com.kuka.nav.fleet
Interface CorrectPlansCallback

public interface CorrectPlansCallback

Interface defining methods to be called by the FleetManager in case of GraphMotions not being completed successfully. These methods can be used to implement customized handling of plans that were invalidated by the failed motion (e.g., the failed AGV blocks execution of the plan).

Method Summary

Map<GraphMotionContainer,ReplanResult>

handleReplan(Collection<GraphMotionContainer> containers) Corrects the plan of the given containers whose plans were invalidated by a failing or cancelled graph motion.

Method Detail

handleReplan

Map<GraphMotionContainer,ReplanResult> handleReplan(Collection<GraphMotionContainer> containers)

Corrects the plan of the given containers whose plans were invalidated by a failing or cancelled graph motion. The implementation has to ensure that successful correction results in a plan that will be executable by the robot executing the motion.

Implementations of this method may perform an unlimited number of calls to FleetManager.replan(GraphMotionContainer), FleetManager.plan(GraphMotion), and FleetManager.rollback(). Any call to FleetManager.resume() will not have any effect with regard to resuming execution of graph motions. However, the implementation must neither attempt to re-plan any container directly (by calling GraphMotionContainerBase.replan() or GraphMotionContainerBase.replan()) nor wait for any container to be finished or finalized.

Parameters:

containers - the containers that must be re-planned.

Returns:

a map containing for each container in the given collection the re-plan result indicating whether plan correction was successful or not. If re-planning failed, the fleet manager will stop queuing further motions to the robot executing the corresponding container. After the motions queued to the robot are finished the container will fail.