org.opentcs.drivers.vehicle.MovementCommand Maven / Gradle / Ivy
/**
* Copyright (c) The openTCS Authors.
*
* This program is free software and subject to the MIT license. (For details,
* see the licensing information (LICENSE.txt) you should have received with
* this copy of the software.)
*/
package org.opentcs.drivers.vehicle;
import static java.util.Objects.requireNonNull;
import jakarta.annotation.Nonnull;
import jakarta.annotation.Nullable;
import java.util.Map;
import java.util.Objects;
import org.opentcs.data.model.Location;
import org.opentcs.data.model.Point;
import org.opentcs.data.order.DriveOrder;
import org.opentcs.data.order.Route;
import org.opentcs.data.order.TransportOrder;
/**
* A command for moving a step.
*/
public class MovementCommand {
/**
* A constant indicating there is no operation to be executed after moving.
*/
public static final String NO_OPERATION = DriveOrder.Destination.OP_NOP;
/**
* A constant indicating the vehicle should basically just move to a point without a location
* associated to it.
*/
public static final String MOVE_OPERATION = DriveOrder.Destination.OP_MOVE;
/**
* A constant for parking the vehicle. (Again, basically doing nothing at the destination.)
*/
public static final String PARK_OPERATION = DriveOrder.Destination.OP_PARK;
/**
* The transport order this movement belongs to.
*/
private final TransportOrder transportOrder;
/**
* The drive order this movement belongs to.
*/
private final DriveOrder driveOrder;
/**
* The step describing the movement.
*/
private final Route.Step step;
/**
* The operation to be executed after moving.
*/
private final String operation;
/**
* The location at which the operation is to be executed.
* May be null if the movement command's operation is considred an empty
* operation (i.e. is {@link #NO_OPERATION}, {@link #MOVE_OPERATION} or {@link #PARK_OPERATION}).
*/
private final Location opLocation;
/**
* Indicates whether this movement is the final one for the drive order it belongs to.
*/
private final boolean finalMovement;
/**
* The destination position of the whole drive order.
*/
private final Point finalDestination;
/**
* The destination location of the whole drive order.
*/
private final Location finalDestinationLocation;
/**
* The operation to be executed at the destination position.
*/
private final String finalOperation;
/**
* Properties of the order this command is part of.
*/
private final Map properties;
/**
* Creates a new instance.
*
* @param transportOrder The transport order this movement belongs to.
* @param driveOrder The drive order this movement belongs to.
* @param step The step describing the movement.
* @param operation The operation to be executed after moving.
* @param opLocation The location at which the operation is to be executed.
* May be null if the movement command's operation is considred an empty
* operation (i.e. is {@link #NO_OPERATION}, {@link #MOVE_OPERATION} or {@link #PARK_OPERATION}).
* @param finalMovement Indicates whether this movement is the final one in the drive order it
* belongs to.
* @param finalDestinationLocation The destination location of the whole drive order.
* @param finalDestination The destination position of the whole drive order.
* @param finalOperation The operation to be executed at the destination position.
* @param properties Properties of the order this command is part of.
*/
public MovementCommand(
@Nonnull
TransportOrder transportOrder,
@Nonnull
DriveOrder driveOrder,
@Nonnull
Route.Step step,
@Nonnull
String operation,
@Nullable
Location opLocation,
boolean finalMovement,
@Nullable
Location finalDestinationLocation,
@Nonnull
Point finalDestination,
@Nonnull
String finalOperation,
@Nonnull
Map properties
) {
this.transportOrder = requireNonNull(transportOrder, "transportOrder");
this.driveOrder = requireNonNull(driveOrder, "driveOrder");
this.step = requireNonNull(step, "step");
this.operation = requireNonNull(operation, "operation");
this.finalMovement = finalMovement;
this.finalDestinationLocation = finalDestinationLocation;
this.finalDestination = requireNonNull(finalDestination, "finalDestination");
this.finalOperation = requireNonNull(finalOperation, "finalOperation");
this.properties = requireNonNull(properties, "properties");
if (opLocation == null && !isEmptyOperation(operation)) {
throw new NullPointerException("opLocation is null while operation is not considered empty");
}
this.opLocation = opLocation;
}
/**
* Returns the transport order this movement belongs to.
