openTCS 2.5 - User manual
Contents
1. Operating the system in the property panel at the bottom left of the plant overview client s window You can revert this by right clicking on the vehicle and selecting Withdraw TO and Disable Vehicle in the context menu The processing state shown is now UNAVAILABLE and the vehicle will not be dispatched for transport orders any more 5 3 Creating a transport order 1 Select the menu entry Actions Transport Order In the dialog shown click on the Add button and select a station as the destination and an operation which the vehicle should execute there You can add an arbitrary number of destinations to the order this way They will be processed in the given order After creating the transport order with the given destinations by clicking OK the kernel will check for a vehicle that can process the order If a vehicle is found it is assigned the order immediately and the route computed for it will be highlighted in the plant overview client The loopback driver simulates the vehicle s movement to the destinations and the execution of the operations 5 4 Continuous creation of random orders Important The generic client used here is primarily intended to be used during software developement and for testing of individual functions of the system that are not accessible via the plant overview client yet The generic client is not designed to be very user friendly or to prevent errors and can if oper2. Point Point 0009 Point Point 0010 Point Point 0011 Point Point 0012 Point Point 0013 Point Point 0014 Point Point 0015 Point Point 0016 Point Point 0017 Point Point 0018 Point Paint 0019 C Components U Blocks T U Groups D Properties Vehicle Attribute Name Vehicle length Value Wehicle 01 1000 0 mm Energy level critical at 60 Energy level good at 30 Initial position Current energy level 100 Current energy state Loaded SOOD State UNKNOWN Processing state PROCESSING ORDER Current point Point 0037 Next point Point 0028 Exact position ebile orientati nul dal de en 0 Kernel messages CJ Driving Course 1 500 300 Point 0027 200 Storage 01 100 0 amp 7 1 Point 0028 Storage 02 7 Point 0029 _ Point 0035 i 100 200 Point 0036 gt O 6 oint 0026 Point 0030 Point 0032 ok EHS a Goods in north 7 Point 0042 Point 0039 200 gt 100 Point 0043 Point 0040 Point 0037 T Point 00 Point 0038 Point 00 2 Polnt 0002 fou igt 0014 Recharge 01 Point 0044 D Pagnt 00 Point Ot R rge 02 a 4100 Q021 Point 0056 200 Point 00 Gat G O an 22
3. aw Path Point 0003 Point 0001 Locations s j Location 0002 C LType 01 Location 0001 v i Oo LType 01 Location 0002 i Trt Location type LType 01 Pa Link Location 0001 Point 0001 i a Link Point 0002 Location 0002 Static routes Other graphical elements 800 700 600 500 Figure 3 3 Control elements in the plant overview client modelling mode Create three reporting points by selecting the point tool from the driving course elements toolbar see red frame in Figure 3 3 and click on three positions on the drawing area Link the three points with paths to a closed loop by a selecting the path tool by double click b clicking on a point dragging the path to the next point and releasing the mouse button there Create two stations by double clicking the station tool and clicking on any two free positions on the drawing area As a station type does not yet exist in the course model a new one is created implicitly when creating the first station which can be seen in the tree view to the left of the drawing area Link the two stations with different points by a double clicking on the link tool b clicking on a station dragging the link to a point and releasing the mouse button Create a new vehicle by clicking on the vehicle button in the course elements toolbar Define the allowed operations for vehicles at the newly created stations by a selecting the
4. e Find and select the configuration entry org opentcs kernel OrderCleanerTask orderSweepInterval The default value is 600000 milliseconds corresponding to an interval of 10 minutes Set this value according to your needs e Find and select the configuration entry org opentcs kernel OrderCleanerTask orderSweepThreshold The default value is 200 orders to be kept in the pool Set this value according to your needs e If you do not want to clean up old orders when their number passes a certain threshold but want to remove them depending on their age do the following 1 Find and select the configuration entry org opentcs kernel OrderCleanerTask orderSweepType Its default value is BY AMOUNT which means that orders will be cleaned up when reaching a certain amount Change this value to BY_AGE This will remove finished transport orders once they have passed a certain age 2 Finally find and select the configuration entry org opentcs kernel OrderCleanerTask orderSweepAge to change the maximum age of finished orders The default value is 3600000 milliseconds corresponding to one hour that a finished order should be kept in the pool Set this value according to your needs 11 Chapter 4 Interfaces to other systems openTCS offers the following interfaces for communication with other systems e An RMI interface providing access to all functions of the kernel e A bidirectional interface via a TCP IP connection fo
