Package org.opentcs.components.kernel.services

Interface VehicleService

All Superinterfaces:

TCSObjectService

All Known Subinterfaces:

InternalVehicleService

public interface VehicleService
extends TCSObjectService

Provides methods concerning Vehicles.

Method Summary

Modifier and Type	Method	Description
void	attachCommAdapter(TCSObjectReference<Vehicle> ref, VehicleCommAdapterDescription description)	Attaches the described comm adapter to the referenced vehicle.
void	disableCommAdapter(TCSObjectReference<Vehicle> ref)	Disables the comm adapter attached to the referenced vehicle.
void	enableCommAdapter(TCSObjectReference<Vehicle> ref)	Enables the comm adapter attached to the referenced vehicle.
VehicleAttachmentInformation	fetchAttachmentInformation(TCSObjectReference<Vehicle> ref)	Returns attachment information for the referenced vehicle.
VehicleProcessModelTO	fetchProcessModel(TCSObjectReference<Vehicle> ref)	Returns the process model for the referenced vehicle.
void	sendCommAdapterCommand(TCSObjectReference<Vehicle> ref, AdapterCommand command)	Sends an AdapterCommand to the comm adapter attached to the referenced vehicle.
void	sendCommAdapterMessage(TCSObjectReference<Vehicle> ref, java.lang.Object message)	Sends a message to the communication adapter associated with the referenced vehicle.
void	updateVehicleAllowedOrderTypes(TCSObjectReference<Vehicle> ref, java.util.Set<java.lang.String> allowedOrderTypes)	Updates the types of transport orders a vehicle is allowed to process.
default void	updateVehicleEnvelopeKey(TCSObjectReference<Vehicle> ref, java.lang.String envelopeKey)	Updates the vehicle's envelope key.
void	updateVehicleIntegrationLevel(TCSObjectReference<Vehicle> ref, Vehicle.IntegrationLevel integrationLevel)	Updates the vehicle's integration level.
void	updateVehiclePaused(TCSObjectReference<Vehicle> ref, boolean paused)	Updates the vehicle's paused state.

Methods inherited from interface org.opentcs.components.kernel.services.TCSObjectService

appendObjectHistoryEntry, fetchObject, fetchObject, fetchObjects, fetchObjects, updateObjectProperty

Method Details

attachCommAdapter

void attachCommAdapter(TCSObjectReference<Vehicle> ref, VehicleCommAdapterDescription description) throws ObjectUnknownException, KernelRuntimeException

Attaches the described comm adapter to the referenced vehicle.

Parameters:

ref - A reference to the vehicle.

description - The description for the comm adapter to be attached.

Throws:

ObjectUnknownException - If the referenced vehicle does not exist.

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

disableCommAdapter

void disableCommAdapter(TCSObjectReference<Vehicle> ref) throws ObjectUnknownException, KernelRuntimeException

Disables the comm adapter attached to the referenced vehicle.

Parameters:

ref - A reference to the vehicle the comm adapter is attached to.

Throws:

ObjectUnknownException - If the referenced vehicle does not exist.

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

enableCommAdapter

void enableCommAdapter(TCSObjectReference<Vehicle> ref) throws ObjectUnknownException, KernelRuntimeException

Enables the comm adapter attached to the referenced vehicle.

Parameters:

ref - A reference to the vehicle the comm adapter is attached to.

Throws:

ObjectUnknownException - If the referenced vehicle does not exist.

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

fetchAttachmentInformation

VehicleAttachmentInformation fetchAttachmentInformation(TCSObjectReference<Vehicle> ref) throws ObjectUnknownException, KernelRuntimeException

Returns attachment information for the referenced vehicle.

Parameters:

ref - A reference to the vehicle.

Returns:

The attachment information.

Throws:

ObjectUnknownException - If the referenced vehicle does not exist.

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

fetchProcessModel

VehicleProcessModelTO fetchProcessModel(TCSObjectReference<Vehicle> ref) throws ObjectUnknownException, KernelRuntimeException

Returns the process model for the referenced vehicle.

Parameters:

ref - A reference to the vehicle.

Returns:

The process model.

Throws:

ObjectUnknownException - If the referenced vehicle does not exist.

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

sendCommAdapterCommand

void sendCommAdapterCommand(TCSObjectReference<Vehicle> ref, AdapterCommand command) throws ObjectUnknownException, KernelRuntimeException

Sends an AdapterCommand to the comm adapter attached to the referenced vehicle.

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 vehicle.

command - The adapter command to send.

Throws:

ObjectUnknownException - If the referenced vehicle does not exist.

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

See Also:

VehicleCommAdapter.execute(AdapterCommand)

sendCommAdapterMessage

void sendCommAdapterMessage(TCSObjectReference<Vehicle> ref, java.lang.Object message) throws ObjectUnknownException, KernelRuntimeException

Sends a message to the communication adapter associated with the referenced vehicle. This method provides a generic one-way communication channel to the communication adapter of a vehicle. Note that there is no return value and no guarantee that the communication adapter will understand the message; clients cannot even know which communication adapter is attached to a vehicle, so it's entirely possible that the communication adapter receiving the message does not understand it.

Parameters:

ref - The vehicle whose communication adapter shall receive the message.

message - The message to be delivered.

Throws:

ObjectUnknownException - If the referenced vehicle does not exist.

KernelRuntimeException - If the calling client is not allowed to execute this method.

See Also:

VehicleCommAdapter.processMessage(java.lang.Object)

updateVehicleIntegrationLevel

void updateVehicleIntegrationLevel(TCSObjectReference<Vehicle> ref, Vehicle.IntegrationLevel integrationLevel) throws ObjectUnknownException, KernelRuntimeException, java.lang.IllegalArgumentException

Updates the vehicle's integration level.

Parameters:

ref - A reference to the vehicle.

integrationLevel - The vehicle's new integration level.

Throws:

ObjectUnknownException - If the referenced vehicle does not exist.

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

java.lang.IllegalArgumentException - If changing the vehicle's integration level to integrationLevel is not allowed from its current integration level.

updateVehiclePaused

void updateVehiclePaused(TCSObjectReference<Vehicle> ref, boolean paused) throws ObjectUnknownException, KernelRuntimeException

Updates the vehicle's paused state.

Parameters:

ref - A refrence to the vehicle.

paused - The vehicle's new paused state.

Throws:

ObjectUnknownException - If the referenced vehicle does not exist.

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

updateVehicleAllowedOrderTypes

void updateVehicleAllowedOrderTypes(TCSObjectReference<Vehicle> ref, java.util.Set<java.lang.String> allowedOrderTypes) throws ObjectUnknownException, KernelRuntimeException

Updates the types of transport orders a vehicle is allowed to process.

Parameters:

ref - A reference to the vehicle to be modified.

allowedOrderTypes - A set of transport order types.

Throws:

ObjectUnknownException - If the referenced vehicle does not exist.

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

updateVehicleEnvelopeKey

@ScheduledApiChange(when="6.0", details="Default implementation will be removed.") default void updateVehicleEnvelopeKey(TCSObjectReference<Vehicle> ref, java.lang.String envelopeKey) throws ObjectUnknownException, java.lang.IllegalArgumentException, KernelRuntimeException

Updates the vehicle's envelope key.

Parameters:

ref - A reference to the vehicle.

envelopeKey - The vehicle's new envelope key.

Throws:

ObjectUnknownException - If the referenced vehicle does not exist.

java.lang.IllegalArgumentException - If the referenced vehicle is processing a transport order or is currently claiming/allocating resources.

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