Package org.opentcs.drivers.vehicle

Interface MovementCommand

@ScheduledApiChange(when="6.0",
                    details="Will become a class with \'with\' methods.")
public interface MovementCommand
A command for moving a step.

  • Field Summary

    Fields 
    Modifier and Type Field Description
    static java.lang.String MOVE_OPERATION
    A constant indicating the vehicle should basically just move to a point without a location associated to it.
    static java.lang.String NO_OPERATION
    A constant indicating there is no operation to be executed after moving.
    static java.lang.String PARK_OPERATION
    A constant for parking the vehicle.

  • Method Summary

    Modifier and Type Method Description
    default boolean equalsInMovement​(MovementCommand command)
    Compares the given movement command to this movement command, ignoring rerouting-related properties.
    DriveOrder getDriveOrder()
    Returns the drive order this movement belongs to.
    Point getFinalDestination()
    Returns the final destination of the drive order this MovementCommand was created for.
    Location getFinalDestinationLocation()
    Returns the destination location of the whole drive order.
    java.lang.String getFinalOperation()
    Returns the operation to be executed at the final destination position.
    java.lang.String getOperation()
    Returns the operation to be executed after moving.
    Location getOpLocation()
    Returns the location at which the operation is to be executed.
    java.util.Map<java.lang.String,​java.lang.String> getProperties()
    Returns the properties of the order this command is part of.
    default Route getRoute()
    Deprecated.
    Use the route provided as part of getDriveOrder(), instead.
    Route.Step getStep()
    Returns the step describing the movement.
    TransportOrder getTransportOrder()
    Returns the transport order this movement belongs to.
    default boolean hasEmptyOperation()
    Indicates whether an operation is to be executed in addition to moving or not.
    boolean isFinalMovement()
    Indicates whether this movement is the final one in the driver order it belongs to.
    boolean isWithoutOperation()
    Deprecated.
    Use hasEmptyOperation() instead.

  • Field Details

    • NO_OPERATION

      static final java.lang.String NO_OPERATION
      A constant indicating there is no operation to be executed after moving.
      See Also:
      Constant Field Values

    • MOVE_OPERATION

      static final java.lang.String MOVE_OPERATION
      A constant indicating the vehicle should basically just move to a point without a location associated to it.
      See Also:
      Constant Field Values

    • PARK_OPERATION

      static final java.lang.String PARK_OPERATION
      A constant for parking the vehicle. (Again, basically doing nothing at the destination.)
      See Also:
      Constant Field Values

  • Method Details

    • getTransportOrder

      TransportOrder getTransportOrder()
      Returns the transport order this movement belongs to.
      Returns:
      The transport order this movement belongs to.

    • getDriveOrder

      DriveOrder getDriveOrder()
      Returns the drive order this movement belongs to.
      Returns:
      The drive order this movement belongs to.

    • getRoute

      @Deprecated @Nonnull default Route getRoute()
      Deprecated.
      Use the route provided as part of getDriveOrder(), instead.
      Returns the route that this movement belongs to.
      Returns:
      The route that this movement belongs to.

    • getStep

      @Nonnull Route.Step getStep()
      Returns the step describing the movement.
      Returns:
      The step describing the movement.

    • getOperation

      @Nonnull java.lang.String getOperation()
      Returns the operation to be executed after moving.
      Returns:
      The operation to be executed after moving.

    • isWithoutOperation

      @Deprecated @ScheduledApiChange(when="6.0", details="Will be removed.") boolean isWithoutOperation()
      Deprecated.
      Use hasEmptyOperation() instead.
      Checks whether an operation is to be executed in addition to moving or not.
      Returns:
      true if, and only if, no operation is to be executed.

    • hasEmptyOperation

      default boolean hasEmptyOperation()
      Indicates whether an operation is to be executed in addition to moving or not.
      Returns:
      true if, and only if, no operation is to be executed.

    • getOpLocation

      @Nullable Location getOpLocation()
      Returns the location at which the operation is to be executed. (May be null if operation is NO_OPERATION.)
      Returns:
      The location at which the operation is to be executed.

    • isFinalMovement

      boolean isFinalMovement()
      Indicates whether this movement is the final one in the driver order it belongs to.
      Returns:
      true if, and only if, this movement is the final one.

    • getFinalDestination

      @Nonnull Point getFinalDestination()
      Returns the final destination of the drive order this MovementCommand was created for.
      Returns:
      The final destination of the drive order this MovementCommand was created for.

    • getFinalDestinationLocation

      @Nullable Location getFinalDestinationLocation()
      Returns the destination location of the whole drive order.
      Returns:
      The destination location of the whole drive order.

    • getFinalOperation

      @Nonnull java.lang.String getFinalOperation()
      Returns the operation to be executed at the final destination position.
      Returns:
      The operation to be executed at the final destination position.

    • equalsInMovement

      default boolean equalsInMovement​(MovementCommand command)
      Compares the given movement command to this movement command, ignoring rerouting-related properties.
      Parameters:
      command - The movement command to compare to.
      Returns:
      true, if the given movement command is equal to this movement command (ignoring rerouting-related properties), otherwise false.

    • getProperties

      @Nonnull java.util.Map<java.lang.String,​java.lang.String> getProperties()
      Returns the properties of the order this command is part of.
      Returns:
      The properties of the order this command is part of.