org.opentcs.data.model.Point 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 java.io.Serializable;
import java.util.Collections;
import java.util.HashSet;
import java.util.Map;
import java.util.Set;
import org.opentcs.data.ObjectHistory;
import org.opentcs.data.TCSObject;
import org.opentcs.data.TCSObjectReference;
import org.opentcs.util.annotations.ScheduledApiChange;
/**
* A point in the driving course at which a {@link Vehicle} may be located.
*
* @see Path
*/
public class Point
extends
TCSResource
implements
Serializable {
/**
* The pose of the vehicle at this point.
*/
private final Pose pose;
/**
* This point's type.
*/
private final Type type;
/**
* A set of references to paths ending in this point.
*/
private final Set> incomingPaths;
/**
* A set of references to paths originating in this point.
*/
private final Set> outgoingPaths;
/**
* A set of links attached to this point.
*/
private final Set attachedLinks;
/**
* A reference to the vehicle occupying this point.
*/
private final TCSObjectReference occupyingVehicle;
/**
* A map of envelope keys to envelopes that vehicles located at this point may occupy.
*/
private final Map vehicleEnvelopes;
/**
* The maximum bounding box (in mm) that a vehicle at this point is allowed to have.
*/
private final BoundingBox maxVehicleBoundingBox;
/**
* The information regarding the graphical representation of this point.
*/
private final Layout layout;
/**
* Creates a new point with the given name.
*
* @param name This point's name.
*/
public Point(String name) {
super(name);
this.pose = new Pose(new Triple(0, 0, 0), Double.NaN);
this.type = Type.HALT_POSITION;
this.incomingPaths = new HashSet<>();
this.outgoingPaths = new HashSet<>();
this.attachedLinks = new HashSet<>();
this.occupyingVehicle = null;
this.vehicleEnvelopes = Map.of();
this.maxVehicleBoundingBox = new BoundingBox(1000, 1000, 1000);
this.layout = new Layout();
}
private Point(
String name,
Map properties,
ObjectHistory history,
Pose pose,
Type type,
Set> incomingPaths,
Set> outgoingPaths,
Set attachedLinks,
TCSObjectReference occupyingVehicle,
Map vehicleEnvelopes,
BoundingBox maxVehicleBoundingBox,
Layout layout
) {
super(name, properties, history);
this.pose = requireNonNull(pose, "pose");
this.type = requireNonNull(type, "type");
this.incomingPaths = setWithoutNullValues(requireNonNull(incomingPaths, "incomingPaths"));
this.outgoingPaths = setWithoutNullValues(requireNonNull(outgoingPaths, "outgoingPaths"));
this.attachedLinks = setWithoutNullValues(requireNonNull(attachedLinks, "attachedLinks"));
this.occupyingVehicle = occupyingVehicle;
this.vehicleEnvelopes = requireNonNull(vehicleEnvelopes, "vehicleEnvelopes");
this.maxVehicleBoundingBox = requireNonNull(maxVehicleBoundingBox, "maxVehicleBoundingBox");
this.layout = requireNonNull(layout, "layout");
}
@Override
public Point withProperty(String key, String value) {
return new Point(
getName(),
propertiesWith(key, value),
getHistory(),
pose,
type,
incomingPaths,
outgoingPaths,
attachedLinks,
occupyingVehicle,
vehicleEnvelopes,
maxVehicleBoundingBox,
layout
);
}
@Override
public Point withProperties(Map properties) {
return new Point(
getName(),
properties,
getHistory(),
pose,
type,
incomingPaths,
outgoingPaths,
attachedLinks,
occupyingVehicle,
vehicleEnvelopes,
maxVehicleBoundingBox,
layout
);
}
@Override
public TCSObject withHistoryEntry(ObjectHistory.Entry entry) {
return new Point(
getName(),
getProperties(),
getHistory().withEntryAppended(entry),
pose,
type,
incomingPaths,
outgoingPaths,
attachedLinks,
occupyingVehicle,
vehicleEnvelopes,
maxVehicleBoundingBox,
layout
);
}
@Override
public TCSObject withHistory(ObjectHistory history) {
return new Point(
getName(),
getProperties(),
history,
pose,
type,
incomingPaths,
outgoingPaths,
attachedLinks,
occupyingVehicle,
vehicleEnvelopes,
maxVehicleBoundingBox,
layout
);
}
/**
* Returns the pose of the vehicle at this point.
*
* @return The pose of the vehicle at this point.
*/
public Pose getPose() {
return pose;
}
/**
* Creates a copy of this object, with the given pose.
