Package org.opentcs.data.order

Class TransportOrder

java.lang.Object
org.opentcs.data.TCSObject<TransportOrder>
org.opentcs.data.order.TransportOrder
All Implemented Interfaces:
java.io.Serializable
public class TransportOrder
extends TCSObject<TransportOrder>
implements java.io.Serializable
Represents a sequence of movements and operations that are to be executed by a Vehicle.

A TransportOrder basically encapsulates a list of DriveOrder instances.

Transport orders may depend on other transport orders in the systems, which means they may not be processed before the orders they depend on have been processed.

See Also:
Serialized Form

  • Field Details

  • Constructor Details

    • TransportOrder

      public TransportOrder​(java.lang.String name, java.util.List<DriveOrder> driveOrders)
      Creates a new TransportOrder.
      Parameters:
      name - This transport order's name.
      driveOrders - A list of drive orders to be processed when processing this transport order.

  • Method Details

    • withProperty

      public TransportOrder withProperty​(java.lang.String key, java.lang.String value)
      Description copied from class: TCSObject
      Creates a copy of this object, with the given property integrated.
      Specified by:
      withProperty in class TCSObject<TransportOrder>
      Parameters:
      key - The key of the property to be changed.
      value - The new value of the property, or null, if the property is to be removed.
      Returns:
      A copy of this object, with the given property integrated.

    • withProperties

      public TransportOrder withProperties​(java.util.Map<java.lang.String,​java.lang.String> properties)
      Description copied from class: TCSObject
      Creates a copy of this object, with the given properties.
      Specified by:
      withProperties in class TCSObject<TransportOrder>
      Parameters:
      properties - The properties.
      Returns:
      A copy of this object, with the given properties.

    • withHistoryEntry

      public TransportOrder withHistoryEntry​(ObjectHistory.Entry entry)
      Description copied from class: TCSObject
      Creates a copy of this object, with the given history entry integrated.
      Specified by:
      withHistoryEntry in class TCSObject<TransportOrder>
      Parameters:
      entry - The history entry to be integrated.
      Returns:
      A copy of this object, with the given history entry integrated.

    • withHistory

      public TransportOrder withHistory​(ObjectHistory history)
      Description copied from class: TCSObject
      Creates a copy of this object, with the given history.
      Specified by:
      withHistory in class TCSObject<TransportOrder>
      Parameters:
      history - The history.
      Returns:
      A copy of this object, with the given history.

    • getType

      public java.lang.String getType()
      Retruns this transport order's type.
      Returns:
      This transport order's type.

    • withType

      public TransportOrder withType​(java.lang.String type)
      Creates a copy of this obejct, with the given type.
      Parameters:
      type - The tpye to be set in the copy.
      Returns:
      A copy of this object, differing in the given value.

    • getState

      public TransportOrder.State getState()
      Returns this transport order's current state.
      Returns:
      This transport order's current state.

    • hasState

      public boolean hasState​(TransportOrder.State otherState)
      Checks if this transport order's current state is equal to the given one.
      Parameters:
      otherState - The state to compare to this transport order's one.
      Returns:
      true if, and only if, the given state is equal to this transport order's one.

    • withState

      public TransportOrder withState​(@Nonnull TransportOrder.State state)
      Creates a copy of this object, with the given state.
      Parameters:
      state - The value to be set in the copy.
      Returns:
      A copy of this object, differing in the given value.

    • getCreationTime

      public java.time.Instant getCreationTime()
      Returns this transport order's creation time.
      Returns:
      This transport order's creation time.

    • withCreationTime

      public TransportOrder withCreationTime​(java.time.Instant creationTime)
      Creates a copy of this object, with the given creation time.
      Parameters:
      creationTime - The value to be set in the copy.
      Returns:
      A copy of this object, differing in the given value.

    • getDeadline

      public java.time.Instant getDeadline()
      Returns this transport order's deadline. If the value of transport order's deadline was not changed, the initial value Instant.MAX is returned.
      Returns:
      This transport order's deadline or the initial deadline value.Instant.MAX, if the deadline was not changed.

    • withDeadline

      public TransportOrder withDeadline​(java.time.Instant deadline)
      Creates a copy of this object, with the given deadline.
      Parameters:
      deadline - The value to be set in the copy.
      Returns:
      A copy of this object, differing in the given value.

    • getFinishedTime

      public java.time.Instant getFinishedTime()
      Returns the point of time at which this transport order was finished. If the transport order has not been finished, yet, Instant.MAX is returned.
      Returns:
      The point of time at which this transport order was finished, or Instant.MAX, if the transport order has not been finished, yet.

    • withFinishedTime

      public TransportOrder withFinishedTime​(java.time.Instant finishedTime)
      Creates a copy of this object, with the given finished time.
      Parameters:
      finishedTime - The value to be set in the copy.
      Returns:
      A copy of this object, differing in the given value.

    • getIntendedVehicle

      @Nullable public TCSObjectReference<Vehicle> getIntendedVehicle()
      Returns a reference to the vehicle that is intended to process this transport order.
      Returns:
      A reference to the vehicle that is intended to process this transport order. If this order is free to be processed by any vehicle, null is returned.

    • withIntendedVehicle

      public TransportOrder withIntendedVehicle​(@Nullable TCSObjectReference<Vehicle> intendedVehicle)
      Creates a copy of this object, with the given intended vehicle.
      Parameters:
      intendedVehicle - The value to be set in the copy.
      Returns:
      A copy of this object, differing in the given value.

