com.kuka.nav.fleet.graph
Class TopologyGraph

java.lang.Object
  com.kuka.graph.impl.AbstractGraph<N,E>
      com.kuka.graph.impl.AbstractBaseGraph<N,E>
          com.kuka.graph.impl.AbstractBaseListenableGraph<TopologyNode,TopologyEdge>
              com.kuka.nav.fleet.graph.TopologyGraph

All Implemented Interfaces:

com.kuka.graph.Graph<TopologyNode,TopologyEdge>, com.kuka.graph.ListenableGraph<TopologyNode,TopologyEdge>, Serializable, Cloneable, Iterable<TopologyNode>

public class TopologyGraph
extends com.kuka.graph.impl.AbstractBaseListenableGraph<TopologyNode,TopologyEdge>

Represents a graph containing TopologyNodes and TopologyEdges.

See Also:

Serialized Form

Nested Class Summary

protected static class

TopologyGraph.ListenerContainer Contains a collection of listeners.

Field Summary

static String	GRAPH_TRANSITION Key used for registering graph transition custom actions.
static int	INVALID_ID Invalid node and graph id.

Constructor Summary

TopologyGraph()
Creates a new topology graph.

Method Summary

boolean	addEdge(TopologyEdge edge)
boolean	addNode(TopologyNode node)
void	addTopologyGraphListener(TopologyGraphListener listener) Adds the given listener to this graph.
protected void	checkLegalNodeAddition(TopologyGraph g, TopologyNode n) Checks whether the node may be added to the given topology graph.
TopologyEdge	createEdge(TopologyNode source, TopologyNode target)
TopologyNode	createNode() Additionally an id is generated for the new node.
TopologyNode	createNode(int id) Creates a new node with the given id, adds it to this graph and returns the created node.
protected void	fireEdgeChanged(TopologyEdge edge) Fires an edge changed event.
protected void	fireEdgePropertyAdded(TopologyEdge edge, Property property) Fires a property added event.
protected void	fireEdgePropertyChanged(TopologyEdge edge, Property property) Fires a property changed event.
protected void	fireEdgePropertyRemoved(TopologyEdge edge, Property property) Deprecated. use instead
protected void	fireEdgePropertyRemoved(TopologyEdge edge, Property property, Integer robotTypeId) Fires a property removed event.
protected void	fireNodeChanged(TopologyNode node) Fires a node changed event.
protected void	fireNodePropertyAdded(TopologyNode node, Property property) Fires a property added event.
protected void	fireNodePropertyChanged(TopologyNode node, Property property) Fires a property changed event.
protected void	fireNodePropertyRemoved(TopologyNode node, Property property) Deprecated. use instead
protected void	fireNodePropertyRemoved(TopologyNode node, Property property, Integer robotTypeId) Fires a property removed event.
TopologyEdge	getEdge(int sourceNodeID, int targetNodeID) Retrieves an edge by its node IDs or null if no such edge exists.
TopologyEdge	getEdge(TopologyEdge e) Retrieves an edge by edge reference, e.g., to map input parameters to 'real' edges.
int	getId() Gets the graph ID.
int	getMapId() Gets the ID of the map the graph is configured on.
String	getName() Gets the name of the graph or null if no name is set.
int	getNextFreeNodeId() Finds the smallest unused node id that is bigger than 0.
TopologyNode	getNode(int id) Retrieves a node by its id.
TopologyNode	getNode(String name) Retrieves a node by its name.
TopologyNode	getNode(TopologyNodeId node) Retrieves a node by a node reference, e.g. to map an input parameter to a 'real' topology graph node.
TopologyGraph	getSubgraphOf(TopologyNodeId node) Returns the subgraph of this topology graph which contains the given node.
Collection<TopologyGraph>	getSubgraphs() Returns all contained subgraphs.
com.kuka.nav.provider.util.ObjectMap<String>	getTags() Gets the tags of the graph.
protected Collection<TopologyGraphListener>	getTopologyGraphListeners() Returns all contained listeners.
boolean	hasName() Checks if the graph has a name assigned.
boolean	removeEdge(TopologyEdge edge)
boolean	removeNode(TopologyNode node)
void	removeTopologyGraphListener(TopologyGraphListener listener) Removes the given listener from this graph.
void	setGraphId(int id) Recursively sets graph ID to graph and all contained elements.
String	toString()
static TopologyGraph	withId(int id) Creates a new topology graph instance with given ID.
static TopologyGraph	withName(String name) Creates a new topology graph instance with given name.

