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450 lines
15 KiB
450 lines
15 KiB
package mock.model;
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import network.Messages.Enums.BoatStatusEnum;
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import network.Messages.LatestMessages;
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import org.opengis.geometry.primitive.*;
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import shared.dataInput.BoatDataSource;
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import shared.dataInput.RaceDataSource;
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import network.Messages.Enums.RaceStatusEnum;
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import shared.dataInput.RegattaDataSource;
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import shared.model.*;
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import shared.model.Bearing;
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import java.time.ZonedDateTime;
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import java.time.temporal.ChronoUnit;
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import java.time.temporal.TemporalUnit;
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import java.util.*;
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import static java.lang.Math.cos;
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/**
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* Represents a yacht race.
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* Has a course, boats, boundaries, etc...
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* Is responsible for simulating the race, and sending messages to a MockOutput instance.
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*/
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public class MockRace extends Race {
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/**
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* An observable list of boats in the race.
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*/
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private List<MockBoat> boats;
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/**
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* A copy of the boundary list, except "shrunk" inwards by 50m.
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*/
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private List<GPSCoordinate> shrinkBoundary;
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/**
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* The scale factor of the race.
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* See {@link Constants#RaceTimeScale}.
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*/
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private int scaleFactor;
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/**
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* Object used to generate changes in wind speed/direction.
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*/
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private WindGenerator windGenerator;
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/**
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* Constructs a race object with a given RaceDataSource, BoatDataSource, and RegattaDataSource and sends events to the given mockOutput.
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* @param boatDataSource Data source for boat related data (yachts and marker boats).
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* @param raceDataSource Data source for race related data (participating boats, legs, etc...).
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* @param regattaDataSource Data source for race related data (course name, location, timezone, etc...).
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* @param latestMessages The LatestMessages to send events to.
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* @param polars The polars table to be used for boat simulation.
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* @param timeScale The timeScale for the race. See {@link Constants#RaceTimeScale}.
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*/
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public MockRace(BoatDataSource boatDataSource, RaceDataSource raceDataSource, RegattaDataSource regattaDataSource, LatestMessages latestMessages, Polars polars, int timeScale) {
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super(boatDataSource, raceDataSource, regattaDataSource, latestMessages);
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this.scaleFactor = timeScale;
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this.boats = this.generateMockBoats(boatDataSource.getBoats(), raceDataSource.getParticipants(), polars);
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this.shrinkBoundary = GPSCoordinate.getShrinkBoundary(this.boundary);
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//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.
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this.windGenerator = new WindGenerator(
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Bearing.fromDegrees(225),
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Bearing.fromDegrees(215),
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Bearing.fromDegrees(235),
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12d,
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8d,
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16d );
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//Wind.
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this.setWind(windGenerator.generateBaselineWind());
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}
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/**
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* Generates a list of MockBoats given a list of Boats, and a list of participating boats.
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* @param boats The map of Boats describing boats that are potentially in the race. Maps boat sourceID to boat.
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* @param sourceIDs The list of boat sourceIDs describing which specific boats are actually participating.
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* @param polars The polars table to be used for boat simulation.
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* @return A list of MockBoats that are participating in the race.
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*/
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private List<MockBoat> generateMockBoats(Map<Integer, Boat> boats, List<Integer> sourceIDs, Polars polars) {
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List<MockBoat> mockBoats = new ArrayList<>(sourceIDs.size());
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//For each sourceID participating...
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for (int sourceID : sourceIDs) {
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//Get the boat associated with the sourceID.
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Boat boat = boats.get(sourceID);
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//Construct a MockBoat using the Boat and Polars.
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MockBoat mockBoat = new MockBoat(boat, polars);
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mockBoats.add(mockBoat);
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}
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return mockBoats;
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}
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/**
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* Updates the race time to a specified value, in milliseconds since the unix epoch.
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* @param currentTime Milliseconds since unix epoch.
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*/
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public void updateRaceTime(long currentTime) {
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this.raceClock.setUTCTime(currentTime);
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}
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/**
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* Updates the race status enumeration based on the current time.
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*/
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public void updateRaceStatusEnum() {
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//The millisecond duration of the race. Negative means it hasn't started, so we flip sign.
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long timeToStart = - this.raceClock.getDurationMilli();
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if (timeToStart > Constants.RacePreStartTime) {
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//Time > 3 minutes is the prestart period.
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this.setRaceStatusEnum(RaceStatusEnum.PRESTART);
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} else if ((timeToStart <= Constants.RacePreStartTime) && (timeToStart >= Constants.RacePreparatoryTime)) {
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//Time between [1, 3] minutes is the warning period.
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this.setRaceStatusEnum(RaceStatusEnum.WARNING);
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} else if ((timeToStart <= Constants.RacePreparatoryTime) && (timeToStart > 0)) {
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//Time between (0, 1] minutes is the preparatory period.
