org.opentcs.data.model.Vehicle 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 static org.opentcs.util.Assertions.checkArgument;
import static org.opentcs.util.Assertions.checkInRange;
import jakarta.annotation.Nullable;
import java.awt.Color;
import java.io.Serializable;
import java.util.Arrays;
import java.util.HashSet;
import java.util.List;
import java.util.Map;
import java.util.Objects;
import java.util.Set;
import org.opentcs.data.ObjectHistory;
import org.opentcs.data.TCSObject;
import org.opentcs.data.TCSObjectReference;
import org.opentcs.data.order.OrderConstants;
import org.opentcs.data.order.OrderSequence;
import org.opentcs.data.order.TransportOrder;
import org.opentcs.drivers.vehicle.LoadHandlingDevice;
import org.opentcs.util.annotations.ScheduledApiChange;
/**
* Describes a vehicle's current state.
*/
public class Vehicle
extends
TCSObject
implements
Serializable {
/**
* The key for a property to store the class name of the preferred communication adapter (factory)
* for this vehicle.
*/
public static final String PREFERRED_ADAPTER = "tcs:preferredAdapterClass";
/**
* The vehicle's bounding box (in mm).
*/
private final BoundingBox boundingBox;
/**
* Contains information regarding the energy level threshold values of the vehicle.
*/
private final EnergyLevelThresholdSet energyLevelThresholdSet;
/**
* This vehicle's remaining energy (in percent of the maximum).
*/
private final int energyLevel;
/**
* This vehicle's maximum velocity (in mm/s).
*/
private final int maxVelocity;
/**
* This vehicle's maximum reverse velocity (in mm/s).
*/
private final int maxReverseVelocity;
/**
* The operation the vehicle's current communication adapter accepts as a command to recharge the
* vehicle.
*/
private final String rechargeOperation;
/**
* The current (state of the) load handling devices of this vehicle.
*/
private final List loadHandlingDevices;
/**
* This vehicle's current state.
*/
private final State state;
/**
* This vehicle's current processing state.
*/
private final ProcState procState;
/**
* This vehicle's integration level.
*/
private final IntegrationLevel integrationLevel;
/**
* Whether this vehicle is currently paused.
*/
private final boolean paused;
/**
* A reference to the transport order this vehicle is currently processing.
*/
private final TCSObjectReference transportOrder;
/**
* A reference to the order sequence this vehicle is currently processing.
*/
private final TCSObjectReference orderSequence;
/**
* The set of transport order types this vehicle is allowed to process.
*/
private final Set allowedOrderTypes;
/**
* The resources this vehicle has claimed for future allocation.
*/
private final List>> claimedResources;
/**
* The resources this vehicle has allocated.
*/
private final List>> allocatedResources;
/**
* A reference to the point which this vehicle currently occupies.
*/
private final TCSObjectReference currentPosition;
/**
* A reference to the point which this vehicle is expected to be seen at next.
*/
private final TCSObjectReference nextPosition;
/**
* The vehicle's precise position in world coordinates [mm], independent from logical
* positions/point names.
* Set to null if the vehicle hasn't provided a precise position.
*/
private final Triple precisePosition;
/**
* The vehicle's current orientation angle (-360..360).
* Set to Double.NaN if the vehicle hasn't provided an orientation angle.
*/
private final double orientationAngle;
/**
* 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 vehicle.
*
* @param name The new vehicle's name.
