VDA5050 driver: Ignoring bounding boxes of points for path calculation

[Rossi112]

Affected version

OpenTCS v6.2.0
Vda5050 Adapter v.0.22.0

Steps to reproduce

1. In opentcs-kernel.properties set: defaultrouter.shortestpath.edgeEvaluators = DISTANCE,BOUNDING_BOX
2. In Model Editor for AGV set: Key: vda5050:vehicleLengthLoaded, Value = 1200
3. In Model Editor for Point: bounding box 1000x1000x1000 (default)
4. Set loads parameter in agv state message to: "loads": [
   {
   "boundingBoxReference": {
   "x": 1200,
   "y": 800,
   "z": 200
   },
   "loadDimensions": {
   "height": 0.2,
   "length": 1.2,
   "width": 0.8
   },
   "loadId": "RFID_",
   "loadPosition": "",
   "loadType": "EPAL",
   "weight": 50
   }
   ],

Expected behaviour

Ignore points with smaller bounding box than the loaded agv when calculating a path .

Actual behaviour

All points are used for path traversing when agv is loaded, including points with a boundig box of 1000x1000x1000.

Additional information

All points in my model have a bounding box of 1200x1000x1000, except for the points leading into a pick station. I want to ensure that a loaded AGV does not drive into a loading station that (potentially) already contains a load to avoid collisions. If there are alternative solutions to prevent this behavior, I would greatly appreciate any suggestions.

[martingr]

@Rossi112 Thank you for reporting the issue! There is indeed something missing in order for the updated bounding box to be considered. Updates to bounding boxes require the paths in the driving course to be re-evaluated (via the EdgeEvaluator for bounding boxes, which you configured properly). Although this is not done automatically/implicitly at the moment, a corresponding (configurable) feature is planned to be added in future releases of openTCS. Until then, you could implement you own solution and create an EventHanlder implementation that listens for updates to bounding boxes of Vehicles. If the bounding box of a Vehicle has changed, you could invoke RouterService.updateRoutingTopology(Set) with an empty Set. Paths in the driving course will then be re-evaluated.