Class BasicVehicleCommAdapter
- All Implemented Interfaces:
java.beans.PropertyChangeListener,java.util.EventListener,Lifecycle,VehicleCommAdapter
public abstract class BasicVehicleCommAdapter extends java.lang.Object implements VehicleCommAdapter, java.beans.PropertyChangeListener
Implementation notes:
- Accessing the command queue/sent queue from outside should always be protected by synchronization on the BasicVehicleCommunicationAdapter instance.
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Constructor Summary
Constructors Constructor Description BasicVehicleCommAdapter(VehicleProcessModel vehicleModel, int commandQueueCapacity, int sentQueueCapacity, java.lang.String rechargeOperation, java.util.concurrent.Executor executor)Deprecated.Use more specific constructor instead.BasicVehicleCommAdapter(VehicleProcessModel vehicleModel, int commandQueueCapacity, int sentQueueCapacity, java.lang.String rechargeOperation, java.util.concurrent.ScheduledExecutorService executor)Creates a new instance. -
Method Summary
Modifier and Type Method Description booleancanAcceptNextCommand()Checks whether this comm adapter can accept the next (i.e.protected booleancanSendNextCommand()Checks whether a new command can be sent to the vehicle.voidclearCommandQueue()Clears this communication adapter's command queue.protected abstract voidconnectVehicle()Initiates a communication channel to the vehicle.protected VehicleProcessModelTOcreateCustomTransferableProcessModel()Creates a transferable process model with the specific attributes of this comm adapter's process model set.VehicleProcessModelTOcreateTransferableProcessModel()Returns a transferable/serializable model of the vehicle's and its comm adapter's attributes.voiddisable()Disables this comm adapter, i.e.protected abstract voiddisconnectVehicle()Closes the communication channel to the vehicle.voidenable()Enables this comm adapter, i.e.booleanenqueueCommand(MovementCommand newCommand)Appends a command to this communication adapter's command queue.voidexecute(AdapterCommand command)Executes the givenAdapterCommand.java.util.Queue<MovementCommand>getCommandQueue()Returns this adapter's command queue.intgetCommandQueueCapacity()Indicates how many commands this comm adapter accepts.java.util.concurrent.ExecutorgetExecutor()Returns the executor to run tasks on.java.lang.StringgetName()Returns this communication adapter's name.VehicleProcessModelgetProcessModel()Returns an observable model of the vehicle's and its comm adapter's attributes.java.lang.StringgetRechargeOperation()Returns the string the comm adapter recognizes as a recharge operation.java.util.Queue<MovementCommand>getSentQueue()Returns a queue containing the commands that this adapter has sent to the vehicle already but which have not yet been processed by it.intgetSentQueueCapacity()Returns the capacity of this adapter'ssent queue.voidinitialize()(Re-)Initializes this component before it is being used.booleanisEnabled()Checks whether this communication adapter is enabled.booleanisInitialized()Checks whether this component is initialized.protected abstract booleanisVehicleConnected()Checks whether the communication channel to the vehicle is open.voidpropertyChange(java.beans.PropertyChangeEvent evt)Processes updates of theVehicleProcessModel.abstract voidsendCommand(MovementCommand cmd)Converts the given command to something the vehicle can understand and sends the resulting data to the vehicle.voidterminate()Terminates the instance and frees resources.Methods inherited from class java.lang.Object
clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, waitMethods inherited from interface org.opentcs.drivers.vehicle.VehicleCommAdapter
canProcess, processMessage
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Constructor Details
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BasicVehicleCommAdapter
@Deprecated @ScheduledApiChange(when="6.0", details="Will be removed") public BasicVehicleCommAdapter(VehicleProcessModel vehicleModel, int commandQueueCapacity, int sentQueueCapacity, java.lang.String rechargeOperation, java.util.concurrent.Executor executor)Deprecated.Use more specific constructor instead.Creates a new instance.- Parameters:
vehicleModel- An observable model of the vehicle's and its comm adapter's attributes.commandQueueCapacity- The number of commands this comm adapter's command queue accepts. Must be at least 1.sentQueueCapacity- The maximum number of orders to be sent to a vehicle.rechargeOperation- The string to recognize as a recharge operation.executor- The executor to run tasks on.
