Package org.opentcs.components.kernel.services

Interface RouterService

public interface RouterService

Provides methods concerning the Router.

Method Summary

Modifier and Type	Method	Description
java.util.Map<TCSObjectReference<Point>,Route>	computeRoutes(TCSObjectReference<Vehicle> vehicleRef, TCSObjectReference<Point> sourcePointRef, java.util.Set<TCSObjectReference<Point>> destinationPointRefs)	Deprecated. Use computeRoutes(org.opentcs.data.TCSObjectReference, org.opentcs.data.TCSObjectReference, java.util.Set, java.util.Set) instead.
java.util.Map<TCSObjectReference<Point>,Route>	computeRoutes(TCSObjectReference<Vehicle> vehicleRef, TCSObjectReference<Point> sourcePointRef, java.util.Set<TCSObjectReference<Point>> destinationPointRefs, java.util.Set<TCSResourceReference<?>> resourcesToAvoid)	Computes routes for the given vehicle from a source point to a set of destination points.
void	updatePathLock(TCSObjectReference<Path> ref, boolean locked)	Deprecated. Use PlantModelService.updatePathLock(org.opentcs.data.TCSObjectReference, boolean) instead.
void	updateRoutingTopology()	Deprecated. Use updateRoutingTopology(java.util.Set) instead.
default void	updateRoutingTopology(java.util.Set<TCSObjectReference<Path>> refs)	Notifies the router that the topology has changed with respect to the given paths and needs to be re-evaluated.

Method Details

updatePathLock

@Deprecated @ScheduledApiChange(when="6.0", details="Will be removed.") void updatePathLock(TCSObjectReference<Path> ref, boolean locked) throws ObjectUnknownException, KernelRuntimeException

Deprecated.

Use PlantModelService.updatePathLock(org.opentcs.data.TCSObjectReference, boolean) instead.

Updates a path's lock state.

If called within the kernel application, this method is supposed to be called only on the kernel executor thread.

Parameters:

ref - A reference to the path to be updated.

locked - Indicates whether the path is to be locked (true) or unlocked (false).

Throws:

ObjectUnknownException - If the referenced path does not exist.

KernelRuntimeException - In case there is an exception executing this method.

updateRoutingTopology

@Deprecated @ScheduledApiChange(when="6.0", details="Will be removed.") void updateRoutingTopology() throws KernelRuntimeException

Deprecated.

Use updateRoutingTopology(java.util.Set) instead.

Notifies the router that the topology has changed in a significant way 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.

Throws:

KernelRuntimeException - In case there is an exception executing this method.

updateRoutingTopology

@ScheduledApiChange(when="6.0", details="Default implementation will be removed.") default void updateRoutingTopology(java.util.Set<TCSObjectReference<Path>> refs) throws KernelRuntimeException

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.

Parameters:

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.

computeRoutes

@Deprecated @ScheduledApiChange(when="6.0", details="Will be removed.") java.util.Map<TCSObjectReference<Point>,Route> computeRoutes(TCSObjectReference<Vehicle> vehicleRef, TCSObjectReference<Point> sourcePointRef, java.util.Set<TCSObjectReference<Point>> destinationPointRefs) throws KernelRuntimeException

Deprecated.

Use computeRoutes(org.opentcs.data.TCSObjectReference, org.opentcs.data.TCSObjectReference, java.util.Set, java.util.Set) instead.

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.

Parameters:

vehicleRef - A reference to the vehicle to calculate the routes for.

sourcePointRef - A reference to the source point.

destinationPointRefs - A set of references to the destination points.

Returns:

A map of destination points to the corresponding computed routes or null, if no route could be determined for a specific destination point.

Throws:

KernelRuntimeException - In case there is an exception executing this method.

computeRoutes

java.util.Map<TCSObjectReference<Point>,Route> computeRoutes(TCSObjectReference<Vehicle> vehicleRef, TCSObjectReference<Point> sourcePointRef, java.util.Set<TCSObjectReference<Point>> destinationPointRefs, java.util.Set<TCSResourceReference<?>> resourcesToAvoid) 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.

Parameters:

vehicleRef - A reference to the vehicle to calculate the routes for.

sourcePointRef - A reference to the source point.

destinationPointRefs - A set of references to the destination points.

resourcesToAvoid - A set of references to resources that are to be avoided.

Returns:

A map of destination points to the corresponding computed routes or null, if no route could be determined for a specific destination point.

Throws:

KernelRuntimeException - In case there is an exception executing this method.