Methods inherited from class com.kuka.graph.impl.AbstractBaseListenableGraph

addListener, hasListeners, removeListener

Methods inherited from class com.kuka.graph.impl.AbstractBaseGraph

clone, containsEdge, containsNode, edges, getEdge, incomingEdges, neighbors, nodes, outgoingEdges

Methods inherited from class com.kuka.graph.impl.AbstractGraph

addAllEdges, addAllNodes, clear, containsAllEdges, containsAllNodes, containsEdge, edges, edgeSize, isEmpty, iterator, nodes, nodeSize, removeAllEdges, removeAllNodes, removeEdge, retainAllEdges, retainAllNodes

Methods inherited from class java.lang.Object

equals, finalize, getClass, hashCode, notify, notifyAll, wait, wait, wait

Methods inherited from interface com.kuka.graph.Graph

addAllEdges, addAllNodes, clear, containsAllEdges, containsAllNodes, containsEdge, containsEdge, containsNode, edges, edges, edgeSize, getEdge, incomingEdges, isEmpty, neighbors, nodes, nodes, nodeSize, outgoingEdges, removeAllEdges, removeAllNodes, removeEdge, retainAllEdges, retainAllNodes

Methods inherited from interface java.lang.Iterable

iterator

Field Detail

INVALID_ID

public static final int INVALID_ID

Invalid node and graph id.

See Also:

Constant Field Values

GRAPH_TRANSITION

public static final String GRAPH_TRANSITION

Key used for registering graph transition custom actions. Must not be used for registering other custom actions.

See Also:

Constant Field Values

Constructor Detail

TopologyGraph

public TopologyGraph()

Creates a new topology graph.

Method Detail

withId

public static TopologyGraph withId(int id)

Creates a new topology graph instance with given ID.

Note that the object created with this static factory method is only an identifier and does not reflect the state of the corresponding element in the data source, i.e. most of the getters will fail.

A TopologyNode returned by this method can be used to parameterize a GraphMotion#GraphMotion(TopologyGraph, TopologyNode).

Parameters:

id - the topology element ID

Returns:

topology graph with given ID

See Also:

GraphMotion#GraphMotion(TopologyGraph, TopologyNode)

withName

public static TopologyGraph withName(String name)

Creates a new topology graph instance with given name.

Note that the object created with this static factory method is only an identifier and does not reflect the state of the corresponding element in the data source, i.e. most of the getters will fail.

A TopologyNode returned by this method can be used to parameterize a GraphMotion#GraphMotion(TopologyGraph, TopologyNode).

Parameters:

name - the graph name

Returns:

topology graph with given name

See Also:

GraphMotion#GraphMotion(TopologyGraph, TopologyNode)

getTags

public com.kuka.nav.provider.util.ObjectMap<String> getTags()

Gets the tags of the graph.

Returns:

the tags

createNode

public TopologyNode createNode()

Additionally an id is generated for the new node. It will be the first free id found starting from 1.

See Also:

createNode(int)

createNode

public TopologyNode createNode(int id)

Creates a new node with the given id, adds it to this graph and returns the created node.

Parameters:

id - the id of the new node

Returns:

the created node

createEdge

public TopologyEdge createEdge(TopologyNode source,
                               TopologyNode target)

getId

public int getId()

Gets the graph ID.

Returns:

the graph ID

getMapId

public int getMapId()

Gets the ID of the map the graph is configured on.

Returns:

the map ID

hasName

public boolean hasName()

Checks if the graph has a name assigned.

Returns:

true if graph is named, false if not

getName

public String getName()

Gets the name of the graph or null if no name is set. The method hasName() checks if a name is assigned.

Returns:

the name

getNode

public TopologyNode getNode(int id)

Retrieves a node by its id. Return null if that node doesn't exist.

Parameters:

id - id of the node

Returns:

the node

getNode

public TopologyNode getNode(String name)

Retrieves a node by its name. Return null if that node doesn't exist.

Parameters:

name - name of the node

Returns:

the node

getEdge

public TopologyEdge getEdge(TopologyEdge e)

Retrieves an edge by edge reference, e.g., to map input parameters to 'real' edges.

Parameters:

e - the edge reference

Returns:

the real representation of the corresponding edge in this topology graph or null if no such edge exists.

getNode

public TopologyNode getNode(TopologyNodeId node)

Retrieves a node by a node reference, e.g. to map an input parameter to a 'real' topology graph node. Return null if that node doesn't exist.

Parameters:

node - the reference node

Returns:

the topology graph node

getEdge

public TopologyEdge getEdge(int sourceNodeID,
                            int targetNodeID)

Retrieves an edge by its node IDs or null if no such edge exists.

