Allow bounding box updates via VehicleProcessModel

Merged-by: Stefan Walter <[email protected]>

openTCS-API-Base/src/main/java/org/opentcs/drivers/vehicle/BasicVehicleCommAdapter.java

@@ -206,7 +206,7 @@ public VehicleProcessModelTO createTransferableProcessModel() {
         .setPrecisePosition(getProcessModel().getPrecisePosition())
         .setPosition(getProcessModel().getPosition())
         .setState(getProcessModel().getState())
-        .setLength(getProcessModel().getLength());
+        .setBoundingBox(getProcessModel().getBoundingBox());
   }
 
   @Override

openTCS-API-Base/src/main/java/org/opentcs/drivers/vehicle/VehicleProcessModel.java

@@ -21,9 +21,11 @@
 import java.util.Objects;
 import java.util.Queue;
 import org.opentcs.data.TCSObjectReference;
+import org.opentcs.data.model.BoundingBox;
 import org.opentcs.data.model.Triple;
 import org.opentcs.data.model.Vehicle;
 import org.opentcs.data.notification.UserNotification;
+import org.opentcs.util.annotations.ScheduledApiChange;
 
 /**
  * An observable model of a vehicle's and its comm adapter's attributes.
@@ -94,9 +96,9 @@ public class VehicleProcessModel {
    */
   private Vehicle.State state = Vehicle.State.UNKNOWN;
   /**
-   * The vehicle's current length.
+   * The vehicle's current bounding box.
    */
-  private int length;
+  private BoundingBox boundingBox;
 
   /**
    * Creates a new instance.
@@ -109,7 +111,7 @@ public VehicleProcessModel(
   ) {
     this.vehicle = requireNonNull(attachedVehicle, "attachedVehicle");
     this.vehicleReference = vehicle.getReference();
-    this.length = (int) vehicle.getBoundingBox().getLength();
+    this.boundingBox = vehicle.getBoundingBox();
   }
 
   /**
@@ -471,24 +473,59 @@ else if (oldState == Vehicle.State.ERROR && newState != Vehicle.State.ERROR) {
    * Returns the vehicle's current length.
    *
    * @return The vehicle's current length.
+   * @deprecated Use {@link #getBoundingBox()} instead.
    */
+  @Deprecated
+  @ScheduledApiChange(when = "7.0", details = "Will be removed.")
   public int getLength() {
-    return length;
+    return (int) boundingBox.getLength();
   }
 
   /**
    * Sets the vehicle's current length.
    *
    * @param length The new length.
+   * @deprecated Use {@link #setBoundingBox(BoundingBox)} instead.
    */
+  @Deprecated
+  @ScheduledApiChange(when = "7.0", details = "Will be removed.")
   public void setLength(int length) {
-    int oldValue = this.length;
-    this.length = length;
+    setBoundingBox(getBoundingBox().withLength(length));
+  }
+
+  /**
+   * Returns the vehicle's current bounding box.
+   *
+   * @return The vehicle's current bounding box.
+   */
+  @Nonnull
+  public BoundingBox getBoundingBox() {
+    return boundingBox;
+  }
+
+  /**
+   * Sets the vehicle's current bounding box.
+   *
+   * @param boundingBox The new bounding box.
+   */
+  public void setBoundingBox(
+      @Nonnull
+      BoundingBox boundingBox
+  ) {
+    requireNonNull(boundingBox, "boundingBox");
+
+    BoundingBox oldValue = this.boundingBox;
+    this.boundingBox = boundingBox;
 
     getPropertyChangeSupport().firePropertyChange(
-        Attribute.LENGTH.name(),
+        Attribute.BOUNDING_BOX.name(),
         oldValue,
-        length
+        boundingBox
+    );
+    getPropertyChangeSupport().firePropertyChange(
+        Attribute.LENGTH.name(),
+        oldValue.getLength(),
+        boundingBox.getLength()
     );
   }
 
