Merge branch 'story31.2' of eng-git.canterbury.ac.nz:seng302-2017/team-7 into story31.2

mock/src/main/java/seng302/Model/Boat.java

@@ -14,6 +14,8 @@ public class Boat {
     private int sourceID;
     private Leg currentLeg;
     private double distanceTravelledInLeg;
+    private double distanceTravelledInTack;
+    private double distanceForTack;
     private GPSCoordinate currentPosition;
     private long timeFinished = -1;
     private boolean started = false;
@@ -42,11 +44,9 @@ public class Boat {
      *
      * @return the direction that the boat is heading towards in degrees (-180 to 180).
      */
-    public double calculateAzimuth() {
+    public double calculateAzimuth(GPSCoordinate start, GPSCoordinate end) {
 
         GeodeticCalculator calc = new GeodeticCalculator();
-        GPSCoordinate start = currentLeg.getStartMarker().getAverageGPSCoordinate();
-        GPSCoordinate end = currentLeg.getEndMarker().getAverageGPSCoordinate();
 
         calc.setStartingGeographicPoint(start.getLongitude(), start.getLatitude());
         calc.setDestinationGeographicPoint(end.getLongitude(), end.getLatitude());
@@ -59,7 +59,23 @@ public class Boat {
      * @return The azimuth value which is greater than 0
      */
     public double calculateHeading() {
-        double azimuth = this.calculateAzimuth();
+        double azimuth = this.calculateAzimuth(currentLeg.getStartMarker().getAverageGPSCoordinate(),
+                currentLeg.getEndMarker().getAverageGPSCoordinate());
+
+        if (azimuth >= 0) {
+            return azimuth;
+        } else {
+            return azimuth + 360;
+        }
+    }
+
+    /**
+     * Calculate the heding depending on the calculated azimuth value
+     * @return The azimuth value which is greater than 0
+     */
+    public double calculateBearingToDestination() {
+        double azimuth = this.calculateAzimuth(this.currentPosition,
+                currentLeg.getEndMarker().getAverageGPSCoordinate());
 
         if (azimuth >= 0) {
             return azimuth;
@@ -125,6 +141,22 @@ public class Boat {
         this.distanceTravelledInLeg = distanceTravelledInLeg;
     }
 
+    public double getDistanceTravelledInTack() {
+        return distanceTravelledInTack;
+    }
+
+    public void setDistanceTravelledInTack(double distanceTravelledInTack) {
+        this.distanceTravelledInTack = distanceTravelledInTack;
+    }
+
+    public double getDistanceForTack() {
+        return distanceForTack;
+    }
+
+    public void setDistanceForTack(double distanceForTack) {
+        this.distanceForTack = distanceForTack;
+    }
+
     public GPSCoordinate getCurrentPosition() {
         return currentPosition;
     }

mock/src/main/java/seng302/Model/Race.java

@@ -19,6 +19,10 @@ import java.util.ArrayList;
 import java.util.List;
 import java.util.Random;
 
+import static java.lang.Math.cos;
+import static java.lang.Math.max;
+import static java.lang.Math.min;
+
 
 /**
  * Parent class for races
@@ -41,6 +45,7 @@ public class Race implements Runnable {
     private MockOutput mockOutput;
     private static int boatOffset = 0;
     private int finished = 0;
+    private List<GPSCoordinate> boundary;
 
 
     /**
@@ -50,7 +55,7 @@ public class Race implements Runnable {
      * @param legs        Number of marks in order that the boats pass in order to complete the race.
      * @param scaleFactor for race
      */
-    public Race(List<Boat> boats, List<Leg> legs, int raceID, int scaleFactor, MockOutput mockOutput) {
+    public Race(List<Boat> boats, List<Leg> legs, int raceID, int scaleFactor, MockOutput mockOutput, List<GPSCoordinate> boundary) {
 
         this.startingBoats = FXCollections.observableArrayList(boats);
         this.legs = legs;
@@ -58,6 +63,7 @@ public class Race implements Runnable {
         this.raceId = raceID;
         this.scaleFactor = scaleFactor;
         this.mockOutput = mockOutput;
+        this.boundary = boundary;
 
         //TODO refactor
         this.startTime = System.currentTimeMillis() + (this.PRERACE_TIME / this.scaleFactor);
@@ -69,7 +75,7 @@ public class Race implements Runnable {
     }
 
     public Race(RaceDataSource raceData, int scaleFactor, MockOutput mockOutput) {
-        this(raceData.getBoats(), raceData.getLegs(), raceData.getRaceId(), scaleFactor, mockOutput);
+        this(raceData.getBoats(), raceData.getLegs(), raceData.getRaceId(), scaleFactor, mockOutput, raceData.getBoundary());
     }
 
