org.opentcs.data.model.Location 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.model;
import static java.util.Objects.requireNonNull;
import jakarta.annotation.Nonnull;
import java.io.Serializable;
import java.util.Collections;
import java.util.HashSet;
import java.util.Map;
import java.util.Set;
import java.util.TreeSet;
import org.opentcs.data.ObjectHistory;
import org.opentcs.data.TCSObject;
import org.opentcs.data.TCSObjectReference;
import org.opentcs.data.model.visualization.LocationRepresentation;
/**
* A location at which a {@link Vehicle} may perform an action.
*
* A location must be linked to at least one {@link Point} to be reachable for a vehicle.
* It may be linked to multiple points.
* As long as a link's specific set of allowed operations is empty (which is the default), all
* operations defined by the location's referenced {@link LocationType} are allowed at the linked
* point.
* If the link's set of allowed operations is not empty, only the operations contained in it are
* allowed at the linked point.
*
*
* @see LocationType
*/
public class Location
extends
TCSResource
implements
Serializable {
/**
* This location's position in mm.
*/
private final Triple position;
/**
* A reference to this location's type.
*/
private final TCSObjectReference type;
/**
* A set of links attached to this location.
*/
private final Set attachedLinks;
/**
* A flag for marking this location as locked (i.e. to prevent transport orders leading to it
* from being assigned to vehicles).
*/
private final boolean locked;
/**
* Details about the peripheral devices this location may represent.
*/
private final PeripheralInformation peripheralInformation;
/**
* The information regarding the grahical representation of this location.
*/
private final Layout layout;
/**
* Creates a new Location.
*
* this.locked = false;
*
* @param name The new location's name.
* @param type The new location's type.
*/
public Location(String name, TCSObjectReference type) {
super(name);
this.type = requireNonNull(type, "type");
this.position = new Triple(0, 0, 0);
this.attachedLinks = new HashSet<>();
this.locked = false;
this.peripheralInformation = new PeripheralInformation();
this.layout = new Layout();
}
private Location(
String name,
Map properties,
ObjectHistory history,
TCSObjectReference locationType,
Triple position,
Set attachedLinks,
boolean locked,
PeripheralInformation peripheralInformation,
Layout layout
) {
super(name, properties, history);
this.type = requireNonNull(locationType, "locationType");
this.position = requireNonNull(position, "position");
this.attachedLinks = new HashSet<>(requireNonNull(attachedLinks, "attachedLinks"));
this.locked = locked;
this.peripheralInformation = requireNonNull(peripheralInformation, "peripheralInformation");
this.layout = requireNonNull(layout, "layout");
}
@Override
public Location withProperty(String key, String value) {
return new Location(
getName(),
propertiesWith(key, value),
getHistory(),
type,
position,
attachedLinks,
locked,
peripheralInformation,
layout
);
}
@Override
public Location withProperties(Map properties) {
return new Location(
getName(),
properties,
getHistory(),
type,
position,
attachedLinks,
locked,
peripheralInformation,
layout
);
}
@Override
public TCSObject withHistoryEntry(ObjectHistory.Entry entry) {
return new Location(
getName(),
getProperties(),
getHistory().withEntryAppended(entry),
type,
position,
attachedLinks,
locked,
peripheralInformation,
layout
);
}
@Override
public TCSObject withHistory(ObjectHistory history) {
return new Location(
getName(),
getProperties(),
history,
type,
position,
attachedLinks,
locked,
peripheralInformation,
layout
);
}
/**
* Returns the physical coordinates of this location in mm.
*
* @return The physical coordinates of this location in mm.
*/
public Triple getPosition() {
return position;
}
/**
* Creates a copy of this object, with the given position.
*
* @param position The value to be set in the copy.
* @return A copy of this object, differing in the given value.
*/
public Location withPosition(Triple position) {
return new Location(
getName(),
getProperties(),
getHistory(),
type,
position,
attachedLinks,
locked,
peripheralInformation,
layout
);
}
/**
* Returns a reference to the type of this location.
*
* @return A reference to the type of this location.
