org.opentcs.drivers.vehicle.VehicleProcessModel 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.drivers.vehicle;
import java.beans.PropertyChangeListener;
import java.beans.PropertyChangeSupport;
import java.util.LinkedList;
import java.util.List;
import static java.util.Objects.requireNonNull;
import java.util.Queue;
import javax.annotation.Nonnull;
import javax.annotation.Nullable;
import org.opentcs.data.TCSObjectReference;
import org.opentcs.data.model.Triple;
import org.opentcs.data.model.Vehicle;
import org.opentcs.data.notification.UserNotification;
/**
* An observable model of a vehicle's and its comm adapter's attributes.
*
* @author Iryna Felko (Fraunhofer IML)
* @author Stefan Walter (Fraunhofer IML)
*/
public class VehicleProcessModel {
/**
* The maximum number of notifications we want to keep.
*/
private static final int MAX_NOTIFICATION_COUNT = 100;
/**
* A copy of the kernel's Vehicle instance.
*/
private final Vehicle vehicle;
/**
* A reference to the vehicle.
*/
private final TCSObjectReference vehicleReference;
/**
* Used for implementing property change events.
*/
private final PropertyChangeSupport pcs = new PropertyChangeSupport(this);
/**
* Whether the comm adapter is currently enabled.
*/
private boolean commAdapterEnabled;
/**
* Whether the comm adapter is currently connected to the vehicle.
*/
private boolean commAdapterConnected;
/**
* The name of the vehicle's current position.
*/
private String vehiclePosition;
/**
* User notifications published by the comm adapter.
*/
private final Queue notifications = new LinkedList<>();
/**
* The vehicle's precise position.
*/
private Triple precisePosition;
/**
* The vehicle's orientation angle.
*/
private double orientationAngle = Double.NaN;
/**
* The vehicle's energy level.
*/
private int energyLevel = 100;
/**
* The vehicle's load handling devices (state).
*/
private List loadHandlingDevices = new LinkedList<>();
/**
* The vehicle's current state.
*/
private Vehicle.State state = Vehicle.State.UNKNOWN;
/**
* Creates a new instance.
*
* @param attachedVehicle The vehicle attached to the new instance.
*/
public VehicleProcessModel(@Nonnull Vehicle attachedVehicle) {
this.vehicle = requireNonNull(attachedVehicle, "attachedVehicle");
this.vehicleReference = vehicle.getReference();
}
/**
* Registers a new property change listener with this model.
*
* @param listener The listener to be registered.
*/
public void addPropertyChangeListener(PropertyChangeListener listener) {
pcs.addPropertyChangeListener(listener);
}
/**
* Unregisters a property change listener from this model.
*
* @param listener The listener to be unregistered.
*/
public void removePropertyChangeListener(PropertyChangeListener listener) {
pcs.removePropertyChangeListener(listener);
}
/**
* Returns a reference to the vehicle.
*
* @return A reference to the vehicle.
*/
@Nonnull
public TCSObjectReference getVehicleReference() {
return vehicleReference;
}
/**
* Returns the vehicle's name.
*
* @return The vehicle's name.
*/
@Nonnull
public String getName() {
return vehicleReference.getName();
}
/**
* Returns user notifications published by the comm adapter.
*
* @return The notifications.
*/
@Nonnull
public Queue getNotifications() {
return notifications;
}
/**
* Publishes an user notification.
*
* @param notification The notification to be published.
*/
public void publishUserNotification(@Nonnull UserNotification notification) {
requireNonNull(notification, "notification");
notifications.add(notification);
while (notifications.size() > MAX_NOTIFICATION_COUNT) {
notifications.remove();
}
getPropertyChangeSupport().firePropertyChange(Attribute.USER_NOTIFICATION.name(),
null,
notification);
}
/**
* Publishes an event via the kernel's event mechanism.
*
* @param event The event to be published.
*/
public void publishEvent(@Nonnull VehicleCommAdapterEvent event) {
requireNonNull(event, "event");
getPropertyChangeSupport().firePropertyChange(Attribute.COMM_ADAPTER_EVENT.name(),
null,
event);
}
/**
* Indicates whether the comm adapter is currently enabled or not.
*
* @return true if, and only if, the comm adapter is currently enabled.
*/
public boolean isCommAdapterEnabled() {
return commAdapterEnabled;
}
/**
* Sets the comm adapter's enabled flag.
*
* @param commAdapterEnabled The new value.
*/
public void setCommAdapterEnabled(boolean commAdapterEnabled) {
boolean oldValue = this.commAdapterEnabled;
this.commAdapterEnabled = commAdapterEnabled;
getPropertyChangeSupport().firePropertyChange(Attribute.COMM_ADAPTER_ENABLED.name(),
oldValue,
commAdapterEnabled);
}
/**
* Indicates whether the comm adapter is currently connected or not.
