Package org.opentcs.drivers.vehicle

Class VehicleProcessModel

java.lang.Object

org.opentcs.drivers.vehicle.VehicleProcessModel

public class VehicleProcessModel
extends java.lang.Object

An observable model of a vehicle's and its comm adapter's attributes.

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static class	VehicleProcessModel.Attribute	Notification arguments to indicate some change.
static class	VehicleProcessModel.PropertyUpdate	A notification object sent to observers to indicate a change of a property.
static class	VehicleProcessModel.TransportOrderPropertyUpdate	A notification object sent to observers to indicate a change of a transport order's property.
static class	VehicleProcessModel.VehiclePropertyUpdate	A notification object sent to observers to indicate a change of a vehicle's property.

Constructor Summary

Constructors

Constructor	Description
VehicleProcessModel(Vehicle attachedVehicle)	Creates a new instance.

Method Summary

Modifier and Type	Method	Description
void	addPropertyChangeListener(java.beans.PropertyChangeListener listener)	Registers a new property change listener with this model.
void	commandEnqueued(MovementCommand enqueuedCommand)	Notifies observers that the given command has been added to the comm adapter's command queue.
void	commandExecuted(MovementCommand executedCommand)	Notifies observers that the given command has been executed by the comm adapter/vehicle.
void	commandFailed(MovementCommand failedCommand)	Notifies observers that the given command could not be executed by the comm adapter/vehicle.
void	commandSent(MovementCommand sentCommand)	Notifies observers that the given command has been sent to the associated vehicle.
int	getEnergyLevel()	Returns the vehicle's current energy level.
int	getLength()	Returns the vehicle's current length.
java.util.List<LoadHandlingDevice>	getLoadHandlingDevices()	Returns the vehicle's load handling devices.
java.lang.String	getName()	Returns the vehicle's name.
java.util.Queue<UserNotification>	getNotifications()	Returns user notifications published by the comm adapter.
double	getOrientationAngle()	Returns the vehicle's current orientation angle.
java.lang.String	getPosition()	Returns the vehicle's current position.
Triple	getPrecisePosition()	Returns the vehicle's precise position.
protected java.beans.PropertyChangeSupport	getPropertyChangeSupport()
TCSObjectReference<Vehicle>	getReference()	Returns a reference to the vehicle.
Vehicle.State	getState()	Returns the vehicle's current state.
int	getVehicleEnergyLevel()	Deprecated. Use getEnergyLevel() instead.
int	getVehicleLength()	Deprecated. Use getLength() instead.
java.util.List<LoadHandlingDevice>	getVehicleLoadHandlingDevices()	Deprecated. Use getLoadHandlingDevices() instead.
double	getVehicleOrientationAngle()	Deprecated. Use getOrientationAngle() instead.
java.lang.String	getVehiclePosition()	Deprecated. Use getPosition() instead.
Triple	getVehiclePrecisePosition()	Deprecated. Use getPrecisePosition() instead.
TCSObjectReference<Vehicle>	getVehicleReference()	Deprecated. Use getReference() instead.
Vehicle.State	getVehicleState()	Deprecated. Use getState() instead.
void	integrationLevelChangeRequested(Vehicle.IntegrationLevel level)	Notifies observers that the vehicle would like to have its integration level changed.
boolean	isCommAdapterConnected()	Indicates whether the comm adapter is currently connected or not.
boolean	isCommAdapterEnabled()	Indicates whether the comm adapter is currently enabled or not.
void	publishEvent(VehicleCommAdapterEvent event)	Publishes an event via the kernel's event mechanism.
void	publishUserNotification(UserNotification notification)	Publishes an user notification.
void	removePropertyChangeListener(java.beans.PropertyChangeListener listener)	Unregisters a property change listener from this model.
void	setCommAdapterConnected(boolean commAdapterConnected)	Sets the comm adapter's connected flag.
void	setCommAdapterEnabled(boolean commAdapterEnabled)	Sets the comm adapter's enabled flag.
void	setEnergyLevel(int newLevel)	Sets the vehicle's current energy level.
void	setLength(int length)	Sets the vehicle's current length.
void	setLoadHandlingDevices(java.util.List<LoadHandlingDevice> devices)	Sets the vehicle's load handling devices.
void	setOrientationAngle(double angle)	Sets the vehicle's current orientation angle.
void	setPosition(java.lang.String position)	Updates the vehicle's current position.
void	setPrecisePosition(Triple position)	Sets the vehicle's precise position.
void	setProperty(java.lang.String key, java.lang.String value)	Sets a property of the vehicle.
void	setState(Vehicle.State newState)	Sets the vehicle's current state.
void	setTransportOrderProperty(java.lang.String key, java.lang.String value)	Sets a property of the transport order the vehicle is currently processing.
void	setVehicleEnergyLevel(int newLevel)	Deprecated. Use setEnergyLevel(int) instead.
void	setVehicleLength(int length)	Deprecated. Use setLength(int) instead.
void	setVehicleLoadHandlingDevices(java.util.List<LoadHandlingDevice> devices)	Deprecated. Use setLoadHandlingDevices(java.util.List) instead.
void	setVehicleOrientationAngle(double angle)	Deprecated. Use setOrientationAngle(double) instead.
void	setVehiclePosition(java.lang.String position)	Deprecated. Use setPosition(java.lang.String) instead.
void	setVehiclePrecisePosition(Triple position)	Deprecated. Use setPrecisePosition(org.opentcs.data.model.Triple) instead.
void	setVehicleProperty(java.lang.String key, java.lang.String value)	Deprecated. Use setProperty(java.lang.String, java.lang.String) instead.
void	setVehicleState(Vehicle.State newState)	Deprecated. Use setState(org.opentcs.data.model.Vehicle.State) instead.
void	transportOrderWithdrawalRequested(boolean forced)	Notifies observers that the vehicle would like to have its current transport order withdrawn.

