com.kuka.nav.fleet
Interface GraphMotionContainer

All Superinterfaces:

GraphMotionContainerBase

public interface GraphMotionContainer
extends GraphMotionContainerBase

Status container for a single graph motion.

Method Summary

GraphMotionResult	awaitFinalized() Blocks the calling thread until this graph motion container is finalized or an interrupted exception occurs.
GraphMotionResult	awaitFinalized(long timeout, TimeUnit unit) Blocks the calling thread until this graph motion container is finalized, the given timeout has passed or an interrupted exception occurs.
void	awaitFinished() Blocks the calling thread until this graph motion container is finished or an interrupted exception occurs.
void	awaitFinished(long timeout, TimeUnit unit) Blocks the calling thread until this graph motion container is finished, the given timeout has passed or an interrupted exception occurs.
void	cancel() Cancels the execution of the associated GraphMotion.
GraphMotion	getCommand() Gets the executed command.
TopologyNode	getLastNode() Gets the current node, i.e. the node where the robot most recently arrived.
int	getLastQueuedIndex() Gets the index of the plan step of this container's plan which will be reached by the robot after all currently queued motions have successfully been finished.
com.kuka.command.ICommandExecutionContainer<?,?,?>	getMotionContainer() Gets the container of the currently executed motion command, only available in state executing or finished.
TopologyNode	getNextNode() Gets the next node to be visited by the robot.
List<TopologyNode>	getPath() Deprecated. (since 1.7, reason: more informative method getPlan() was added, refactoring advice: use getPlan() instead).
Plan	getPlan() Gets the Plan being executed for the GraphMotion associated to this graph motion container.
com.kuka.nav.robot.MobileRobot	getRobot() Gets the robot executing this container.
int	getRobotId() Gets the id of the robot executing this container.

Methods inherited from interface com.kuka.nav.fleet.GraphMotionContainerBase

getPathLengthToGoal, getResult, getState, getTimeInActive, getTimeInActivePercent, getTimeToGoal, getTravelledDistance, getTravelledDistancePercent, replan

Method Detail

cancel

void cancel()

Cancels the execution of the associated GraphMotion. Any motion currently being executed is cancelled immediately. All queued motions are also cancelled and no further commands are accepted.

awaitFinished

void awaitFinished()

Blocks the calling thread until this graph motion container is finished or an interrupted exception occurs.

If the calling thread has paused (by calling FleetManager.plan(GraphMotion) or FleetManager.replan(GraphMotionContainer)) and not yet resumed the fleet manager an IllegalStateException will be thrown.

awaitFinished

void awaitFinished(long timeout,
                   TimeUnit unit)
                   throws TimeoutException

Blocks the calling thread until this graph motion container is finished, the given timeout has passed or an interrupted exception occurs.

If the calling thread has paused (by calling FleetManager.plan(GraphMotion) or FleetManager.replan(GraphMotionContainer)) and not yet resumed the fleet manager an IllegalStateException will be thrown.

Parameters:

timeout - the timeout

unit - the time unit

Throws:

TimeoutException - if the graph motion container was not finished in time

awaitFinalized

GraphMotionResult awaitFinalized()

Blocks the calling thread until this graph motion container is finalized or an interrupted exception occurs.

If the calling thread has paused (by calling FleetManager.plan(GraphMotion) or FleetManager.replan(GraphMotionContainer)) and not yet resumed the fleet manager an IllegalStateException will be thrown.

Returns:

the graph motion result

awaitFinalized

GraphMotionResult awaitFinalized(long timeout,
                                 TimeUnit unit)
                                 throws TimeoutException

Blocks the calling thread until this graph motion container is finalized, the given timeout has passed or an interrupted exception occurs.

If the calling thread has paused (by calling FleetManager.plan(GraphMotion) or FleetManager.replan(GraphMotionContainer)) and not yet resumed the fleet manager an IllegalStateException will be thrown.

Parameters:

timeout - the timeout

unit - the time unit

Returns:

the graph motion result

Throws:

TimeoutException - if the graph motion container was not finalized in time

getCommand

GraphMotion getCommand()

Gets the executed command.

Returns:

the executed command

getRobotId

int getRobotId()

Gets the id of the robot executing this container.

Returns:

the id of the robot.

getRobot

com.kuka.nav.robot.MobileRobot getRobot()

Gets the robot executing this container.

Returns:

the robot

getPath

@Deprecated
List<TopologyNode> getPath()

Deprecated. (since 1.7, reason: more informative method getPlan() was added, refactoring advice: use getPlan() instead).

Gets the list of nodes to be visited in the planned path.

Returns:

the list of nodes.

getPlan

Plan getPlan()

Gets the Plan being executed for the GraphMotion associated to this graph motion container. It should be noted that the plan may change during execution of the graph motion. This may be caused by calls to GraphMotionContainerBase.replan() or when the plan visits waiting nodes of a goal node.

Returns:

the plan.

getMotionContainer

com.kuka.command.ICommandExecutionContainer<?,?,?> getMotionContainer()

Gets the container of the currently executed motion command, only available in state executing or finished.

Returns:

the container

getLastNode

TopologyNode getLastNode()

Gets the current node, i.e. the node where the robot most recently arrived.

Returns:

the most recent node

getNextNode

TopologyNode getNextNode()

Gets the next node to be visited by the robot. Equals to last node if the robot is located at the node (as opposed to the robot currently executing a motion on an edge).

Returns:

the next node to be visited.

getLastQueuedIndex

int getLastQueuedIndex()

Gets the index of the plan step of this container's plan which will be reached by the robot after all currently queued motions have successfully been finished.

Returns:

the index of the plan step.