     /**
@@ -298,16 +304,57 @@ public class Race implements Runnable {
 
         boolean finish = boat.getCurrentLeg().getName().equals("Finish");
         if (!finish) {
+            int windAngle = 360;//todo - get the wind speed from somewhere, using 360 for now
+            if(boat.getCurrentLeg().getName().endsWith("to Windward Gate")){//todo something is broken in this if statement, not sure what
+                double totalDistanceTravelledInTack = distanceTravelled + boat.getDistanceTravelledInTack();
+
+                double bound1 = (boat.calculateBearingToDestination()-90)%360;
+                double bound2 = (boat.calculateBearingToDestination()+90)%360;
+
+                VMG newHeading = boat.getPolars().calculateVMG(windAngle, 30,
+                        boat.calculateBearingToDestination(), min(bound1, bound2), max(bound1,bound2));
+
+
+                double azimuth = newHeading.bearing;
+                if (newHeading.bearing > 180){
+                    azimuth = newHeading.bearing -360;
+                }
+
+//                if (!GPSCoordinate.isInsideBoundary(calculatePosition(boat.getCurrentPosition(),
+//                        1, azimuth), boundary)){
+//                    System.out.println("LDFSGSDFG");
+//                    double tempHeading = (newHeading.bearing+90)%360;
+//                    newHeading.bearing = tempHeading;
+//                }
+
+                boat.setHeading(newHeading.bearing);
+                boat.setVelocity(newHeading.speed);
+
+                //calc the distance travelled in a straight line to windward
+                double angleBetweenDestAndHeading = newHeading.bearing - boat.calculateBearingToDestination();
+                totalDistanceTravelled = cos(angleBetweenDestAndHeading)*totalDistanceTravelledInTack;
+                boat.setDistanceTravelledInLeg(totalDistanceTravelled);
+
+                //Calculate boat's new position by adding the distance travelled onto the start point of the leg
+                boat.setCurrentPosition(calculatePosition(boat.getCurrentPosition(),
+                        totalDistanceTravelledInTack, azimuth));
+
+            }else{
                 boat.setHeading(boat.calculateHeading());
                 //update boat's distance travelled
                 boat.setDistanceTravelledInLeg(totalDistanceTravelled);
                 //Calculate boat's new position by adding the distance travelled onto the start point of the leg
                 boat.setCurrentPosition(calculatePosition(boat.getCurrentLeg().getStartMarker().getAverageGPSCoordinate(),
-                    totalDistanceTravelled, boat.calculateAzimuth()));
+                        totalDistanceTravelled, boat.calculateAzimuth(boat.getCurrentLeg().getStartMarker().getAverageGPSCoordinate(),
+                                boat.getCurrentLeg().getEndMarker().getAverageGPSCoordinate())));
+            }
         }
     }
 
     protected void checkPosition(Boat boat, long timeElapsed) {
+        System.out.println(boat.getDistanceTravelledInLeg());
+        System.out.println(boat.getCurrentLeg().getDistance());
+        System.out.println(" ");
         if (boat.getDistanceTravelledInLeg() > boat.getCurrentLeg().getDistance()) {
             //boat has passed onto new leg
             if (boat.getCurrentLeg().getName().equals("Finish")) {

mock/src/test/java/seng302/Model/BoatTest.java

@@ -22,7 +22,7 @@ public class BoatTest {
         Marker endMarker = new Marker(new GPSCoordinate(50, 0));
         Leg start = new Leg("Start", startMarker, endMarker, 0);
         TEST_BOAT.setCurrentLeg(start);
-        assertEquals(TEST_BOAT.calculateAzimuth(), 0, 1e-8);
+        assertEquals(TEST_BOAT.calculateAzimuth(startMarker.getAverageGPSCoordinate(), endMarker.getAverageGPSCoordinate()), 0, 1e-8);
     }
 
     @Test
@@ -31,7 +31,7 @@ public class BoatTest {
         Marker endMarker = new Marker(new GPSCoordinate(-50, 0));
         Leg start = new Leg("Start", startMarker, endMarker, 0);
         TEST_BOAT.setCurrentLeg(start);
-        assertEquals(TEST_BOAT.calculateAzimuth(), 180, 1e-8);
+        assertEquals(TEST_BOAT.calculateAzimuth(startMarker.getAverageGPSCoordinate(), endMarker.getAverageGPSCoordinate()), 180, 1e-8);
     }
 
 
@@ -42,7 +42,7 @@ public class BoatTest {
         Marker endMarker = new Marker(new GPSCoordinate(0, 50));
         Leg start = new Leg("Start", startMarker, endMarker, 0);
         TEST_BOAT.setCurrentLeg(start);
-        assertEquals(TEST_BOAT.calculateAzimuth(), 90, 1e-8);
+        assertEquals(TEST_BOAT.calculateAzimuth(startMarker.getAverageGPSCoordinate(), endMarker.getAverageGPSCoordinate()), 90, 1e-8);
     }
 
 
@@ -52,7 +52,7 @@ public class BoatTest {
         Marker endMarker = new Marker(new GPSCoordinate(0, -50));
         Leg start = new Leg("Start", startMarker, endMarker, 0);
         TEST_BOAT.setCurrentLeg(start);
-        assertEquals(TEST_BOAT.calculateAzimuth(), -90, 1e-8);
+        assertEquals(TEST_BOAT.calculateAzimuth(startMarker.getAverageGPSCoordinate(), endMarker.getAverageGPSCoordinate()), -90, 1e-8);
 
     }