org.opentcs.guing.base.model.elements.VehicleModel 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.guing.base.model.elements;
import static java.util.Objects.requireNonNull;
import static org.opentcs.guing.base.I18nPlantOverviewBase.BUNDLE_PATH;
import jakarta.annotation.Nonnull;
import java.awt.Color;
import java.util.Arrays;
import java.util.ResourceBundle;
import org.opentcs.data.model.Couple;
import org.opentcs.data.model.Triple;
import org.opentcs.data.model.Vehicle;
import org.opentcs.data.model.visualization.ElementPropKeys;
import org.opentcs.data.order.TransportOrder;
import org.opentcs.guing.base.components.properties.type.AngleProperty;
import org.opentcs.guing.base.components.properties.type.BooleanProperty;
import org.opentcs.guing.base.components.properties.type.BoundingBoxProperty;
import org.opentcs.guing.base.components.properties.type.ColorProperty;
import org.opentcs.guing.base.components.properties.type.EnergyLevelThresholdSetModel;
import org.opentcs.guing.base.components.properties.type.EnergyLevelThresholdSetProperty;
import org.opentcs.guing.base.components.properties.type.KeyValueSetProperty;
import org.opentcs.guing.base.components.properties.type.OrderTypesProperty;
import org.opentcs.guing.base.components.properties.type.PercentProperty;
import org.opentcs.guing.base.components.properties.type.ResourceProperty;
import org.opentcs.guing.base.components.properties.type.SelectionProperty;
import org.opentcs.guing.base.components.properties.type.SpeedProperty;
import org.opentcs.guing.base.components.properties.type.StringProperty;
import org.opentcs.guing.base.components.properties.type.TripleProperty;
import org.opentcs.guing.base.model.AbstractModelComponent;
import org.opentcs.guing.base.model.BoundingBoxModel;
import org.opentcs.guing.base.model.DrawnModelComponent;
/**
* Basic implementation of a vehicle. A vehicle has an unique number.
*/
public class VehicleModel
extends
AbstractModelComponent
implements
DrawnModelComponent {
/**
* The name/key of the 'bounding box' property.
*/
public static final String BOUNDING_BOX = "BoundingBox";
/**
* The name/key of the 'energyLevelThresholdSet' property.
*/
public static final String ENERGY_LEVEL_THRESHOLD_SET = "EnergyLevelThresholdSet";
/**
* The name/key of the 'loaded' property.
*/
public static final String LOADED = "Loaded";
/**
* The name/key of the 'state' property.
*/
public static final String STATE = "State";
/**
* The name/key of the 'proc state' property.
*/
public static final String PROC_STATE = "ProcState";
/**
* The name/key of the 'integration level' property.
*/
public static final String INTEGRATION_LEVEL = "IntegrationLevel";
/**
* The name/key of the 'paused' property.
*/
public static final String PAUSED = "Paused";
/**
* The name/key of the 'point' property.
*/
public static final String POINT = "Point";
/**
* The name/key of the 'next point' property.
*/
public static final String NEXT_POINT = "NextPoint";
/**
* The name/key of the 'precise position' property.
*/
public static final String PRECISE_POSITION = "PrecisePosition";
/**
* The name/key of the 'orientation angle' property.
*/
public static final String ORIENTATION_ANGLE = "OrientationAngle";
/**
* The name/key of the 'energy level' property.
*/
public static final String ENERGY_LEVEL = "EnergyLevel";
/**
* The name/key of the 'current transport order name' property.
*/
public static final String CURRENT_TRANSPORT_ORDER_NAME = "currentTransportOrderName";
/**
* The name/key of the 'current order sequence name' property.
*/
public static final String CURRENT_SEQUENCE_NAME = "currentOrderSequenceName";
/**
* The name/key of the 'maximum velocity' property.
*/
public static final String MAXIMUM_VELOCITY = "MaximumVelocity";
/**
* The name/key of the 'maximum reverse velocity' property.
*/
public static final String MAXIMUM_REVERSE_VELOCITY = "MaximumReverseVelocity";
/**
* The name/key of the 'allowed order types' property.
*/
public static final String ALLOWED_ORDER_TYPES = "AllowedOrderTypes";
/**
* The name/key of the 'allocated resources' property.
*/
public static final String ALLOCATED_RESOURCES = "AllocatedResources";
/**
* The name/key of the 'claimed resources' property.
*/
public static final String CLAIMED_RESOURCES = "ClaimedResources";
/**
* The name/key of the 'envelope key' property.
*/
public static final String ENVELOPE_KEY = "EnvelopeKey";
/**
* This class's resource bundle.