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Details

VehicleProcessModel

public VehicleProcessModel(@Nonnull Vehicle attachedVehicle)

Creates a new instance.

Parameters:

attachedVehicle - The vehicle attached to the new instance.

Method Details

addPropertyChangeListener

public void addPropertyChangeListener(java.beans.PropertyChangeListener listener)

Registers a new property change listener with this model.

Parameters:

listener - The listener to be registered.

removePropertyChangeListener

public void removePropertyChangeListener(java.beans.PropertyChangeListener listener)

Unregisters a property change listener from this model.

Parameters:

listener - The listener to be unregistered.

getVehicleReference

@Deprecated @ScheduledApiChange(when="6.0", details="Will be removed.") @Nonnull public TCSObjectReference<Vehicle> getVehicleReference()

Deprecated.

Use getReference() instead.

Returns a reference to the vehicle.

Returns:

A reference to the vehicle.

getReference

@Nonnull public TCSObjectReference<Vehicle> getReference()

Returns a reference to the vehicle.

Returns:

A reference to the vehicle.

getName

@Nonnull public java.lang.String getName()

Returns the vehicle's name.

Returns:

The vehicle's name.

getNotifications

@Nonnull public java.util.Queue<UserNotification> getNotifications()

Returns user notifications published by the comm adapter.

Returns:

The notifications.

publishUserNotification

public void publishUserNotification(@Nonnull UserNotification notification)

Publishes an user notification.

Parameters:

notification - The notification to be published.

publishEvent

public void publishEvent(@Nonnull VehicleCommAdapterEvent event)

Publishes an event via the kernel's event mechanism.

Parameters:

event - The event to be published.

isCommAdapterEnabled

public boolean isCommAdapterEnabled()

Indicates whether the comm adapter is currently enabled or not.

Returns:

true if, and only if, the comm adapter is currently enabled.

setCommAdapterEnabled

public void setCommAdapterEnabled(boolean commAdapterEnabled)

Sets the comm adapter's enabled flag.

Parameters:

commAdapterEnabled - The new value.

isCommAdapterConnected

public boolean isCommAdapterConnected()

Indicates whether the comm adapter is currently connected or not.

Returns:

true if, and only if, the comm adapter is currently connected.

setCommAdapterConnected

public void setCommAdapterConnected(boolean commAdapterConnected)

Sets the comm adapter's connected flag.

Parameters:

commAdapterConnected - The new value.

getVehiclePosition

@Deprecated @ScheduledApiChange(when="6.0", details="Will be removed.") @Nullable public java.lang.String getVehiclePosition()

Deprecated.

