public void testAddToPoint() {
MapPoint point = new MapPoint(2637887.25, 6815777.50);
Vector vector = new Vector(600, 800).setLength(1);
MapPoint newPoint = vector.clone().multiply(0.1).addToPoint(point);
assertEquals(2637887.31, newPoint.getX(), 0.001);
assertEquals(6815777.58, newPoint.getY(), 0.001);
}
@Test
public void shouldUpdateDroneLocation() {
Tracker tracker = new SimpleTrackerFactory().create("drone1", "my tracker");
trackerData.register((Observer) tracker);
Assert.assertEquals(1, trackerData.getTrackers().size());
MapPoint oldPosition = tracker.getCurrentPosition();
tracker.calculate();
MapPoint newPosition = tracker.getCurrentPosition();
System.out.println("........." + oldPosition.getLongitude());
System.out.println("........." + newPosition.getLatitude());
Assert.assertNotSame(newPosition, oldPosition);
Assert.assertSame(oldPosition, tracker.getPositions().get(0));
}
private static Iterable<MapPoint> getNeighbors(MapPoint point, BoxType dest, int keyCount) {
Collection<MapPoint> neighbors = new HashSet<>(4);
for (MapPoint neighbor : point.getNeighbors()) {
BoxType type = neighbor.getType();
if ((type == dest)
|| (type == BoxType.Open)
|| (type == BoxType.Door && keyCount > 0)
|| (type == BoxType.Key)) {
neighbors.add(neighbor);
}
}
return neighbors;
}
@Override
public void render(Graphics2D g, JXMapViewer map) {
if (isSelected()) g.setColor(selectedColor);
else g.setColor(color);
g.setFont(new Font("font", Font.BOLD, 12));
Point2D p = map.getTileFactory().geoToPixel(pos.getPoint(), map.getZoom());
g.translate(
(int) p.getX() - shapes[0].getBounds().width / 2,
(int) p.getY() - shapes[0].getBounds().height / 2);
for (int i = 0; i < shapes.length; i++) {
g.draw(shapes[i]);
if (desc == null) g.fill(shapes[i]);
}
if (desc != null) g.drawString(desc, 5, 20);
g.translate(
-(int) p.getX() + shapes[0].getBounds().width / 2,
-(int) p.getY() + shapes[0].getBounds().height / 2);
}
/**
* Searches for a {@code BoxType} from the given start point. The search algorithm used is a
* Breath-first search (BFS) modified to use a past path-cost function g(x) to determine the next
* point to evaluate.
*
* @param start the starting point
* @param dest the {@code BoxType} to search for
* @param hasKey
* @return the set of solution MapPaths
* @see <a href="http://en.wikipedia.org/wiki/Breadth-first_search">Breadth-first search -
* Wikipedia</a>
*/
public static Set<MapPath> search(MapPoint start, BoxType dest, int keyCount) {
PlayerMapDebugger debugger = SchoolPlayer.getLatestDebugger();
Set<MapPoint> closed = new HashSet<>();
Map<MapPath, MapPath> open = new HashMap<>();
Map<MapPath, Integer> gScores = new HashMap<>();
MapPath base = new MapPath(start);
open.put(base, base);
gScores.put(base, 0);
Set<MapPath> found = new HashSet<>();
Integer foundG = null;
while (!open.isEmpty()) {
Entry<MapPath, Integer> curEntry = getShortestPath(gScores);
MapPath cur = curEntry.getKey();
MapPoint curPoint = cur.getLastPoint();
debugger.markPoint(curPoint, Color.MAGENTA);
debugger.markPath(cur, Color.DARK_GRAY);
debugger.waitForMarks(PATH_SEARCH_DELAY);
if (curPoint.getType() == dest) {
if (foundG == null || curEntry.getValue().compareTo(foundG) <= 0) {
debugger.markPoint(curPoint, Color.GREEN);
debugger.markPath(cur, Color.GREEN);
debugger.waitForMarks(FOUND_DEST_MARK_DELAY);
found.add(cur);
foundG = curEntry.getValue();
}
}
open.remove(cur);
gScores.remove(cur);
closed.add(curPoint);
if (found.isEmpty()) {
for (MapPoint neighbor : getNeighbors(curPoint, dest, keyCount)) {
if (paused) {
while (paused) {
debugger.sleep(200);
}
}
if (closed.contains(neighbor)) {
continue;
}
MapPath subPath = cur.subPath(neighbor);
MapPath samePath = open.get(subPath);
int gScore = curEntry.getValue() + distanceTo(neighbor);
if (samePath == null) {
open.put(subPath, subPath);
gScores.put(subPath, gScore);
debugger.markPoint(neighbor, Color.PINK);
debugger.waitForMarks(NEIGHBOR_SEARCH_DELAY);
} else {
if (subPath.getTurnCount() < samePath.getTurnCount()
&& gScore <= gScores.get(samePath)) {
// samePath.equals(subPath)
// so, need to explicitly remove samePath/subPath to re-map value
open.remove(samePath);
gScores.remove(samePath);
open.put(subPath, subPath);
gScores.put(subPath, gScore);
debugger.markPoint(neighbor, Color.PINK);
debugger.waitForMarks(NEIGHBOR_SEARCH_DELAY);
}
}
}
}
if (curPoint.getType() != dest) {
debugger.unmarkPath(cur);
debugger.markPoint(curPoint, Color.LIGHT_GRAY);
}
}
debugger.unmarkAllPoints();
debugger.unmarkAllPaths();
return found;
}
private static int distanceTo(MapPoint point) {
if (point.getType() == BoxType.Door) return 2;
else return 1;
}
public boolean findItem(JXMapKit map, Point2D pt) {
GeoPosition gp = pos.getPoint();
Point2D pt1 = map.getMainMap().getTileFactory().geoToPixel(gp, map.getMainMap().getZoom());
return pt1.distance(pt) < 20;
}
public List<MapPoint> getPoints() {
List<MapPoint> p = new ArrayList<MapPoint>();
p.add(new MapPoint(pos.getPoint()));
return p;
}
public GeoPosition getPosition() {
return pos.getPoint();
}