*/
public Vehicle(String name) {
super(name);
this.boundingBox = new BoundingBox(1000, 1000, 1000);
this.energyLevelThresholdSet = new EnergyLevelThresholdSet(30, 90, 30, 90);
this.maxVelocity = 1000;
this.maxReverseVelocity = 1000;
this.rechargeOperation = "CHARGE";
this.procState = ProcState.IDLE;
this.transportOrder = null;
this.orderSequence = null;
this.allowedOrderTypes = new HashSet<>(Arrays.asList(OrderConstants.TYPE_ANY));
this.claimedResources = List.of();
this.allocatedResources = List.of();
this.state = State.UNKNOWN;
this.integrationLevel = IntegrationLevel.TO_BE_RESPECTED;
this.paused = false;
this.currentPosition = null;
this.nextPosition = null;
this.precisePosition = null;
this.orientationAngle = Double.NaN;
this.energyLevel = 100;
this.loadHandlingDevices = List.of();
this.envelopeKey = null;
this.layout = new Layout();
}
private Vehicle(
String name,
Map properties,
ObjectHistory history,
BoundingBox boundingBox,
EnergyLevelThresholdSet energyLevelThresholdSet,
int maxVelocity,
int maxReverseVelocity,
String rechargeOperation,
ProcState procState,
TCSObjectReference transportOrder,
TCSObjectReference orderSequence,
Set allowedOrderTypes,
List>> claimedResources,
List>> allocatedResources,
State state,
IntegrationLevel integrationLevel,
boolean paused,
TCSObjectReference currentPosition,
TCSObjectReference nextPosition,
Triple precisePosition,
double orientationAngle,
int energyLevel,
List loadHandlingDevices,
String envelopeKey,
Layout layout
) {
super(name, properties, history);
this.boundingBox = requireNonNull(boundingBox, "boundingBox");
this.energyLevelThresholdSet = requireNonNull(
energyLevelThresholdSet, "energyLevelThresholdSet"
);
checkArgument(
energyLevelThresholdSet.getEnergyLevelCritical()
<= energyLevelThresholdSet.getEnergyLevelGood(),
"energyLevelCritical (%s) not <= energyLevelGood (%s)",
energyLevelThresholdSet.getEnergyLevelCritical(),
energyLevelThresholdSet.getEnergyLevelGood()
);
checkArgument(
energyLevelThresholdSet.getEnergyLevelSufficientlyRecharged()
<= energyLevelThresholdSet.getEnergyLevelFullyRecharged(),
"energyLevelSufficientlyRecharged (%s) not <= energyLevelFullyRecharged (%s)",
energyLevelThresholdSet.getEnergyLevelSufficientlyRecharged(),
energyLevelThresholdSet.getEnergyLevelFullyRecharged()
);
this.maxVelocity = checkInRange(maxVelocity, 0, Integer.MAX_VALUE, "maxVelocity");
this.maxReverseVelocity = checkInRange(
maxReverseVelocity,
0,
Integer.MAX_VALUE,
"maxReverseVelocity"
);
this.rechargeOperation = requireNonNull(rechargeOperation, "rechargeOperation");
this.procState = requireNonNull(procState, "procState");
this.transportOrder = transportOrder;
this.orderSequence = orderSequence;
this.allowedOrderTypes = requireNonNull(allowedOrderTypes, "allowedOrderTypes");
this.claimedResources = requireNonNull(claimedResources, "claimedResources");
this.allocatedResources = requireNonNull(allocatedResources, "allocatedResources");
this.state = requireNonNull(state, "state");
this.integrationLevel = requireNonNull(integrationLevel, "integrationLevel");
this.paused = paused;
this.currentPosition = currentPosition;
this.nextPosition = nextPosition;
this.precisePosition = precisePosition;
checkArgument(
Double.isNaN(orientationAngle) || (orientationAngle >= -360.0 && orientationAngle <= 360.0),
"Illegal orientation angle: %s",
orientationAngle
);
this.orientationAngle = orientationAngle;
this.energyLevel = checkInRange(energyLevel, 0, 100, "energyLevel");
this.loadHandlingDevices = listWithoutNullValues(
requireNonNull(
loadHandlingDevices,
"loadHandlingDevices"
)
);
this.envelopeKey = envelopeKey;
this.layout = requireNonNull(layout, "layout");
}
@Override
public Vehicle withProperty(String key, String value) {
return new Vehicle(
getName(),
propertiesWith(key, value),
getHistory(),
boundingBox,
energyLevelThresholdSet,
maxVelocity,
maxReverseVelocity,
rechargeOperation,
procState,
transportOrder,
orderSequence,
allowedOrderTypes,
claimedResources,
allocatedResources,
state,
integrationLevel,
paused,
currentPosition,
nextPosition,
precisePosition,
orientationAngle,
energyLevel,
loadHandlingDevices,
envelopeKey,
layout
);
}
@Override
public Vehicle withProperties(Map properties) {
return new Vehicle(
getName(),
properties,
getHistory(),
boundingBox,
energyLevelThresholdSet,
maxVelocity,
maxReverseVelocity,
rechargeOperation,
procState,
transportOrder,
orderSequence,
allowedOrderTypes,
claimedResources,
allocatedResources,
state,
integrationLevel,
paused,
currentPosition,
nextPosition,
precisePosition,
orientationAngle,
energyLevel,
loadHandlingDevices,
envelopeKey,
layout
);
}
@Override
public TCSObject withHistoryEntry(ObjectHistory.Entry entry) {
return new Vehicle(
getName(),
getProperties(),
getHistory().withEntryAppended(entry),
boundingBox,
energyLevelThresholdSet,
maxVelocity,
maxReverseVelocity,
rechargeOperation,
procState,
transportOrder,
orderSequence,
allowedOrderTypes,
claimedResources,
allocatedResources,
state,
integrationLevel,
paused,
currentPosition,
nextPosition,
precisePosition,
orientationAngle,
energyLevel,
loadHandlingDevices,
envelopeKey,
layout
);
}
@Override
public TCSObject withHistory(ObjectHistory history) {
return new Vehicle(
getName(),
getProperties(),
history,
boundingBox,
energyLevelThresholdSet,
maxVelocity,
maxReverseVelocity,
rechargeOperation,
procState,
transportOrder,
orderSequence,
allowedOrderTypes,
claimedResources,
allocatedResources,
state,
integrationLevel,
paused,
currentPosition,
nextPosition,
precisePosition,
orientationAngle,
energyLevel,
loadHandlingDevices,
envelopeKey,
layout
);
}
/**
* Returns this vehicle's remaining energy (in percent of the maximum).
