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Allow sending VehicleCommAdapterMessages via the Operations Desk
Co-authored-by: Stefan Walter <stefan.walter@iml.fraunhofer.de> Merged-by: Stefan Walter <stefan.walter@iml.fraunhofer.de>
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‎opentcs-api-base/src/main/java/org/opentcs/components/plantoverview/VehicleCommAdapterMessageSuggestions.java‎

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// SPDX-FileCopyrightText: The openTCS Authors
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// SPDX-License-Identifier: MIT
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package org.opentcs.components.plantoverview;
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import jakarta.annotation.Nonnull;
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import java.util.Map;
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import java.util.Set;
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import org.opentcs.drivers.vehicle.VehicleCommAdapterMessage;
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/**
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* Objects implementing this interface provide a set of suggested types for
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* {@link VehicleCommAdapterMessage}s and keys and values for their parameters.
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*/
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public interface VehicleCommAdapterMessageSuggestions {
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/**
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* Returns suggested types for {@link VehicleCommAdapterMessage}s.
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*
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* @return Suggested types for {@link VehicleCommAdapterMessage}s.
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*/
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@Nonnull
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Set<String> getTypeSuggestions();
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/**
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* Returns a map of parameter suggestions that are specified for the given
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* {@link VehicleCommAdapterMessage} type.
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* <p>
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* The map contains parameter keys mapped to suggestions for the corresponding parameter's values.
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* </p>
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*
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* @param type The {@link VehicleCommAdapterMessage} type for which parameter suggestions are
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* requested.
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* @return A map of parameter suggestions.
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*/
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@Nonnull
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Map<String, Set<String>> getParameterSuggestionsFor(
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@Nonnull
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String type
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);
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}

‎opentcs-api-injection/src/main/java/org/opentcs/customizations/plantoverview/PlantOverviewInjectionModule.java‎

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import org.opentcs.components.plantoverview.PlantModelImporter;
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import org.opentcs.components.plantoverview.PluggablePanelFactory;
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import org.opentcs.components.plantoverview.PropertySuggestions;
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import org.opentcs.components.plantoverview.VehicleCommAdapterMessageSuggestions;
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import org.opentcs.customizations.ConfigurableInjectionModule;
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/**
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return Multibinder.newSetBinder(binder(), OrderTypeSuggestions.class);
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}
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/**
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* Returns a multibinder that can be used to register classes that provide suggestions for
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* vehicle comm adapter messages.
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*
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* @return The multibinder.
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*/
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protected Multibinder<VehicleCommAdapterMessageSuggestions>
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vehicleCommAdapterMessageSuggestionsBinder() {
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return Multibinder.newSetBinder(binder(), VehicleCommAdapterMessageSuggestions.class);
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}
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/**
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* Returns a multibinder that can be used to register {@link ObjectHistoryEntryFormatter}s.
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*

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

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** Consider `orderpool.sweepAge` when cleaning up order sequences, too.
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** Add support for mapping coordinates from the plant model's coordinate system to the coordinate system of a vehicle and vice versa (when sending/receiving them to/from a vehicle).
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For more information, please refer to the user's guide.
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** Add support for sending `VehicleCommAdapterMessage`s via the Operations Desk.
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* Bugs fixed:
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** Properly check a new plant model for duplicate element names before accepting it.
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** Don't allow transport orders to be created with a peripheral reservation token set to the empty string.

‎opentcs-operationsdesk/build.gradle‎

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@@ -14,6 +14,7 @@ application.mainClass = ext.mainClass
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ext.collectableDistDir = new File(buildDir, 'install')
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dependencies {
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api project(':opentcs-commadapter-loopback')
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api project(':opentcs-common')
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api project(':opentcs-impl-configuration-gestalt')
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api project(':opentcs-plantoverview-common')

‎opentcs-operationsdesk/src/guiceConfig/java/org/opentcs/operationsdesk/DefaultVehicleCommAdapterMessageSuggestions.java‎