*
* @param pose The value to be set in the copy.
* @return A copy of this object, differing in the given value.
*/
public Point withPose(Pose pose) {
return new Point(
getName(),
getProperties(),
getHistory(),
pose,
type,
incomingPaths,
outgoingPaths,
attachedLinks,
occupyingVehicle,
vehicleEnvelopes,
maxVehicleBoundingBox,
layout
);
}
/**
* Returns this point's type.
*
* @return This point's type.
*/
public Type getType() {
return type;
}
/**
* Creates a copy of this object, with the given type.
*
* @param type The value to be set in the copy.
* @return A copy of this object, differing in the given value.
*/
public Point withType(Type type) {
return new Point(
getName(),
getProperties(),
getHistory(),
pose,
type,
incomingPaths,
outgoingPaths,
attachedLinks,
occupyingVehicle,
vehicleEnvelopes,
maxVehicleBoundingBox,
layout
);
}
/**
* Checks whether parking a vehicle on this point is allowed.
*
* This method is a convenience method; its return value is equal to
* getType().equals(Point.Type.PARK_POSITION).
*
*
* @return true if, and only if, parking is allowed on this
* point.
*/
public boolean isParkingPosition() {
return type.equals(Type.PARK_POSITION);
}
/**
* Checks whether halting on this point is allowed.
*
* This method is a convenience method; its return value is equal to
* getType().equals(Point.Type.PARK_POSITION) ||
* getType().equals(Point.Type.HALT_POSITION).
*
*
* @return true if, and only if, halting is allowed on this
* point.
* @deprecated Will be removed without replacement. With openTCS 6.0, the point type
* {@code REPORT_POSITION} was removed, which makes this method redundant, as all remaining point
* types allow halting.
*/
@Deprecated
@ScheduledApiChange(when = "7.0", details = "Will be removed.")
public boolean isHaltingPosition() {
return type.equals(Type.PARK_POSITION) || type.equals(Type.HALT_POSITION);
}
/**
* Returns a reference to the vehicle occupying this point.
*
* @return A reference to the vehicle occupying this point, or
* null, if this point isn't currently occupied by any vehicle.
*/
public TCSObjectReference getOccupyingVehicle() {
return occupyingVehicle;
}
/**
* Creates a copy of this object, with the given occupying vehicle.
*
* @param occupyingVehicle The value to be set in the copy.
* @return A copy of this object, differing in the given value.
*/
public Point withOccupyingVehicle(TCSObjectReference occupyingVehicle) {
return new Point(
getName(),
getProperties(),
getHistory(),
pose,
type,
incomingPaths,
outgoingPaths,
attachedLinks,
occupyingVehicle,
vehicleEnvelopes,
maxVehicleBoundingBox,
layout
);
}
/**
* Returns a set of references to paths ending in this point.
*
* @return A set of references to paths ending in this point.
*/
public Set> getIncomingPaths() {
return Collections.unmodifiableSet(incomingPaths);
}
/**
* Creates a copy of this object, with the given incoming paths.
*
* @param incomingPaths The value to be set in the copy.
* @return A copy of this object, differing in the given value.
*/
public Point withIncomingPaths(Set> incomingPaths) {
return new Point(
getName(),
getProperties(),
getHistory(),
pose,
type,
incomingPaths,
outgoingPaths,
attachedLinks,
occupyingVehicle,
vehicleEnvelopes,
maxVehicleBoundingBox,
layout
);
}
/**
* Returns a set of references to paths originating in this point.
*
* @return A set of references to paths originating in this point.
*/
public Set> getOutgoingPaths() {
return Collections.unmodifiableSet(outgoingPaths);
}
/**
* Creates a copy of this object, with the given outgoing paths.
*
* @param outgoingPaths The value to be set in the copy.
* @return A copy of this object, differing in the given value.
*/
public Point withOutgoingPaths(Set> outgoingPaths) {
return new Point(
getName(),
getProperties(),
getHistory(),
pose,
type,
incomingPaths,
outgoingPaths,
attachedLinks,
occupyingVehicle,
vehicleEnvelopes,
maxVehicleBoundingBox,
layout
);
}
/**
* Returns a set of links attached to this point.
*
* @return A set of links attached to this point.
*/
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 Point withAttachedLinks(Set attachedLinks) {
return new Point(
getName(),
getProperties(),
getHistory(),
pose,
type,
incomingPaths,
outgoingPaths,
attachedLinks,
occupyingVehicle,
vehicleEnvelopes,
maxVehicleBoundingBox,
layout
);
}
/**
* Returns a map of envelope keys to envelopes that vehicles located at this point may occupy.