Use getPosition() instead.

Returns the vehicle's current position.

Returns:

The position.

getPosition

@Nullable public java.lang.String getPosition()

Returns the vehicle's current position.

Returns:

The position.

setVehiclePosition

@Deprecated @ScheduledApiChange(when="6.0", details="Will be removed.") public void setVehiclePosition(@Nullable java.lang.String position)

Deprecated.

Use setPosition(java.lang.String) instead.

Updates the vehicle's current position.

Parameters:

position - The new position

setPosition

public void setPosition(@Nullable java.lang.String position)

Updates the vehicle's current position.

Parameters:

position - The new position

getVehiclePrecisePosition

@Deprecated @ScheduledApiChange(when="6.0", details="Will be removed.") @Nullable public Triple getVehiclePrecisePosition()

Deprecated.

Use getPrecisePosition() instead.

Returns the vehicle's precise position.

Returns:

The vehicle's precise position.

getPrecisePosition

@Nullable public Triple getPrecisePosition()

Returns the vehicle's precise position.

Returns:

The vehicle's precise position.

setVehiclePrecisePosition

@Deprecated @ScheduledApiChange(when="6.0", details="Will be removed.") public void setVehiclePrecisePosition(@Nullable Triple position)

Deprecated.

Use setPrecisePosition(org.opentcs.data.model.Triple) instead.

Sets the vehicle's precise position.

Parameters:

position - The new position.

setPrecisePosition

public void setPrecisePosition(@Nullable Triple position)

Sets the vehicle's precise position.

Parameters:

position - The new position.

getVehicleOrientationAngle

@Deprecated @ScheduledApiChange(when="6.0", details="Will be removed.") public double getVehicleOrientationAngle()

Deprecated.

Use getOrientationAngle() instead.

Returns the vehicle's current orientation angle.

Returns:

The vehicle's current orientation angle.

See Also:

Vehicle.getOrientationAngle()

getOrientationAngle

public double getOrientationAngle()

Returns the vehicle's current orientation angle.

Returns:

The vehicle's current orientation angle.

See Also:

Vehicle.getOrientationAngle()

setVehicleOrientationAngle

@Deprecated @ScheduledApiChange(when="6.0", details="Will be removed.") public void setVehicleOrientationAngle(double angle)

Deprecated.

Use setOrientationAngle(double) instead.

Sets the vehicle's current orientation angle.

Parameters:

angle - The new angle

setOrientationAngle

public void setOrientationAngle(double angle)

Sets the vehicle's current orientation angle.

Parameters:

angle - The new angle

getVehicleEnergyLevel

@Deprecated @ScheduledApiChange(when="6.0", details="Will be removed.") public int getVehicleEnergyLevel()

Deprecated.

Use getEnergyLevel() instead.

Returns the vehicle's current energy level.

Returns:

The vehicle's current energy level.

getEnergyLevel

public int getEnergyLevel()

Returns the vehicle's current energy level.

Returns:

The vehicle's current energy level.

setVehicleEnergyLevel

@Deprecated @ScheduledApiChange(when="6.0", details="Will be removed.") public void setVehicleEnergyLevel(int newLevel)

Deprecated.

Use setEnergyLevel(int) instead.

Sets the vehicle's current energy level.

Parameters:

newLevel - The new level.

setEnergyLevel

public void setEnergyLevel(int newLevel)

Sets the vehicle's current energy level.

Parameters:

newLevel - The new level.

getVehicleLoadHandlingDevices

@Deprecated @ScheduledApiChange(when="6.0", details="Will be removed.") @Nonnull public java.util.List<LoadHandlingDevice> getVehicleLoadHandlingDevices()

Deprecated.

Use getLoadHandlingDevices() instead.

Returns the vehicle's load handling devices.

Returns:

The vehicle's load handling devices.

getLoadHandlingDevices

@Nonnull public java.util.List<LoadHandlingDevice> getLoadHandlingDevices()

Returns the vehicle's load handling devices.

Returns:

The vehicle's load handling devices.

setVehicleLoadHandlingDevices

@Deprecated @ScheduledApiChange(when="6.0", details="Will be removed.") public void setVehicleLoadHandlingDevices(@Nonnull java.util.List<LoadHandlingDevice> devices)

Deprecated.