*
* @return This vehicle's remaining energy.
*/
public int getEnergyLevel() {
return energyLevel;
}
/**
* Creates a copy of this object, with the given energy level.
*
* @param energyLevel The value to be set in the copy.
* @return A copy of this object, differing in the given value.
*/
public Vehicle withEnergyLevel(int energyLevel) {
return new Vehicle(
getName(),
getProperties(),
getHistory(),
boundingBox,
energyLevelThresholdSet,
maxVelocity,
maxReverseVelocity,
rechargeOperation,
procState,
transportOrder,
orderSequence,
allowedOrderTypes,
claimedResources,
allocatedResources,
state,
integrationLevel,
paused,
currentPosition,
nextPosition,
precisePosition,
orientationAngle,
energyLevel,
loadHandlingDevices,
envelopeKey,
layout
);
}
/**
* Checks whether the vehicle's energy level is critical.
*
* @return true if, and only if, the vehicle's energy level is
* critical.
*/
public boolean isEnergyLevelCritical() {
return energyLevel <= energyLevelThresholdSet.getEnergyLevelCritical();
}
/**
* Checks whether the vehicle's energy level is degraded (not good
* any more).
*
* @return true if, and only if, the vehicle's energy level is
* degraded.
*/
public boolean isEnergyLevelDegraded() {
return energyLevel <= energyLevelThresholdSet.getEnergyLevelGood();
}
/**
* Checks whether the vehicle's energy level is good.
*
* @return true if, and only if, the vehicle's energy level is
* good.
*/
public boolean isEnergyLevelGood() {
return energyLevel > energyLevelThresholdSet.getEnergyLevelGood();
}
/**
* Checks whether the vehicle's energy level is fully recharged.
*
* @return true if, and only if, the vehicle's energy level is
* fully recharged.
*/
public boolean isEnergyLevelFullyRecharged() {
return energyLevel >= energyLevelThresholdSet.getEnergyLevelFullyRecharged();
}
/**
* Checks whether the vehicle's energy level is sufficiently recharged.
*
* @return true if, and only if, the vehicle's energy level is
* sufficiently recharged.
*/
public boolean isEnergyLevelSufficientlyRecharged() {
return energyLevel >= energyLevelThresholdSet.getEnergyLevelSufficientlyRecharged();
}
/**
* 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.
*
* @param energyLevelCritical The value to be set in the copy.
* @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 Vehicle 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 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.
* @deprecated Use {@link #withEnergyLevelThresholdSet(EnergyLevelThresholdSet)} instead.
*/
@Deprecated
@ScheduledApiChange(when = "7.0", details = "Will be removed.")
public Vehicle withEnergyLevelGood(int energyLevelGood) {
return withEnergyLevelThresholdSet(
getEnergyLevelThresholdSet().withEnergyLevelGood(energyLevelGood)
);
}
/**
* Returns this vehicle's energy level for being fully recharged (in percent of the maximum).
*
* @return This vehicle's fully recharged threshold.
* @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 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.
* @deprecated Use {@link #withEnergyLevelThresholdSet(EnergyLevelThresholdSet)} instead.
*/
@Deprecated
@ScheduledApiChange(when = "7.0", details = "Will be removed.")
public Vehicle withEnergyLevelFullyRecharged(int energyLevelFullyRecharged) {
return withEnergyLevelThresholdSet(
getEnergyLevelThresholdSet().withEnergyLevelFullyRecharged(energyLevelFullyRecharged)
);
}
/**
* Returns this vehicle's energy level for being sufficiently recharged (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 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.
* @deprecated Use {@link #withEnergyLevelThresholdSet(EnergyLevelThresholdSet)} instead.
*/
@Deprecated
@ScheduledApiChange(when = "7.0", details = "Will be removed.")
public Vehicle withEnergyLevelSufficientlyRecharged(int energyLevelSufficientlyRecharged) {
return withEnergyLevelThresholdSet(
getEnergyLevelThresholdSet()
.withEnergyLevelSufficientlyRecharged(energyLevelSufficientlyRecharged)
);
}
/**
* Returns this vehicle's energy level threshold set.
*
* @return This vehicle's energy level threshold set.
