org.opentcs.access.to.model.VehicleCreationTO 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.access.to.model;
import static java.util.Objects.requireNonNull;
import static org.opentcs.util.Assertions.checkInRange;
import jakarta.annotation.Nonnull;
import jakarta.annotation.Nullable;
import java.awt.Color;
import java.io.Serializable;
import java.util.Map;
import org.opentcs.access.to.CreationTO;
import org.opentcs.util.annotations.ScheduledApiChange;
/**
* A transfer object describing a block in the plant model.
*/
public class VehicleCreationTO
extends
CreationTO
implements
Serializable {
/**
* The vehicle's bounding box (in mm).
*/
private final BoundingBoxCreationTO boundingBox;
/**
* Contains information regarding the energy level threshold values of the vehicle.
*/
private final EnergyLevelThresholdSet energyLevelThresholdSet;
/**
* The vehicle's maximum velocity (in mm/s).
*/
private final int maxVelocity;
/**
* The vehicle's maximum reverse velocity (in mm/s).
*/
private final int maxReverseVelocity;
/**
* The key for selecting the envelope to be used for resources the vehicle occupies.
*/
private final String envelopeKey;
/**
* The information regarding the graphical representation of this vehicle.
*/
private final Layout layout;
/**
* Creates a new instance.
*
* @param name The name of this vehicle.
*/
public VehicleCreationTO(
@Nonnull
String name
) {
super(name);
this.boundingBox = new BoundingBoxCreationTO(1000, 1000, 1000);
this.energyLevelThresholdSet = new EnergyLevelThresholdSet(30, 90, 30, 90);
this.maxVelocity = 1000;
this.maxReverseVelocity = 1000;
this.envelopeKey = null;
this.layout = new Layout();
}
private VehicleCreationTO(
@Nonnull
String name,
@Nonnull
Map properties,
@Nonnull
BoundingBoxCreationTO boundingBox,
@Nonnull
EnergyLevelThresholdSet energyLevelThresholdSet,
int maxVelocity,
int maxReverseVelocity,
@Nullable
String envelopeKey,
@Nonnull
Layout layout
) {
super(name, properties);
this.boundingBox = requireNonNull(boundingBox, "boundingBox");
this.energyLevelThresholdSet
= requireNonNull(energyLevelThresholdSet, "energyLevelThresholdSet");
this.maxVelocity = maxVelocity;
this.maxReverseVelocity = maxReverseVelocity;
this.envelopeKey = envelopeKey;
this.layout = requireNonNull(layout, "layout");
}
/**
* Creates a copy of this object with the given name.
*
* @param name The new instance.
* @return A copy of this object, differing in the given name.
*/
@Override
public VehicleCreationTO withName(
@Nonnull
String name
) {
return new VehicleCreationTO(
name,
getModifiableProperties(),
boundingBox,
energyLevelThresholdSet,
maxVelocity,
maxReverseVelocity,
envelopeKey,
layout
);
}
/**
* Creates a copy of this object with the given properties.
*
* @param properties The new properties.
* @return A copy of this object, differing in the given properties.
*/
@Override
public VehicleCreationTO withProperties(
@Nonnull
Map properties
) {
return new VehicleCreationTO(
getName(),
properties,
boundingBox,
energyLevelThresholdSet,
maxVelocity,
maxReverseVelocity,
envelopeKey,
layout
);
}
/**
* Creates a copy of this object and adds the given property.
* If value == null, then the key-value pair is removed from the properties.
*
* @param key the key.
* @param value the value
* @return A copy of this object that either
* includes the given entry in its current properties, if value != null or
* excludes the entry otherwise.
*/
@Override
public VehicleCreationTO withProperty(
@Nonnull
String key,
@Nonnull
String value
) {
return new VehicleCreationTO(
getName(),
propertiesWith(key, value),
boundingBox,
energyLevelThresholdSet,
maxVelocity,
maxReverseVelocity,
envelopeKey,
layout
);
}
/**
* Returns the vehicle's current bounding box (in mm).