*/
private final ResourceBundle bundle = ResourceBundle.getBundle(BUNDLE_PATH);
/**
* The point the vehicle currently remains on.
*/
private PointModel fPoint;
/**
* The point the vehicle will drive to next.
*/
private PointModel fNextPoint;
/**
* The current position (x,y,z) the vehicle driver reported.
*/
private Triple fPrecisePosition;
/**
* The current vehicle orientation.
*/
private double fOrientationAngle;
/**
* The state of the drive order.
*/
private TransportOrder.State fDriveOrderState;
/**
* Flag whether the drive order will be displayed.
*/
private boolean fDisplayDriveOrders;
/**
* Flag whether the view follows this vehicle as it drives.
*/
private boolean fViewFollows;
/**
* A reference to the vehicle.
*/
private Vehicle vehicle = new Vehicle("Dummy");
/**
* The current or next path in a drive order.
*/
private PathModel currentDriveOrderPath;
/**
* The destination for the current drive order.
*/
private PointModel driveOrderDestination;
/**
* Creates a new instance.
*/
@SuppressWarnings("this-escape")
public VehicleModel() {
createProperties();
}
/**
* Sets the point the vehicle currently remains on.
*
* @param point The point.
*/
public void placeOnPoint(PointModel point) {
fPoint = point;
}
/**
* Returns the point the vehicle currently remains on.
*
* @return The current point.
*/
public PointModel getPoint() {
return fPoint;
}
/**
* Returns the point the vehicle will drive to next.
*
* @return The next point.
*/
public PointModel getNextPoint() {
return fNextPoint;
}
/**
* Sets the point the vehicle will drive to next.
*
* @param point The next point.
*/
public void setNextPoint(PointModel point) {
fNextPoint = point;
}
/**
* Returns the current position.
*
* @return The position (x,y,z).
*/
public Triple getPrecisePosition() {
return fPrecisePosition;
}
/**
* Sets the current position.
*
* @param position A triple containing the position.
*/
public void setPrecisePosition(Triple position) {
fPrecisePosition = position;
}
/**
* Returns the current orientation angle.
*
* @return The orientation angle.
*/
public double getOrientationAngle() {
return fOrientationAngle;
}
/**
* Sets the orientation angle.
*
* @param angle The new angle.
*/
public void setOrientationAngle(double angle) {
fOrientationAngle = angle;
}
/**
* Returns the color the drive order is painted in.
*
* @return The color.
*/
public Color getDriveOrderColor() {
return getPropertyRouteColor().getColor();
}
/**
* Returns the state of the drive order.
*
* @return The state.
*/
public TransportOrder.State getDriveOrderState() {
return fDriveOrderState;
}
/**
* Sets the drive order state.
*
* @param driveOrderState The new state.
*/
public void setDriveOrderState(TransportOrder.State driveOrderState) {
fDriveOrderState = driveOrderState;
}
/**
* Sets whether the drive order shall be displayed or not.
*
* @param state true to display the drive order.
*/
public void setDisplayDriveOrders(boolean state) {
fDisplayDriveOrders = state;
}
/**
* Returns whether the drive order is displayed.
*
* @return true, if it displayed.
*/
public boolean getDisplayDriveOrders() {
return fDisplayDriveOrders;
}
/**
* Returns whether the view follows this vehicle as it drives.
*
* @return true if it follows.
*/
public boolean isViewFollows() {
return fViewFollows;
}
/**
* Sets whether the view follows this vehicle as it drives.
*
* @param viewFollows true if it follows.
*/
public void setViewFollows(boolean viewFollows) {
this.fViewFollows = viewFollows;
}
/**
* Returns the kernel object.
*
* @return The kernel object.
*/
@Nonnull
public Vehicle getVehicle() {
return vehicle;
}
/**
* Sets the kernel object.
*
* @param vehicle The kernel object.
*/
public void setVehicle(
@Nonnull
Vehicle vehicle
) {
this.vehicle = requireNonNull(vehicle, "vehicle");
}
/**
* Returns the current path for the drive order.
*
* @return Path for the drive order.
*/
public PathModel getCurrentDriveOrderPath() {
return currentDriveOrderPath;
}
/**
* Sets the current drive order path.
*
* @param path the current drive order path.
*/
public void setCurrentDriveOrderPath(PathModel path) {
currentDriveOrderPath = path;
}
/**
* Returns the destination for the current drive order.
*
* @return the destination for the current drive order.
*/
public PointModel getDriveOrderDestination() {
return driveOrderDestination;
}
/**
* Sets the destination for the current drive order.