*/
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 Vehicle withEnergyLevelThresholdSet(EnergyLevelThresholdSet energyLevelThresholdSet) {
return new Vehicle(
getName(),
getProperties(),
getHistory(),
boundingBox,
energyLevelThresholdSet,
maxVelocity,
maxReverseVelocity,
rechargeOperation,
procState,
transportOrder,
orderSequence,
allowedOrderTypes,
claimedResources,
allocatedResources,
state,
integrationLevel,
paused,
currentPosition,
nextPosition,
precisePosition,
orientationAngle,
energyLevel,
loadHandlingDevices,
envelopeKey,
layout
);
}
/**
* Returns the operation that the vehicle's current communication adapter
* accepts as a command to recharge the vehicle.
*
* @return The operation that the vehicle's current communication adapter
* accepts as a command to recharge the vehicle.
*/
public String getRechargeOperation() {
return rechargeOperation;
}
/**
* Creates a copy of this object, with the given recharge operation.
*
* @param rechargeOperation The value to be set in the copy.
* @return A copy of this object, differing in the given value.
*/
public Vehicle withRechargeOperation(String rechargeOperation) {
return new Vehicle(
getName(),
getProperties(),
getHistory(),
boundingBox,
energyLevelThresholdSet,
maxVelocity,
maxReverseVelocity,
rechargeOperation,
procState,
transportOrder,
orderSequence,
allowedOrderTypes,
claimedResources,
allocatedResources,
state,
integrationLevel,
paused,
currentPosition,
nextPosition,
precisePosition,
orientationAngle,
energyLevel,
loadHandlingDevices,
envelopeKey,
layout
);
}
/**
* Returns the current (state of the) load handling devices of this vehicle.
*
* @return The current (state of the) load handling devices of this vehicle.
*/
public List getLoadHandlingDevices() {
return loadHandlingDevices;
}
/**
* Creates a copy of this object, with the given load handling devices.
*
* @param loadHandlingDevices The value to be set in the copy.
* @return A copy of this object, differing in the given value.
*/
public Vehicle withLoadHandlingDevices(List loadHandlingDevices) {
return new Vehicle(
getName(),
getProperties(),
getHistory(),
boundingBox,
energyLevelThresholdSet,
maxVelocity,
maxReverseVelocity,
rechargeOperation,
procState,
transportOrder,
orderSequence,
allowedOrderTypes,
claimedResources,
allocatedResources,
state,
integrationLevel,
paused,
currentPosition,
nextPosition,
precisePosition,
orientationAngle,
energyLevel,
loadHandlingDevices,
envelopeKey,
layout
);
}
/**
* Returns this vehicle's maximum velocity (in mm/s).
*
* @return This vehicle's maximum velocity (in mm/s).
*/
public int getMaxVelocity() {
return maxVelocity;
}
/**
* Creates a copy of this object, with the given maximum velocity.
*
* @param maxVelocity The value to be set in the copy.
* @return A copy of this object, differing in the given value.
*/
public Vehicle withMaxVelocity(int maxVelocity) {
return new Vehicle(
getName(),
getProperties(),
getHistory(),
boundingBox,
energyLevelThresholdSet,
maxVelocity,
maxReverseVelocity,
rechargeOperation,
procState,
transportOrder,
orderSequence,
allowedOrderTypes,
claimedResources,
allocatedResources,
state,
integrationLevel,
paused,
currentPosition,
nextPosition,
precisePosition,
orientationAngle,
energyLevel,
loadHandlingDevices,
envelopeKey,
layout
);
}
/**
* Returns this vehicle's maximum reverse velocity (in mm/s).
*
* @return This vehicle's maximum reverse velocity (in mm/s).
*/
public int getMaxReverseVelocity() {
return maxReverseVelocity;
}
/**
* Creates a copy of this object, with the given maximum reverse velocity.
*
* @param maxReverseVelocity The value to be set in the copy.
* @return A copy of this object, differing in the given value.
*/
public Vehicle withMaxReverseVelocity(int maxReverseVelocity) {
return new Vehicle(
getName(),
getProperties(),
getHistory(),
boundingBox,
energyLevelThresholdSet,
maxVelocity,
maxReverseVelocity,
rechargeOperation,
procState,
transportOrder,
orderSequence,
allowedOrderTypes,
claimedResources,
allocatedResources,
state,
integrationLevel,
paused,
currentPosition,
nextPosition,
precisePosition,
orientationAngle,
energyLevel,
loadHandlingDevices,
envelopeKey,
layout
);
}
/**
* Returns this vehicle's current state.
*
* @return This vehicle's current state.
*/
public State getState() {
return state;
}
/**
* Checks if this vehicle's current state is equal to the given one.
*
* @param otherState The state to compare to this vehicle's one.
* @return true if, and only if, the given state is equal to this
* vehicle's one.
