Deprecate methods in the Router interface

The methods selectRoute(), getSelectedRoute() and getTargetedPoints()
in the Router interface are now deprecated because they have not been
used or do not belong to the routers designated tasks and therefore were
outsourced to the classes where the logic belongs.

Merged-by: Martin Grzenia <[email protected]>

opentcs-api-base/src/main/java/org/opentcs/components/kernel/Router.java

@@ -199,7 +199,11 @@ long getCosts(
    * @param driveOrders The drive orders encapsulating the route being selected,
    * or <code>null</code>, if no route is being selected for the vehicle (i.e.
    * an existing entry for the given vehicle would be removed).
+   * @deprecated Will be removed without replacement. A vehicle's selected route (i.e. the list of
+   * drive orders) is already contained in the transport order assigned to it.
    */
+  @Deprecated
+  @ScheduledApiChange(when = "7.0", details = "Will be removed.")
   void selectRoute(
       @Nonnull
       Vehicle vehicle,
@@ -216,7 +220,11 @@ void selectRoute(
    * </p>
    *
    * @return An unmodifiable view on the selected routes the router knows about.
+   * @deprecated Will be removed without replacement. A vehicle's selected route (i.e. the list of
+   * drive orders) is already contained in the transport order assigned to it.
    */
+  @Deprecated
+  @ScheduledApiChange(when = "7.0", details = "Will be removed.")
   @Nonnull
   Map<Vehicle, List<DriveOrder>> getSelectedRoutes();
 
@@ -227,7 +235,11 @@ void selectRoute(
    * </p>
    *
    * @return A set of all points currently targeted by any vehicle.
+   * @deprecated Will be removed without replacement. The points targeted by vehicles can be
+   * retrieved via the transport orders assigned to them.
    */
+  @Deprecated
+  @ScheduledApiChange(when = "7.0", details = "Will be removed.")
   @Nonnull
   Set<Point> getTargetedPoints();
 }

opentcs-documentation/src/docs/release-notes/changelog.adoc

@@ -22,6 +22,8 @@ This change log lists the most relevant changes for past releases in reverse chr
 ** Avoid a `NullPointerException` when trying to park a vehicle whose current position is not known.
 ** Ensure vehicles can process newly assigned transport orders after a peripheral job (created in the context of a previous transport order) has failed.
    Previously, failed peripheral jobs with the `AFTER_ALLOCATION` execution trigger could prevent vehicles from properly processing transport orders in some situations.
+* Changes affecting developers:
+** Deprecate methods in the `Router` interface that are technically outside its scope.
 
 == Version 6.2 (2024-11-06)
 

opentcs-strategies-default/src/main/java/org/opentcs/strategies/basic/dispatching/RerouteUtil.java

@@ -206,9 +206,6 @@ private void updateTransportOrder(
           transportOrderService.fetchObject(TransportOrder.class, originalOrder.getReference())
       );
     }
-
-    // Let the router know the vehicle selected another route
-    router.selectRoute(vehicle, newOrders);
   }
 
   private List<DriveOrder> updatePathLocks(List<DriveOrder> orders) {

opentcs-strategies-default/src/main/java/org/opentcs/strategies/basic/dispatching/TransportOrderUtil.java

@@ -7,7 +7,6 @@
 
 import jakarta.annotation.Nonnull;
 import jakarta.inject.Inject;
-import java.util.Collections;
 import java.util.List;
 import java.util.Optional;
 import org.opentcs.components.Lifecycle;
@@ -213,8 +212,6 @@ public void assignTransportOrder(
           .updateOrderSequenceProcessingVehicle(transportOrder.getWrappingSequence(), vehicleRef);
     }
     transportOrderService.updateTransportOrderProcessingVehicle(orderRef, vehicleRef, driveOrders);
-    // Let the router know about the route chosen.
-    router.selectRoute(vehicle, Collections.unmodifiableList(driveOrders));
     // Update the transport order's copy.
     TransportOrder updatedOrder = transportOrderService.fetchObject(TransportOrder.class, orderRef);
     // If the drive order must be assigned, do so.
@@ -324,9 +321,6 @@ private void finishAbortion(TCSObjectReference<TransportOrder> orderRef, Vehicle
 
     vehicleService.updateVehicleProcState(vehicle.getReference(), Vehicle.ProcState.IDLE);
     vehicleService.updateVehicleTransportOrder(vehicle.getReference(), null);
-
-    // Let the router know that the vehicle doesn't have a route any more.
-    router.selectRoute(vehicle, null);
   }
 
   /**

opentcs-strategies-default/src/main/java/org/opentcs/strategies/basic/dispatching/phase/TargetedPointsSupplier.java

