From fbe6081d5de1ddee6aed7abdb3b8393012e50f0a Mon Sep 17 00:00:00 2001
From: dsavvinov <dsavvinov@gmail.com>
Date: Fri, 26 Aug 2016 14:46:59 +0300
Subject: [PATCH] UI: Updated drawing of algorithm info

---
 car_srv/kotlinSrv/build.gradle                |  2 +-
 .../control/emulator/ControllerEmulator.kt    |  2 +-
 .../main/java/algorithm/AbstractAlgorithm.kt  |  2 +-
 ui/index.html                                 |  2 +-
 ui/scripts/drawing.js                         | 37 ++++++++++++-------
 5 files changed, 27 insertions(+), 18 deletions(-)

diff --git a/car_srv/kotlinSrv/build.gradle b/car_srv/kotlinSrv/build.gradle
index 2c9746fc79e..6865180f631 100644
--- a/car_srv/kotlinSrv/build.gradle
+++ b/car_srv/kotlinSrv/build.gradle
@@ -26,7 +26,7 @@ sourceSets {
 
 task copyKotlinLib(type: Copy) {
     from "${projectDir}/kotlinJsRequiredFiles/kotlin.js"
-    from "${projectDir}/kotlinJsRequiredFiles/package.json"
+    from "${projectDir}/package.json"
 
     into "${projectDir}/build/js"
 }
diff --git a/car_srv/kotlinSrv/src/control/emulator/ControllerEmulator.kt b/car_srv/kotlinSrv/src/control/emulator/ControllerEmulator.kt
index f108012cb97..679ce1f9a5b 100644
--- a/car_srv/kotlinSrv/src/control/emulator/ControllerEmulator.kt
+++ b/car_srv/kotlinSrv/src/control/emulator/ControllerEmulator.kt
@@ -123,7 +123,7 @@ class ControllerEmulator : Controller {
                 continue
             }
             val currentDistance = Math.round(Math.sqrt(Math.pow(xIntersection - xSensor0, 2.0)
-                    + Math.pow(yIntersection - ySensor0, 2.0)))
+                    + Math.pow(yIntersection - ySensor0, 2.0)) * 1000000);
             if (currentDistance < result) {
                 result = currentDistance
             }
diff --git a/server/src/main/java/algorithm/AbstractAlgorithm.kt b/server/src/main/java/algorithm/AbstractAlgorithm.kt
index 5938ef7522d..5416aff28d9 100644
--- a/server/src/main/java/algorithm/AbstractAlgorithm.kt
+++ b/server/src/main/java/algorithm/AbstractAlgorithm.kt
@@ -58,7 +58,7 @@ abstract class AbstractAlgorithm(val thisCar: Car, val exchanger: Exchanger<IntA
                     }
                 }
                 if (sum != 0) {
-                    result[i] = (sum.toDouble()) / (copyElemCount)
+                    result[i] = (sum.toDouble()) / (copyElemCount*1000000)
                 }
             }
             return result
diff --git a/ui/index.html b/ui/index.html
index 16f52f39e54..119524677a0 100644
--- a/ui/index.html
+++ b/ui/index.html
@@ -25,7 +25,7 @@
     <div class="container" id="body-cont">
       <div class="row">
         <!-- Canvas -->
-        <div class="col-md-8"> <canvas id="pathCanvas" width="720" height="560"></canvas> </div>
+        <div class="col-md-8"> <canvas id="pathCanvas" width="1024" height="768"></canvas> </div>
 
         <!-- Control Pnael -->
         <div class="col-md-1 center-block">
diff --git a/ui/scripts/drawing.js b/ui/scripts/drawing.js
index 319cabc8c93..b1c6345c072 100644
--- a/ui/scripts/drawing.js
+++ b/ui/scripts/drawing.js
@@ -34,6 +34,21 @@ function drawCar(carPosition) {
 	ctx.fill();
 }
 
+function drawLine(line) {
+	var begin_x = 0;
+	var begin_y = (line.A * (0 - zero.x) + line.C) / line.B  + zero.y;
+
+	var end_x = canvas.width;
+	var end_y = (line.A * (canvas.width - zero.x) + line.C) / line.B + zero.y;
+
+	ctx.beginPath();
+	ctx.moveTo(begin_x, begin_y);
+	ctx.lineTo(end_x, end_y);
+	ctx.strokeStyle = foundColour;
+	ctx.closePath();
+	ctx.stroke();
+}
+
 function drawSegment(segment, colour) {
 	console.log("Drawing segment from (" + segment.begin.x + ", " + segment.begin.y + ") to (" + segment.end.x + ", " + segment.end.y + ")")
 	ctx.beginPath();
@@ -87,6 +102,8 @@ function createLine(A, B, C) {
 }
 
 function drawDebug(data) {
+	ctx.clearRect(0, 0, canvas.width, canvas.height);
+
 	// Parse protobuf into geometry primitives
 	var foundLines = [];
 	for (var i = 0; i < data.A.length; i++) {
@@ -110,15 +127,7 @@ function drawDebug(data) {
 		y: 0
 	};
 
-	var foundSegments = [];
-	for (var i = 0; i < foundLines.length - 1; ++i) {
-		var curLine = foundLines[i];
-		var nextLine = foundLines[i + 1];
-
-		var intersectionPoint = intersectLines(curLine, nextLine);
-		foundSegments.push(createSegment(lastPoint, intersectionPoint));
-		lastPoint = intersectionPoint;
-	}
+	
 
 	var referenceSegments = [];
 	var corners = [];
@@ -140,13 +149,13 @@ function drawDebug(data) {
 	referenceSegments.push(createSegment(corners[corners.length - 1], corners[0]));
 
 	// draw everything
+	console.log("Drawing car position");
 	drawCar(carPosition);
-		
-	console.log("Drawing foundSegments")
-	for (var i = 0; i < foundSegments.length; ++i) {
-		drawSegment(foundSegments[i], foundColour);
-	}
 
+	console.log("Drawing found Lines");
+	for (var i = 0; i < foundLines.length; ++i) {
+		drawLine(foundLines[i]);
+	}
 	console.log("Drawing referenceSegments")
 	for (var i = 0; i < referenceSegments.length; ++i) {
 		drawSegment(referenceSegments[i], referenceColour);