*/
public boolean hasState(State otherState) {
return state.equals(otherState);
}
/**
* 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 Vehicle withState(State state) {
return new Vehicle(
getName(),
getProperties(),
getHistory(),
boundingBox,
energyLevelThresholdSet,
maxVelocity,
maxReverseVelocity,
rechargeOperation,
procState,
transportOrder,
orderSequence,
allowedOrderTypes,
claimedResources,
allocatedResources,
state,
integrationLevel,
paused,
currentPosition,
nextPosition,
precisePosition,
orientationAngle,
energyLevel,
loadHandlingDevices,
envelopeKey,
layout
);
}
/**
* Returns this vehicle's current processing state.
*
* @return This vehicle's current processing state.
*/
public ProcState getProcState() {
return procState;
}
/**
* Returns this vehicle's integration level.
*
* @return This vehicle's integration level.
*/
public IntegrationLevel getIntegrationLevel() {
return integrationLevel;
}
/**
* Creates a copy of this object, with the given integration level.
*
* @param integrationLevel The value to be set in the copy.
* @return A copy of this object, differing in the given value.
*/
public Vehicle withIntegrationLevel(IntegrationLevel integrationLevel) {
return new Vehicle(
getName(),
getProperties(),
getHistory(),
boundingBox,
energyLevelThresholdSet,
maxVelocity,
maxReverseVelocity,
rechargeOperation,
procState,
transportOrder,
orderSequence,
allowedOrderTypes,
claimedResources,
allocatedResources,
state,
integrationLevel,
paused,
currentPosition,
nextPosition,
precisePosition,
orientationAngle,
energyLevel,
loadHandlingDevices,
envelopeKey,
layout
);
}
/**
* Indicates whether this vehicle is paused.
*
* @return Whether this vehicle is paused.
*/
public boolean isPaused() {
return paused;
}
/**
* Creates a copy of this object, with the given paused state.
*
* @param paused The value to be set in the copy.
* @return A copy of this object, differing in the given value.
*/
public Vehicle withPaused(boolean paused) {
return new Vehicle(
getName(),
getProperties(),
getHistory(),
boundingBox,
energyLevelThresholdSet,
maxVelocity,
maxReverseVelocity,
rechargeOperation,
procState,
transportOrder,
orderSequence,
allowedOrderTypes,
claimedResources,
allocatedResources,
state,
integrationLevel,
paused,
currentPosition,
nextPosition,
precisePosition,
orientationAngle,
energyLevel,
loadHandlingDevices,
envelopeKey,
layout
);
}
/**
* Checks if this vehicle's current processing state is equal to the given
* one.
*
* @param otherState The state to compare to this vehicle's one.
* @return true if, and only if, the given state is equal to this
* vehicle's one.
*/
public boolean hasProcState(ProcState otherState) {
return procState.equals(otherState);
}
/**
* Creates a copy of this object, with the given processing state.
*
* @param procState The value to be set in the copy.
* @return A copy of this object, differing in the given value.
*/
public Vehicle withProcState(ProcState procState) {
return new Vehicle(
getName(),
getProperties(),
getHistory(),
boundingBox,
energyLevelThresholdSet,
maxVelocity,
maxReverseVelocity,
rechargeOperation,
procState,
transportOrder,
orderSequence,
allowedOrderTypes,
claimedResources,
allocatedResources,
state,
integrationLevel,
paused,
currentPosition,
nextPosition,
precisePosition,
orientationAngle,
energyLevel,
loadHandlingDevices,
envelopeKey,
layout
);
}
/**
* Returns the vehicle's current bounding box (in mm).
*
* The bounding box is oriented so that its longitudinal axis runs parallel to the longitudinal
* axis of the vehicle. 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 left-hand side.
*
*
* @return The vehicle's current bounding box (in mm).
*/
public BoundingBox getBoundingBox() {
return boundingBox;
}
/**
* Creates a copy of this object, with the given bounding box (in mm).
*
* The bounding box is oriented so that its longitudinal axis runs parallel to the longitudinal
* axis of the vehicle. 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 left-hand side.
*
*
* @param boundingBox The value to be set in the copy.
* @return A copy of this object, differing in the given value.
*/
public Vehicle withBoundingBox(BoundingBox boundingBox) {
return new Vehicle(
getName(),
getProperties(),
getHistory(),
boundingBox,
energyLevelThresholdSet,
maxVelocity,
maxReverseVelocity,
rechargeOperation,
procState,
transportOrder,
orderSequence,
allowedOrderTypes,
claimedResources,
allocatedResources,
state,
integrationLevel,
paused,
currentPosition,
nextPosition,
precisePosition,
orientationAngle,
energyLevel,
loadHandlingDevices,
envelopeKey,
layout
);
}
/**
* Returns this vehicle's current length.
*
* @return this vehicle's current length.
* @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 given length.
*
* @param length The value to be set in the copy.
* @return A copy of this object, differing in the given value.