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// SPDX-FileCopyrightText: The openTCS Authors
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// SPDX-License-Identifier: MIT
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package org.opentcs.operationsdesk;
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import static java.util.Objects.requireNonNull;
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import java.util.HashMap;
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import java.util.HashSet;
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import java.util.Map;
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import java.util.Set;
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import java.util.stream.Collectors;
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import java.util.stream.Stream;
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import javax.annotation.Nonnull;
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import org.opentcs.components.plantoverview.VehicleCommAdapterMessageSuggestions;
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import org.opentcs.data.model.Vehicle;
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import org.opentcs.drivers.vehicle.VehicleCommAdapterMessage;
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import org.opentcs.virtualvehicle.LoopbackCommAdapterMessages;
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/**
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* The default suggestions for {@link VehicleCommAdapterMessage}s.
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*/
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public class DefaultVehicleCommAdapterMessageSuggestions
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implements
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VehicleCommAdapterMessageSuggestions {
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private final Set<String> typeSuggestions = new HashSet<>();
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private final Map<String, Map<String, Set<String>>> parameterSuggestions = new HashMap<>();
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/**
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* Creates a new instance.
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*/
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public DefaultVehicleCommAdapterMessageSuggestions() {
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addTypeSuggestion(
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LoopbackCommAdapterMessages.INIT_POSITION,
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new ParameterSuggestion(LoopbackCommAdapterMessages.INIT_POSITION_PARAM_POSITION)
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);
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addTypeSuggestion(LoopbackCommAdapterMessages.CURRENT_MOVEMENT_COMMAND_FAILED);
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addTypeSuggestion(
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LoopbackCommAdapterMessages.PUBLISH_EVENT,
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new ParameterSuggestion(LoopbackCommAdapterMessages.PUBLISH_EVENT_PARAM_APPENDIX)
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);
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addTypeSuggestion(
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LoopbackCommAdapterMessages.SET_ENERGY_LEVEL,
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new ParameterSuggestion(LoopbackCommAdapterMessages.SET_ENERGY_LEVEL_PARAM_LEVEL)
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);
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addTypeSuggestion(
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LoopbackCommAdapterMessages.SET_LOADED,
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new ParameterSuggestion(
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LoopbackCommAdapterMessages.SET_LOADED_PARAM_LOADED,
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Set.of("true", "false")
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)
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);
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addTypeSuggestion(
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LoopbackCommAdapterMessages.SET_ORIENTATION_ANGLE,
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new ParameterSuggestion(LoopbackCommAdapterMessages.SET_ORIENTATION_ANGLE_PARAM_ANGLE)
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);
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addTypeSuggestion(
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LoopbackCommAdapterMessages.SET_POSITION,
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new ParameterSuggestion(LoopbackCommAdapterMessages.SET_POSITION_PARAM_POSITION)
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);
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addTypeSuggestion(LoopbackCommAdapterMessages.RESET_POSITION);
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addTypeSuggestion(
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LoopbackCommAdapterMessages.SET_PRECISE_POSITION,
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new ParameterSuggestion(LoopbackCommAdapterMessages.SET_PRECISE_POSITION_PARAM_X),
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new ParameterSuggestion(LoopbackCommAdapterMessages.SET_PRECISE_POSITION_PARAM_Y),
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new ParameterSuggestion(LoopbackCommAdapterMessages.SET_PRECISE_POSITION_PARAM_Z)
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);
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addTypeSuggestion(LoopbackCommAdapterMessages.RESET_PRECISE_POSITION);
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addTypeSuggestion(
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LoopbackCommAdapterMessages.SET_STATE,
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new ParameterSuggestion(
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LoopbackCommAdapterMessages.SET_STATE_PARAM_STATE,
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Set.of(
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Vehicle.State.UNKNOWN.name(),
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Vehicle.State.UNAVAILABLE.name(),
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Vehicle.State.ERROR.name(),
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Vehicle.State.IDLE.name(),
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Vehicle.State.EXECUTING.name(),
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Vehicle.State.CHARGING.name()
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)
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)
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);
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addTypeSuggestion(
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LoopbackCommAdapterMessages.SET_PAUSED,
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new ParameterSuggestion(
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LoopbackCommAdapterMessages.SET_PAUSED_PARAM_PAUSED,
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Set.of("true", "false")
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)
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);
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addTypeSuggestion(
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LoopbackCommAdapterMessages.SET_PROPERTY,
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new ParameterSuggestion(LoopbackCommAdapterMessages.SET_PROPERTY_PARAM_KEY),
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new ParameterSuggestion(LoopbackCommAdapterMessages.SET_PROPERTY_PARAM_VALUE)
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);
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addTypeSuggestion(
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LoopbackCommAdapterMessages.RESET_PROPERTY,
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new ParameterSuggestion(LoopbackCommAdapterMessages.RESET_PROPERTY_PARAM_KEY)
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);
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addTypeSuggestion(
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LoopbackCommAdapterMessages.SET_SINGLE_STEP_MODE_ENABLED,
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new ParameterSuggestion(
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LoopbackCommAdapterMessages.SET_SINGLE_STEP_MODE_ENABLED_PARAM_ENABLED,
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Set.of("true", "false")
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)
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);
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addTypeSuggestion(
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LoopbackCommAdapterMessages.TRIGGER_SINGLE_STEP
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);
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}
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@Override
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@Nonnull
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public Set<String> getTypeSuggestions() {
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return Set.copyOf(typeSuggestions);
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}
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@Override
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@Nonnull
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public Map<String, Set<String>> getParameterSuggestionsFor(
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@Nonnull
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String type
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) {
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return parameterSuggestions.getOrDefault(requireNonNull(type, "type"), Map.of());
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}
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private void addTypeSuggestion(
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String typeSuggestion,
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ParameterSuggestion... parameterSuggestions
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) {
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typeSuggestions.add(typeSuggestion);
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this.parameterSuggestions.put(
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typeSuggestion,
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Stream.of(parameterSuggestions)
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.collect(
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Collectors.toMap(
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ParameterSuggestion::key,
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ParameterSuggestion::values
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)
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)
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);
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}
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/**
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* A suggestion for a single parameter consisting of the parameter's key and suggestions for its
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* value.
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*
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* @param key The parameter's key.
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* @param values A set of suggested values
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*/
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private record ParameterSuggestion(String key, Set<String> values) {
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/**
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* Creates a new instance.
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*
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* @param key The parameter's key.
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*/
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ParameterSuggestion(String key) {
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this(key, Set.of());
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}
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}
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}