@@ -752,7 +789,13 @@ public enum Attribute {
     /**
      * Indicates a change of the vehicle's length.
      */
+    @Deprecated
+    @ScheduledApiChange(when = "7.0", details = "Will be removed.")
     LENGTH,
+    /**
+     * Indicates a change of the vehicle's bounding box.
+     */
+    BOUNDING_BOX,
     /**
      * Indicates a new user notification was published.
      */

openTCS-API-Base/src/main/java/org/opentcs/drivers/vehicle/management/VehicleProcessModelTO.java

@@ -16,11 +16,13 @@
 import java.util.ArrayList;
 import java.util.List;
 import java.util.Queue;
+import org.opentcs.data.model.BoundingBox;
 import org.opentcs.data.model.Triple;
 import org.opentcs.data.model.Vehicle;
 import org.opentcs.data.notification.UserNotification;
 import org.opentcs.drivers.vehicle.LoadHandlingDevice;
 import org.opentcs.drivers.vehicle.VehicleProcessModel;
+import org.opentcs.util.annotations.ScheduledApiChange;
 
 /**
  * A serializable representation of a {@link VehicleProcessModel}.
@@ -43,7 +45,7 @@ public class VehicleProcessModelTO
   private int energyLevel;
   private List<LoadHandlingDevice> loadHandlingDevices = new ArrayList<>();
   private Vehicle.State state = Vehicle.State.UNKNOWN;
-  private int length;
+  private BoundingBox boundingBox = new BoundingBox(1000, 1000, 1000);
 
   /**
    * Creates a new instance.
@@ -164,12 +166,28 @@ public VehicleProcessModelTO setState(
     return this;
   }
 
+  @Deprecated
+  @ScheduledApiChange(when = "7.0", details = "Will be removed.")
   public int getLength() {
-    return length;
+    return (int) boundingBox.getLength();
   }
 
+  @Deprecated
+  @ScheduledApiChange(when = "7.0", details = "Will be removed.")
   public VehicleProcessModelTO setLength(int length) {
-    this.length = length;
+    setBoundingBox(getBoundingBox().withLength(length));
+    return this;
+  }
+
+  public BoundingBox getBoundingBox() {
+    return boundingBox;
+  }
+
+  public VehicleProcessModelTO setBoundingBox(
+      @Nonnull
+      BoundingBox boundingBox
+  ) {
+    this.boundingBox = requireNonNull(boundingBox, "boundingBox");
     return this;
   }
 }

openTCS-CommAdapter-Loopback/src/main/java/org/opentcs/virtualvehicle/LoopbackCommunicationAdapter.java

@@ -162,11 +162,15 @@ public void propertyChange(PropertyChangeEvent evt) {
       if (!getProcessModel().getLoadHandlingDevices().isEmpty()
           && getProcessModel().getLoadHandlingDevices().get(0).isFull()) {
         loadState = LoadState.FULL;
-        getProcessModel().setLength(configuration.vehicleLengthLoaded());
+        getProcessModel().setBoundingBox(
+            getProcessModel().getBoundingBox().withLength(configuration.vehicleLengthLoaded())
+        );
       }
       else {
         loadState = LoadState.EMPTY;
-        getProcessModel().setLength(configuration.vehicleLengthUnloaded());
+        getProcessModel().setBoundingBox(
+            getProcessModel().getBoundingBox().withLength(configuration.vehicleLengthUnloaded())
+        );
       }
     }
     if (Objects.equals(

openTCS-Kernel/src/main/java/org/opentcs/kernel/vehicles/DefaultVehicleController.java