* @deprecated Use {@link #withBoundingBox(BoundingBox)} instead.
*/
@Deprecated
@ScheduledApiChange(when = "7.0", details = "Will be removed.")
public Vehicle withLength(int length) {
return withBoundingBox(boundingBox.withLength(length));
}
/**
* Returns a reference to the transport order this vehicle is currently
* processing.
*
* @return A reference to the transport order this vehicle is currently
* processing, or null, if it is not processing any transport
* order at the moment.
*/
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 Vehicle withTransportOrder(TCSObjectReference transportOrder) {
return new Vehicle(
getName(),
getProperties(),
getHistory(),
boundingBox,
energyLevelThresholdSet,
maxVelocity,
maxReverseVelocity,
rechargeOperation,
procState,
transportOrder,
orderSequence,
allowedOrderTypes,
claimedResources,
allocatedResources,
state,
integrationLevel,
paused,
currentPosition,
nextPosition,
precisePosition,
orientationAngle,
energyLevel,
loadHandlingDevices,
envelopeKey,
layout
);
}
/**
* Returns a reference to the order sequence this vehicle is currently
* processing.
*
* @return A reference to the order sequence this vehicle is currently
* processing, or null, if it is not processing any order
* sequence at the moment.
*/
public TCSObjectReference getOrderSequence() {
return orderSequence;
}
/**
* Creates a copy of this object, with the given order sequence.
*
* @param orderSequence The value to be set in the copy.
* @return A copy of this object, differing in the given value.
*/
public Vehicle withOrderSequence(TCSObjectReference orderSequence) {
return new Vehicle(
getName(),
getProperties(),
getHistory(),
boundingBox,
energyLevelThresholdSet,
maxVelocity,
maxReverseVelocity,
rechargeOperation,
procState,
transportOrder,
orderSequence,
allowedOrderTypes,
claimedResources,
allocatedResources,
state,
integrationLevel,
paused,
currentPosition,
nextPosition,
precisePosition,
orientationAngle,
energyLevel,
loadHandlingDevices,
envelopeKey,
layout
);
}
/**
* Returns the set of order types this vehicle is allowed to process.
*
* @return The set of order types this vehicle is allowed to process.
*/
public Set getAllowedOrderTypes() {
return allowedOrderTypes;
}
/**
* Creates a copy of this object, with the given set of allowed order types.
*
* @param allowedOrderTypes The value to be set in the copy.
* @return A copy of this object, differing in the given value.
*/
public Vehicle withAllowedOrderTypes(Set allowedOrderTypes) {
return new Vehicle(
getName(),
getProperties(),
getHistory(),
boundingBox,
energyLevelThresholdSet,
maxVelocity,
maxReverseVelocity,
rechargeOperation,
procState,
transportOrder,
orderSequence,
allowedOrderTypes,
claimedResources,
allocatedResources,
state,
integrationLevel,
paused,
currentPosition,
nextPosition,
precisePosition,
orientationAngle,
energyLevel,
loadHandlingDevices,
envelopeKey,
layout
);
}
/**
* Returns the resources this vehicle has claimed for future allocation.
*
* @return The resources this vehicle has claimed for future allocation.
*/
public List>> getClaimedResources() {
return claimedResources;
}
/**
* Creates a copy of this object, with the given claimed resources.
*
* @param claimedResources The value to be set in the copy.
* @return A copy of this object, differing in the given value.
*/
public Vehicle withClaimedResources(List>> claimedResources) {
return new Vehicle(
getName(),
getProperties(),
getHistory(),
boundingBox,
energyLevelThresholdSet,
maxVelocity,
maxReverseVelocity,
rechargeOperation,
procState,
transportOrder,
orderSequence,
allowedOrderTypes,
claimedResources,
allocatedResources,
state,
integrationLevel,
paused,
currentPosition,
nextPosition,
precisePosition,
orientationAngle,
energyLevel,
loadHandlingDevices,
envelopeKey,
layout
);
}
/**
* Returns the resources this vehicle has allocated.
*
* @return The resources this vehicle has allocated.
*/
public List>> getAllocatedResources() {
return allocatedResources;
}
/**
* Creates a copy of this object, with the given allocated resources.
*
* @param allocatedResources The value to be set in the copy.
* @return A copy of this object, differing in the given value.
*/
public Vehicle withAllocatedResources(List>> allocatedResources) {
return new Vehicle(
getName(),
getProperties(),
getHistory(),
boundingBox,
energyLevelThresholdSet,
maxVelocity,
maxReverseVelocity,
rechargeOperation,
procState,
transportOrder,
orderSequence,
allowedOrderTypes,
claimedResources,
allocatedResources,
state,
integrationLevel,
paused,
currentPosition,
nextPosition,
precisePosition,
orientationAngle,
energyLevel,
loadHandlingDevices,
envelopeKey,
layout
);
}
/**
* Returns a reference to the point this vehicle currently occupies.
