Interface AgvAdapter

Registers a handler that is invoked once by the associated controller when the adapter should perform initializations and connect to the AGV navigation & control interface.

The handler function should compute initial vehicles states and report them back to the controller after initialization is complete through the callback AttachContext.attached. Until this callback is invoked, the controller won't invoke any of the other handler functions defined in this interface.

Registers a handler that is invoked by the associated controller whenever a not yet finished or failed node or edge action of an active order is to be canceled.

If the action cannot be interrupted it should continue running until finished or failed. If the action can be interrupted it should be canceled and action status FAILED should be reported via context.updateActionStatus.

Remarks

This handler function is only invoked for node and edge actions previously scheduled by the executeAction handler and not yet finished or failed, i.e. for actions that are either in status INITIALIZING, RUNNING, or PAUSED.

Registers a handler that is invoked once by the associated controller when the adapter should perform deinitializations and disconnect from the AGV navigation & control interface.

The handler function may compute final vehicles states and report them back to the controller after deinitialization is complete through the callback DetachContext.detached. After this callback is invoked, the controller won't invoke any of the other handler functions defined in this interface.

Registers a handler that is invoked by the associated controller whenever an instant, node, or edge action is to be executed.

While the action is executed, the callback context.updateActionStatus must be invoked whenever the action transitions to a new status, passing in the new action status together with result description and linked partial state (if applicable).

If the action context of an action specifies true on the stopDriving property the AGV must stop driving and eventually invoke controller.updateDrivingState before executing the action; otherwise the current driving state must be kept.

Remarks

For a node or edge action, the initial action status WAITING is already preset on the controller's current state. For an instant action, no action status is preset on the current state. In both cases, the action handler must initially transition to the action's initial state, either INITIALIZING or RUNNING (or PAUSED if pause mode is activated), FINISHED, or FAILED.

If pause mode is active, the action to be executed should transition to PAUSED state (immediately or after initializing/running, if needed). If pause mode is deactivated, the action should transition to the previous status again.

For instant actions 'startPause' and 'stopPause' this handler must pause/resume all other actions, and update their action status and linked state paused accordingly. Node processing of an active order is suspended and resumed automatically by the AGV controller. Edge traversal must be suspended and resumed by the AGV adapter.

Note that the instant actions 'stateRequest' and 'cancelOrder' are never dispatched to this handler as they are handled by the AGV controller itself.

Registers a handler that is invoked by the associated controller whenever an active edge action (i.e. one with status unequal FINISHED or FAILED) must be terminated.

Remarks

The registered handler is invoked whenever a node is traversed and any active actions on the edge leading up to that node must be terminated. The handler should finish or cancel the action and report an updated action status FINISHED or FAILED via context.updateActionStatus.

Registers a handler that is invoked by the associated controller to check synchronously whether a given node, edge, or instant action can be executed principally.

The handler function should return a non-empty array of error references if the action cannot be executed and must be rejected. For example, if an action cannot be completed because of external factors (e.g. no load at expected position), or if an action conflicts with the AGV's currently active order (e.g. instant action says to lower fork while order says to raise fork), or if the order contains actions the vehicle cannot perform (e.g. lifting height higher than maximum lifting height, or lifting actions although no stroke is installed).

If the action can be executed, the handler should return an empty array or undefined.

Remarks

You should not include the actionId and the actionType as error references as these are added automatically by the controller. If the error was caused by erroneous action parameters, include a list of parameters in the reference.

If an instant action is not executable in principle it will be rejected with an error by the AGV controller. If a node or edge action is not executable in principle, the order will be rejected by the AGV controller. In the latter case all order node and edge actions are checked for executability before the order is carried out.

Returns

an array of error references if action cannot be executed; an empty array or undefined if action can be executed

Registers a handler that is invoked by the associated controller whenever it needs to check whether a given node's position is within the allowed deviation range of the current AGV position.

The handler function should return an array of error references if the node is not within the deviation range by checking the node properties x, y, theta, mapId, allowedDeviationTheta, and allowedDeviationXy against the current AGV position. Otherwise, the handler should return an empty array or undefined.

Remarks

You should not include the nodeId as error reference as it is added automatically by the controller. Instead, include all node property-value pairs that fail the check.

Returns

an array of error references if node is not within deviation range; an empty array or undefined otherwise

Registers a handler that is invoked by the associated controller to check synchronously whether AGV can traverse a given route with regard to vehicle-specific constraints on node/edge properties that must be validated by the AGV adapter as the AGV controller is not aware of them.

The nodes and edges passed to this handler are guaranteed to be well-formed and valid with respect to the proper sequence of base/horizon nodes and edges.

Node and edge actions must not be checked by this handler; they are checked individually by the handler isActionExecutable.

The handler function should return an array of error references if the route cannot be traversed. For example, if an edge has fields that the vehicle cannot use (e.g. trajectory) or misses fields it requires (e.g. nodePosition with mapId for free navigation) or fields it doesn't support (e.g. rotationAllowed). Otherwise, the handler should return an empty array or undefined.

Returns

an array of error references if route cannot be traversed; an empty array or undefined otherwise

Registers a handler that is invoked by the associated controller whenever the AGV should stop driving while the active order is being canceled and after all node/edge actions of this order have already been canceled.

If the AGV is on a node or can stop if in between nodes, it should stop gracefully; otherwise it should continue driving to the next node, and automatically stop on arrival. In all these cases the traverse handler's callback context.edgeTraversed should not be invoked any more (even if you do invoke it, it is ignored by the AGV controller).

The handler function must invoke the callback context.stopped once as soon as the AGV has stopped driving, even if the vehicle is already stopped for another reason. After reporting this state the AGV should be able to receive a new order. Until this callback has been called it is guaranteed that no other invocation of this handler occurs.

If the AGV's capabilities require it to drive to the next node before stopping, the adapter must invoke both the callback context.drivingToNextNode immediately and the callback context.stopped after stopping on arrival.

Remarks

It is guaranteed that whenever this function is called all scheduled node and edge actions of the order to be canceled have ended, i.e. are either in status FINISHED or FAILED.

Registers a handler that is invoked by the associated controller to synchronously calculate the trajectory for a given edge (optional).

Remarks

This handler is only required if the AGV should precalculate the trajectory path of all order edges by itself whenever an order arrives. The handler is invoked on all order edges (including horizon edges) in the given edges order in series. Do not specify a handler function if the AGV should determine the route on the fly when an edge is being traversed by invoking the traverse handler.

Returns

the calculated trajectory object

Registers a handler that is invoked by the associated controller to traverse a given edge with a given start and end node using an (optional) trajectory.

When the handler function is invoked the AGV should drive along the given trajectory (if specified) or by free navigation (if not specified), invoking controller.updateDrivingState if needed. However, if pause mode is activated the AGV has to postpone traversal until pause mode is deactivated by instant action 'stopPause'.

When the given edge has been traversed completely, the callback context.edgeTraversed must be invoked. Until this callback has been called it is guaranteed that no other invocation of this handler occurs.

Remarks

While traversing an edge the AGV adapter must handle activation and deactivation of pause mode (triggered either by instant actions 'startPause/stopPause' or by a hardware button) that affects driving state and update it accordingly.

This handler must take edge and end node orientation changes into account if supported by the AGV. If an edge orientation is required and rotation is disallowed on the edge, rotate the vehicle before entering the edge, otherwise rotate the vehicle on the edge to the desired ortientation. Upon traversal and if required, the vehicle must be rotated on the end node according to node's theta angle.