5. Associate the vehicle with the loopback driver by right clicking on the vehicle in the vehicle list of the driver panel and selecting the menu entry Driver Loopback adapter virtual vehicle Open the detailed view of the vehicle by double clicking on the vehicle s name in the list In the detailed view of the vehicle that is now shown to the right of the vehicle list select the tab Loopback options Enable the driver by ticking the checkbox Enable loopback adapter in the Loopback options tab or the checkbox in the Enabled column of the vehicle list In the Loopback options tab or in the vehicles list select a point from the driving course model to have the loopback adapter report this point to the kernel as the virtual vehicle s current position In a real world application a vehicle driver communicating with a real vehicle would automatically report the vehicle s current position to the kernel as soon as it is known iE to let the kernel know that the vehicle is now in a state that allows it to receive and process orders Switch to the plant overview client An icon representing the vehicle should now be shown at the point on which you placed it using the loopback driver Right click on the vehicle and select Dispatch Vehicle in the menu shown to allow the kernel to dispatch the vehicle The vehicle is then available for processing orders which is indicated by the Processing state IDLE
6. IP connection The following points should be respected e Multiple sets of transport orders are not intended to be transferred via the same TCP connection After processing a set and sending the response openTCS closes the connection To transfer further sets new TCP IP connections need to be established by the peer system e openTCS only waits a limited amount of time default ten seconds for incoming data If there is no incoming data from the peer system over a longer period of time the connection will be closed by openTCS without any transport orders being created The maximum length of a single XML telegram is limited to 100 kilobytes by default If more data is transferred the connection will be closed without any transport orders being created 1 1 XML telegrams for creating orders Every XML telegram sent to openTCS via the interface described above can describe multiple transport orders to be created Every order element must contain the following data 12 Interfaces to other systems e A string identifying the order element This string is required for unambiguous matching of receipts see Section 1 3 and orders e A sequence of destinations and destination operations defining the actual order Furthermore each order element may contain the following data e A deadline point of time at which the order should be finished e The name of a vehicle in the system that the order should be assigned to If this informati
7. a system e g because the vehicle temporarily cannot be controlled by openTCS due to a hardware defect that has to be dealt with first The following steps will ensure that no further transport orders are assigned to the vehicle and that the resources it might still be occupying are freed for use by other vehicles Operating the system 1 In the plant overview client right click on the vehicle and select Withdraw TO and Disable Vehicle to disable the vehicle for transport order processing 2 In the kernel control center disable the vehicle s driver by unticking the checkbox Enable loopback adapter in the Loopback options tab or the checkbox in the Enabled column of the vehicle list 3 In the kernel control center right click on the vehicle in the vehicle list and select Reset vehicle position from the context menu to free the point in the driving course that the vehicle is occupying 6 Step by step Manipulating the system configuration These step by step instructions demonstrate how system parameters that influence e g the routing or parking strategies can be manipulated 6 1 Selecting the cost function used for routing 1 Switch to the kernel control center s Configuration tab 2 Find and select the configuration entry org opentcs kernel module routing DijkstraRouter costType and click the Configure button 3 In the dialog shown set the configuration item s value to one of the following s LENGTH BASED default Rou
8. by doing the following 1 Open the kernel s startup script in a text editor 2 Find the line containing the kernel startup parameter choosemodel 3 Replace choosemodel with loadmodel MODELNAME where MODELNAME is the name of the model you want the kernel to load on startup 17 Customizing and integrating openTCS 4 Running kernel and plant overview on separate systems The kernel and the plant overview client communicate via Java s Remote Method Invocation RMI mechanism This makes it possible to run the kernel and the plant overview client on separate systems as long as a network connection between these systems exists and is usable To connect a plant overview client to a kernel running on a remote system do the following 1 Open the plant overview client s startup script that comes with the openTCS distribution startPlantOverview bat or startPlantOverview sh depending on the operating system in a text editor Find the line containing the Java VM startup parameter Dopentcs kernel host localhost With this parameter change localhost to one of the following e If you want the plant overview client to always connect to a kernel on a specific host replace Localhost with the host name or IP address of this host e If you do not know the host name or IP address of the system the kernel will be running on in advance simply remove localhost from the parameter leaving only Dop