‎opentcs-operationsdesk/src/guiceConfig/java/org/opentcs/operationsdesk/VehicleCommAdapterMessageSuggestionsModule.java‎

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// SPDX-FileCopyrightText: The openTCS Authors
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// SPDX-License-Identifier: MIT
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package org.opentcs.operationsdesk;
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import jakarta.inject.Singleton;
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import org.opentcs.customizations.plantoverview.PlantOverviewInjectionModule;
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import org.opentcs.drivers.vehicle.VehicleCommAdapterMessage;
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import org.opentcs.operationsdesk.vehicles.MergedVehicleCommAdapterMessageSuggestions;
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/**
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* This module configures the multibinder used to suggest {@link VehicleCommAdapterMessage}
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* parameters.
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*/
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public class VehicleCommAdapterMessageSuggestionsModule
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extends
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PlantOverviewInjectionModule {
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/**
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* Creates a new instance.
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*/
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public VehicleCommAdapterMessageSuggestionsModule() {
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}
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@Override
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protected void configure() {
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vehicleCommAdapterMessageSuggestionsBinder().addBinding()
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.to(DefaultVehicleCommAdapterMessageSuggestions.class)
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.in(Singleton.class);
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bind(MergedVehicleCommAdapterMessageSuggestions.class).in(Singleton.class);
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}
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}

‎opentcs-operationsdesk/src/guiceConfig/resources/META-INF/services/org.opentcs.customizations.plantoverview.PlantOverviewInjectionModule‎

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org.opentcs.operationsdesk.DefaultImportersExportersModule
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org.opentcs.operationsdesk.PropertySuggestionsModule
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org.opentcs.operationsdesk.transport.OrderTypeSuggestionsModule
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org.opentcs.operationsdesk.VehicleCommAdapterMessageSuggestionsModule

‎opentcs-operationsdesk/src/main/java/org/opentcs/operationsdesk/application/action/ViewActionMap.java‎

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import org.opentcs.operationsdesk.application.action.actions.FindVehicleAction;
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import org.opentcs.operationsdesk.application.action.actions.PauseAllVehiclesAction;
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import org.opentcs.operationsdesk.application.action.actions.ResumeAllVehiclesAction;
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import org.opentcs.operationsdesk.application.action.actions.SendVehicleCommAdapterMessageAction;
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import org.opentcs.operationsdesk.application.action.app.AboutAction;
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import org.opentcs.operationsdesk.application.action.view.AddDrawingViewAction;
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import org.opentcs.operationsdesk.application.action.view.AddPeripheralJobViewAction;
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* @param actionFactory The action factory
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* @param createTransportOrderAction The action to create transport orders
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* @param findVehicleAction The action to find vehicles
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* @param sendVehicleCommAdapterMessageAction The action to send vehicle comm adapter messages.
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* @param pauseAllVehiclesAction The action to pause all vehicles
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* @param resumeAllVehiclesAction The action to resume all vehicles
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* @param aboutAction The action to show the about window
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ActionFactory actionFactory,
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CreateTransportOrderAction createTransportOrderAction,
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FindVehicleAction findVehicleAction,
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SendVehicleCommAdapterMessageAction sendVehicleCommAdapterMessageAction,
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PauseAllVehiclesAction pauseAllVehiclesAction,
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ResumeAllVehiclesAction resumeAllVehiclesAction,
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AboutAction aboutAction,
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// Menu item Actions -> Create ...
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put(CreateTransportOrderAction.ID, createTransportOrderAction);
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put(CreatePeripheralJobAction.ID, createPeripheralJobAction);
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put(SendVehicleCommAdapterMessageAction.ID, sendVehicleCommAdapterMessageAction);
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// --- Menu View ---
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// Menu View -> Add drawing view

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