@@ -0,0 +1,48 @@
+// SPDX-FileCopyrightText: The openTCS Authors
+// SPDX-License-Identifier: MIT
+package org.opentcs.strategies.basic.dispatching.phase;
+
+import static java.util.Objects.requireNonNull;
+
+import jakarta.inject.Inject;
+import java.util.Set;
+import java.util.stream.Collectors;
+import org.opentcs.components.kernel.services.TCSObjectService;
+import org.opentcs.data.model.Point;
+import org.opentcs.data.order.TransportOrder;
+
+/**
+ * A point supplier that tries to find all points which are currently targeted by vehicles.
+ */
+public class TargetedPointsSupplier {
+
+  /**
+   * The object service.
+   */
+  private final TCSObjectService objectService;
+
+  @Inject
+  public TargetedPointsSupplier(TCSObjectService objectService) {
+    this.objectService = requireNonNull(objectService, "objectService");
+  }
+
+  /**
+   * Returns all points which are currently targeted by vehicles.
+   *
+   * @return A set of all points currently targeted by vehicles.
+   */
+  public Set<Point> getTargetedPoints() {
+    return objectService
+        .fetchObjects(
+            TransportOrder.class,
+            order -> order.hasState(TransportOrder.State.BEING_PROCESSED)
+        )
+        .stream()
+        .map(
+            transportOrder -> transportOrder.getAllDriveOrders().getLast().getRoute()
+                .getFinalDestinationPoint()
+        )
+        .collect(Collectors.toSet());
+
+  }
+}

opentcs-strategies-default/src/main/java/org/opentcs/strategies/basic/dispatching/phase/assignment/AssignNextDriveOrdersPhase.java

@@ -110,8 +110,6 @@ private void checkForNextDriveOrder(Vehicle vehicle) {
       // Update the vehicle's procState, implicitly dispatching it again.
       vehicleService.updateVehicleProcState(vehicle.getReference(), Vehicle.ProcState.IDLE);
       vehicleService.updateVehicleTransportOrder(vehicle.getReference(), null);
-      // Let the router know that the vehicle doesn't have a route any more.
-      router.selectRoute(vehicle, null);
       // Update transport orders that are dispatchable now that this one has been finished.
       transportOrderUtil.markNewDispatchableOrders();
     }

opentcs-strategies-default/src/main/java/org/opentcs/strategies/basic/dispatching/phase/parking/AbstractParkingPositionSupplier.java

@@ -13,6 +13,7 @@
 import org.opentcs.components.kernel.services.InternalPlantModelService;
 import org.opentcs.data.model.Point;
 import org.opentcs.data.model.Vehicle;
+import org.opentcs.strategies.basic.dispatching.phase.TargetedPointsSupplier;
 
 /**
  * An abstract base class for parking position suppliers.
@@ -29,6 +30,10 @@ public abstract class AbstractParkingPositionSupplier
    * A router for computing distances to parking positions.
    */
   private final Router router;
+  /**
+   * Finds all points which are currently targeted by vehicles.
+   */
+  private final TargetedPointsSupplier targetedPointsSupplier;
   /**
    * Indicates whether this component is initialized.
    */
@@ -39,13 +44,16 @@ public abstract class AbstractParkingPositionSupplier
    *
    * @param plantModelService The plant model service.
    * @param router A router for computing distances to parking positions.
+   * @param targetedPointsSupplier Finds all points which are currently targeted by vehicles.
    */
   protected AbstractParkingPositionSupplier(
       InternalPlantModelService plantModelService,
-      Router router
+      Router router,
+      TargetedPointsSupplier targetedPointsSupplier
   ) {
     this.plantModelService = requireNonNull(plantModelService, "plantModelService");
     this.router = requireNonNull(router, "router");
+    this.targetedPointsSupplier = requireNonNull(targetedPointsSupplier, "targetedPointsSupplier");
   }
 
   @Override
@@ -97,12 +105,12 @@ public Router getRouter() {
    * @return The set of usable parking positions.
    */
   protected Set<Point> findUsableParkingPositions(Vehicle vehicle) {
-    // Find out which points are destination points of the current routes of
-    // all vehicles, and keep them. (Multiple lookups ahead.)
-    Set<Point> targetedPoints = getRouter().getTargetedPoints();
-
     return fetchAllParkingPositions().stream()
-        .filter(point -> isPointUnoccupiedFor(point, vehicle, targetedPoints))
+        .filter(
+            point -> isPointUnoccupiedFor(
+                point, vehicle, targetedPointsSupplier.getTargetedPoints()
+            )
+        )
         .collect(Collectors.toSet());
   }
 

opentcs-strategies-default/src/main/java/org/opentcs/strategies/basic/dispatching/phase/parking/DefaultParkingPositionSupplier.java

@@ -14,6 +14,7 @@
 import org.opentcs.components.kernel.services.InternalPlantModelService;
 import org.opentcs.data.model.Point;
 import org.opentcs.data.model.Vehicle;
+import org.opentcs.strategies.basic.dispatching.phase.TargetedPointsSupplier;
 import org.slf4j.Logger;
 import org.slf4j.LoggerFactory;
 