*
* @return The vehicle's current bounding box (in mm).
*/
public BoundingBoxCreationTO getBoundingBox() {
return boundingBox;
}
/**
* Creates a copy of this object, with the given bounding box (in mm).
*
* @param boundingBox The new bounding box.
* @return A copy of this object, differing in the given vehicle bounding box.
*/
public VehicleCreationTO withBoundingBox(BoundingBoxCreationTO boundingBox) {
return new VehicleCreationTO(
getName(),
getModifiableProperties(),
boundingBox,
energyLevelThresholdSet,
maxVelocity,
maxReverseVelocity,
envelopeKey,
layout
);
}
/**
* Returns the vehicle's length (in mm).
*
* @return The vehicle's length (in mm).
* @deprecated Use {@link #getBoundingBox()} instead.
*/
@Deprecated
@ScheduledApiChange(when = "7.0", details = "Will be removed.")
public int getLength() {
return (int) boundingBox.getLength();
}
/**
* Creates a copy of this object with the vehicle's given length (in mm).
*
* @param length The new length. Must be at least 1.
* @return A copy of this object, differing in the given vehicle length.
* @deprecated Use {@link #withBoundingBox(BoundingBoxCreationTO)} instead.
*/
@Deprecated
@ScheduledApiChange(when = "7.0", details = "Will be removed.")
public VehicleCreationTO withLength(int length) {
return withBoundingBox(boundingBox.withLength(length));
}
/**
* Returns this vehicle's critical energy level (in percent of the maximum).
* The critical energy level is the one at/below which the vehicle should be recharged.
*
* @return This vehicle's critical energy level.
* @deprecated Use {@link #getEnergyLevelThresholdSet()} instead.
*/
@Deprecated
@ScheduledApiChange(when = "7.0", details = "Will be removed.")
public int getEnergyLevelCritical() {
return energyLevelThresholdSet.getEnergyLevelCritical();
}
/**
* Creates a copy of this object with the given critical energy level.
* The critical energy level is the one at/below which the vehicle should be recharged.
*
* @param energyLevelCritical The new critical energy level. Must not be smaller than 0 or
* greater than 100.
* @return A copy of this object, differing in the given value.
* @deprecated Use {@link #withEnergyLevelThresholdSet(EnergyLevelThresholdSet)} instead.
*/
@Deprecated
@ScheduledApiChange(when = "7.0", details = "Will be removed.")
public VehicleCreationTO withEnergyLevelCritical(int energyLevelCritical) {
return withEnergyLevelThresholdSet(
getEnergyLevelThresholdSet().withEnergyLevelCritical(energyLevelCritical)
);
}
/**
* Returns this vehicle's good energy level (in percent of the maximum).
* The good energy level is the one at/above which the vehicle can be dispatched again when
* charging.
*
* @return This vehicle's good energy level.
* @deprecated Use {@link #getEnergyLevelThresholdSet()} instead.
*/
@Deprecated
@ScheduledApiChange(when = "7.0", details = "Will be removed.")
public int getEnergyLevelGood() {
return energyLevelThresholdSet.getEnergyLevelGood();
}
/**
* Creates a copy of this object with the vehicle's good energy level (in percent of the maximum).
* The good energy level is the one at/above which the vehicle can be dispatched again when
* charging.
*
* @param energyLevelGood The new good energy level. Must not be smaller than 0 or greater than
* 100.
* @return A copy of this object, differing in the given value.
* @deprecated Use {@link #withEnergyLevelThresholdSet(EnergyLevelThresholdSet)} instead.
*/
@Deprecated
@ScheduledApiChange(when = "7.0", details = "Will be removed.")
public VehicleCreationTO withEnergyLevelGood(int energyLevelGood) {
return withEnergyLevelThresholdSet(
getEnergyLevelThresholdSet().withEnergyLevelGood(energyLevelGood)
);
}
/**
* Returns this vehicle's fully recharged energy level (in percent of the maximum).
*
* @return This vehicle's fully recharged energy level.
* @deprecated Use {@link #getEnergyLevelThresholdSet()} instead.