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this.setRaceStatusEnum(RaceStatusEnum.PREPARATORY);
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} else {
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//Otherwise, the race has started!
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this.setRaceStatusEnum(RaceStatusEnum.STARTED);
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}
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}
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/**
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* Sets the status of all boats in the race to RACING.
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*/
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public void setBoatsStatusToRacing() {
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for (MockBoat boat : this.boats) {
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boat.setStatus(BoatStatusEnum.RACING);
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}
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}
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/**
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* 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.
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* @param time The time to provide to each boat.
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*/
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public void setBoatsTimeNextMark(ZonedDateTime time) {
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for (MockBoat boat : this.boats) {
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boat.setEstimatedTimeAtNextMark(time);
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}
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}
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/**
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* Initialise the boats in the race.
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* This sets their starting positions and current legs.
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*/
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@Override
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public void initialiseBoats() {
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//Gets the starting positions of the boats.
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List<GPSCoordinate> startingPositions = getSpreadStartingPositions();
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//Get iterators for our boat and position lists.
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Iterator<MockBoat> boatIt = this.boats.iterator();
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Iterator<GPSCoordinate> startPositionIt = startingPositions.iterator();
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//Iterate over the pair of lists.
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while (boatIt.hasNext() && startPositionIt.hasNext()) {
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//Get the next boat and position.
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MockBoat boat = boatIt.next();
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GPSCoordinate startPosition = startPositionIt.next();
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//The boat starts on the first leg of the race.
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boat.setCurrentLeg(this.legs.get(0));
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//Boats start with 0 knots speed.
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boat.setCurrentSpeed(0d);
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//Place the boat at its starting position.
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boat.setCurrentPosition(startPosition);
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//Boats start facing their next marker.
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boat.setBearing(boat.calculateBearingToNextMarker());
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//Sets the boats status to prestart - it changes to racing when the race starts.
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boat.setStatus(BoatStatusEnum.PRESTART);
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//We set a large time since tack change so that it calculates a new VMG when the simulation starts.
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boat.setTimeSinceTackChange(Long.MAX_VALUE);
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}
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}
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/**
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* Creates a list of starting positions for the different boats, so they do not appear cramped at the start line.
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*
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* @return A list of starting positions.
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*/
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private List<GPSCoordinate> getSpreadStartingPositions() {
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//The first compound marker of the race - the starting gate.
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CompoundMark compoundMark = this.legs.get(0).getStartCompoundMark();
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//The position of the two markers from the compound marker.
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GPSCoordinate mark1Position = compoundMark.getMark1Position();
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GPSCoordinate mark2Position = compoundMark.getMark2Position();
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//Calculates the azimuth between the two points.
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Azimuth azimuth = GPSCoordinate.calculateAzimuth(mark1Position, mark2Position);
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//Calculates the distance between the two points.
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double distanceMeters = GPSCoordinate.calculateDistanceMeters(mark1Position, mark2Position);
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//The number of boats in the race.
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int numberOfBoats = this.boats.size();
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//Calculates the distance between each boat. We divide by numberOfBoats + 1 to ensure that no boat is placed on one of the starting gate's marks.
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double distanceBetweenBoatsMeters = distanceMeters / (numberOfBoats + 1);
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//List to store coordinates in.
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List<GPSCoordinate> positions = new ArrayList<>();
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//We start spacing boats out from mark 1.
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GPSCoordinate position = mark1Position;
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//For each boat, displace position, and store it.
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for (int i = 0; i < numberOfBoats; i++) {
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position = GPSCoordinate.calculateNewPosition(position, distanceBetweenBoatsMeters, azimuth);
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positions.add(position);
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}
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return positions;
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}
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/**
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* Determines whether or not a given VMG improves the velocity of a boat, if it were currently using currentVMG.
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* @param currentVMG The current VMG of the boat.
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* @param potentialVMG The new VMG to test.
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* @param bearingToDestination The bearing between the boat and its destination.
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* @return True if the new VMG is improves velocity, false otherwise.
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*/
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public boolean improvesVelocity(VMG currentVMG, VMG potentialVMG, Bearing bearingToDestination) {
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//Calculates the angle between the boat and its destination.
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Angle angleBetweenDestAndHeading = Angle.fromDegrees(currentVMG.getBearing().degrees() - bearingToDestination.degrees());
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//Calculates the angle between the new VMG and the boat's destination.
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Angle angleBetweenDestAndNewVMG = Angle.fromDegrees(potentialVMG.getBearing().degrees() - bearingToDestination.degrees());
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//Calculate the boat's current velocity.
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double currentVelocity = Math.cos(angleBetweenDestAndHeading.radians()) * currentVMG.getSpeed();
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//Calculate the potential velocity with the new VMG.
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double vmgVelocity = Math.cos(angleBetweenDestAndNewVMG.radians()) * potentialVMG.getSpeed();
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//Return whether or not the new VMG gives better velocity.
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return vmgVelocity > currentVelocity;
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}
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/**
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* Determines whether or not a given VMG improves the velocity of a boat.