*
* @return A reference to the point this vehicle currently occupies, or
* null, if this vehicle's position is unknown or the vehicle is
* currently not in the system.
*/
public TCSObjectReference getCurrentPosition() {
return currentPosition;
}
/**
* Creates a copy of this object, with the given current position.
*
* @param currentPosition The value to be set in the copy.
* @return A copy of this object, differing in the given value.
*/
public Vehicle withCurrentPosition(TCSObjectReference currentPosition) {
return new Vehicle(
getName(),
getProperties(),
getHistory(),
boundingBox,
energyLevelThresholdSet,
maxVelocity,
maxReverseVelocity,
rechargeOperation,
procState,
transportOrder,
orderSequence,
allowedOrderTypes,
claimedResources,
allocatedResources,
state,
integrationLevel,
paused,
currentPosition,
nextPosition,
precisePosition,
orientationAngle,
energyLevel,
loadHandlingDevices,
envelopeKey,
layout
);
}
/**
* Returns a reference to the point this vehicle is expected to be seen at
* next.
*
* @return A reference to the point this vehicle is expected to be seen at
* next, or null, if this vehicle's next position is unknown.
*/
public TCSObjectReference getNextPosition() {
return nextPosition;
}
/**
* Creates a copy of this object, with the given next position.
*
* @param nextPosition The value to be set in the copy.
* @return A copy of this object, differing in the given value.
*/
public Vehicle withNextPosition(TCSObjectReference nextPosition) {
return new Vehicle(
getName(),
getProperties(),
getHistory(),
boundingBox,
energyLevelThresholdSet,
maxVelocity,
maxReverseVelocity,
rechargeOperation,
procState,
transportOrder,
orderSequence,
allowedOrderTypes,
claimedResources,
allocatedResources,
state,
integrationLevel,
paused,
currentPosition,
nextPosition,
precisePosition,
orientationAngle,
energyLevel,
loadHandlingDevices,
envelopeKey,
layout
);
}
/**
* Returns the vehicle's position in world coordinates [mm], independent
* from logical positions/point names. May be null if the vehicle
* hasn't provided a precise position.
*
* @return The vehicle's precise position in mm.
*/
public Triple getPrecisePosition() {
return precisePosition;
}
/**
* Creates a copy of this object, with the given precise position.
*
* @param precisePosition The value to be set in the copy.
* @return A copy of this object, differing in the given value.
*/
public Vehicle withPrecisePosition(Triple precisePosition) {
return new Vehicle(
getName(),
getProperties(),
getHistory(),
boundingBox,
energyLevelThresholdSet,
maxVelocity,
maxReverseVelocity,
rechargeOperation,
procState,
transportOrder,
orderSequence,
allowedOrderTypes,
claimedResources,
allocatedResources,
state,
integrationLevel,
paused,
currentPosition,
nextPosition,
precisePosition,
orientationAngle,
energyLevel,
loadHandlingDevices,
envelopeKey,
layout
);
}
/**
* Returns the vehicle's current orientation angle (-360..360).
* May be Double.NaN if the vehicle hasn't provided an
* orientation angle.
*
* @return The vehicle's current orientation angle.
*/
public double getOrientationAngle() {
return orientationAngle;
}
/**
* Creates a copy of this object, with the given orientation angle.
*
* @param orientationAngle The value to be set in the copy.
* @return A copy of this object, differing in the given value.
*/
public Vehicle withOrientationAngle(double orientationAngle) {
return new Vehicle(
getName(),
getProperties(),
getHistory(),
boundingBox,
energyLevelThresholdSet,
maxVelocity,
maxReverseVelocity,
rechargeOperation,
procState,
transportOrder,
orderSequence,
allowedOrderTypes,
claimedResources,
allocatedResources,
state,
integrationLevel,
paused,
currentPosition,
nextPosition,
precisePosition,
orientationAngle,
energyLevel,
loadHandlingDevices,
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 Vehicle withEnvelopeKey(
@Nullable
String envelopeKey
) {
return new Vehicle(
getName(),
getProperties(),
getHistory(),
boundingBox,
energyLevelThresholdSet,
maxVelocity,
maxReverseVelocity,
rechargeOperation,
procState,
transportOrder,
orderSequence,
allowedOrderTypes,
claimedResources,
allocatedResources,
state,
integrationLevel,
paused,
currentPosition,
nextPosition,
precisePosition,
orientationAngle,
energyLevel,
loadHandlingDevices,
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 Vehicle withLayout(Layout layout) {
return new Vehicle(
getName(),
getProperties(),
getHistory(),
boundingBox,
energyLevelThresholdSet,
maxVelocity,
maxReverseVelocity,
rechargeOperation,
procState,
transportOrder,
orderSequence,
allowedOrderTypes,
claimedResources,
allocatedResources,
state,
integrationLevel,
paused,
currentPosition,
nextPosition,
precisePosition,
orientationAngle,
energyLevel,
loadHandlingDevices,
envelopeKey,
layout
);
}
/**
* Checks if this vehicle is currently processing any transport order.