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BasicVehicleCommAdapter
public BasicVehicleCommAdapter(VehicleProcessModel vehicleModel, int commandQueueCapacity, int sentQueueCapacity, java.lang.String rechargeOperation, java.util.concurrent.ScheduledExecutorService executor)Creates a new instance.- Parameters:
vehicleModel- An observable model of the vehicle's and its comm adapter's attributes.commandQueueCapacity- The number of commands this comm adapter's command queue accepts. Must be at least 1.sentQueueCapacity- The maximum number of orders to be sent to a vehicle.rechargeOperation- The string to recognize as a recharge operation.executor- The executor to run tasks on.
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Method Details
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initialize
public void initialize()(Re-)Initializes this component before it is being used.Overriding methods are expected to call this implementation, too.
- Specified by:
initializein interfaceLifecycle
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terminate
public void terminate()Terminates the instance and frees resources.Overriding methods are expected to call this implementation, too.
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isInitialized
public boolean isInitialized()Description copied from interface:LifecycleChecks whether this component is initialized.- Specified by:
isInitializedin interfaceLifecycle- Returns:
trueif, and only if, this component is initialized.
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enable
public void enable()Enables this comm adapter, i.e. turns it on.Overriding methods are expected to call this implementation, too.
- Specified by:
enablein interfaceVehicleCommAdapter
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disable
public void disable()Disables this comm adapter, i.e. turns it off.Overriding methods are expected to call this implementation, too.
- Specified by:
disablein interfaceVehicleCommAdapter
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isEnabled
public boolean isEnabled()Description copied from interface:VehicleCommAdapterChecks whether this communication adapter is enabled.- Specified by:
isEnabledin interfaceVehicleCommAdapter- Returns:
trueif, and only if, this communication adapter is enabled.
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getProcessModel
Description copied from interface:VehicleCommAdapterReturns an observable model of the vehicle's and its comm adapter's attributes.- Specified by:
getProcessModelin interfaceVehicleCommAdapter- Returns:
- An observable model of the vehicle's and its comm adapter's attributes.
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createTransferableProcessModel
Description copied from interface:VehicleCommAdapterReturns a transferable/serializable model of the vehicle's and its comm adapter's attributes.- Specified by:
createTransferableProcessModelin interfaceVehicleCommAdapter- Returns:
- A transferable/serializable model of the vehicle's and its comm adapter's attributes.
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getCommandQueueCapacity
public int getCommandQueueCapacity()Description copied from interface:VehicleCommAdapterIndicates how many commands this comm adapter accepts.This capacity considers both the
command queueand thesent queue. This means that the number of elements in both queues combined must not exceed this number.- Specified by:
getCommandQueueCapacityin interfaceVehicleCommAdapter- Returns:
- The number of commands this comm adapter accepts.
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getCommandQueue
Description copied from interface:VehicleCommAdapterReturns this adapter's command queue.This queue contains
MovementCommands that the comm adapter received from theVehicleControllerit's associated with. When a command is sent to the vehicle, the command is removed from this queue and added to thesent queue.- Specified by:
getCommandQueuein interfaceVehicleCommAdapter- Returns:
- This adapter's command queue.
- See Also:
VehicleCommAdapter.getCommandQueueCapacity()
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canAcceptNextCommand
public boolean canAcceptNextCommand()Description copied from interface:VehicleCommAdapterChecks whether this comm adapter can accept the next (i.e. one more)command.- Specified by:
canAcceptNextCommandin interfaceVehicleCommAdapter- Returns:
true, if this adapter can accept another command, otherwisefalse.
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getSentQueueCapacity
public int getSentQueueCapacity()Description copied from interface:VehicleCommAdapterReturns the capacity of this adapter'ssent queue.- Specified by:
getSentQueueCapacityin interfaceVehicleCommAdapter- Returns:
- The capacity of this adapter's sent queue.