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* @param boat The boat to test.
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* @param vmg The new VMG to test.
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* @return True if the new VMG is improves velocity, false otherwise.
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*/
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private boolean improvesVelocity(MockBoat boat, VMG vmg) {
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//Get the boats "current" VMG.
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VMG boatVMG = new VMG(boat.getCurrentSpeed(), boat.getBearing());
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//Check if the new VMG is better than the boat's current VMG.
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return this.improvesVelocity(boatVMG, vmg, boat.calculateBearingToNextMarker());
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}
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/**
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* Calculates the distance a boat has travelled and updates its current position according to this value.
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*
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* @param boat The boat to be updated.
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* @param updatePeriodMilliseconds The time, in milliseconds, since the last update.
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* @param totalElapsedMilliseconds The total number of milliseconds that have elapsed since the start of the race.
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*/
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public void updatePosition(MockBoat boat, long updatePeriodMilliseconds, long totalElapsedMilliseconds) {
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//Checks if the current boat has finished the race or not.
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boolean finish = this.isLastLeg(boat.getCurrentLeg());
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if (!finish && totalElapsedMilliseconds >= updatePeriodMilliseconds) {
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if (boat.getCurrentSpeed() == 0) {
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newOptimalVMG(boat);
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boat.setBearing(boat.calculateBearingToNextMarker());
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}
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setBoatSpeed(boat);
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//Calculates the distance travelled, in meters, in the current timeslice.
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double distanceTravelledMeters = boat.calculateMetersTravelled(updatePeriodMilliseconds);
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//Scale it.
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distanceTravelledMeters = distanceTravelledMeters * this.scaleFactor;
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//Move the boat forwards that many meters, and advances its time counters by enough milliseconds.
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boat.moveForwards(distanceTravelledMeters);
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boat.setTimeSinceTackChange(boat.getTimeSinceTackChange() + updatePeriodMilliseconds);
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if (boat.isAutoVMG()) {
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newOptimalVMG(boat);
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}
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this.updateEstimatedTime(boat);
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}
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}
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private void newOptimalVMG(MockBoat boat) {
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long tackPeriod = 15000;
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if (boat.getTimeSinceTackChange() > tackPeriod) {
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//Calculate the new VMG.
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VMG newVMG = boat.getPolars().calculateVMG(
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this.getWindDirection(),
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this.getWindSpeed(),
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boat.calculateBearingToNextMarker(),
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Bearing.fromDegrees(0d),
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Bearing.fromDegrees(359.99999d));
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//If the new vmg improves velocity, use it.
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if (improvesVelocity(boat, newVMG)) {
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boat.setVMG(newVMG);
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}
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}
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}
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private void setBoatSpeed(MockBoat boat) {
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VMG vmg = boat.getPolars().calculateVMG(
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this.getWindDirection(),
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this.getWindSpeed(),
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boat.getBearing(),
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boat.getBearing(),
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boat.getBearing());
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if (vmg.getSpeed() > 0) {
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boat.setCurrentSpeed(vmg.getSpeed());
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}
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}
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/**
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* Returns the number of boats that are still active in the race.
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* They become inactive by either finishing or withdrawing.
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* @return The number of boats still active in the race.
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*/
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protected int getNumberOfActiveBoats() {
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int numberOfActiveBoats = 0;
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for (MockBoat boat : this.boats) {
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//If the boat is currently racing, count it.
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if (boat.getStatus() == BoatStatusEnum.RACING) {
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numberOfActiveBoats++;
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}
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}
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return numberOfActiveBoats;
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}
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/**
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* Returns a list of boats in the race.
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* @return List of boats in the race.
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*/
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public List<MockBoat> getBoats() {
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return boats;
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}
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/**
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* Changes the wind direction randomly, while keeping it within [windLowerBound, windUpperBound].
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*/
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public void changeWindDirection() {
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Wind nextWind = windGenerator.generateNextWind(raceWind.getValue());
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setWind(nextWind);
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}
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/**
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* Updates the boat's estimated time to next mark if positive
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* @param boat to estimate time given its velocity
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*/
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private void updateEstimatedTime(MockBoat boat) {
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double velocityToMark = boat.getCurrentSpeed() * cos(boat.getBearing().radians() - boat.calculateBearingToNextMarker().radians()) / Constants.KnotsToMMPerSecond;
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if (velocityToMark > 0) {
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//Calculate milliseconds until boat reaches mark.
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long timeFromNow = (long) (1000 * boat.calculateDistanceToNextMarker() / velocityToMark);
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//Calculate time at which it will reach mark.
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ZonedDateTime timeAtMark = this.raceClock.getCurrentTime().plus(timeFromNow, ChronoUnit.MILLIS);
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boat.setEstimatedTimeAtNextMark(timeAtMark);
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}
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}
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public List<CompoundMark> getCompoundMarks() {
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return compoundMarks;
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}
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}
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