9. components for driving course modelling sss sese sese eee eee 6 4 2 Adding elements to the driving course model sss eee 6 4 3 Saving the driving course model 4 ER E a ER 8 5 Step by step Operating th Systems sects deities sin adhe ulated alee as anse 8 5 1 Starting components for system Operation sees ee ee ee ee ee ee ee eee 8 5 2 Configuring vehicle Gri Vers ss ire ee re a ere ent retire Def Lette 8 53 Creating a transport Order oaea cate yaaa net me te A Sagan nt latente meet aed Lente 9 5 4 Continuous creation Of random orders 9 5 5 Removing a vehicle from a running system 00 0 0 eee eee eee ee eee 9 6 Step by step Manipulating the system configuration 10 6 1 Selecting the cost function used for routing ire 10 6 2 Configuring automatic r TTT 10 6 3 Configuring order pool cleanup sse ee eee ee ee e ee eee 11 4 Int rtaces to other Systems HHT 12 1 Cre tins orders via TCP IP Snorase e a niee o a a eee isis it ees We 12 1 1 XML telegrams for creating Orders neis rhin tenir nt nent a Ea veces 12 1 2 XML telegrams referencing order batches 13 1 3 Receipts for created Orders thsctsveisianssineieasvecduentesioisl td Cri ne an sl UN urines tels 13 14 Receipts for ord r batches ss sn re
10. load handling device 2 System requirements e Standard PC with at least 512 MB main memory required processing power of the CPU and actual memory requirement depending on size and complexity of the system to be controlled e Java Runtime Environment JRE at least version 1 7 The directory bin of the installed JRE for example C Program Files Java jrel 7 0 bin should be included in the enviroment variable PATH to be able to use the included start scripts 3 Further documentation For information about the respective openTCS version you use including a changelog for comparison with earlier versions please refer to the file README html included in the openTCS distribution If you want to extend and customize openTCS please also see the JavaDoc documentation that is part of the openTCS distribution In addition to the API documentation it contains multiple short tutorials aiming primarily at developers 4 Questions and problem reports If you have questions about this manual the openTCS project or about using or extending openTCS please contact the development team by using the discussion forums at http sourceforge net projects opentcs or by sending an e mail to lt info opentcs org gt If you encounter technical problems using openTCS please remember to include the following data in your problem report e The applications log files contained in the subdirectory log of both the kernel and the plant ov
11. 1 00 xmins xsi http www w3 org 2001 XMLSchema instance gt lt statusMessage orderName TOrder 0001 orderState ACTIVE xsi type orderStatusMessage gt lt destination locationName Storage 01 operation Load cargo state PRISTINE gt lt destination locationName Storage 02 operation Unload cargo state PRISTINE gt lt statusMessage gt lt tcsStatusMessageSet gt Figure 4 5 Status message for the generated order 3 XML schemas for telegrams and scripts XML schemas describing the expected structure of XML order telegrams and order batch files as well as the structure of receipt telegrams as sent by openTCS are part of the openTCS distribution and can be found in the directory containing the documentation 15 Chapter 5 Customizing and integrating openTCS 1 Integrating custom vehicle drivers openTCS supports dynamic integration of vehicle drivers that implement vehicle specific communication protocols and thus mediate between the kernel and the vehicle Due to its function a vehicle driver is also called a communication adapter The following sections describe which requirements must be met by a driver and which steps are necessary to create and use it A basic prerequisite for the integration of drivers is their implementation in the Java programming language Therefore these instructions are directed primarily at developers who are familiar w
12. Order 0001 id TransportOrder 01 xmins xsi http www w3 org 2001 XMLSchema instance gt lt response xsi type transportResponse executionSuccessful true orderName TOrder 0002 id TransportOrder 02 xmins xsi http www w3 org 2001 XMLSchema instance gt lt tcsResponseSet gt Figure 4 3 XML telegram with receipts for created orders 1 4 Receipts for order batches For referenced order batches receipts will be sent back to the peer too The response contains an element for every batch file referenced by the peer If the batch file was successfully read and processed a response for every single order definition it contains will be included Figure 4 4 shows a possible response to the batch file reference in Figure 4 2 In this case the batch file contains two transport order definitions which have been processed successfully lt xml version 1 0 encoding UTF 8 standalone yes gt lt tcsResponseSet gt lt response xsi type ScriptResponse parsingSuccessful false id test tcs xmlns xsi http www w3 org 2001 XMLSchema instance gt lt transport orderName TOrder 0003 executionSuccessful true id test tcs gt lt transport orderName TOrder 0004 executionSuccessful true id test tcs gt lt response gt lt tcsResponseSet gt Figure 4 4 XML telegram with receipts for orders in batch file 2 Status messages via TCP IP To receive status messages for transport or
13. Point 00 Point 00 5 T 6 re Working station 03 Paot 0053 F Point 0 HHEH i R rge 03 Point 0045 D Pant 00 Point 0010 L fo i Recharge 04 Point 0020 i fe out 01 400 l 019 Ca i Goofs in sputh 01 ji 100 JABA gt C Driving Course 1 C Transport Orders 1 C Transport Order Sequences 1 CJ Vehicles O Vehicle 01 Vehicle 02 ld 100 ldd 100 Yo m Vehicle 03 Vehicle 04 5 8 m 1 UNKNOWN UNKNOWN UNKNOWN Layout Demo 01 loaded from kernel Figure 3 1 Plant overview client displaying driving course model 1 Start kernel startKernel bat Operating the system a Select existing model from the list in the dialog window shown select plant operation mode and click OK 2 Start plant overview client startPlantOverview bat 3 Select tab Vehicle drivers in the kernel control center Select configure and start driver for each vehicle in the model a The list on the left hand side of the window shows all vehicles in the chosen model b A detailed view for a vehicle can be seen on the right hand side of the driver panel after double clicking on the vehicle in the list The specific design of this detailed view depends on the driver associated with the v