*
* @return The transport order this movement belongs to.
*/
@Nonnull
public TransportOrder 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 MovementCommand withTransportOrder(
@Nonnull
TransportOrder transportOrder
) {
return new MovementCommand(
transportOrder,
driveOrder,
step,
operation,
opLocation,
finalMovement,
finalDestinationLocation,
finalDestination,
finalOperation,
properties
);
}
/**
* Returns the drive order this movement belongs to.
*
* @return The drive order this movement belongs to.
*/
@Nonnull
public DriveOrder getDriveOrder() {
return driveOrder;
}
/**
* Creates a copy of this object, with the given drive order.
*
* @param driveOrder The value to be set in the copy.
* @return A copy of this object, differing in the given value.
*/
public MovementCommand withDriveOrder(
@Nonnull
DriveOrder driveOrder
) {
return new MovementCommand(
transportOrder,
driveOrder,
step,
operation,
opLocation,
finalMovement,
finalDestinationLocation,
finalDestination,
finalOperation,
properties
);
}
/**
* Returns the step describing the movement.
*
* @return The step describing the movement.
*/
@Nonnull
public Route.Step getStep() {
return step;
}
/**
* Creates a copy of this object, with the given step.
*
* @param step The value to be set in the copy.
* @return A copy of this object, differing in the given value.
*/
public MovementCommand withStep(
@Nonnull
Route.Step step
) {
return new MovementCommand(
transportOrder,
driveOrder,
step,
operation,
opLocation,
finalMovement,
finalDestinationLocation,
finalDestination,
finalOperation,
properties
);
}
/**
* Returns the operation to be executed after moving.
*
* @return The operation to be executed after moving.
*/
@Nonnull
public String getOperation() {
return operation;
}
/**
* Creates a copy of this object, with the given operation.
*
* @param operation The value to be set in the copy.
* @return A copy of this object, differing in the given value.
*/
public MovementCommand withOperation(
@Nonnull
String operation
) {
return new MovementCommand(
transportOrder,
driveOrder,
step,
operation,
opLocation,
finalMovement,
finalDestinationLocation,
finalDestination,
finalOperation,
properties
);
}
/**
* Indicates whether an operation is to be executed in addition to moving or not.
*
* @return true if, and only if, no operation is to be executed.
*/
public boolean hasEmptyOperation() {
return isEmptyOperation(operation);
}
/**
* Returns the location at which the operation is to be executed.
*
* May be null if the movement command's operation is considred an empty
* operation (i.e. is {@link #NO_OPERATION}, {@link #MOVE_OPERATION} or {@link #PARK_OPERATION}).
*
*
* @return The location at which the operation is to be executed.
*/
@Nullable
public Location getOpLocation() {
return opLocation;
}
/**
* Creates a copy of this object, with the given location at which the operation is to be
* executed.
*
* May be null if the movement command's operation is considred an empty
* operation (i.e. is {@link #NO_OPERATION}, {@link #MOVE_OPERATION} or {@link #PARK_OPERATION}).
*
*
* @param opLocation The value to be set in the copy.
* @return A copy of this object, differing in the given value.
*/
public MovementCommand withOpLocation(
@Nullable
Location opLocation
) {
return new MovementCommand(
transportOrder,
driveOrder,
step,
operation,
opLocation,
finalMovement,
finalDestinationLocation,
finalDestination,
finalOperation,
properties
);
}
/**
* Indicates whether this movement is the final one in the driver order it belongs to.
*
* @return true if, and only if, this movement is the final one.
*/
public boolean isFinalMovement() {
return finalMovement;
}
/**
* Creates a copy of this object, with the given final movement flag.
*
* @param finalMovement The value to be set in the copy.
* @return A copy of this object, differing in the given value.
*/
public MovementCommand withFinalMovement(boolean finalMovement) {
return new MovementCommand(
transportOrder,
driveOrder,
step,
operation,
opLocation,
finalMovement,
finalDestinationLocation,
finalDestination,
finalOperation,
properties
);
}
/**
* Returns the final destination of the drive order this MovementCommand was created for.
