Improved condition of stopping algorithm; Changed error threshold in linear regression;

server/src/main/java/DebugClInterface.kt

@@ -25,7 +25,7 @@ object DebugClInterface {
             "route [car_id] - setting a route for car with car id.\n" +
             "refloc - refresh all car locations\n" +
             "sonar [car_id] - get sonar data\n" +
-            "dbinfo [car_id] [type] - refresh all car locations\n." +
+            "dbinfo [car_id] [type] - refresh all car locations\n" +
             "lines - print lines, detected by car\n" +
             "alg [count] - run algorithm. Make [count] iteration\n" +
             "type is string name of value or int value. available values: MEMORYSTATS - 0\n" +

server/src/main/java/algorithm/AbstractAlgorithm.kt

@@ -77,7 +77,6 @@ abstract class AbstractAlgorithm(val thisCar: Car, val exchanger: Exchanger<IntA
     }
 
 
-
     private fun moveCar(messageBytes: ByteArray) {
         val request = getDefaultHttpRequest(thisCar.host, setRouteMetricUrl, messageBytes)
         try {
@@ -150,6 +149,7 @@ abstract class AbstractAlgorithm(val thisCar: Car, val exchanger: Exchanger<IntA
     protected abstract fun getCarState(anglesDistances: Map<Angle, AngleData>): CarState?
     protected abstract fun getCommand(anglesDistances: Map<Angle, AngleData>, state: CarState): RouteMetricRequest?
     protected abstract fun afterGetCommand(route: RouteMetricRequest)
+    abstract fun isCompleted(): Boolean
 
 
     private fun getDefaultHttpRequest(host: String, url: String, bytes: ByteArray): DefaultFullHttpRequest {

server/src/main/java/algorithm/AlgorithmThread.kt

@@ -1,13 +1,11 @@
 package algorithm
 
-import kotlin.concurrent.thread
-
 class AlgorithmThread(val algorithmImpl: AbstractAlgorithm) : Thread() {
 
     private var count = 0
 
     override fun run() {
-        while (true) {//todo while !alrightmImpl.isDone(), but need check it
+        while (!algorithmImpl.isCompleted()) {
             try {
                 if (count > 0) {
                     algorithmImpl.iterate()

server/src/main/java/algorithm/RoomBypassingAlgorithm.kt

@@ -3,10 +3,7 @@ package algorithm
 import Logger.log
 import RouteMetricRequest
 import SonarRequest
-import algorithm.geometry.Angle
+import algorithm.geometry.*
-import algorithm.geometry.AngleData
-import algorithm.geometry.Point
-import algorithm.geometry.Wall
 import objects.Car
 import java.util.concurrent.Exchanger
 
@@ -19,7 +16,7 @@ class RoomBypassingAlgorithm(thisCar: Car, exchanger: Exchanger<IntArray>) : Abs
     override val WINDOW_SIZE = 3
 
     //SHOULD BE CALIBRATED BEFORE RUNNING!!!!!!!!!!!
-    private val CHARGE_CORRECTION = 1.02//on full charge ok is 0.83 - 0.86
+    private val CHARGE_CORRECTION = 0.88//on full charge ok is 0.83 - 0.86
 
     private val MAX_DISTANCE_TO_WALL_AHEAD = 55         // reached the corner and should turn left
     private val OUTER_CORNER_DISTANCE_THRESHOLD = 90    // reached outer corner
@@ -28,9 +25,13 @@ class RoomBypassingAlgorithm(thisCar: Car, exchanger: Exchanger<IntArray>) : Abs
     private val DISTANCE_TO_WALL_UPPER_BOUND = 60       // have to move closer to the parallel wall
     private val DISTANCE_TO_WALL_LOWER_BOUND = 40       // have to move farther to the parallel wall
     private val SPURIOUS_REFLECTION_DIFF = 70           // we're approaching corner and get spurious reflection from two walls on 60 meas. ! Should be before outer corner case !
+    private val RANGE_FROM_ZERO_POINT_TO_FINISH_ALG = 50
 