*
* @param driveOrderDestination destination for the current drive order.
*/
public void setDriveOrderDestination(PointModel driveOrderDestination) {
this.driveOrderDestination = driveOrderDestination;
}
/**
* Checks whether the last reported processing state of the vehicle would allow it to be assigned
* an order.
*
* @return {@code true} if, and only if, the vehicle's integration level is TO_BE_UTILIZED.
*/
public boolean isAvailableForOrder() {
return vehicle != null
&& vehicle.getIntegrationLevel() == Vehicle.IntegrationLevel.TO_BE_UTILIZED;
}
@Override // AbstractModelComponent
public String getTreeViewName() {
String treeViewName = getDescription() + " " + getName();
return treeViewName;
}
@Override // AbstractModelComponent
public String getDescription() {
return bundle.getString("vehicleModel.description");
}
public BoundingBoxProperty getPropertyBoundingBox() {
return (BoundingBoxProperty) getProperty(BOUNDING_BOX);
}
public ColorProperty getPropertyRouteColor() {
return (ColorProperty) getProperty(ElementPropKeys.VEHICLE_ROUTE_COLOR);
}
public SpeedProperty getPropertyMaxVelocity() {
return (SpeedProperty) getProperty(MAXIMUM_VELOCITY);
}
public SpeedProperty getPropertyMaxReverseVelocity() {
return (SpeedProperty) getProperty(MAXIMUM_REVERSE_VELOCITY);
}
public EnergyLevelThresholdSetProperty getPropertyEnergyLevelThresholdSet() {
return (EnergyLevelThresholdSetProperty) getProperty(ENERGY_LEVEL_THRESHOLD_SET);
}
public PercentProperty getPropertyEnergyLevel() {
return (PercentProperty) getProperty(ENERGY_LEVEL);
}
@SuppressWarnings("unchecked")
public SelectionProperty getPropertyState() {
return (SelectionProperty) getProperty(STATE);
}
@SuppressWarnings("unchecked")
public SelectionProperty getPropertyProcState() {
return (SelectionProperty) getProperty(PROC_STATE);
}
@SuppressWarnings("unchecked")
public SelectionProperty getPropertyIntegrationLevel() {
return (SelectionProperty) getProperty(INTEGRATION_LEVEL);
}
public BooleanProperty getPropertyPaused() {
return (BooleanProperty) getProperty(PAUSED);
}
public AngleProperty getPropertyOrientationAngle() {
return (AngleProperty) getProperty(ORIENTATION_ANGLE);
}
public TripleProperty getPropertyPrecisePosition() {
return (TripleProperty) getProperty(PRECISE_POSITION);
}
public StringProperty getPropertyPoint() {
return (StringProperty) getProperty(POINT);
}
public StringProperty getPropertyNextPoint() {
return (StringProperty) getProperty(NEXT_POINT);
}
public BooleanProperty getPropertyLoaded() {
return (BooleanProperty) getProperty(LOADED);
}
public StringProperty getPropertyCurrentOrderName() {
return (StringProperty) getProperty(CURRENT_TRANSPORT_ORDER_NAME);
}
public StringProperty getPropertyCurrentSequenceName() {
return (StringProperty) getProperty(CURRENT_SEQUENCE_NAME);
}
public OrderTypesProperty getPropertyAllowedOrderTypes() {
return (OrderTypesProperty) getProperty(ALLOWED_ORDER_TYPES);
}
public StringProperty getPropertyEnvelopeKey() {
return (StringProperty) getProperty(ENVELOPE_KEY);
}
public KeyValueSetProperty getPropertyMiscellaneous() {
return (KeyValueSetProperty) getProperty(MISCELLANEOUS);
}
public ResourceProperty getAllocatedResources() {
return (ResourceProperty) getProperty(ALLOCATED_RESOURCES);
}
public ResourceProperty getClaimedResources() {
return (ResourceProperty) getProperty(CLAIMED_RESOURCES);
}
private void createProperties() {
StringProperty pName = new StringProperty(this);
pName.setDescription(bundle.getString("vehicleModel.property_name.description"));
pName.setHelptext(bundle.getString("vehicleModel.property_name.helptext"));
setProperty(NAME, pName);
BoundingBoxProperty pBoundingBox = new BoundingBoxProperty(
this,
new BoundingBoxModel(1000, 1000, 1000, new Couple(0, 0))
);
pBoundingBox.setDescription(bundle.getString("vehicleModel.property_boundingBox.description"));
pBoundingBox.setHelptext(bundle.getString("vehicleModel.property_boundingBox.helptext"));
setProperty(BOUNDING_BOX, pBoundingBox);