*/
public TCSObjectReference getType() {
return type;
}
/**
* Returns a set of links attached to this location.
*
* @return A set of links attached to this location.
*/
public Set getAttachedLinks() {
return Collections.unmodifiableSet(attachedLinks);
}
/**
* Creates a copy of this object, with the given attached links.
*
* @param attachedLinks The value to be set in the copy.
* @return A copy of this object, differing in the given value.
*/
public Location withAttachedLinks(
@Nonnull
Set attachedLinks
) {
return new Location(
getName(),
getProperties(),
getHistory(),
type,
position,
attachedLinks,
locked,
peripheralInformation,
layout
);
}
/**
* Returns details about the peripheral devices this location may represent.
*
* @return Details about the peripheral devices this location may represent.
*/
@Nonnull
public PeripheralInformation getPeripheralInformation() {
return peripheralInformation;
}
/**
* Creates a copy of this object, with the given peripheral information.
*
* @param peripheralInformation The value to be set in the copy.
* @return A copy of this object, differing in the given value.
*/
public Location withPeripheralInformation(
@Nonnull
PeripheralInformation peripheralInformation
) {
return new Location(
getName(),
getProperties(),
getHistory(),
type,
position,
attachedLinks,
locked,
peripheralInformation,
layout
);
}
/**
* Returns the lock status of this location (i.e. whether it my be used by vehicles or not).
*
* @return {@code true} if this location is currently locked (i.e. it may not be used
* by vehicles), else {@code false}.
*/
public boolean isLocked() {
return locked;
}
/**
* Creates a copy of this object, with the given locked flag.
*
* @param locked The value to be set in the copy.
* @return A copy of this object, differing in the given value.
*/
public Location withLocked(boolean locked) {
return new Location(
getName(),
getProperties(),
getHistory(),
type,
position,
attachedLinks,
locked,
peripheralInformation,
layout
);
}
/**
* Returns the information regarding the grahical representation of this location.
*
* @return The information regarding the grahical representation of this location.
*/
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 Location withLayout(Layout layout) {
return new Location(
getName(),
getProperties(),
getHistory(),
type,
position,
attachedLinks,
locked,
peripheralInformation,
layout
);
}
/**
* A link connecting a point and a location, expressing that the location is
* reachable from the point.
*/
public static class Link
implements
Serializable {
/**
* A reference to the location end of this link.
*/
private final TCSResourceReference location;
/**
* A reference to the point end of this link.
*/
private final TCSResourceReference point;
/**
* The operations allowed at this link.
*/
private final Set allowedOperations;
/**
* Creates a new Link.
*
* @param location A reference to the location end of this link.
* @param point A reference to the point end of this link.
*/
public Link(
TCSResourceReference location,
TCSResourceReference point
) {
this.location = requireNonNull(location, "location");
this.point = requireNonNull(point, "point");
this.allowedOperations = new TreeSet<>();
}
private Link(
TCSResourceReference location,
TCSResourceReference point,
Set allowedOperations
) {
this.location = requireNonNull(location, "location");
this.point = requireNonNull(point, "point");
this.allowedOperations = new TreeSet<>(
requireNonNull(
allowedOperations,
"allowedOperations"
)
);
}
/**
* Returns a reference to the location end of this link.
*
* @return A reference to the location end of this link.
*/
public TCSResourceReference getLocation() {
return location;
}
/**
* Returns a reference to the point end of this link.
*
* @return A reference to the point end of this link.
*/
public TCSResourceReference getPoint() {
return point;
}
/**
* Returns the operations allowed at this link.
*
* @return The operations allowed at this link.
*/
public Set getAllowedOperations() {
return Collections.unmodifiableSet(allowedOperations);
}
/**
* Checks if a vehicle is allowed to execute a given operation at this link.
*
* @param operation The operation to be checked.
* @return true if, and only if, vehicles are allowed to
* execute the given operation at his link.
*/
public boolean hasAllowedOperation(String operation) {
requireNonNull(operation, "operation");
return allowedOperations.contains(operation);
}
/**
* Creates a copy of this object, with the given allowed operations.
*
* @param allowedOperations The value to be set in the copy.
