Merge branch 'master' into story68

-updated port and starboard boat checks
-added gps method to check if on correct side of a line
-updated pos check method to make boats round marks with the new tech

# Conflicts:
#	racevisionGame/src/main/java/mock/app/ConnectionAcceptor.java
#	racevisionGame/src/main/java/mock/app/Event.java
#	racevisionGame/src/main/java/mock/model/commandFactory/TackGybeCommand.java
#	racevisionGame/src/main/java/mock/model/commandFactory/VMGCommand.java

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

@@ -211,11 +211,22 @@ public class MockBoat extends Boat {
      * @return true if mark is on port side
      */
     public boolean isPortSide(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(this.getCurrentPosition().getLongitude() < mark.getPosition().getLongitude()){
+        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{
-            return this.getBearing().degrees() > 180;
+            //should not reach here
+            return false;
         }
     }
 
@@ -226,10 +237,22 @@ public class MockBoat extends Boat {
      */
     public boolean isStarboardSide(Mark mark){
         //if this boat is lower than the mark check which way it is facing
-        if(this.getCurrentPosition().getLongitude() < mark.getPosition().getLongitude()){
+        Bearing towardsMark = GPSCoordinate.calculateBearing(this.getCurrentPosition(), mark.getPosition());
-            return this.getBearing().degrees() >= 180;
+        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{
-            return this.getBearing().degrees() < 180;
+            //should not reach here
+            return false;
         }
     }
 

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

@@ -3,12 +3,10 @@ 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 shared.dataInput.RegattaDataSource;
 import shared.model.*;
-import shared.model.Bearing;
 
 import java.time.ZonedDateTime;
 import java.time.temporal.ChronoUnit;
@@ -321,6 +319,8 @@ public class MockRace extends Race {
 
         if (!finish && totalElapsedMilliseconds >= updatePeriodMilliseconds) {
 
+            checkPosition(boat, totalElapsedMilliseconds);
+
             if (boat.getCurrentSpeed() == 0) {
                 newOptimalVMG(boat);
                 boat.setBearing(boat.calculateBearingToNextMarker());
@@ -467,22 +467,22 @@ public class MockRace extends Race {
      * @param boat the boat that is rounding a mark
      * @param roundingChecks the checks to run
      */
-    private void boatRoundingCheckPort(MockBoat boat, List<GPSCoordinate> roundingChecks){
+    private void boatRoundingCheckPort(MockBoat boat, List<GPSCoordinate> roundingChecks, Bearing legBearing){
         //boats must pass all checks in order to round a mark
         switch (boat.getRoundingStatus()) {
             case 0://hasn't started rounding
-//                System.out.println("round 0");
+                if (boat.isPortSide(boat.getCurrentLeg().getEndCompoundMark().getMarkForRounding(legBearing)) &&
-                if (boat.isPortSide(boat.getCurrentLeg().getEndCompoundMark().getMark1()) &&
+                        GPSCoordinate.passesLine(boat.getCurrentLeg().getEndCompoundMark().getMarkForRounding(legBearing).getPosition(),
-                        GPSCoordinate.intersects(boat.getCurrentLeg().getEndCompoundMark().getMark1().getPosition(),
+                                roundingChecks.get(0), boat.getCurrentPosition(), legBearing)) {
-                                roundingChecks.get(0), boat.getCurrentPosition())) {
+                    System.out.println("true");
                     boat.increaseRoundingStatus();
                 }
                 break;
             case 1://has been parallel to the mark
 //                System.out.println("round 1");
-                if (boat.isPortSide(boat.getCurrentLeg().getEndCompoundMark().getMark1()) &&
+                if (boat.isPortSide(boat.getCurrentLeg().getEndCompoundMark().getMarkForRounding(legBearing)) &&
-                        GPSCoordinate.intersects(boat.getCurrentLeg().getEndCompoundMark().getMark1().getPosition(),
+                        GPSCoordinate.passesLine(boat.getCurrentLeg().getEndCompoundMark().getMarkForRounding(legBearing).getPosition(),
-                                roundingChecks.get(1), boat.getCurrentPosition())) {
+                                roundingChecks.get(1), boat.getCurrentPosition(), Bearing.fromDegrees(legBearing.degrees() - 90))) {//negitive 90 from bearing because of port rounding
                     boat.increaseRoundingStatus();
                 }
                 break;
@@ -533,7 +533,6 @@ public class MockRace extends Race {
      * @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 = 250.0 / Constants.NMToMetersConversion; //250 meters.
 
@@ -541,17 +540,15 @@ public class MockRace extends Race {
             //Boat is within an acceptable distance from the mark.
 
             GPSCoordinate startDirectionLinePoint = boat.getCurrentLeg().getStartCompoundMark().getMark1Position();
-            //todo will need to change this for gates, so that the end point is the side of the gate needed to be rounded
             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
-            GPSCoordinate roundCheck1 = GPSCoordinate.calculateNewPosition(startDirectionLinePoint,
+            GPSCoordinate roundCheck1 = GPSCoordinate.calculateNewPosition(endDirectionLinePoint,
                     epsilonNauticalMiles, Azimuth.fromDegrees(bearingOfDirectionLine.degrees() + 90));//adding 90 so the check line is parallel
 
-            GPSCoordinate roundCheck2 = GPSCoordinate.calculateNewPosition(startDirectionLinePoint,
+            GPSCoordinate roundCheck2 = GPSCoordinate.calculateNewPosition(endDirectionLinePoint,
                     epsilonNauticalMiles, Azimuth.fromDegrees(bearingOfDirectionLine.degrees()));
 
             List<GPSCoordinate> roundingChecks = new ArrayList<GPSCoordinate>(Arrays.asList(roundCheck1, roundCheck2));
@@ -559,7 +556,7 @@ public class MockRace extends Race {
             switch (boat.getCurrentLeg().getEndCompoundMark().getRoundingType()) {
                 case SP://Not yet implemented so these gates will be rounded port side
                 case Port:
-                    boatRoundingCheckPort(boat, roundingChecks);
+                    boatRoundingCheckPort(boat, roundingChecks, bearingOfDirectionLine);
                     break;
                 case PS://not yet implemented so these gates will be rounded starboard side
                 case Starboard:

racevisionGame/src/main/java/shared/model/GPSCoordinate.java

@@ -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/visualiser/gameController/ControllerClient.java

@@ -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

@@ -1,8 +1,6 @@
 package visualiser.gameController;
 
 import mock.model.RaceLogic;
-import mock.model.commandFactory.Command;
-import mock.model.commandFactory.CommandFactory;
 import network.BinaryMessageDecoder;
 import network.Exceptions.InvalidMessageException;
 import network.MessageDecoders.BoatActionDecoder;
@@ -12,8 +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

@@ -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/ResizableRaceCanvas.java

@@ -1,7 +1,6 @@
 package visualiser.model;
 
 
-import javafx.scene.image.Image;
 import javafx.scene.paint.Color;
 import javafx.scene.paint.Paint;
 import javafx.scene.transform.Rotate;