Optional onInvoked whenever an order's node or edge action state has changed (optional).
If action state changes to FAILED, an accompanying error object may be
reported by the AGV. However, if an order is rejected because an order
action is not executable in the first place, this error is reported by
the onOrderProcessed callback.
To check whether the action is on a node or on an edge and to use the
target parameter in a type-safe way, discriminate by ("nodeId" in target) or ("edgeId" in target), respectively.
the new action state
an Error object in case a failed action reports an error; otherwise undefined
the related action
the node or edge related to the action
context information of the order event
Optional onInvoked whenever an order's edge has been traversed (optional).
An order (base) edge is traversed when the AGV has reached the edge's end node target position and all the edge's active actions are being terminated.
This callback is only triggered for base edges, not for horizon edges.
the traversed edge
the start node of the traversed edge
the end node of the traversed edge
context information of the order event
Optional onInvoked to report changes in certain State properties while an order's edge is being traversed (optional).
Changes are being reported for the following State properties:
distanceSinceLastNodedrivingnewBaseRequestoperatingModepausedsafetyStateNote that only the delta changes are reported relative to the previous edgeTraversing event. On the first event, the current values of all State properties as defined above are reported.
The first invocation of this event handler is triggered as soon as the AGV is ready to traverse the edge. In this case, the driving state can still be false.
the traversing edge
the start node of the traversing edge
the end node of the traversing edge
edge-related State properties that have changed
the one-based number of invocations of this callback for the current traversing edge (starts with 1 for the first invocation)
context information of the order event
Optional onInvoked whenever an order's node has been traversed (optional).
An order (base) node is traversed when the AGV has reached the node's target position and the node's actions are being triggered.
This callback is only triggered for base nodes, not for horizon nodes.
the target node
the released or unreleased edge following the traversed
node or undefined if no such edge exists.
the released or unreleased end node of the edge following
the traversed node or undefined if no such node exists.
context information of the order event
Invoked once when the assigned order has been processed successfully, canceled successfully (by instant action "cancelOrder"), or rejected with an error in the first place because the order is not executable by the AGV.
An order is processed if all the order's base nodes/edges have been traversed and all base node/edge actions have been finished or failed. Yet, the order may still be active if it contains horizon nodes/edges. In such a case, you can then assign an order update or cancel the order.
After this callback has been invoked, no more callbacks related to the assigned order are invoked afterwards. Events on a subsequent order update are emitted on the event handlers of the newly assigned order update.
an Error object if order has been rejected in the first
place because it is not executable; otherwise undefined
true if executing order has been canceled before
this callback is invoked; otherwise false
true if order is still active after processing, otherwise
false
context information of the order event
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Defines distinct callback functions invoked by the master controller whenever the state of an assigned order changes.