ColorProperty pColor = new ColorProperty(this, Color.red);
pColor.setDescription(bundle.getString("vehicleModel.property_routeColor.description"));
pColor.setHelptext(bundle.getString("vehicleModel.property_routeColor.helptext"));
setProperty(ElementPropKeys.VEHICLE_ROUTE_COLOR, pColor);
SpeedProperty pMaximumVelocity = new SpeedProperty(this, 1000, SpeedProperty.Unit.MM_S);
pMaximumVelocity.setDescription(
bundle.getString("vehicleModel.property_maximumVelocity.description")
);
pMaximumVelocity.setHelptext(
bundle.getString("vehicleModel.property_maximumVelocity.helptext")
);
setProperty(MAXIMUM_VELOCITY, pMaximumVelocity);
SpeedProperty pMaximumReverseVelocity = new SpeedProperty(this, 1000, SpeedProperty.Unit.MM_S);
pMaximumReverseVelocity.setDescription(
bundle.getString("vehicleModel.property_maximumReverseVelocity.description")
);
pMaximumReverseVelocity.setHelptext(
bundle.getString("vehicleModel.property_maximumReverseVelocity.helptext")
);
setProperty(MAXIMUM_REVERSE_VELOCITY, pMaximumReverseVelocity);
EnergyLevelThresholdSetProperty pEnergyLevelThresholdSet = new EnergyLevelThresholdSetProperty(
this, new EnergyLevelThresholdSetModel(30, 90, 40, 95)
);
pEnergyLevelThresholdSet.setDescription(
bundle.getString("vehicleModel.property_energyLevelThresholdSet.description")
);
pEnergyLevelThresholdSet.setHelptext(
bundle.getString("vehicleModel.property_energyLevelThresholdSet.helptext")
);
pEnergyLevelThresholdSet.setModellingEditable(true);
pEnergyLevelThresholdSet.setOperatingEditable(true);
setProperty(ENERGY_LEVEL_THRESHOLD_SET, pEnergyLevelThresholdSet);
PercentProperty pEnergyLevel = new PercentProperty(this, true);
pEnergyLevel.setDescription(bundle.getString("vehicleModel.property_energyLevel.description"));
pEnergyLevel.setHelptext(bundle.getString("vehicleModel.property_energyLevel.helptext"));
pEnergyLevel.setModellingEditable(false);
setProperty(ENERGY_LEVEL, pEnergyLevel);
BooleanProperty pLoaded = new BooleanProperty(this);
pLoaded.setDescription(bundle.getString("vehicleModel.property_loaded.description"));
pLoaded.setHelptext(bundle.getString("vehicleModel.property_loaded.helptext"));
pLoaded.setModellingEditable(false);
setProperty(LOADED, pLoaded);
SelectionProperty pState
= new SelectionProperty<>(
this,
Arrays.asList(Vehicle.State.values()),
Vehicle.State.UNKNOWN
);
pState.setDescription(bundle.getString("vehicleModel.property_state.description"));
pState.setHelptext(bundle.getString("vehicleModel.property_state.helptext"));
pState.setModellingEditable(false);
setProperty(STATE, pState);
SelectionProperty pProcState
= new SelectionProperty<>(
this,
Arrays.asList(Vehicle.ProcState.values()),
Vehicle.ProcState.IDLE
);
pProcState.setDescription(
bundle.getString("vehicleModel.property_processingState.description")
);
pProcState.setHelptext(bundle.getString("vehicleModel.property_processingState.helptext"));
pProcState.setModellingEditable(false);
setProperty(PROC_STATE, pProcState);
SelectionProperty pIntegrationLevel
= new SelectionProperty<>(
this,
Arrays.asList(Vehicle.IntegrationLevel.values()),
Vehicle.IntegrationLevel.TO_BE_RESPECTED
);
pIntegrationLevel.setDescription(
bundle.getString("vehicleModel.property_integrationLevel.description")
);
pIntegrationLevel.setHelptext(
bundle.getString("vehicleModel.property_integrationLevel.helptext")
);
pIntegrationLevel.setModellingEditable(false);
setProperty(INTEGRATION_LEVEL, pIntegrationLevel);
BooleanProperty pPaused = new BooleanProperty(this);
pPaused.setDescription(bundle.getString("vehicleModel.property_paused.description"));
pPaused.setHelptext(bundle.getString("vehicleModel.property_paused.helptext"));
pPaused.setModellingEditable(false);
pPaused.setOperatingEditable(true);
setProperty(PAUSED, pPaused);
StringProperty pPoint = new StringProperty(this);
pPoint.setDescription(bundle.getString("vehicleModel.property_currentPoint.description"));
pPoint.setHelptext(bundle.getString("vehicleModel.property_currentPoint.helptext"));