@@ -36,13 +37,15 @@ public class DefaultParkingPositionSupplier
    *
    * @param plantModelService The plant model service.
    * @param router A router for computing travel costs to parking positions.
+   * @param targetedPointsSupplier Finds all points which are currently targeted by vehicles.
    */
   @Inject
   public DefaultParkingPositionSupplier(
       InternalPlantModelService plantModelService,
-      Router router
+      Router router,
+      TargetedPointsSupplier targetedPointsSupplier
   ) {
-    super(plantModelService, router);
+    super(plantModelService, router, targetedPointsSupplier);
   }
 
   @Override

opentcs-strategies-default/src/main/java/org/opentcs/strategies/basic/dispatching/phase/parking/PrioritizedParkingPositionSupplier.java

@@ -16,6 +16,7 @@
 import org.opentcs.components.kernel.services.InternalPlantModelService;
 import org.opentcs.data.model.Point;
 import org.opentcs.data.model.Vehicle;
+import org.opentcs.strategies.basic.dispatching.phase.TargetedPointsSupplier;
 import org.slf4j.Logger;
 import org.slf4j.LoggerFactory;
 
@@ -44,14 +45,16 @@ public class PrioritizedParkingPositionSupplier
    * @param plantModelService The plant model service.
    * @param router A router for computing travel costs to parking positions.
    * @param priorityFunction A function computing the priority of a parking position.
+   * @param targetedPointsSupplier Returns all points which are currently targeted by vehicles.
    */
   @Inject
   public PrioritizedParkingPositionSupplier(
       InternalPlantModelService plantModelService,
       Router router,
-      ParkingPositionToPriorityFunction priorityFunction
+      ParkingPositionToPriorityFunction priorityFunction,
+      TargetedPointsSupplier targetedPointsSupplier
   ) {
-    super(plantModelService, router);
+    super(plantModelService, router, targetedPointsSupplier);
     this.priorityFunction = requireNonNull(priorityFunction, "priorityFunction");
   }
 

opentcs-strategies-default/src/main/java/org/opentcs/strategies/basic/dispatching/phase/recharging/DefaultRechargePositionSupplier.java

@@ -22,6 +22,7 @@
 import org.opentcs.data.model.Point;
 import org.opentcs.data.model.Vehicle;
 import org.opentcs.data.order.DriveOrder;
+import org.opentcs.strategies.basic.dispatching.phase.TargetedPointsSupplier;
 
 /**
  * Finds assigned, preferred or (routing-wise) cheapest recharge locations for vehicles.
@@ -38,6 +39,10 @@ public class DefaultRechargePositionSupplier
    * Our router.
    */
   private final Router router;
+  /**
+   * Finds all points which are currently targeted by vehicles.
+   */
+  private final TargetedPointsSupplier targetedPointsSupplier;
   /**
    * Indicates whether this component is enabled.
    */
@@ -48,14 +53,17 @@ public class DefaultRechargePositionSupplier
    *
    * @param plantModelService The plant model service.
    * @param router The router to use.
+   * @param targetedPointsSupplier Finds all points which are currently targeted by vehicles.
    */
   @Inject
   public DefaultRechargePositionSupplier(
       InternalPlantModelService plantModelService,
-      Router router
+      Router router,
+      TargetedPointsSupplier targetedPointsSupplier
   ) {
     this.plantModelService = requireNonNull(plantModelService, "plantModelService");
     this.router = requireNonNull(router, "router");
+    this.targetedPointsSupplier = requireNonNull(targetedPointsSupplier, "targetedPointsSupplier");
   }
 
   @Override
@@ -93,7 +101,7 @@ public List<DriveOrder.Destination> findRechargeSequence(Vehicle vehicle) {
         = findLocationsForOperation(
             vehicle.getRechargeOperation(),
             vehicle,
-            router.getTargetedPoints()
+            targetedPointsSupplier.getTargetedPoints()
         );
 
     String assignedRechargeLocationName = vehicle.getProperty(PROPKEY_ASSIGNED_RECHARGE_LOCATION);

opentcs-strategies-default/src/main/java/org/opentcs/strategies/basic/routing/DefaultRouter.java

@@ -250,6 +250,7 @@ public long getCosts(
     }
   }
 
+  @Deprecated
   @Override
   public void selectRoute(Vehicle vehicle, List<DriveOrder> driveOrders) {
     requireNonNull(vehicle, "vehicle");
@@ -265,13 +266,15 @@ public void selectRoute(Vehicle vehicle, List<DriveOrder> driveOrders) {
     }
   }
 
+  @Deprecated
   @Override
   public Map<Vehicle, List<DriveOrder>> getSelectedRoutes() {
     synchronized (this) {
       return new HashMap<>(routesByVehicle);
     }
   }
 
+  @Deprecated
   @Override
   public Set<Point> getTargetedPoints() {
     synchronized (this) {