14. ated incorrectly cause errors in the running openTCS instance If necessary such problems can be corrected by restarting openTCS Start the generic client startGenericClient bat Select the tab Continuous load Choose a trigger for creating new transport orders New orders will either be created once only or if the number of active orders in the system drops below a specified limit or after a specified timeout has expired By using an Order profile you may choose if the transport orders destinations should be selected randomly or if you want to select them yourself Using Create orders randomly you define the number of transport orders that are to be generated at a time and the number of destinations a single transport order should contain Since the destinations will be selected randomly the orders created might not necessarily make sense for a real world system Using Create orders according to definition you can define an arbitrary number of transport orders each with an arbitrary number of destinations and properties and save and load your list of transport orders Start the order generator by activating the corresponding checkbox at the bottom of the Continuous load tab The load generator will then generate transport orders according to its configuration until the checkbox is deactivated 5 5 Removing a vehicle from a running system There may be situations in which you want to remove a single vehicle from
15. de vehicles move from reporting point to reporting point in the model e Paths are connections between reporting points that are navigable for vehicles e Locations are places at which vehicles may execute special operations change their load charge their battery etc To be reachable for any vehicle in the model a location needs to be linked to at least one point e Vehicles map real vehicles for the purpose of visualizing their positions and other characteristics Furthermore there is an abstract element that is only used indirectly e Location types group stations and define operations that can be executed by vehicles at these stations The attributes of these elements that are relevant for the driving course model e g the coordinates of a reporting point or the length of a path can be manipulated using the modelling client Furthermore it is possible to define arbitrary additional attributes as key value pairs for all driving course elements which for example can be read and evaluated by vehicle drivers or client software Both the key and the value can be arbitrary character strings For example a key value pair IP address 192 168 23 42 could be defined for a vehicle in the model stating which IP address is to be used to communicate with the vehicle a vehicle driver could now check during runtime whether a value for the key IP address was defined and if yes use it to automatically configure the communication channel to the ve
16. ders in the system connections to another TCP port default port 44444 may be established Whenever the state of a transport order changes an XML telegram will be sent to each connnected client describing the new state of the order Each of these telegrams is followed by a string that does 14 Interfaces to other systems not appear in the telegrams themselves by default a single pipe symbol marking the end of the respective telegram Status messages will be sent until the peer closes the TCP connection The following points should be respected e From the peer s point of view connections to this status channel are purely passive i e openTCS does not expect any messages from the peer and will not process any data received via this connection e A peer needs to filter the received telegrams for relevant data itself The openTCS kernel does not provide any filtering of status messages for clients e Due to concurrent processes within openTCS it is possible that the creation and activation of a transport order and its assignment to a vehicle is reported via the status channel before the peer that created the order receives the corresponding receipt Figure 4 5 shows a status message as it would be sent via the status channel after the first of the two transport orders defined in Figure 4 1 has been created and activated lt xml version 1 0 encoding UTE 8 gt lt tcsStatusMessageSet timeStamp 2008 10 31T09 49 38 177 0
17. driver is an adapter between kernel and vehicle and translates each vehicle specific communication protocol to the kernel s internal communication schemes and vice versa Furthermore a driver may offer low level functionality to the user via the kernel s graphical user interface e g manually sending telegrams to the associated vehicle By using suitable vehicle drivers vehicles of different types can be managed simultaneously by a single openTCS instance The plant overview client that is part of the openTCS distribution allows editing of driving course models while the kernel is running in modelling mode This includes for instance the definition of load change stations driving tracks and vehicles In the kernel s plant operation mode the plant overview client is used to display System overview the transportation system s general state and any active transport processes and to create new transport orders interactively Other clients e g to control higher level plant processes can be implemented and attached For Java clients the openTCS kernel provides an interface based on Java RMI Remote Method Invocation A host interface for creating transport orders using XML telegrams sent via TCP IP connections is also available 2 Structure of driving course models A driving course model consists of the following elements e Points are logical mappings of discrete positions reporting points reported by a vehicle In plant operation mo