    • getProcessingVehicle

      @Nullable public TCSObjectReference<Vehicle> getProcessingVehicle()
      Returns a reference to the vehicle currently processing this transport order.
      Returns:
      A reference to the vehicle currently processing this transport order. If this transport order is not currently being processed, null is returned.

    • withProcessingVehicle

      public TransportOrder withProcessingVehicle​(@Nullable TCSObjectReference<Vehicle> processingVehicle)
      Creates a copy of this object, with the given processing vehicle.
      Parameters:
      processingVehicle - The value to be set in the copy.
      Returns:
      A copy of this object, differing in the given value.

    • getDependencies

      public java.util.Set<TCSObjectReference<TransportOrder>> getDependencies()
      Returns the set of transport orders this order depends on.
      Returns:
      The set of transport orders this order depends on.

    • withDependencies

      public TransportOrder withDependencies​(@Nonnull java.util.Set<TCSObjectReference<TransportOrder>> dependencies)
      Creates a copy of this object, with the given dependencies.
      Parameters:
      dependencies - The value to be set in the copy.
      Returns:
      A copy of this object, differing in the given value.

    • getPastDriveOrders

      @Nonnull public java.util.List<DriveOrder> getPastDriveOrders()
      Returns a list of DriveOrders that have been processed already.
      Returns:
      A list of DriveOrders that have been processed already.

    • getFutureDriveOrders

      @Nonnull public java.util.List<DriveOrder> getFutureDriveOrders()
      Returns a list of DriveOrders that still need to be processed.
      Returns:
      A list of DriveOrders that still need to be processed.

    • withDriveOrders

      public TransportOrder withDriveOrders​(@Nonnull java.util.List<DriveOrder> driveOrders)
      Creates a copy of this object, with the given drive orders.
      Parameters:
      driveOrders - The value to be set in the copy.
      Returns:
      A copy of this object, differing in the given value.

    • getCurrentDriveOrder

      @Nullable public DriveOrder getCurrentDriveOrder()
      Returns the current drive order, or null, if no drive order is currently being processed.
      Returns:
      the current drive order, or null, if no drive order is currently being processed.

    • getAllDriveOrders

      @Nonnull public java.util.List<DriveOrder> getAllDriveOrders()
      Returns a list of all drive orders, i.e. the past, current and future drive orders.
      Returns:
      A list of all drive orders, i.e. the past, current and future drive orders. If no drive orders exist, the returned list is empty.

    • getPeripheralReservationToken

      @Nullable public java.lang.String getPeripheralReservationToken()
      Returns an optional token for reserving peripheral devices while processing this transport order.
      Returns:
      An optional token for reserving peripheral devices while processing this transport order.

    • withPeripheralReservationToken

      public TransportOrder withPeripheralReservationToken​(@Nullable java.lang.String peripheralReservationToken)
      Creates a copy of this object, with the given reservation token.
      Parameters:
      peripheralReservationToken - The value to be set in the copy.
      Returns:
      A copy of this object, differing in the given value.

    • getCurrentDriveOrderIndex

      public int getCurrentDriveOrderIndex()
      Returns the index of the currently processed drive order.
      Returns:
      The index of the currently processed drive order.

    • withCurrentDriveOrderIndex

      public TransportOrder withCurrentDriveOrderIndex​(int currentDriveOrderIndex)
      Creates a copy of this object, with the given drive order index.
      Parameters:
      currentDriveOrderIndex - The value to be set in the copy.
      Returns:
      A copy of this object, differing in the given value.

    • getCurrentRouteStepIndex

      public int getCurrentRouteStepIndex()
      Returns the index of the last route step travelled for the currently processed drive order.
      Returns:
      The index of the last route step travelled for the currently processed drive order.

    • withCurrentRouteStepIndex

      public TransportOrder withCurrentRouteStepIndex​(int currentRouteStepIndex)
      Creates a copy of this object, with the given route step index.
      Parameters:
      currentRouteStepIndex - The value to be set in the copy.
      Returns:
      A copy of this object, differing in the given value.

    • withCurrentDriveOrderState

      public TransportOrder withCurrentDriveOrderState​(@Nonnull DriveOrder.State driveOrderState)
      Creates a copy of this object, with the given current drive order state.
      Parameters:
      driveOrderState - The value to be set in the copy.
      Returns:
      A copy of this object, differing in the given value.

    • getWrappingSequence

      @Nullable public TCSObjectReference<OrderSequence> getWrappingSequence()
      Returns the order sequence this order belongs to, or null, if it doesn't belong to any sequence.
      Returns:
      The order sequence this order belongs to, or null, if it doesn't belong to any sequence.

    • withWrappingSequence

      public TransportOrder withWrappingSequence​(@Nullable TCSObjectReference<OrderSequence> wrappingSequence)
      Creates a copy of this object, with the given wrapping sequence.
      Parameters:
      wrappingSequence - The value to be set in the copy.
      Returns:
      A copy of this object, differing in the given value.

    • isDispensable

      public boolean isDispensable()
      Checks if this order is dispensable.
      Returns:
      true if, and only if, this order is dispensable.

    • withDispensable

      public TransportOrder withDispensable​(boolean dispensable)
      Creates a copy of this object, with the given dispensable flag.
      Parameters:
      dispensable - The value to be set in the copy.
      Returns:
      A copy of this object, differing in the given value.

    • toString

      public java.lang.String toString()
      Overrides:
      toString in class TCSObject<TransportOrder>