@@ -39,6 +39,7 @@
 import org.opentcs.data.ObjectUnknownException;
 import org.opentcs.data.TCSObjectEvent;
 import org.opentcs.data.TCSObjectReference;
+import org.opentcs.data.model.BoundingBox;
 import org.opentcs.data.model.Location;
 import org.opentcs.data.model.Path;
 import org.opentcs.data.model.Point;
@@ -285,7 +286,7 @@ public void initialize() {
         commAdapter.getProcessModel().getLoadHandlingDevices()
     );
     updateVehicleState(commAdapter.getProcessModel().getState());
-    updateVehicleLength(commAdapter.getProcessModel().getLength());
+    updateVehicleBoundingBox(commAdapter.getProcessModel().getBoundingBox());
 
     claimedResources.clear();
     allocatedResources.clear();
@@ -985,8 +986,11 @@ else if (Objects.equals(
     else if (Objects.equals(evt.getPropertyName(), VehicleProcessModel.Attribute.STATE.name())) {
       updateVehicleState((Vehicle.State) evt.getNewValue());
     }
-    else if (Objects.equals(evt.getPropertyName(), VehicleProcessModel.Attribute.LENGTH.name())) {
-      updateVehicleLength((int) evt.getNewValue());
+    else if (Objects.equals(
+        evt.getPropertyName(),
+        VehicleProcessModel.Attribute.BOUNDING_BOX.name()
+    )) {
+      updateVehicleBoundingBox((BoundingBox) evt.getNewValue());
     }
     else if (Objects.equals(
         evt.getPropertyName(),
@@ -1170,7 +1174,7 @@ private void commandExecuted(MovementCommand executedCommand) {
               = ResourceMath.freeableResourceSetCount(
                   SplitResources.from(allocatedResources, Set.of(currentVehiclePosition))
                       .getResourcesPassed(),
-                  commAdapter.getProcessModel().getLength()
+                  commAdapter.getProcessModel().getBoundingBox().getLength()
               );
           for (int i = 0; i < freeableResourceSetCount; i++) {
             Set<TCSResource<?>> oldResources = allocatedResources.poll();
@@ -1244,13 +1248,9 @@ private void updateVehicleState(Vehicle.State newState) {
     vehicleService.updateVehicleState(vehicle.getReference(), newState);
   }
 
-  private void updateVehicleLength(int newLength) {
-    vehicleService.updateVehicleBoundingBox(
-        vehicle.getReference(),
-        vehicleService.fetchObject(Vehicle.class, vehicle.getReference())
-            .getBoundingBox()
-            .withLength(newLength)
-    );
+  private void updateVehicleBoundingBox(BoundingBox newBoundingBox) {
+    requireNonNull(newBoundingBox, "newBoundingBox");
+    vehicleService.updateVehicleBoundingBox(vehicle.getReference(), newBoundingBox);
   }
 
   /**

openTCS-Kernel/src/main/java/org/opentcs/kernel/vehicles/ResourceMath.java

@@ -42,7 +42,7 @@ private ResourceMath() {
   public static int freeableResourceSetCount(
       @Nonnull
       List<Set<TCSResource<?>>> resourcesPassed,
-      int vehicleLength
+      long vehicleLength
   ) {
     requireNonNull(resourcesPassed, "resourcesPassed");
     checkArgument(vehicleLength > 0, "vehicleLength <= 0");
@@ -52,7 +52,7 @@ public static int freeableResourceSetCount(
     List<Set<TCSResource<?>>> reversedPassedResources = new ArrayList<>(resourcesPassed);
     Collections.reverse(reversedPassedResources);
 
-    int remainingRequiredLength = vehicleLength;
+    long remainingRequiredLength = vehicleLength;
     int result = 0;
     for (Set<TCSResource<?>> curSet : reversedPassedResources) {
       if (remainingRequiredLength > 0) {
@@ -66,11 +66,10 @@ public static int freeableResourceSetCount(
     return result;
   }
 
-  private static int requiredLength(Set<TCSResource<?>> resources) {
+  private static long requiredLength(Set<TCSResource<?>> resources) {
     return resources.stream()
         .filter(resource -> resource instanceof Path)
         .mapToLong(resource -> ((Path) resource).getLength())
-        .mapToInt(length -> (int) length)
         .sum();
   }