {
this.race = race;
this.boat = boat;
}
//The refactoring of MockRace will require changes to be made
@Override
public void execute() {
boat.setAutoVMG(false);
/*VMG newVMG = boat.getPolars().calculateVMG(
race.getWindDirection(),
race.getWindSpeed(),
boat.calculateBearingToNextMarker(),
Bearing.fromDegrees(0d),
Bearing.fromDegrees(359.99999d));
VMG boatVMG = new VMG(boat.getCurrentSpeed(), boat.getBearing());
if(race.improvesVelocity(boatVMG, newVMG, boat.calculateBearingToNextMarker())){
boat.setVMG(newVMG);
}*/
}
}
racevisionGame/src/main/java/mock/model/commandFactory/VMGCommand.java
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package mock.model.commandFactory;
import mock.model.MockBoat;
import mock.model.MockRace;
/**
* Created by David on 2/08/2017.
*/
public class VMGCommand implements Command {
private MockRace race;
private MockBoat boat;
public VMGCommand(MockRace race, MockBoat boat) {
this.race = race;
this.boat = boat;
}
//The refactoring of MockRace will require changes to be made
@Override
public void execute() {
boat.setAutoVMG(true);
/*VMG newVMG = boat.getPolars().calculateVMG(
race.getWindDirection(),
race.getWindSpeed(),
boat.calculateBearingToNextMarker(),
Bearing.fromDegrees(0d),
Bearing.fromDegrees(359.99999d));
boat.setVMG(newVMG);*/
}
}
racevisionGame/src/main/java/mock/model/commandFactory/WindCommand.java
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package mock.model.commandFactory;
import mock.model.MockBoat;
import mock.model.MockRace;
import shared.model.Bearing;
/**
* Created by connortaylorbrown on 4/08/17.
*/
public class WindCommand implements Command {
private MockRace race;
private MockBoat boat;
private int direction;
public WindCommand(MockRace race, MockBoat boat, boolean upwind) {
this.race = race;
this.boat = boat;
this.direction = upwind? -1 : 1;
}
@Override
public void execute() {
boat.setAutoVMG(false);
double wind = race.getWindDirection().degrees();
double heading = boat.getBearing().degrees();
double offset = 3.0;
offset *= direction;
double headWindDelta = wind - heading;
if ((headWindDelta < 0) || (headWindDelta > 180)) offset *= -1;
boat.setBearing(Bearing.fromDegrees(heading + offset));
}
}