*
* @return true if, and only if, the comm adapter is currently connected.
*/
public boolean isCommAdapterConnected() {
return commAdapterConnected;
}
/**
* Sets the comm adapter's connected flag.
*
* @param commAdapterConnected The new value.
*/
public void setCommAdapterConnected(boolean commAdapterConnected) {
boolean oldValue = this.commAdapterConnected;
this.commAdapterConnected = commAdapterConnected;
getPropertyChangeSupport().firePropertyChange(Attribute.COMM_ADAPTER_CONNECTED.name(),
oldValue,
commAdapterConnected);
}
/**
* Returns the vehicle's current position.
*
* @return The position.
*/
@Nullable
public String getVehiclePosition() {
return vehiclePosition;
}
/**
* Updates the vehicle's current position.
*
* @param position The new position
*/
public void setVehiclePosition(@Nullable String position) {
// Otherwise update the position, notify listeners and let the kernel know.
String oldValue = this.vehiclePosition;
vehiclePosition = position;
getPropertyChangeSupport().firePropertyChange(Attribute.POSITION.name(),
oldValue,
position);
}
/**
* Returns the vehicle's precise position.
*
* @return The vehicle's precise position.
*/
@Nullable
public Triple getVehiclePrecisePosition() {
return precisePosition;
}
/**
* Sets the vehicle's precise position.
*
* @param position The new position.
*/
public void setVehiclePrecisePosition(@Nullable Triple position) {
// Otherwise update the position, notify listeners and let the kernel know.
Triple oldValue = this.precisePosition;
this.precisePosition = position;
getPropertyChangeSupport().firePropertyChange(Attribute.PRECISE_POSITION.name(),
oldValue,
position);
}
/**
* Returns the vehicle's current orientation angle.
*
* @return The vehicle's current orientation angle.
* @see Vehicle#getOrientationAngle()
*/
public double getVehicleOrientationAngle() {
return orientationAngle;
}
/**
* Sets the vehicle's current orientation angle.
*
* @param angle The new angle
*/
public void setVehicleOrientationAngle(double angle) {
double oldValue = this.orientationAngle;
this.orientationAngle = angle;
getPropertyChangeSupport().firePropertyChange(Attribute.ORIENTATION_ANGLE.name(),
oldValue,
angle);
}
/**
* Returns the vehicle's current energy level.
*
* @return The vehicle's current energy level.
*/
public int getVehicleEnergyLevel() {
return energyLevel;
}
/**
* Sets the vehicle's current energy level.
*
* @param newLevel The new level.
*/
public void setVehicleEnergyLevel(int newLevel) {
int oldValue = this.energyLevel;
this.energyLevel = newLevel;
getPropertyChangeSupport().firePropertyChange(Attribute.ENERGY_LEVEL.name(),
oldValue,
newLevel);
}
/**
* Returns the vehicle's load handling devices.
*
* @return The vehicle's load handling devices.
*/
@Nonnull
public List getVehicleLoadHandlingDevices() {
return loadHandlingDevices;
}
/**
* Sets the vehicle's load handling devices.
*
* @param devices The new devices
*/
public void setVehicleLoadHandlingDevices(@Nonnull List devices) {
List devs = new LinkedList<>();
for (LoadHandlingDevice lhd : devices) {
devs.add(new LoadHandlingDevice(lhd));
}
List oldValue = this.loadHandlingDevices;
this.loadHandlingDevices = devs;
getPropertyChangeSupport().firePropertyChange(Attribute.LOAD_HANDLING_DEVICES.name(),
oldValue,
devs);
}
/**
* Sets a property of the vehicle.
*
* @param key The property's key.
* @param value The property's new value.
*/
public void setVehicleProperty(@Nonnull String key, @Nullable String value) {
getPropertyChangeSupport().firePropertyChange(Attribute.VEHICLE_PROPERTY.name(),
null,
new VehiclePropertyUpdate(key, value));
}
/**
* Returns the vehicle's current state.
*
* @return The state
*/
@Nonnull
public Vehicle.State getVehicleState() {
return state;
}
/**
* Sets the vehicle's current state.
*
* @param newState The new state
*/
public void setVehicleState(@Nonnull Vehicle.State newState) {
Vehicle.State oldState = this.state;
this.state = newState;
getPropertyChangeSupport().firePropertyChange(Attribute.STATE.name(), oldState, newState);
if (oldState != Vehicle.State.ERROR && newState == Vehicle.State.ERROR) {
publishUserNotification(new UserNotification(getName(),
"Vehicle state changed to ERROR",
UserNotification.Level.NOTEWORTHY));
}
else if (oldState == Vehicle.State.ERROR && newState != Vehicle.State.ERROR) {
publishUserNotification(new UserNotification(getName(),
"Vehicle state is no longer ERROR",
UserNotification.Level.NOTEWORTHY));
}
}
/**
* Sets a property of the transport order the vehicle is currently processing.