*/
@Deprecated
@ScheduledApiChange(when = "7.0", details = "Will be removed.")
public int getEnergyLevelFullyRecharged() {
return energyLevelThresholdSet.getEnergyLevelFullyRecharged();
}
/**
* Creates a copy of this object with the vehicle's fully recharged energy level (in percent of
* the maximum).
*
* @param energyLevelFullyRecharged The new fully recharged energy level.
* Must not be smaller than 0 or greater than 100.
* @return A copy of this object, differing in the given value.
* @deprecated Use {@link #withEnergyLevelThresholdSet(EnergyLevelThresholdSet)} instead.
*/
@Deprecated
@ScheduledApiChange(when = "7.0", details = "Will be removed.")
public VehicleCreationTO withEnergyLevelFullyRecharged(int energyLevelFullyRecharged) {
return withEnergyLevelThresholdSet(
getEnergyLevelThresholdSet().withEnergyLevelFullyRecharged(energyLevelFullyRecharged)
);
}
/**
* Returns this vehicle's sufficiently recharged energy level (in percent of the maximum).
*
* @return This vehicle's sufficiently recharged energy level.
* @deprecated Use {@link #getEnergyLevelThresholdSet()} instead.
*/
@Deprecated
@ScheduledApiChange(when = "7.0", details = "Will be removed.")
public int getEnergyLevelSufficientlyRecharged() {
return energyLevelThresholdSet.getEnergyLevelSufficientlyRecharged();
}
/**
* Creates a copy of this object with the vehicle's sufficiently recharged energy level (in
* percent of the maximum).
*
* @param energyLevelSufficientlyRecharged The new sufficiently recharged energy level.
* Must not be smaller than 0 or greater than 100.
* @return A copy of this object, differing in the given value.
* @deprecated Use {@link #withEnergyLevelThresholdSet(EnergyLevelThresholdSet)} instead.
*/
@Deprecated
@ScheduledApiChange(when = "7.0", details = "Will be removed.")
public VehicleCreationTO withEnergyLevelSufficientlyRecharged(
int energyLevelSufficientlyRecharged
) {
return withEnergyLevelThresholdSet(
getEnergyLevelThresholdSet()
.withEnergyLevelSufficientlyRecharged(energyLevelSufficientlyRecharged)
);
}
/**
* Returns this vehicle's energy level threshold set.
*
* @return This vehicle's energy level threshold set.
*/
@Nonnull
public EnergyLevelThresholdSet getEnergyLevelThresholdSet() {
return energyLevelThresholdSet;
}
/**
* Creates a copy of this object, with the given EnergyLevelThresholdSet.
*
* @param energyLevelThresholdSet The new EnergyLevelThresholdSet.
* @return A copy of this object, differing in the given value.
*/
public VehicleCreationTO withEnergyLevelThresholdSet(
@Nonnull
EnergyLevelThresholdSet energyLevelThresholdSet
) {
return new VehicleCreationTO(
getName(),
getModifiableProperties(),
boundingBox,
energyLevelThresholdSet,
maxVelocity,
maxReverseVelocity,
envelopeKey,
layout
);
}
public int getMaxVelocity() {
return maxVelocity;
}
/**
* Creates a copy of this object with the given maximum velocity (in mm/s).
*
* @param maxVelocity the new max velocity.
* @return A copy of this object, differing in the given value.
*/
public VehicleCreationTO withMaxVelocity(int maxVelocity) {
checkInRange(maxVelocity, 0, Integer.MAX_VALUE);
return new VehicleCreationTO(
getName(),
getModifiableProperties(),
boundingBox,
energyLevelThresholdSet,
maxVelocity,
maxReverseVelocity,
envelopeKey,
layout
);
}
public int getMaxReverseVelocity() {
return maxReverseVelocity;
}
/**
* Creates a copy of this object with the given maximum reverse velocity (in mm/s).
*
* @param maxReverseVelocity the new maximum reverse velocity.
* @return A copy of this object, differing in the given value.