*
* @return A map of envelope keys to envelopes that vehicles located at this point may occupy.
*/
public Map getVehicleEnvelopes() {
return vehicleEnvelopes;
}
/**
* Creates a copy of this object, with the given vehicle envelopes.
*
* @param vehicleEnvelopes The value to be set in the copy.
* @return A copy of this object, differing in the given value.
*/
public Point withVehicleEnvelopes(Map vehicleEnvelopes) {
return new Point(
getName(),
getProperties(),
getHistory(),
pose,
type,
incomingPaths,
outgoingPaths,
attachedLinks,
occupyingVehicle,
vehicleEnvelopes,
maxVehicleBoundingBox,
layout
);
}
/**
* Returns the maximum bounding box (in mm) that a vehicle at this point is allowed to have.
*
* The bounding box is oriented according to the orientation angle of this point so that the
* longitudinal axis of the bounding box runs parallel to the longitudinal axis of a vehicle
* located at this point. For the reference point offset, positive x values indicate an offset
* in the forward direction of the vehicle, positive y values an offset towards the lefthand
* side.
*
*
* @return The maximum bounding box (in mm) that a vehicle at this point is allowed to have.
*/
public BoundingBox getMaxVehicleBoundingBox() {
return maxVehicleBoundingBox;
}
/**
* Creates a copy of this object, with the given maximum vehicle bounding box.
*
* The bounding box is oriented according to the orientation angle of this point so that the
* longitudinal axis of the bounding box runs parallel to the longitudinal axis of a vehicle
* located at this point. For the reference point offset, positive x values indicate an offset
* in the forward direction of the vehicle, positive y values an offset towards the lefthand
* side.
*
*
* @param maxVehicleBoundingBox The value to be set in the copy.
* @return A copy of this object, differing in the given value.
*/
public Point withMaxVehicleBoundingBox(BoundingBox maxVehicleBoundingBox) {
return new Point(
getName(),
getProperties(),
getHistory(),
pose,
type,
incomingPaths,
outgoingPaths,
attachedLinks,
occupyingVehicle,
vehicleEnvelopes,
maxVehicleBoundingBox,
layout
);
}
/**
* Returns the information regarding the graphical representation of this point.
*
* @return The information regarding the graphical representation of this point.
*/
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 Point withLayout(Layout layout) {
return new Point(
getName(),
getProperties(),
getHistory(),
pose,
type,
incomingPaths,
outgoingPaths,
attachedLinks,
occupyingVehicle,
vehicleEnvelopes,
maxVehicleBoundingBox,
layout
);
}
/**
* Describes the types of positions in a driving course.
*/
public enum Type {
/**
* Indicates a position at which a vehicle may halt temporarily, e.g. for executing an
* operation.
* The vehicle is also expected to report in when it arrives at such a position.
* It may not park here for longer than necessary, though.
*/
HALT_POSITION,
/**
* Indicates a position at which a vehicle may halt for longer periods of time when it is not
* processing orders.
* The vehicle is also expected to report in when it arrives at such a position.
*/
PARK_POSITION;
}
/**
* Contains information regarding the graphical representation of a point.
*/
public static class Layout
implements
Serializable {
/**
* The coordinates at which the point is to be drawn (in mm).
*/
private final Couple position;
/**
* The offset of the label's position to the point's position (in lu).
*/
private final Couple labelOffset;
/**
* The ID of the layer on which the point is to be drawn.
*/
private final int layerId;
/**
* Creates a new instance.
*/
public Layout() {
this(new Couple(0, 0), new Couple(0, 0), 0);
}
/**
* Creates a new instance.
*
* @param position The coordinates at which the point is to be drawn (in mm).
* @param labelOffset The offset of the label's position to the point's position (in lu).
* @param layerId The ID of the layer on which the point is to be drawn.
*/
public Layout(
Couple position,
Couple labelOffset,
int layerId
) {
this.position = requireNonNull(position, "position");
this.labelOffset = requireNonNull(labelOffset, "labelOffset");
this.layerId = layerId;
}
/**
* Returns the coordinates at which the point is to be drawn (in mm).
*
* @return The coordinates at which the point 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,
layerId
);
}
/**
* Returns the offset of the label's position to the point's position (in lu).
*
* @return The offset of the label's position to the point'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,
layerId
);
}
/**
* Returns the ID of the layer on which the point 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,
layerId
);
}
}
}
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