pPoint.setModellingEditable(false);
setProperty(POINT, pPoint);
StringProperty pNextPoint = new StringProperty(this);
pNextPoint.setDescription(bundle.getString("vehicleModel.property_nextPoint.description"));
pNextPoint.setHelptext(bundle.getString("vehicleModel.property_nextPoint.helptext"));
pNextPoint.setModellingEditable(false);
setProperty(NEXT_POINT, pNextPoint);
TripleProperty pPrecisePosition = new TripleProperty(this);
pPrecisePosition.setDescription(
bundle.getString("vehicleModel.property_precisePosition.description")
);
pPrecisePosition.setHelptext(
bundle.getString("vehicleModel.property_precisePosition.helptext")
);
pPrecisePosition.setModellingEditable(false);
setProperty(PRECISE_POSITION, pPrecisePosition);
AngleProperty pOrientationAngle = new AngleProperty(this);
pOrientationAngle.setDescription(
bundle.getString("vehicleModel.property_orientationAngle.description")
);
pOrientationAngle.setHelptext(
bundle.getString("vehicleModel.property_orientationAngle.helptext")
);
pOrientationAngle.setModellingEditable(false);
setProperty(ORIENTATION_ANGLE, pOrientationAngle);
StringProperty pEnvelopeKey = new StringProperty(this);
pEnvelopeKey.setDescription(bundle.getString("vehicleModel.property_envelopeKey.description"));
pEnvelopeKey.setHelptext(bundle.getString("vehicleModel.property_envelopeKey.helptext"));
pEnvelopeKey.setModellingEditable(true);
pEnvelopeKey.setOperatingEditable(false);
setProperty(ENVELOPE_KEY, pEnvelopeKey);
KeyValueSetProperty pMiscellaneous = new KeyValueSetProperty(this);
pMiscellaneous.setDescription(
bundle.getString("vehicleModel.property_miscellaneous.description")
);
pMiscellaneous.setHelptext(bundle.getString("vehicleModel.property_miscellaneous.helptext"));
pMiscellaneous.setOperatingEditable(true);
setProperty(MISCELLANEOUS, pMiscellaneous);
StringProperty curTransportOrderName = new StringProperty(this);
curTransportOrderName.setDescription(
bundle.getString("vehicleModel.property_currentTransportOrder.description")
);
curTransportOrderName.setHelptext(
bundle.getString("vehicleModel.property_currentTransportOrder.helptext")
);
curTransportOrderName.setModellingEditable(false);
setProperty(CURRENT_TRANSPORT_ORDER_NAME, curTransportOrderName);
StringProperty curOrderSequenceName = new StringProperty(this);
curOrderSequenceName.setDescription(
bundle.getString("vehicleModel.property_currentOrderSequence.description")
);
curOrderSequenceName.setHelptext(
bundle.getString("vehicleModel.property_currentOrderSequence.helptext")
);
curOrderSequenceName.setModellingEditable(false);
setProperty(CURRENT_SEQUENCE_NAME, curOrderSequenceName);
OrderTypesProperty pAllowedOrderTypes = new OrderTypesProperty(this);
pAllowedOrderTypes.setDescription(
bundle.getString("vehicleModel.property_allowedOrderTypes.description")
);
pAllowedOrderTypes.setHelptext(
bundle.getString("vehicleModel.property_allowedOrderTypes.helptext")
);
pAllowedOrderTypes.setModellingEditable(false);
pAllowedOrderTypes.setOperatingEditable(true);
setProperty(ALLOWED_ORDER_TYPES, pAllowedOrderTypes);
ResourceProperty allocatedResources = new ResourceProperty(this);
allocatedResources.setDescription(
bundle.getString("vehicleModel.property_allocatedResources.description")
);
allocatedResources.setHelptext(
bundle.getString("vehicleModel.property_allocatedResources.helptext")
);
allocatedResources.setModellingEditable(false);
allocatedResources.setOperatingEditable(true);
setProperty(ALLOCATED_RESOURCES, allocatedResources);
ResourceProperty claimedResources = new ResourceProperty(this);
claimedResources.setDescription(
bundle.getString("vehicleModel.property_claimedResources.description")
);
claimedResources.setHelptext(
bundle.getString("vehicleModel.property_claimedResources.helptext")
);
claimedResources.setModellingEditable(false);
claimedResources.setOperatingEditable(true);
setProperty(CLAIMED_RESOURCES, claimedResources);
}
}
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