org.opentcs.components.kernel.services.RouterService Maven / Gradle / Ivy

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// SPDX-FileCopyrightText: The openTCS Authors
// SPDX-License-Identifier: MIT
package org.opentcs.components.kernel.services;

import java.util.Map;
import java.util.Set;
import org.opentcs.access.KernelRuntimeException;
import org.opentcs.components.kernel.Router;
import org.opentcs.data.TCSObjectReference;
import org.opentcs.data.model.Path;
import org.opentcs.data.model.Point;
import org.opentcs.data.model.TCSResourceReference;
import org.opentcs.data.model.Vehicle;
import org.opentcs.data.order.Route;

/**
 * Provides methods concerning the {@link Router}.
 */
public interface RouterService {

  /**
   * Notifies the router that the topology has changed with respect to the given paths and needs to
   * be re-evaluated.
   * 
   * If called within the kernel application, this method is supposed to be called only on the
   * kernel executor thread.
   * 
   *
   * @param refs References to paths that have changed in the routing topology. An empty set of
   * path references results in the router updating the entire routing topology.
   * @throws KernelRuntimeException In case there is an exception executing this method.
   */
  void updateRoutingTopology(Set> refs)
      throws KernelRuntimeException;

  /**
   * Computes routes for the given vehicle from a source point to a set of destination points.
   * 
   * If called within the kernel application, this method is supposed to be called only on the
   * kernel executor thread.
   * 
   *
   * @param vehicleRef A reference to the vehicle to calculate the routes for.
   * @param sourcePointRef A reference to the source point.
   * @param destinationPointRefs A set of references to the destination points.
   * @param resourcesToAvoid A set of references to resources that are to be avoided.
   * @return A map of destination points to the corresponding computed routes or {@code null}, if
   * no route could be determined for a specific destination point.
   * @throws KernelRuntimeException In case there is an exception executing this method.
   */
  Map, Route> computeRoutes(
      TCSObjectReference vehicleRef,
      TCSObjectReference sourcePointRef,
      Set> destinationPointRefs,
      Set> resourcesToAvoid
  )
      throws KernelRuntimeException;
}