18. ehicle Usually status information sent by the vehicle e g current position and mode of operation is displayed and low level settings e g for the vehicle s IP address are provided here c Right clicking on the list of vehicles shows a popup menu that allows to attach or detach drivers for selected vehicles d For a vehicle to be controlled by the system a driver needs to be attached to the vehicle and enabled For testing purposes without real vehicles that could communicate with the system the so called loopback driver can be used which provides a virtual vehicle or simulates a real one open WE Kernel Control Center Operating mode Demo 01 8 Kernel Settings Help e Logging T Configuration I Vehicle driver Vehicles in model Vehicle details Vehicle State Adapter Enabled Position Vehicle 01 S Wehicle 01 UNKNOWN Loopback a v Point 0003 General status Loopback options Vehicle 02 UNKNOWN LJ Adapter status Vehicle properties Vehicle power Vehicle 03 UNKNOWN mi 7 Enable loopback adapter Max forward velocity 1000 mm s Capacity Ws Vehicle 04 UNKNOWN L Current position state Max reverse velocity eile Cane Idle power W Position Point 0003 Max acceleration 500 mms Movement power W Max deceleration 500 mm s Operation power MW State UNKNOWN Default operating time 5000 ms Energy level 100 Operation specification bx Prec
19. entcs kernel host This will result in a dialog being shown every time the plant overview client is started allowing you to enter the host name or IP address to be used for that session 18
20. erview application The driving course model you are working with contained in the subdirectory dat a of the kernel application Chapter 2 System overview 1 System components and structure openTCS consists of the following components running as separate processes and working together in a client server architecture e Kernel server process running vehicle independent strategies and drivers for controlled vehicles e Clients e Plant overview for modelling and visualizing the course layout Plant overview modelling Arbitrary clients for comunicating with other systems e g for process control or warehouse management Dispatcher ESA Plant overview Vehicle visualization drivers Process control WMS ERP etc Lens Figure 2 1 The structure of openTCS The purpose of the openTCS kernel is to provide an abstract driving course model of a transportation system plant to manage transport orders and to compute routes for the vehicles Clients can communicate with this server process to for instance modify the driving course model to visualize the driving course and the processing of transport orders and to create new transport orders For user interaction the kernel provides a graphical user interface titled Kernel Control Center The driver framework that is part of the openTCS kernel manages communication channels and associates vehicle drivers with vehicles A vehicle
21. hicle Another use for these generic attributes can be vehicle specific actions to be executed on certain paths in the model If a vehicle should for instance issue an acoustic warning and or turn on the right hand direction indicator when currently on a certain path attributes with the keys acoustic warning and or right hand direction indicator could be defined for this path and evaluated by the respective vehicle driver Chapter 3 Operating the system 1 Starting the system To create or to edit the model of a transport system openTCS has to be started in modelling mode To use it as a transportation control system based on an existing model it has to be started in plant operation mode Starting a component is done by executing the respective shell script Unix or batch file Windows 1 1 Starting in modelling mode 1 Start kernel startKernel bat a Select existing model that should be edited from the list in the dialog window shown select modelling mode and click OK or click Cancel to work with a new empty model 2 Start plant overview client startPlantOverview bat 1 2 Starting in plant operation mode File Edit Actions Window Iela asla eae AL Vehicle Vehicle 03 L Vehicle Vehicle 04 IBS Viayout o1 7 Points Point Point 0001 Point Point 0002 Point Point 0003 Point Point 0004 Point Point 0005 Point Point 0006 Point Point 0007 Point Point 0008
22. ion 10 Operating the system e PriorityParkingStrategy With this parking strategy idle vehicles will be sent to the parking position that is unoccupied and has the highest priority Parking priorities can be manipulated with the plant overview client To do this select a point that is marked as parking position In the property view click on the Miscellaneous property s value cell which will show a dialog for editing arbitrary properties as key value pairs To assign a priority to the parking position you may set two properties with the following keys e tcs parkPriorityGroup The group priority e tcs parkPriority The point priority The values should be integer values representing the respective priorities where lower values represent higher priorities Among all unoccupied parking positions the parking strategy will choose the one with the highest priority in the group with the highest priority If you do not define any priorities or if two unoccupied points have the same highest priority the one closest to the vehicle s position is chosen 6 3 Configuring order pool cleanup By default openTCS checks in intervals of ten minutes if the number of finished transport orders in the pool exceeds 200 If this is the case the oldest of these orders are removed from the pool until only 200 are left To customize this behaviour the following steps are required e Switch to the kernel control center s Configuration tab
