Ensure assignment of recharge orders

It is now allowed for vehicles with critical energy level to execute transport orders where the first operation is a recharge operation, making it possible to explicitly create recharging orders for vehicles. Merged-by: Martin Grzenia <[email protected]>
openTCS · Nov 6, 2024 · 1860398 · 1860398
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commit 1860398
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Showing 6 changed files with 12 additions and 9 deletions.
diff --git a/opentcs-documentation/src/docs/release-notes/changelog.adoc b/opentcs-documentation/src/docs/release-notes/changelog.adoc
@@ -20,6 +20,7 @@ This change log lists the most relevant changes for past releases in reverse chr
 
 * New features and enhancements:
 ** Add support for pluggable transformation of data sent to / received from vehicles, e.g. for conversion between the coordinate system in the plant model and a vehicle-specific one.
+** Allow assignment of externally-created recharging orders to vehicles with critical energy level.
 ** Update web API specification and implementation to version 1.9.0:
 *** Add missing _required_ markers for request and response bodies.
 *** Include a vehicle's 'sufficiently recharged' and 'fully recharged' energy levels when requesting vehicle data.

diff --git a/opentcs-documentation/src/docs/users-guide/04_default-strategies.adoc b/opentcs-documentation/src/docs/users-guide/04_default-strategies.adoc
@@ -25,6 +25,7 @@ To make this decision, the default dispatcher takes the following steps:
 *** It may not be assigned to a transport order, or the assigned transport order must be _dispensable_.
     That is the case with parking orders, for instance, or with recharging orders if the vehicle's energy level is not critical.
 *** Its energy level must not be critical.
+    (Vehicles with critical energy level are taken into account only for transport orders with which the first destination operation is a recharge operation.)
 ** Criteria for a transport order to be taken into account are:
 *** It must be generally dispatchable.
 *** It must not be part of an order sequence that is already being processed by a vehicle.

diff --git a/.../main/java/org/opentcs/strategies/basic/dispatching/PeriodicVehicleRedispatchingTask.java b/.../main/java/org/opentcs/strategies/basic/dispatching/PeriodicVehicleRedispatchingTask.java
@@ -62,7 +62,6 @@ public void run() {
   private boolean couldProcessTransportOrder(Vehicle vehicle) {
     return vehicle.getIntegrationLevel() == Vehicle.IntegrationLevel.TO_BE_UTILIZED
         && vehicle.getCurrentPosition() != null
-        && !vehicle.isEnergyLevelCritical()
         && (processesNoOrder(vehicle)
             || processesDispensableOrder(vehicle));
   }

diff --git a/...rc/main/java/org/opentcs/strategies/basic/dispatching/phase/assignment/OrderAssigner.java b/...rc/main/java/org/opentcs/strategies/basic/dispatching/phase/assignment/OrderAssigner.java
@@ -171,6 +171,7 @@ private void tryAssignOrder(
         = availableOrders.stream()
             .filter(
                 order -> (!assignmentState.wasAssignedToVehicle(order)
+                    && vehicleCanTakeOrder(vehicle, order)
                     && orderAssignableToVehicle(order, vehicle))
             )
             .map(order -> computeCandidate(vehicle, vehiclePosition, order))
@@ -206,6 +207,7 @@ private void tryAssignVehicle(
         = availableVehicles.stream()
             .filter(
                 vehicle -> (!assignmentState.wasAssignedToOrder(vehicle)
+                    && vehicleCanTakeOrder(vehicle, order)
                     && orderAssignableToVehicle(order, vehicle))
             )
             .map(
@@ -286,6 +288,14 @@ private Optional<AssignmentCandidate> computeCandidate(
         .map(driveOrders -> new AssignmentCandidate(vehicle, order, driveOrders));
   }
 
+  private boolean vehicleCanTakeOrder(Vehicle vehicle, TransportOrder order) {
+    return !vehicle.isEnergyLevelCritical()
+        || Objects.equals(
+            order.getAllDriveOrders().getFirst().getDestination().getOperation(),
+            vehicle.getRechargeOperation()
+        );
+  }
+
   private boolean orderAssignableToVehicle(TransportOrder order, Vehicle vehicle) {
     return (order.getIntendedVehicle() == null
         || Objects.equals(order.getIntendedVehicle(), vehicle.getReference()))

diff --git a/...a/org/opentcs/strategies/basic/dispatching/selection/vehicles/IsAvailableForAnyOrder.java b/...a/org/opentcs/strategies/basic/dispatching/selection/vehicles/IsAvailableForAnyOrder.java
@@ -62,7 +62,6 @@ public boolean test(Vehicle vehicle) {
     return vehicle.getIntegrationLevel() == Vehicle.IntegrationLevel.TO_BE_UTILIZED
         && vehicle.getCurrentPosition() != null
         && vehicle.getOrderSequence() == null
-        && !vehicle.isEnergyLevelCritical()
         && !needsMoreCharging(vehicle)
         && (processesNoOrder(vehicle)
             || processesDispensableOrder(vehicle))

diff --git a/...g/opentcs/strategies/basic/dispatching/selection/vehicles/IsAvailableForAnyOrderTest.java b/...g/opentcs/strategies/basic/dispatching/selection/vehicles/IsAvailableForAnyOrderTest.java
@@ -103,13 +103,6 @@ void checkVehicleHasOrderSequence() {
     assertFalse(isAvailableForAnyOrder.test(vehicle));
   }
 
-  @Test
-  void checkVehicleHasCriticalEnergyLevel() {
-    Vehicle vehicle = vehicleAvailableForAnyOrder.withEnergyLevel(0);
-
-    assertFalse(isAvailableForAnyOrder.test(vehicle));
-  }
-
   @Test
   void checkVehicleNeedsMoreCharging() {
     Vehicle vehicle = vehicleAvailableForAnyOrder