Many resources are needed to download a project. Please understand that we have to compensate our server costs. Thank you in advance. Project price only 1 $
You can buy this project and download/modify it how often you want.
/**
* 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.operationsdesk.exchange;
import static com.google.common.base.Preconditions.checkArgument;
import static java.util.Objects.requireNonNull;
import jakarta.inject.Inject;
import java.time.Instant;
import java.util.ArrayList;
import java.util.Collections;
import java.util.HashMap;
import java.util.List;
import java.util.Map;
import org.opentcs.access.Kernel;
import org.opentcs.access.KernelRuntimeException;
import org.opentcs.access.SharedKernelServicePortal;
import org.opentcs.access.SharedKernelServicePortalProvider;
import org.opentcs.access.to.order.DestinationCreationTO;
import org.opentcs.access.to.order.TransportOrderCreationTO;
import org.opentcs.components.kernel.services.TransportOrderService;
import org.opentcs.data.model.Location;
import org.opentcs.data.model.Point;
import org.opentcs.data.order.DriveOrder;
import org.opentcs.data.order.TransportOrder;
import org.opentcs.guing.base.model.AbstractConnectableModelComponent;
import org.opentcs.guing.base.model.elements.LocationModel;
import org.opentcs.guing.base.model.elements.PointModel;
import org.opentcs.guing.base.model.elements.VehicleModel;
import org.slf4j.Logger;
import org.slf4j.LoggerFactory;
/**
* A helper class for creating transport orders with the kernel.
*/
public class TransportOrderUtil {
/**
* This class's logger.
*/
private static final Logger LOG = LoggerFactory.getLogger(TransportOrderUtil.class);
/**
* Provides access to a portal.
*/
private final SharedKernelServicePortalProvider portalProvider;
/**
* Creates a new instance.
*
* @param portalProvider Provides a access to a portal.
*/
@Inject
public TransportOrderUtil(SharedKernelServicePortalProvider portalProvider) {
this.portalProvider = requireNonNull(portalProvider, "portalProvider");
}
/**
* Creates a new transport order.
*
* @param destModels The locations or points to visit.
* @param actions The actions to execute.
* @param deadline The deadline.
* @param vModel The vehicle that shall execute this order. Pass null to let the
* kernel determine one.
* @param category The category.
*/
public void createTransportOrder(
List destModels,
List actions,
long deadline,
VehicleModel vModel,
String category
) {
createTransportOrder(destModels, actions, new ArrayList<>(), deadline, vModel, category);
}
/**
* Creates a new transport order.
*
* @param destModels The locations or points to visit.
* @param actions The actions to execute.
* @param propertiesList The properties for each destination.
* @param deadline The deadline.
* @param vModel The vehicle that shall execute this order. Pass null to let the
* kernel determine one.
* @param type The type.
*/
public void createTransportOrder(
List destModels,
List actions,
List> propertiesList,
long deadline,
VehicleModel vModel,
String type
) {
requireNonNull(destModels, "locations");
requireNonNull(actions, "actions");
requireNonNull(propertiesList, "propertiesList");
checkArgument(
!destModels.stream()
.anyMatch(o -> !(o instanceof PointModel || o instanceof LocationModel)),
"destModels have to be a PointModel or a Locationmodel"
);
try (SharedKernelServicePortal sharedPortal = portalProvider.register()) {
TransportOrderService transportOrderService
= sharedPortal.getPortal().getTransportOrderService();
List destinations = new ArrayList<>();
for (int i = 0; i < destModels.size(); i++) {
AbstractConnectableModelComponent locModel = destModels.get(i);
String action = actions.get(i);
Map properties = new HashMap<>();
if (!propertiesList.isEmpty()) {
properties = propertiesList.get(i);
}
Location location = transportOrderService.fetchObject(Location.class, locModel.getName());
DestinationCreationTO destination;
if (location == null) {
Point point = transportOrderService.fetchObject(Point.class, locModel.getName());
destination = new DestinationCreationTO(point.getName(), action)
.withDestLocationName(point.getName());
}
else {
destination = new DestinationCreationTO(location.getName(), action)
.withDestLocationName(location.getName())
.withProperties(properties);
}
destinations.add(destination);
}
transportOrderService.createTransportOrder(
new TransportOrderCreationTO("TOrder-", destinations)
.withIncompleteName(true)
.withDeadline(Instant.ofEpochMilli(deadline))
.withIntendedVehicleName(vModel == null ? null : vModel.getName())
.withType(type)
);
sharedPortal.getPortal().getDispatcherService().dispatch();
}
catch (KernelRuntimeException | IllegalArgumentException e) {
LOG.warn("Unexpected exception", e);
}
}
/**
* Creates a new transport order by copying the given one.
*
* @param pattern The transport order that server as a pattern.
*/
public void createTransportOrder(TransportOrder pattern) {
requireNonNull(pattern, "pattern");
try (SharedKernelServicePortal sharedPortal = portalProvider.register()) {
sharedPortal.getPortal().getTransportOrderService().createTransportOrder(
new TransportOrderCreationTO("TOrder-", copyDestinations(pattern))
.withIncompleteName(true)
.withDeadline(pattern.getDeadline())
.withIntendedVehicleName(
pattern.getIntendedVehicle() == null
? null
: pattern.getIntendedVehicle().getName()
)
.withType(pattern.getType())
.withProperties(pattern.getProperties())
);
sharedPortal.getPortal().getDispatcherService().dispatch();
}
catch (KernelRuntimeException e) {
LOG.warn("Unexpected exception", e);
}
}
/**
* Creates a new transport order for the purpose to drive to a point.
*
* @param pointModel The point that shall be driven to.
* @param vModel The vehicle to execute this order.
*/
public void createTransportOrder(PointModel pointModel, VehicleModel vModel) {
requireNonNull(pointModel, "point");
requireNonNull(vModel, "vehicle");
try (SharedKernelServicePortal sharedPortal = portalProvider.register()) {
// This is only allowed in operating mode.
if (sharedPortal.getPortal().getState() != Kernel.State.OPERATING) {
return;
}
sharedPortal.getPortal().getTransportOrderService().createTransportOrder(
new TransportOrderCreationTO(
"Move-",
Collections.singletonList(
new DestinationCreationTO(
pointModel.getName(),
DriveOrder.Destination.OP_MOVE
)
)
)
.withIncompleteName(true)
.withDeadline(Instant.now())
.withIntendedVehicleName(vModel.getName())
);
sharedPortal.getPortal().getDispatcherService().dispatch();
}
catch (KernelRuntimeException e) {
LOG.warn("Unexpected exception", e);
}
}
private List copyDestinations(TransportOrder original) {
List result = new ArrayList<>();
for (DriveOrder driveOrder : original.getAllDriveOrders()) {
result.add(copyDestination(driveOrder));
}
return result;
}
private DestinationCreationTO copyDestination(DriveOrder driveOrder) {
return new DestinationCreationTO(
driveOrder.getDestination().getDestination().getName(),
driveOrder.getDestination().getOperation()
)
.withProperties(driveOrder.getDestination().getProperties());
}
}