23. ise position Y mm dP Z S Orientation deg Operation name Pause vehicle C Operating time p Changes devices Command processing Automatic mode Load handling devices O Single step manual mode Load handling devices Name Full SSS Add new device Delete selected devices Apply Figure 3 2 Driver panel with detailed view of a vehicle 2 Creating transport orders using the plant overview client To create a transport order the plant overview client provides a dialog window presented when selecting Actions Transport Order in the menu Transport orders are defined as a sequence of destination locations at which Operating the system actions are to be performed by the vehicle processing the order The user can select the desired station and action from the dropdown menu which appears after pressing the Add button The user may also optionally choose the vehicle for this order alternatively the guidance system automatically chooses the vehicle that will most likely finish the transport order the soonest Furthermore a transport order can be given a deadline specifying the point of time at which the order should be finished at the latest This deadline will be considered when dispatching the transport orders in the pool 3 Withdrawing transport orders using the plant overview client A transport order can be withdrawn from a vehicle that i
24. ith programming in Java They are also primarily a rough guide while the implementation details can be found in the API documentation 1 1 Important classes and interfaces lt lt Interface gt gt lt lt Interface gt gt CommunicationAdapter CommunicationAdapterView org opentcs drivers org opentcs drivers lt lt Interface gt gt 1 VehicleManager org opentcs drivers lt lt instantiate gt gt lt lt Interface gt gt CommunicationAdapterFactory org opentcs drivers Figure 5 1 Structure of driver classes openTCS defines some Java classes and interfaces that are relevant for the development of vehicle drivers These classes and interfaces are part of every openTCS distribution and are among others included in the JAR file openTCS Base jar The most important classes and interfaces are the following org opentcs drivers CommunicationAdapter declares methods that every driver must implement These methods are called by the kernel for instance when a vehicle is supposed to move to the next position in the driving course e org opentcs drivers VehicleManager offers methods that the driver may call when certain events occur e g to report a change of the vehicle s position 16 Customizing and integrating openTCS e org opentcs drivers BasicCommunicationAdapteris the base class for all drivers Every driver implemented needs to be derived from this class It allows the integration of
25. lse ERE Res sen en etre sen 0 TER Eeka een tetes se 14 2 Status messages via TCP IP isa tient eres aati dan edition 14 3 XML schemas for telegrams and scripts 15 5 Customizing and integrating OpenTCS lt a aresg aes sonein i e eio beige ere oser VRE Tea RESTE ZN Re 16 1 Integrating custom vehicle drivers ss 16 1 1 Important classes and interfaces r sent tes Cad Zp nine einen NOSTER ES 16 1 2 Cr ating a new vehicle driver usine tte erae rii ye 17 1 3 Requirements for using a vehicle driver 17 2 Customizing the appearance of locations and Vehicles 17 3 Loading a model on Kernel startup snapin e ge ee leh ted ae ne asa 17 4 Running kernel and plant overview on separate systems see eee e eee eee eee 18 iii Chapter 1 Introduction 1 Purpose of the software openTCS is a control system software for track guided vehicles with tracks possibly being virtual It was primarily developed for the coordination of automated guided vehicles AGV but it is generally conceivable to use it with other automatic vehicles like mobile robots or quadrocopters as openTCS controls the vehicles independent of their specific characteristics like track guidance system or
26. on is missing any vehicle in the system may process the order e A set of names of existing transport orders that have to be finished before the new order may be assigned to a vehicle Figure 4 1 shows how an XML telegram for the creation of two transport orders could look like lt xml version 1 0 encoding UTE 8 gt lt tcsOrderSet xmlns xsi http www w3 org 2001 XMLSchema instance gt lt order deadline 2008 10 30T12 14 48 717 01 00 id TransportOrder 01 intendedVehicle Vehicle 01 xsi type transport gt lt destination locationName Storage 01 operation Load cargo gt lt destination locationName Storage 02 operation Unload cargo gt lt order gt lt order id TransportOrder 02 xsi type transport gt lt destination locationName Working station 01 operation Drill gt lt destination locationName Working station 02 operation Drill gt lt destination locationName Working station 03 operation Cut gt lt order gt lt tcsOrderSet gt Figure 4 1 XML telegram for the creation of two transport orders 1 2 XML telegrams referencing order batches Alternatively an XML telegram may also reference order batches which are kept in files on the openTCS system The parameters of the transport orders to be created will then be read from the referenced batch files A batch file may contain create an arbi