     private var calibrateAfterRotate = false
 
+    private var isCompleted = false
+    private var circleFound = false
+
     var carX = 0
     var carY = 0
     var carAngle = 0
@@ -50,8 +51,9 @@ class RoomBypassingAlgorithm(thisCar: Car, exchanger: Exchanger<IntArray>) : Abs
         val resultBuilder = RouteMetricRequest.BuilderRouteMetricRequest(IntArray(0), IntArray(0))
         resultBuilder.setDirections(getIntArray(FORWARD, RIGHT, FORWARD))
         val wallAngle = calculateAngle(anglesDistances, state)
-        resultBuilder.setDistances(getIntArray(15, wallAngle.degs(), 60))
+        resultBuilder.setDistances(getIntArray(15, wallAngle.degs(), 70))
         addWall(-wallAngle)
+        carAngle = RoomModel.walls.last().wallAngleOX.degs()
         calibrateAfterRotate = true
         return resultBuilder.build()
     }
@@ -62,6 +64,7 @@ class RoomBypassingAlgorithm(thisCar: Car, exchanger: Exchanger<IntArray>) : Abs
         val wallAngle = calculateAngle(anglesDistances, state)
         resultBuilder.setDistances(getIntArray(wallAngle.degs(), 15))
         addWall(wallAngle)
+        carAngle = RoomModel.walls.last().wallAngleOX.degs()
         calibrateAfterRotate = true
         return resultBuilder.build()
     }
@@ -108,7 +111,7 @@ class RoomBypassingAlgorithm(thisCar: Car, exchanger: Exchanger<IntArray>) : Abs
         val resultBuilder = RouteMetricRequest.BuilderRouteMetricRequest(IntArray(0), IntArray(0))
         resultBuilder.setDirections(getIntArray(FORWARD))
         if (distToWall == -1 || distToWall > 200) {
-            resultBuilder.setDistances(getIntArray(50))
+            resultBuilder.setDistances(getIntArray(70))
         } else {
             resultBuilder.setDistances(getIntArray(Math.max(distToWall / 4, 20)))
         }
@@ -121,10 +124,14 @@ class RoomBypassingAlgorithm(thisCar: Car, exchanger: Exchanger<IntArray>) : Abs
 
         val firstWall = RoomModel.walls.first()
         val lastWall = RoomModel.walls.last()
-        if (firstWall == lastWall && RoomModel.walls.size > 1) {
+//        if (firstWall == lastWall && RoomModel.walls.size > 1) {
-            log("Found equal walls, finishing algorithm")
+        if (circleFound) {
+            log("Found circle, finishing algorithm")
+            isCompleted = true
             RoomModel.finished = true
-            lastWall.pushBackPoint(firstWall.rawPoints.last())
+            val intersectionPoint = firstWall.rawPoints.last()
+            intersectionPoint.y = lastWall.rawPoints.first().y
+            lastWall.pushBackPoint(intersectionPoint)
             lastWall.markAsFinished()
             RoomModel.walls.removeAt(0)
         } else {
@@ -166,7 +173,6 @@ class RoomBypassingAlgorithm(thisCar: Car, exchanger: Exchanger<IntArray>) : Abs
             }
             log("No need to realign")
             calibrateAfterRotate = false
-            carAngle = RoomModel.walls.last().wallAngleOX.degs()
         }
 
         // Check most basic measurements: 60/90/120
@@ -256,6 +262,10 @@ class RoomBypassingAlgorithm(thisCar: Car, exchanger: Exchanger<IntArray>) : Abs
         return args
     }
 
+    override fun isCompleted(): Boolean {
+        return isCompleted
+    }
+
     override fun afterGetCommand(route: RouteMetricRequest) {
         route.directions.forEachIndexed { idx, direction ->
             when (direction) {
@@ -277,6 +287,10 @@ class RoomBypassingAlgorithm(thisCar: Car, exchanger: Exchanger<IntArray>) : Abs
                 }
             }
         }
+        if (Math.round(Math.cos(Angle(carAngle).rads())).toInt() == 1 && carAngle != 0
+                && Vector(carX.toDouble(), carY.toDouble()).length() < RANGE_FROM_ZERO_POINT_TO_FINISH_ALG) {
+            circleFound = true
+        }
 
     }
 

server/src/main/java/algorithm/geometry/Point.kt

@@ -1,6 +1,6 @@
 package algorithm.geometry
 
-data class Point(val x: Double, val y: Double) {
+data class Point(var x: Double, var y: Double) {
     operator fun plus(other: Vector): Point {
         return Point(x + other.x, y + other.y)
     }

server/src/main/java/algorithm/geometry/Wall.kt

@@ -5,8 +5,9 @@ import java.util.*
 data class Wall(val wallAngleOX: Angle,
                 val rawPoints: ArrayList<Point> = arrayListOf<Point>(),
                 var line: Line = Line(0.0, 0.0, 0.0)
-                ) {
+) {
     val id: Int
+
     companion object {
         var idCounter = 0
     }
@@ -17,7 +18,7 @@ data class Wall(val wallAngleOX: Angle,
     }
 
     var isFinished = false
-    val MAX_REGRESSION_ERROR = 10.0
+    val MAX_REGRESSION_ERROR = 5.0
 
     fun pushBackPoint(point: Point) {
         rawPoints.add(point)

server/src/main/java/car/client/ClientHandler.kt

@@ -97,8 +97,6 @@ class ClientHandler : SimpleChannelInboundHandler<Any>() {
         } catch (e: InterruptedException) {
             println("interrupted before sending datas to algorithm!")
         } catch (e: TimeoutException) {
-            e.printStackTrace()
-            println("timeout")
         }
     }