Package org.opentcs.components.kernel.services

Schnittstelle RouterService

public interface RouterService

Provides methods concerning the Router.

Methodenübersicht

Modifizierer und Typ	Methode	Beschreibung
Map<TCSObjectReference<Point>,Route>	computeRoutes(TCSObjectReference<Vehicle> vehicleRef, TCSObjectReference<Point> sourcePointRef, Set<TCSObjectReference<Point>> destinationPointRefs, Set<TCSResourceReference<?>> resourcesToAvoid)	Computes routes for the given vehicle from a source point to a set of destination points.
void	updateRoutingTopology(Set<TCSObjectReference<Path>> refs)	Notifies the router that the topology has changed with respect to the given paths and needs to be re-evaluated.

Methodendetails

updateRoutingTopology

void updateRoutingTopology(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.

Parameter:

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.

Löst aus:

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

computeRoutes

Map<TCSObjectReference<Point>,Route> computeRoutes(TCSObjectReference<Vehicle> vehicleRef,
 TCSObjectReference<Point> sourcePointRef,
 Set<TCSObjectReference<Point>> destinationPointRefs,
 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.

Parameter:

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.

Gibt zurück:

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

Löst aus:

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