27. openTCs 2 5 User manual openTCS 2 5 User manual by Stefan Walter Publication date December 2013 Copyright 2009 2013 Fraunhofer IML Table of Contents LIntroduction sieste nettement A RP ts ete teoa a ioar a aina 1 1 Purpose Of the softw re strain becenadebesaie Ea fees a EEE EEE aD EERE E EEEE EERE Eni 1 2r System TEQUITEME NUS neos 2949 YT est nr ted nee nn tin honte TTA dt fee See zee telle ss cele 1 3 Further documentation ssoi eserinin ereite ca detcnanteccanenccebcecnsuecanadedebcdansuccatendceedsansucdanatedetducnaeees 1 4 Questions and problem reports TTT 1 2 System OVELVICW ZR STREO aA Taek dac ded suds aed seed Seb ale acar ORA ne Lt Rent 2 1 System components and Structure seen on ew ediot eis E E E AA KE E E en ee 2 2 Structure of driving course models 3 3 Operating the SYSteM 262s icsecesasetagistcueasssabelagssacedesd er ene nn nt a A a a a a e a a aa EnG 4 1 Startins th system ssr teenei ee de aint EE E ite E Ea E EAA TE 4 1 1 Starting in modelling M de ES EN eee a aA nid AA EEE REE RE tee 4 1 2 Starting in plant operation mode 4 2 Creating transport orders using the plant overview client ss 5 3 Withdrawing transport orders using the plant overview client sse ee eee eee 6 4 Step by step Constructing a new driving course sese eee eee eee eee 6 4 1 Starting
28. r the creation of transport orders e An unidirectional interface via a TCP IP connection for receiving status messages e g about transport orders being processed The RMI interface is described in the API documentation of the openTCS distribution The descriptions of the interface org opentcs access Kernel and the class org opentcs access rmi DynamicRemoteKernelProxy as well as the package org opentcs data order are good points to get started The TCP IP interfaces are described in the following sections 1 Creating orders via TCP IP For creating transport orders the openTCS kernel accepts connections to a TCP port default port 55555 The communication between openTCS and the host works as follows 1 The host establishes a new TCP IP connection to openTCS 2 The host sends a single XML telegram described in detail in Section 1 1 and Section 1 2 which either describes the transport orders to be created or identifies batch files that are available with the kernel and that contain the transport order descriptions 3 The host closes its output stream of the TCP IP connection or sends two consecutive line breaks i e r n r n letting the kernel know that no further data will follow 4 openTCS interprets the telegram sent by the host creates the corresponding transport orders and activates them 5 openTCS sends an XML telegram described in detail in Section 1 3 to confirm processing of the telegram 6 openTCS closes the TCP
29. s currently processing it This can be done by right clicking on the respective vehicle in the plant overview client and selecting Withdraw Transport Order in the context menu shown The processing of the order will be cancelled and the vehicle driver will not receive any further drive orders Processing of this transport order cannot be resumed later Instead a new transport order will have to be created 4 Step by step Constructing a new driving course These step by step instructions roughly show how a new driving course model is created and filled with driving course elements so that it can eventually be used in plant operation mode 4 1 Starting components for driving course modelling 1 Start kernel startKernel bat 2 Wait until a dialog for selecting a driving course model is shown 3 Click Cancel to open a new empty model instead of loading an existing one and to leave the kernel running in modelling mode 4 Start the plant overview client startPlantOverview bat 5 Wait until the graphical user interface of the plant overview client is shown 4 2 Adding elements to the driving course model Operating the system gaas a lah VLayout 01 EX Points Components A Vehicles Point 0001 H Point Point 0001 Point Point 0002 Location 0001 _ 7 Point Point 0003 E Tadi Point 0002 Paths 3 a Path Point 0001 Point 0002 3 a Path Point 0002 Point 0003
30. so the documentation for the class java util ServiceLoader in the Java standard class library Figure 5 1 shows the classes relations in a concrete driver implementation the loopback driver 1 2 Creating a new vehicle driver See the API documentation for package org opentcs drivers It contains some details about the implementation steps to create a new vehicle driver 1 3 Requirements for using a vehicle driver See the API documentation for package org opentcs drivers It contains some details about what to do for a custom vehicle driver to be recognized and integrated at runtime 2 Customizing the appearance of locations and vehicles Locations and vehicles are visualized in the plant overview client using pluggable themes To customize the appearance of locations and vehicles new theme implementations can be created and integrated into the plant overview client Instructions for creating such a location or vehicle theme can be found in the API documentation for package org opentcs util gui 3 Loading a model on kernel startup When running the kernel using the startup script that is part of the openTCS distribution st artKernel bat or startKernel sh depending on the operating system a dialog is shown that allows you to select the driving course model to be loaded and the desired kernel mode modelling or operating the system Alternatively you can let the kernel load a specific model on startup without any user interaction