*
* @return The final destination of the drive order this MovementCommand was created for.
*/
@Nonnull
public Point getFinalDestination() {
return finalDestination;
}
/**
* Creates a copy of this object, with the given final destination.
*
* @param finalDestination The value to be set in the copy.
* @return A copy of this object, differing in the given value.
*/
public MovementCommand withFinalDestination(
@Nonnull
Point finalDestination
) {
return new MovementCommand(
transportOrder,
driveOrder,
step,
operation,
opLocation,
finalMovement,
finalDestinationLocation,
finalDestination,
finalOperation,
properties
);
}
/**
* Returns the destination location of the whole drive order.
*
* @return The destination location of the whole drive order.
*/
@Nullable
public Location getFinalDestinationLocation() {
return finalDestinationLocation;
}
/**
* Creates a copy of this object, with the given final destination location.
*
* @param finalDestinationLocation The value to be set in the copy.
* @return A copy of this object, differing in the given value.
*/
public MovementCommand withFinalDestinationLocation(
@Nullable
Location finalDestinationLocation
) {
return new MovementCommand(
transportOrder,
driveOrder,
step,
operation,
opLocation,
finalMovement,
finalDestinationLocation,
finalDestination,
finalOperation,
properties
);
}
/**
* Returns the operation to be executed at the final destination position.
*
* @return The operation to be executed at the final destination position.
*/
@Nonnull
public String getFinalOperation() {
return finalOperation;
}
/**
* Creates a copy of this object, with the given final operation.
*
* @param finalOperation The value to be set in the copy.
* @return A copy of this object, differing in the given value.
*/
public MovementCommand withFinalOperation(
@Nonnull
String finalOperation
) {
return new MovementCommand(
transportOrder,
driveOrder,
step,
operation,
opLocation,
finalMovement,
finalDestinationLocation,
finalDestination,
finalOperation,
properties
);
}
/**
* Returns the properties of the order this command is part of.
*
* @return The properties of the order this command is part of.
*/
@Nonnull
public Map getProperties() {
return properties;
}
/**
* Creates a copy of this object, with the given properties.
*
* @param properties The value to be set in the copy.
* @return A copy of this object, differing in the given value.
*/
public MovementCommand withProperties(
@Nonnull
Map properties
) {
return new MovementCommand(
transportOrder,
driveOrder,
step,
operation,
opLocation,
finalMovement,
finalDestinationLocation,
finalDestination,
finalOperation,
properties
);
}
@Override
public boolean equals(Object o) {
if (!(o instanceof MovementCommand)) {
return false;
}
MovementCommand other = (MovementCommand) o;
return step.equals(other.getStep()) && operation.equals(other.getOperation());
}
/**
* Compares the given movement command to this movement command, ignoring rerouting-related
* properties.
*
* @param command The movement command to compare to.
* @return {@code true}, if the given movement command is equal to this movement command
* (ignoring rerouting-related properties), otherwise {@code false}.
*/
public boolean equalsInMovement(MovementCommand command) {
if (command == null) {
return false;
}
return this.getStep().equalsInMovement(command.getStep())
&& Objects.equals(this.getOperation(), command.getOperation());
}
@Override
public int hashCode() {
return step.hashCode() ^ operation.hashCode();
}
@Override
public String toString() {
return "MovementCommand{"
+ "transportOrder=" + getTransportOrder()
+ ", driveOrder=" + getDriveOrder()
+ ", step=" + getStep()
+ ", operation=" + getOperation()
+ ", opLocation=" + getOpLocation()
+ ", finalMovement=" + isFinalMovement()
+ ", finalDestination=" + getFinalDestination()
+ ", finalDestinationLocation=" + getFinalDestinationLocation()
+ ", finalOperation=" + getFinalOperation()
+ ", properties=" + getProperties()
+ '}';
}
/**
* Checks whether an operation means something is to be done in addition to moving or not.
*
* @param operation The operation to be checked.
* @return true if, and only if, the vehicle should only move with the given
* operation.
*/
private boolean isEmptyOperation(String operation) {
return NO_OPERATION.equals(operation)
|| MOVE_OPERATION.equals(operation)
|| PARK_OPERATION.equals(operation);
}
}
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