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getSentQueue
Description copied from interface:VehicleCommAdapterReturns a queue containing the commands that this adapter has sent to the vehicle already but which have not yet been processed by it.- Specified by:
getSentQueuein interfaceVehicleCommAdapter- Returns:
- A queue containing the commands that this adapter has sent to the vehicle already but which have not yet been processed by it.
- See Also:
VehicleCommAdapter.getSentQueueCapacity(),VehicleCommAdapter.getCommandQueueCapacity()
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getRechargeOperation
public java.lang.String getRechargeOperation()Description copied from interface:VehicleCommAdapterReturns the string the comm adapter recognizes as a recharge operation.- Specified by:
getRechargeOperationin interfaceVehicleCommAdapter- Returns:
- The string the comm adapter recognizes as a recharge operation.
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enqueueCommand
Description copied from interface:VehicleCommAdapterAppends a command to this communication adapter's command queue. The return value of this method indicates whether the command was really added to the queue. The primary reason for a commmand not being added to the queue is that it would exceed its capacity.- Specified by:
enqueueCommandin interfaceVehicleCommAdapter- Parameters:
newCommand- The command to be added to this adapter's command queue.- Returns:
trueif, and only if, the new command was added to this adapter's command queue.
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clearCommandQueue
public void clearCommandQueue()Description copied from interface:VehicleCommAdapterClears this communication adapter's command queue. All commands in the queue that have not been sent to this adapter's vehicle, yet, will be removed from the command queue. Any operation the vehicle might currently be executing will still be completed, though.- Specified by:
clearCommandQueuein interfaceVehicleCommAdapter
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execute
Description copied from interface:VehicleCommAdapterExecutes the givenAdapterCommand.- Specified by:
executein interfaceVehicleCommAdapter- Parameters:
command- The command to execute.
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propertyChange
public void propertyChange(java.beans.PropertyChangeEvent evt)Processes updates of theVehicleProcessModel.Overriding methods should also call this.
- Specified by:
propertyChangein interfacejava.beans.PropertyChangeListener- Parameters:
evt- The property change event published by the model.
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getName
public java.lang.String getName()Returns this communication adapter's name.- Returns:
- This communication adapter's name.
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getExecutor
@ScheduledApiChange(when="6.0", details="Will return ScheduledExectorService instead") public java.util.concurrent.Executor getExecutor()Returns the executor to run tasks on.- Returns:
- The executor to run tasks on.
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sendCommand
Converts the given command to something the vehicle can understand and sends the resulting data to the vehicle.Note that this method is called from the kernel executor and thus should not block.
- Parameters:
cmd- The command to be sent.- Throws:
java.lang.IllegalArgumentException- If there was a problem with interpreting the command or communicating it to the vehicle.
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canSendNextCommand
protected boolean canSendNextCommand()Checks whether a new command can be sent to the vehicle. The default implementation of this method returnstrueonly if the number of commands sent already is less than the vehicle's capacity and there is at least one command in the queue that is waiting to be sent.- Returns:
trueif, and only if, a new command can be sent to the vehicle.
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connectVehicle
protected abstract void connectVehicle()Initiates a communication channel to the vehicle. This method should not block, i.e. it should not wait for the actual connection to be established, as the vehicle could be temporarily absent or not responding at all. If that's the case, the communication adapter should continue trying to establish a connection until successful or untildisconnectVehicleis called. -
disconnectVehicle
protected abstract void disconnectVehicle()Closes the communication channel to the vehicle. -
isVehicleConnected
protected abstract boolean isVehicleConnected()Checks whether the communication channel to the vehicle is open.Note that the return value of this method does not indicate whether communication with the vehicle is currently alive and/or if the vehicle is considered to be working/responding correctly.
- Returns:
trueif, and only if, the communication channel to the vehicle is open.
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createCustomTransferableProcessModel
Creates a transferable process model with the specific attributes of this comm adapter's process model set.This method should be overriden by implementing classes.
- Returns:
- A transferable process model.
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