*
* @return true if, and only if, this vehicle is currently
* processing a transport order.
*/
public boolean isProcessingOrder() {
return transportOrder != null;
}
@Override
public String toString() {
return "Vehicle{"
+ "name=" + getName()
+ ", procState=" + procState
+ ", integrationLevel=" + integrationLevel
+ ", paused=" + paused
+ ", state=" + state
+ ", energyLevel=" + energyLevel
+ ", currentPosition=" + currentPosition
+ ", precisePosition=" + precisePosition
+ ", orientationAngle=" + orientationAngle
+ ", nextPosition=" + nextPosition
+ ", loadHandlingDevices=" + loadHandlingDevices
+ ", boundingBox=" + boundingBox
+ ", transportOrder=" + transportOrder
+ ", claimedResources=" + claimedResources
+ ", allocatedResources=" + allocatedResources
+ ", orderSequence=" + orderSequence
+ ", energyLevelThresholdSet=" + energyLevelThresholdSet
+ ", maxVelocity=" + maxVelocity
+ ", maxReverseVelocity=" + maxReverseVelocity
+ ", rechargeOperation=" + rechargeOperation
+ ", allowedOrderTypes=" + allowedOrderTypes
+ ", envelopeKey=" + envelopeKey
+ '}';
}
/**
* The elements of this enumeration describe the various possible states of a
* vehicle.
*/
public enum State {
/**
* The vehicle's current state is unknown, e.g. because communication with
* it is currently not possible for some reason.
*/
UNKNOWN,
/**
* The vehicle's state is known and it's not in an error state, but it is
* not available for receiving orders.
*/
UNAVAILABLE,
/**
* There is a problem with the vehicle.
*/
ERROR,
/**
* The vehicle is currently idle/available for processing movement orders.
*/
IDLE,
/**
* The vehicle is processing a movement order.
*/
EXECUTING,
/**
* The vehicle is currently recharging its battery/refilling fuel.
*/
CHARGING
}
/**
* A vehicle's state of integration into the system.
*/
public enum IntegrationLevel {
/**
* The vehicle's reported position is ignored.
*/
TO_BE_IGNORED,
/**
* The vehicle's reported position is noticed, meaning that resources will not be reserved for
* it.
*/
TO_BE_NOTICED,
/**
* The vehicle's reported position is respected, meaning that resources will be reserved for it.
*/
TO_BE_RESPECTED,
/**
* The vehicle is fully integrated and may be assigned to transport orders.
*/
TO_BE_UTILIZED
}
/**
* A vehicle's processing state as seen by the dispatcher.
*/
public enum ProcState {
/**
* The vehicle is currently not processing a transport order.
*/
IDLE,
/**
* The vehicle is currently processing a transport order and is waiting for
* the next drive order to be assigned to it.
*/
AWAITING_ORDER,
/**
* The vehicle is currently processing a drive order.
*/
PROCESSING_ORDER
}
/**
* The elements of this enumeration represent the possible orientations of a
* vehicle.
*/
public enum Orientation {
/**
* Indicates that the vehicle is driving/standing oriented towards its
* front.
*/
FORWARD,
/**
* Indicates that the vehicle is driving/standing oriented towards its
* back.
*/
BACKWARD,
/**
* Indicates that the vehicle's orientation is undefined/unknown.
*/
UNDEFINED
}
/**
* 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);
}
}
/**
* 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 boolean equals(Object o) {
if (o == this) {
return true;
}
if (!(o instanceof EnergyLevelThresholdSet other)) {
return false;
}
return energyLevelCritical == other.getEnergyLevelCritical()
&& energyLevelGood == other.getEnergyLevelGood()
&& energyLevelSufficientlyRecharged == other.getEnergyLevelSufficientlyRecharged()
&& energyLevelFullyRecharged == other.getEnergyLevelFullyRecharged();
}
@Override
public int hashCode() {
return Objects.hash(
energyLevelCritical,
energyLevelGood,
energyLevelSufficientlyRecharged,
energyLevelFullyRecharged
);
}
@Override
public String toString() {
return "EnergyLevelThresholdSet{"
+ "energyLevelCritical=" + energyLevelCritical
+ ", energyLevelGood=" + energyLevelGood
+ ", energyLevelSufficientlyRecharged=" + energyLevelSufficientlyRecharged
+ ", energyLevelFullyRecharged=" + energyLevelFullyRecharged
+ '}';
}
}
}
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