*
* @param key The property's key.
* @param value The property's new value.
*/
public void setTransportOrderProperty(@Nonnull String key, @Nullable String value) {
// XXX Should check if property already has the new value.
getPropertyChangeSupport().firePropertyChange(Attribute.TRANSPORT_ORDER_PROPERTY.name(),
null,
new TransportOrderPropertyUpdate(key, value));
}
/**
* Notifies observers that the given command has been added to the comm adapter's command queue.
*
* @param enqueuedCommand The command that has been added to the queue.
*/
public void commandEnqueued(@Nonnull MovementCommand enqueuedCommand) {
getPropertyChangeSupport().firePropertyChange(Attribute.COMMAND_ENQUEUED.name(),
null,
enqueuedCommand);
}
/**
* Notifies observers that the given command has been sent to the associated vehicle.
*
* @param sentCommand The command that has been sent to the vehicle.
*/
public void commandSent(@Nonnull MovementCommand sentCommand) {
getPropertyChangeSupport().firePropertyChange(Attribute.COMMAND_SENT.name(),
null,
sentCommand);
}
/**
* Notifies observers that the given command has been executed by the comm adapter/vehicle.
*
* @param executedCommand The command that has been executed.
*/
public void commandExecuted(@Nonnull MovementCommand executedCommand) {
getPropertyChangeSupport().firePropertyChange(Attribute.COMMAND_EXECUTED.name(),
null,
executedCommand);
}
/**
* Notifies observers that the given command could not be executed by the comm adapter/vehicle.
*
* @param failedCommand The command that could not be executed.
*/
public void commandFailed(@Nonnull MovementCommand failedCommand) {
getPropertyChangeSupport().firePropertyChange(Attribute.COMMAND_FAILED.name(),
null,
failedCommand);
}
protected PropertyChangeSupport getPropertyChangeSupport() {
return pcs;
}
/**
* A notification object sent to observers to indicate a change of a property.
*/
public static class PropertyUpdate {
/**
* The property's key.
*/
private final String key;
/**
* The property's new value.
*/
private final String value;
/**
* Creates a new instance.
*
* @param key The key.
* @param value The new value.
*/
public PropertyUpdate(String key, String value) {
this.key = requireNonNull(key, "key");
this.value = value;
}
/**
* Returns the property's key.
*
* @return The property's key.
*/
public String getKey() {
return key;
}
/**
* Returns the property's new value.
*
* @return The property's new value.
*/
public String getValue() {
return value;
}
}
/**
* A notification object sent to observers to indicate a change of a vehicle's property.
*/
public static class VehiclePropertyUpdate
extends PropertyUpdate {
/**
* Creates a new instance.
*
* @param key The property's key.
* @param value The new value.
*/
public VehiclePropertyUpdate(String key, String value) {
super(key, value);
}
}
/**
* A notification object sent to observers to indicate a change of a transport order's property.
*/
public static class TransportOrderPropertyUpdate
extends PropertyUpdate {
/**
* Creates a new instance.
*
* @param key The property's key.
* @param value The new value.
*/
public TransportOrderPropertyUpdate(String key, String value) {
super(key, value);
}
}
/**
* Notification arguments to indicate some change.
*/
public enum Attribute {
/**
* Indicates a change of the comm adapter's enabled setting.
*/
COMM_ADAPTER_ENABLED,
/**
* Indicates a change of the comm adapter's connected setting.
*/
COMM_ADAPTER_CONNECTED,
/**
* Indicates a change of the vehicle's position.
*/
POSITION,
/**
* Indicates a change of the vehicle's precise position.
*/
PRECISE_POSITION,
/**
* Indicates a change of the vehicle's orientation angle.
*/
ORIENTATION_ANGLE,
/**
* Indicates a change of the vehicle's energy level.
*/
ENERGY_LEVEL,
/**
* Indicates a change of the vehicle's load handling devices.
*/
LOAD_HANDLING_DEVICES,
/**
* Indicates a change of the vehicle's state.
*/
STATE,
/**
* Indicates a new user notification was published.
*/
USER_NOTIFICATION,
/**
* Indicates a new comm adapter event was published.
*/
COMM_ADAPTER_EVENT,
/**
* Indicates a command was enqueued.
*/
COMMAND_ENQUEUED,
/**
* Indicates a command was sent.
*/
COMMAND_SENT,
/**
* Indicates a command was executed successfully.
*/
COMMAND_EXECUTED,
/**
* Indicates a command failed.
*/
COMMAND_FAILED,
/**
* Indicates a change of a vehicle property.
*/
VEHICLE_PROPERTY,
/**
* Indicates a change of a transport order property.
*/
TRANSPORT_ORDER_PROPERTY;
}
}
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