Parameters:

sourceNodeID - the source node ID

targetNodeID - the target node ID

Returns:

the edge or null if nodes or edge between nodes does not exist in graph

toString

public String toString()

Overrides:

toString in class com.kuka.graph.impl.AbstractGraph<TopologyNode,TopologyEdge>

addNode

public boolean addNode(TopologyNode node)

Specified by:

addNode in interface com.kuka.graph.Graph<TopologyNode,TopologyEdge>

Overrides:

addNode in class com.kuka.graph.impl.AbstractBaseListenableGraph<TopologyNode,TopologyEdge>

addEdge

public boolean addEdge(TopologyEdge edge)

Specified by:

addEdge in interface com.kuka.graph.Graph<TopologyNode,TopologyEdge>

Overrides:

addEdge in class com.kuka.graph.impl.AbstractBaseListenableGraph<TopologyNode,TopologyEdge>

removeNode

public boolean removeNode(TopologyNode node)

Specified by:

removeNode in interface com.kuka.graph.Graph<TopologyNode,TopologyEdge>

Overrides:

removeNode in class com.kuka.graph.impl.AbstractBaseListenableGraph<TopologyNode,TopologyEdge>

removeEdge

public boolean removeEdge(TopologyEdge edge)

Specified by:

removeEdge in interface com.kuka.graph.Graph<TopologyNode,TopologyEdge>

Overrides:

removeEdge in class com.kuka.graph.impl.AbstractBaseListenableGraph<TopologyNode,TopologyEdge>

setGraphId

public void setGraphId(int id)

Recursively sets graph ID to graph and all contained elements.

Parameters:

id - the graph ID

getSubgraphs

public Collection<TopologyGraph> getSubgraphs()

Returns all contained subgraphs.

This topology graph itself is not considered to be its own subgraph, hence, it is not contained in the returned collection.

Returns:

a collection containing all subgraphs

getSubgraphOf

public TopologyGraph getSubgraphOf(TopologyNodeId node)

Returns the subgraph of this topology graph which contains the given node. If no subgraph contains the given node null is returned.

This topology graph itself is not considered to be its own subgraph, hence, if the given node is contained in this graph null is returned.

Parameters:

node - the node to get the corresponding subgraph for

Returns:

the subgraph or null

addTopologyGraphListener

public void addTopologyGraphListener(TopologyGraphListener listener)

Adds the given listener to this graph.

Parameters:

listener - the listener to add

removeTopologyGraphListener

public void removeTopologyGraphListener(TopologyGraphListener listener)

Removes the given listener from this graph.

Parameters:

listener - the listener to remove

getTopologyGraphListeners

protected Collection<TopologyGraphListener> getTopologyGraphListeners()

Returns all contained listeners.

Returns:

all contained listeners

fireNodeChanged

protected void fireNodeChanged(TopologyNode node)

Fires a node changed event.

Parameters:

node - the node that has been changed

fireNodePropertyAdded

protected void fireNodePropertyAdded(TopologyNode node,
                                     Property property)

Fires a property added event.

Parameters:

node - the node that contains the property

property - the property that has been added

fireNodePropertyRemoved

@Deprecated
protected void fireNodePropertyRemoved(TopologyNode node,
                                                  Property property)

Deprecated. use instead

Fires a property removed event.

Parameters:

node - the node that contains the property

property - the property that has been removed

fireNodePropertyRemoved

protected void fireNodePropertyRemoved(TopologyNode node,
                                       Property property,
                                       Integer robotTypeId)

Fires a property removed event.

Parameters:

node - the node that contains the property

property - the property that has been removed

robotTypeId - the corresponding robot type to the removed property

fireNodePropertyChanged

protected void fireNodePropertyChanged(TopologyNode node,
                                       Property property)

Fires a property changed event.

Parameters:

node - the node that contains the property

property - the property that has been changed

fireEdgeChanged

protected void fireEdgeChanged(TopologyEdge edge)

Fires an edge changed event.

Parameters:

edge - the edge that has been changed

fireEdgePropertyAdded

protected void fireEdgePropertyAdded(TopologyEdge edge,
                                     Property property)

Fires a property added event.

Parameters:

edge - the edge that contains the property

property - the property that has been added

fireEdgePropertyRemoved

@Deprecated
protected void fireEdgePropertyRemoved(TopologyEdge edge,
                                                  Property property)

Deprecated. use instead

Fires a property removed event.

Parameters:

edge - the edge that contains the property

property - the property that has been removed

fireEdgePropertyRemoved

protected void fireEdgePropertyRemoved(TopologyEdge edge,
                                       Property property,
                                       Integer robotTypeId)

Fires a property removed event.

Parameters:

edge - the edge that contains the property

property - the property that has been removed

robotTypeId - the corresponding robot type to the removed property

fireEdgePropertyChanged

protected void fireEdgePropertyChanged(TopologyEdge edge,
                                       Property property)

Fires a property changed event.

Parameters:

edge - the edge that contains the property

property - the property that has been changed

checkLegalNodeAddition

protected void checkLegalNodeAddition(TopologyGraph g,
                                      TopologyNode n)

Checks whether the node may be added to the given topology graph.

Parameters:

n - the node to be added.

g - the graph to which the node shall be added.

getNextFreeNodeId

public int getNextFreeNodeId()

Finds the smallest unused node id that is bigger than 0.

Returns:

the smallest unused node id > 0