*/
public VehicleCreationTO withMaxReverseVelocity(int maxReverseVelocity) {
checkInRange(maxReverseVelocity, 0, Integer.MAX_VALUE);
return new VehicleCreationTO(
getName(),
getModifiableProperties(),
boundingBox,
energyLevelThresholdSet,
maxVelocity,
maxReverseVelocity,
envelopeKey,
layout
);
}
/**
* Returns the key for selecting the envelope to be used for resources the vehicle occupies.
*
* @return The key for selecting the envelope to be used for resources the vehicle occupies.
*/
@Nullable
public String getEnvelopeKey() {
return envelopeKey;
}
/**
*
* Creates a copy of this object, with the given envelope key.
*
* @param envelopeKey The value to be set in the copy.
* @return A copy of this object, differing in the given value.
*/
public VehicleCreationTO withEnvelopeKey(
@Nullable
String envelopeKey
) {
return new VehicleCreationTO(
getName(),
getModifiableProperties(),
boundingBox,
energyLevelThresholdSet,
maxVelocity,
maxReverseVelocity,
envelopeKey,
layout
);
}
/**
* Returns the information regarding the graphical representation of this vehicle.
*
* @return The information regarding the graphical representation of this vehicle.
*/
public Layout getLayout() {
return layout;
}
/**
* Creates a copy of this object, with the given layout.
*
* @param layout The value to be set in the copy.
* @return A copy of this object, differing in the given value.
*/
public VehicleCreationTO withLayout(Layout layout) {
return new VehicleCreationTO(
getName(),
getModifiableProperties(),
boundingBox,
energyLevelThresholdSet,
maxVelocity,
maxReverseVelocity,
envelopeKey,
layout
);
}
@Override
public String toString() {
return "VehicleCreationTO{"
+ "name=" + getName()
+ ", boundingBox=" + boundingBox
+ ", energyLevelThresholdSet=" + energyLevelThresholdSet
+ ", maxVelocity=" + maxVelocity
+ ", maxReverseVelocity=" + maxReverseVelocity
+ ", envelopeKey=" + envelopeKey
+ ", layout=" + layout
+ ", properties=" + getProperties()
+ '}';
}
/**
* Contains information regarding the graphical representation of a vehicle.
*/
public static class Layout
implements
Serializable {
/**
* The color in which vehicle routes are to be emphasized.
*/
private final Color routeColor;
/**
* Creates a new instance.
*/
public Layout() {
this(Color.RED);
}
/**
* Creates a new instance.
*
* @param routeColor The color in which vehicle routes are to be emphasized.
*/
public Layout(Color routeColor) {
this.routeColor = requireNonNull(routeColor, "routeColor");
}
/**
* Returns the color in which vehicle routes are to be emphasized.
*
* @return The color in which vehicle routes are to be emphasized.
*/
public Color getRouteColor() {
return routeColor;
}
/**
* Creates a copy of this object, with the given color.
*
* @param routeColor The value to be set in the copy.
* @return A copy of this object, differing in the given value.
*/
public Layout withRouteColor(Color routeColor) {
return new Layout(routeColor);
}
@Override
public String toString() {
return "Layout{"
+ "routeColor=" + routeColor
+ '}';
}
}
/**
* Contains information regarding the energy level threshold values of a vehicle.
*/
public static class EnergyLevelThresholdSet
implements
Serializable {
private final int energyLevelCritical;
private final int energyLevelGood;
private final int energyLevelSufficientlyRecharged;
private final int energyLevelFullyRecharged;
/**
* Creates a new instance.
*
* @param energyLevelCritical The value at/below which the vehicle's energy level is considered
* "critical".
* @param energyLevelGood The value at/above which the vehicle's energy level is considered
* "good".
* @param energyLevelSufficientlyRecharged The value at/above which the vehicle's energy level
* is considered fully recharged.
* @param energyLevelFullyRecharged The value at/above which the vehicle's energy level is
* considered sufficiently recharged.