31. stations type in the tree view to the left of the drawing area see blue frame in Figure 3 3 b clicking the value cell Act ions in the property window below the tree view c entering the allowed actions as arbitrary text in the dialog shown for instance Load cargo and Unload cargo Operating the system d Optionally you can choose a symbol for stations of the selected type by editing the property Symbol 4 3 Saving the driving course model 1 2 3 Select the menu entry File Save Model As and enter an arbitrary name for the model Close the plant overview client Shut down the kernel The newly created driving course model now contains a minimum of elements and can be used in operation mode 5 Step by step Operating the system These step by step instructions show how the newly created model can be used in plant operation mode how vehicle drivers are used and how transport orders can be created and processed by a vehicle 5 1 Starting components for system operation 1 2 3 4 Start the kernel startKernel bat Wait until the dialog for selecting a driving course model is shown Select the model you created select plant operation mode and click OK Start the plant overview client startPlantOverview bat and wait until its graphical user interface is shown 5 2 Configuring vehicle drivers 1 In the vehicle driver s Loopback options tab set the vehicle s state to ID
32. the driver into the driver framework and the graphical user interface Furthermore it includes sensible default implementations for some of the methods declared by CommunicationAdapter Only those methods concerning the vehicle specific communication protocol are declared as abstract and thus must be implemented by subclasses e org opentcs drivers CommunicationAdapterView needs to be implemented by all driver specific panels that are to be shown in the driver application and whose contents depend on the state of the respective Communicat ionAdapter Calls to the method update inform the panel that the state of the driver or of the vehicle has changed and the graphical user interface may need to be updated org opentcs drivers CommunicationAdapterFactory declares methods that have to be implemented by the factory class of the driver The factory class creates and configures instances of the actual CommunicationAdapter implementation before they are made available to the driver application e org opentcs drivers CommunicationAdapterRegistry is the central registry for all factory classes A factory class is found automatically by the registry if it is in the Java class path and has been declared as an implementation of the service org opentcs drivers CommunicationAdapterFactory Only factory classes that are declared as service implementations and found in the class path will be offered for association with a vehicle by the driver framework See al
33. ting costs are based on the lengths of paths travelled TIME BASED Routing costs are based on the time required for travelling The time is computed using the length of a path and the maximum speed with which a vehicle may move on it e EXPLICIT Routing costs are explicitly specified by the modelling user They can be specified for every single path in the model using the plant overview client Select a path and set its Costs property to an arbitrary integer value 4 Shut down and restart the kernel for the changes to take effect 6 2 Configuring automatic parking 6 2 1 Activating deactivating automatic parking of idle vehicles 1 Switch to the kernel control center s Configuration tab 2 Find and select the configuration entry org opentcs kernel module dispatching OrderSequenceDispatcher parkIdleVehicles and click the Configure button 3 Set the configuration item s value to t rue activated or false deactivated 6 2 2 Select a parking strategy 1 Switch to the kernel control center s Configuration tab 2 Find and select the configuration entry org opentcs kernel module dispatching OrderSequenceDispatcher parkingStrategy and click the Configure button 3 You may choose from the following parking strategies e OffRouteParkingStrategy default With this parking strategy idle vehicles will be sent to the parking position that is unoccupied and closest to their current posit
34. trary number of transport orders and needs to be placed in the kernel application s subdirectory scripts In the openTCS distribution this directory already contains a couple of templates for batch files template tcs andtest tcs Figure 4 2 shows an example of an XML telegram referencing a batch file lt xml version 1 0 encoding UTF 8 standalone yes gt lt tcsOrderSet gt lt order xsi type transportScript fileName test tcs id test tcs xmlns xsi http www w3 org 2001 XMLSchema instance gt lt tcsOrderSet gt Figure 4 2 XML telegram referencing a batch file 1 3 Receipts for created orders 13 Interfaces to other systems In response to an XML telegram for the creation of transport orders an XML telegram will be sent back to the peer reporting the operation s outcome In the response telegram every order element of the original telegram will be referenced by a response element with the same ID Furthermore every response element contains e A flag reflecting the success of creating the respective order e The name that openTCS internally assigned to the created order This name is relevant for interpreting the messages on the status channel see Section 2 Figure 4 3 shows how a response to the telegram in Figure 4 1 could look like lt xml version 1 0 encoding UTF 8 standalone yes gt lt tcsResponseSet gt lt response xsi type transportResponse executionSuccessful true orderName T
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