* @return A copy of this object, differing in the given value.
*/
public Link withAllowedOperations(Set allowedOperations) {
return new Link(location, point, allowedOperations);
}
/**
* Checks if this object is equal to another one.
* Two Links are equal if they both reference the same location
* and point ends.
*
* @param obj The object to compare this one to.
* @return true if, and only if, obj is also a
* Link and reference the same location and point ends as this
* one.
*/
@Override
public boolean equals(Object obj) {
if (obj instanceof Link) {
Link other = (Link) obj;
return point.equals(other.getPoint())
&& location.equals(other.getLocation());
}
else {
return false;
}
}
/**
* Returns a hash code for this link.
* The hash code of a Location.Link is computed as the
* exclusive OR (XOR) of the hash codes of the associated location and point
* references.
*
* @return A hash code for this link.
*/
@Override
public int hashCode() {
return location.hashCode() ^ point.hashCode();
}
}
/**
* Contains information regarding the grahical representation of a location.
*/
public static class Layout
implements
Serializable {
/**
* The coordinates at which the location is to be drawn (in mm).
*/
private final Couple position;
/**
* The offset of the label's position to the location's position (in lu).
*/
private final Couple labelOffset;
/**
* The location representation to use.
*/
private final LocationRepresentation locationRepresentation;
/**
* The ID of the layer on which the location is to be drawn.
*/
private final int layerId;
/**
* Creates a new instance.
*/
public Layout() {
this(new Couple(0, 0), new Couple(0, 0), LocationRepresentation.DEFAULT, 0);
}
/**
* Creates a new instance.
*
* @param position The coordinates at which the location is to be drawn (in mm).
* @param labelOffset The offset of the label's location to the point's position (in lu).
* @param locationRepresentation The location representation to use.
* @param layerId The ID of the layer on which the location is to be drawn.
*/
public Layout(
Couple position,
Couple labelOffset,
LocationRepresentation locationRepresentation,
int layerId
) {
this.position = requireNonNull(position, "position");
this.labelOffset = requireNonNull(labelOffset, "labelOffset");
this.locationRepresentation = requireNonNull(
locationRepresentation,
"locationRepresentation"
);
this.layerId = layerId;
}
/**
* Returns the coordinates at which the location is to be drawn (in mm).
*
* @return The coordinates at which the location is to be drawn (in mm).
*/
public Couple getPosition() {
return position;
}
/**
* Creates a copy of this object, with the given position.
*
* @param position The value to be set in the copy.
* @return A copy of this object, differing in the given value.
*/
public Layout withPosition(Couple position) {
return new Layout(
position,
labelOffset,
locationRepresentation,
layerId
);
}
/**
* Returns the offset of the label's position to the location's position (in lu).
*
* @return The offset of the label's position to the location's position (in lu).
*/
public Couple getLabelOffset() {
return labelOffset;
}
/**
* Creates a copy of this object, with the given X label offset.
*
* @param labelOffset The value to be set in the copy.
* @return A copy of this object, differing in the given value.
*/
public Layout withLabelOffset(Couple labelOffset) {
return new Layout(
position,
labelOffset,
locationRepresentation,
layerId
);
}
/**
* Returns the location representation to use.
*
* @return The location representation to use.
*/
public LocationRepresentation getLocationRepresentation() {
return locationRepresentation;
}
/**
* Creates a copy of this object, with the given location representation.
*
* @param locationRepresentation The value to be set in the copy.
* @return A copy of this object, differing in the given value.
*/
public Layout withLocationRepresentation(LocationRepresentation locationRepresentation) {
return new Layout(
position,
labelOffset,
locationRepresentation,
layerId
);
}
/**
* Returns the ID of the layer on which the location is to be drawn.
*
* @return The layer ID.
*/
public int getLayerId() {
return layerId;
}
/**
* Creates a copy of this object, with the given layer ID.
*
* @param layerId The value to be set in the copy.
* @return A copy of this object, differing in the given value.
*/
public Layout withLayerId(int layerId) {
return new Layout(
position,
labelOffset,
locationRepresentation,
layerId
);
}
}
}
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