org.opentcs.data.order.DriveOrder Maven / Gradle / Ivy
/**
* Copyright (c) The openTCS Authors.
*
* This program is free software and subject to the MIT license. (For details,
* see the licensing information (LICENSE.txt) you should have received with
* this copy of the software.)
*/
package org.opentcs.data.order;
import java.io.Serializable;
import java.util.Collections;
import java.util.HashMap;
import java.util.Map;
import static java.util.Objects.requireNonNull;
import javax.annotation.Nonnull;
import javax.annotation.Nullable;
import org.opentcs.data.TCSObjectReference;
import org.opentcs.data.model.Location;
import org.opentcs.data.model.Point;
import org.opentcs.data.model.Vehicle;
import static org.opentcs.util.Assertions.checkArgument;
/**
* Describes a sequence of movements and an optional operation at the end that a {@link Vehicle} is
* supposed to execute.
*
* @see TransportOrder
* @author Stefan Walter (Fraunhofer IML)
*/
public class DriveOrder
implements Serializable {
/**
* This drive order's destination.
*/
private final Destination destination;
/**
* A back-reference to the transport order this drive order belongs to.
*/
private TCSObjectReference transportOrder;
/**
* This drive order's route.
*/
private Route route;
/**
* This drive order's current state.
*/
private State state;
/**
* Creates a new DriveOrder.
*
* @param destination This drive order's destination.
*/
public DriveOrder(@Nonnull Destination destination) {
this.destination = requireNonNull(destination, "destination");
this.transportOrder = null;
this.route = null;
this.state = State.PRISTINE;
}
private DriveOrder(@Nonnull Destination destination,
@Nullable TCSObjectReference transportOrder,
@Nullable Route route,
@Nonnull State state) {
this.destination = requireNonNull(destination, "destination");
this.transportOrder = transportOrder;
this.route = route;
this.state = requireNonNull(state, "state");
}
/**
* Returns this drive order's destination.
*
* @return This drive order's destination.
*/
@Nonnull
public Destination getDestination() {
return destination;
}
/**
* Returns a reference to the transport order this drive order belongs to.
*
* @return A reference to the transport order this drive order belongs to.
*/
@Nullable
public TCSObjectReference getTransportOrder() {
return transportOrder;
}
/**
* Creates a copy of this object, with the given transport order.
*
* @param transportOrder The value to be set in the copy.
* @return A copy of this object, differing in the given value.
*/
public DriveOrder withTransportOrder(
@Nullable TCSObjectReference transportOrder) {
return new DriveOrder(destination, transportOrder, route, state);
}
/**
* Returns this drive order's route.
*
* @return This drive order's route. May be null if this drive
* order's route hasn't been calculated, yet.
*/
@Nullable
public Route getRoute() {
return route;
}
/**
* Creates a copy of this object, with the given route.
*
* @param route The value to be set in the copy.
* @return A copy of this object, differing in the given value.
*/
public DriveOrder withRoute(@Nullable Route route) {
return new DriveOrder(destination, transportOrder, route, state);
}
/**
* Returns this drive order's state.
*
* @return This drive order's state.
*/
@Nonnull
public State getState() {
return state;
}
/**
* Creates a copy of this object, with the given state.
*
* @param state The value to be set in the copy.
* @return A copy of this object, differing in the given value.
*/
public DriveOrder withState(@Nonnull State state) {
return new DriveOrder(destination, transportOrder, route, state);
}
@Override
public String toString() {
return route + " -> " + destination;
}
/**
* Describes the destination of a drive order.
*/
public static class Destination
implements Serializable {
/**
* An operation constant for doing nothing.
*/
public static final String OP_NOP = "NOP";
/**
* An operation constant for parking the vehicle.
*/
public static final String OP_PARK = "PARK";
/**
* An operation constant for sending the vehicle to a point without a location associated to it.
*/
public static final String OP_MOVE = "MOVE";
/**
* The actual destination (point or location).
*/
private final TCSObjectReference destination;
/**
* The operation to be performed at the destination location.
*/
private final String operation;
/**
* Properties of this destination.
* May contain parameters for the operation, for instance.
*/
private final Map properties;
/**
* Creates a new instance.
*
* @param destination The actual destination (must be a reference to a location or point).
*/
@SuppressWarnings("unchecked")
public Destination(@Nonnull TCSObjectReference destination) {
checkArgument(destination.getReferentClass() == Location.class
|| destination.getReferentClass() == Point.class,
"Not a reference on a location or point: %s",
destination);
this.destination = requireNonNull(destination, "destination");
this.operation = OP_NOP;
this.properties = Collections.unmodifiableMap(new HashMap<>());
}
private Destination(@Nonnull TCSObjectReference destination,
@Nonnull Map properties,
@Nonnull String operation) {
this.destination = requireNonNull(destination, "destination");
this.operation = requireNonNull(operation, "operation");
this.properties = Collections.unmodifiableMap(new HashMap<>(properties));
}
/**
* Returns the actual destination (a location or point).
*
* @return The actual destination (a location or point).
*/
@Nonnull
public TCSObjectReference getDestination() {
return destination;
}
/**
* Returns the operation to be performed at the destination location.
*
* @return The operation to be performed at the destination location.
*/
@Nonnull
public String getOperation() {
return operation;
}
/**
* Creates a copy of this object, with the given operation.
*
* @param operation The value to be set in the copy.
* @return A copy of this object, differing in the given value.
*/
public Destination withOperation(@Nonnull String operation) {
return new Destination(destination, properties, operation);
}
/**
* Returns the properties of this destination.
*
* @return The properties of this destination.
*/
@Nonnull
public Map getProperties() {
return properties;
}
/**
* Creates a copy of this object, with the given properties.
*
* @param properties The value to be set in the copy.
* @return A copy of this object, differing in the given value.
*/
public Destination withProperties(Map properties) {
return new Destination(destination, properties, operation);
}
@Override
public boolean equals(Object o) {
if (o instanceof Destination) {
Destination other = (Destination) o;
return destination.equals(other.destination)
&& operation.equals(other.operation)
&& properties.equals(other.properties);
}
else {
return false;
}
}
@Override
public int hashCode() {
return destination.hashCode() ^ operation.hashCode();
}
@Override
public String toString() {
return destination.getName() + ":" + operation;
}
}
/**
* Defines the various potential states of a drive order.
*/
public enum State {
/**
* A drive order's initial state, indicating it being still untouched/not being processed.
*/
PRISTINE,
/**
* Indicates the vehicle processing the order is currently moving to its destination.
*/
TRAVELLING,
/**
* Indicates the vehicle processing the order is currently executing an operation.
*/
OPERATING,
/**
* Marks a drive order as successfully completed.
*/
FINISHED,
/**
* Marks a drive order as failed.
*/
FAILED
}
}
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