Use setLoadHandlingDevices(java.util.List) instead.

Sets the vehicle's load handling devices.

Parameters:

devices - The new devices

setLoadHandlingDevices

public void setLoadHandlingDevices(@Nonnull java.util.List<LoadHandlingDevice> devices)

Sets the vehicle's load handling devices.

Parameters:

devices - The new devices

setVehicleProperty

@Deprecated @ScheduledApiChange(when="6.0", details="Will be removed.") public void setVehicleProperty(@Nonnull java.lang.String key, @Nullable java.lang.String value)

Deprecated.

Use setProperty(java.lang.String, java.lang.String) instead.

Sets a property of the vehicle.

Parameters:

key - The property's key.

value - The property's new value.

setProperty

public void setProperty(@Nonnull java.lang.String key, @Nullable java.lang.String value)

Sets a property of the vehicle.

Parameters:

key - The property's key.

value - The property's new value.

getVehicleState

@Deprecated @ScheduledApiChange(when="6.0", details="Will be removed.") @Nonnull public Vehicle.State getVehicleState()

Deprecated.

Use getState() instead.

Returns the vehicle's current state.

Returns:

The state

getState

@Nonnull public Vehicle.State getState()

Returns the vehicle's current state.

Returns:

The state

setVehicleState

@Deprecated @ScheduledApiChange(when="6.0", details="Will be removed.") public void setVehicleState(@Nonnull Vehicle.State newState)

Deprecated.

Use setState(org.opentcs.data.model.Vehicle.State) instead.

Sets the vehicle's current state.

Parameters:

newState - The new state

setState

public void setState(@Nonnull Vehicle.State newState)

Sets the vehicle's current state.

Parameters:

newState - The new state

getVehicleLength

@Deprecated @ScheduledApiChange(when="6.0", details="Will be removed.") public int getVehicleLength()

Deprecated.

Use getLength() instead.

Returns the vehicle's current length.

Returns:

The vehicle's current length.

getLength

public int getLength()

Returns the vehicle's current length.

Returns:

The vehicle's current length.

setVehicleLength

@Deprecated @ScheduledApiChange(when="6.0", details="Will be removed.") public void setVehicleLength(int length)

Deprecated.

Use setLength(int) instead.

Sets the vehicle's current length.

Parameters:

length - The new length.

setLength

public void setLength(int length)

Sets the vehicle's current length.

Parameters:

length - The new length.

setTransportOrderProperty

public void setTransportOrderProperty(@Nonnull java.lang.String key, @Nullable java.lang.String value)

Sets a property of the transport order the vehicle is currently processing.

Parameters:

key - The property's key.

value - The property's new value.

commandEnqueued

public void commandEnqueued(@Nonnull MovementCommand enqueuedCommand)

Notifies observers that the given command has been added to the comm adapter's command queue.

Parameters:

enqueuedCommand - The command that has been added to the queue.

commandSent

public void commandSent(@Nonnull MovementCommand sentCommand)

Notifies observers that the given command has been sent to the associated vehicle.

Parameters:

sentCommand - The command that has been sent to the vehicle.

commandExecuted

public void commandExecuted(@Nonnull MovementCommand executedCommand)

Notifies observers that the given command has been executed by the comm adapter/vehicle.

Parameters:

executedCommand - The command that has been executed.

commandFailed

public void commandFailed(@Nonnull MovementCommand failedCommand)

Notifies observers that the given command could not be executed by the comm adapter/vehicle.

Parameters:

failedCommand - The command that could not be executed.

integrationLevelChangeRequested

public void integrationLevelChangeRequested(@Nonnull Vehicle.IntegrationLevel level)

Notifies observers that the vehicle would like to have its integration level changed.

Parameters:

level - The integration level to change to.

transportOrderWithdrawalRequested

public void transportOrderWithdrawalRequested(boolean forced)

Notifies observers that the vehicle would like to have its current transport order withdrawn.

Parameters:

forced - Whether a forced withdrawal is requested.

getPropertyChangeSupport

protected java.beans.PropertyChangeSupport getPropertyChangeSupport()