*/
public EnergyLevelThresholdSet(
int energyLevelCritical,
int energyLevelGood,
int energyLevelSufficientlyRecharged,
int energyLevelFullyRecharged
) {
this.energyLevelCritical = checkInRange(
energyLevelCritical,
0,
100,
"energyLevelCritical"
);
this.energyLevelGood = checkInRange(
energyLevelGood,
0,
100,
"energyLevelGood"
);
this.energyLevelSufficientlyRecharged = checkInRange(
energyLevelSufficientlyRecharged,
0,
100,
"energyLevelSufficientlyRecharged"
);
this.energyLevelFullyRecharged = checkInRange(
energyLevelFullyRecharged,
0,
100,
"energyLevelFullyRecharged"
);
}
/**
* Returns the vehicle's critical energy level (in percent of the maximum).
*
* The critical energy level is the one at/below which the vehicle should be recharged.
*
*
* @return The vehicle's critical energy level.
*/
public int getEnergyLevelCritical() {
return energyLevelCritical;
}
/**
* Creates a copy of this object, with the given critical energy level.
*
* @param energyLevelCritical The value to be set in the copy.
* @return A copy of this object, differing in the given value.
*/
public EnergyLevelThresholdSet withEnergyLevelCritical(int energyLevelCritical) {
return new EnergyLevelThresholdSet(
energyLevelCritical,
energyLevelGood,
energyLevelSufficientlyRecharged,
energyLevelFullyRecharged
);
}
/**
* Returns the vehicle's good energy level (in percent of the maximum).
*
* The good energy level is the one at/above which the vehicle can be dispatched again when
* charging.
*
*
* @return The vehicle's good energy level.
*/
public int getEnergyLevelGood() {
return energyLevelGood;
}
/**
* Creates a copy of this object, with the given good energy level.
*
* @param energyLevelGood The value to be set in the copy.
* @return A copy of this object, differing in the given value.
*/
public EnergyLevelThresholdSet withEnergyLevelGood(int energyLevelGood) {
return new EnergyLevelThresholdSet(
energyLevelCritical,
energyLevelGood,
energyLevelSufficientlyRecharged,
energyLevelFullyRecharged
);
}
/**
* Returns the vehicle's energy level for being sufficiently recharged (in percent of the
* maximum).
*
* @return This vehicle's sufficiently recharged energy level.
*/
public int getEnergyLevelSufficientlyRecharged() {
return energyLevelSufficientlyRecharged;
}
/**
* Creates a copy of this object, with the given sufficiently recharged energy level.
*
* @param energyLevelSufficientlyRecharged The value to be set in the copy.
* @return A copy of this object, differing in the given value.
*/
public EnergyLevelThresholdSet withEnergyLevelSufficientlyRecharged(
int energyLevelSufficientlyRecharged
) {
return new EnergyLevelThresholdSet(
energyLevelCritical,
energyLevelGood,
energyLevelSufficientlyRecharged,
energyLevelFullyRecharged
);
}
/**
* Returns the vehicle's energy level for being fully recharged (in percent of the maximum).
*
* @return The vehicle's fully recharged threshold.
*/
public int getEnergyLevelFullyRecharged() {
return energyLevelFullyRecharged;
}
/**
* Creates a copy of this object, with the given fully recharged energy level.
*
* @param energyLevelFullyRecharged The value to be set in the copy.
* @return A copy of this object, differing in the given value.
*/
public EnergyLevelThresholdSet withEnergyLevelFullyRecharged(int energyLevelFullyRecharged) {
return new EnergyLevelThresholdSet(
energyLevelCritical,
energyLevelGood,
energyLevelSufficientlyRecharged,
energyLevelFullyRecharged
);
}
@Override
public String toString() {
return "EnergyLevelThresholdSet{"
+ "energyLevelCritical=" + energyLevelCritical
+ ", energyLevelGood=" + energyLevelGood
+ ", energyLevelSufficientlyRecharged=" + energyLevelSufficientlyRecharged
+ ", energyLevelFullyRecharged=" + energyLevelFullyRecharged
+ '}';
}
}
}
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