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This commit is contained in:
xuzhiheng
2025-06-13 15:49:32 +08:00
parent 305735c92c
commit 952d0db0d1
14 changed files with 272 additions and 376 deletions
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5
opentcs-common/src/main/java/org/opentcs/common/LoopbackAdapterConstants.java
View File

@@ -53,5 +53,8 @@ public interface LoopbackAdapterConstants {
* AGV 端口
*/
String AGV_PORT = "AGV:PORT";
/**
* 对应路线车辆行驶姿态：0=正走，1=到走
*/
String AGV_DRIVE_POSE = "PATH:DRIVE_POSE";
}

107
opentcs-common/src/main/java/org/opentcs/communication/http/HttpClient.java
View File

@@ -12,6 +12,7 @@ import org.opentcs.communication.http.dto.BaseRequestTo;
import org.opentcs.communication.http.dto.kc.move.Path;
import org.opentcs.communication.http.dto.kc.move.Point;
import org.opentcs.communication.http.dto.kc.move.RequestAe;
import org.opentcs.communication.http.service.ExecuteOperation;
import org.slf4j.Logger;
import org.slf4j.LoggerFactory;
@@ -55,7 +56,23 @@ public class HttpClient {
*/
public static void main(String[] args) {
HttpClient httpClient = new HttpClient();
ExecuteOperation executeOperation = new ExecuteOperation();
{ //暂停订单
ExecuteOperation.pauseOrder("v1", 1);
}
{ //继续执行订单
ExecuteOperation.continueOrder("v1", 1);
}
{ //撤销订单
ExecuteOperation.cancelOrder("v1");
}
// HttpClient httpClient = new HttpClient();
// { //0x02
// //变量成员
@@ -171,49 +188,49 @@ public class HttpClient {
// httpClient.sendCommand(baseRequestTo);
// }
{ //0xAE
RequestAe ae = new RequestAe();
ae.setWms_order_id(1);
ae.setOrder_id(1);
ae.setTask_key(1);
ae.setPoint_size(2);
ae.setPath_size(1);
ArrayList<Point> pointList = new ArrayList<>();
for (int i = 0; i < ae.getPoint_size(); i++) {
Point point = new Point();
if (i == 0) {
point.setPoint_id(1);
point.setPoint_serial(0);
} else {
point.setPoint_id(2);
point.setPoint_serial(2);
}
point.setPoint_angle(0);
pointList.add(point);
}
ae.setPoint_info(pointList);
ArrayList<Path> pathList = new ArrayList<>();
for (int i = 0; i < ae.getPath_size(); i++) {
Path path = new Path();
path.setPath_id(12);
path.setPath_serial(1);
path.setPath_angle(0);
path.setDriver_pose(1);
path.setMax_speed(1);
path.setMax_angle_speed(1);
pathList.add(path);
}
ae.setPath_info(pathList);
BaseRequestTo baseRequestTo = new BaseRequestTo(2, "OPENTCS", "KC-CTRL", 1, "2025-6-6 10:00:00", ae);
httpClient.sendCommand("http://192.168.124.121:2005", baseRequestTo);
}
// { //0xAE
// RequestAe ae = new RequestAe();
// ae.setWms_order_id(1);
// ae.setOrder_id(1);
// ae.setTask_key(1);
// ae.setPoint_size(2);
// ae.setPath_size(1);
//
// ArrayList<Point> pointList = new ArrayList<>();
// for (int i = 0; i < ae.getPoint_size(); i++) {
// Point point = new Point();
//
// if (i == 0) {
// point.setPoint_id(1);
// point.setPoint_serial(0);
// } else {
// point.setPoint_id(2);
// point.setPoint_serial(2);
// }
// point.setPoint_angle(0);
//
// pointList.add(point);
// }
// ae.setPoint_info(pointList);
//
// ArrayList<Path> pathList = new ArrayList<>();
// for (int i = 0; i < ae.getPath_size(); i++) {
// Path path = new Path();
//
// path.setPath_id(12);
// path.setPath_serial(1);
// path.setPath_angle(0);
// path.setDriver_pose(1);
// path.setMax_speed(1);
// path.setMax_angle_speed(1);
//
// pathList.add(path);
// }
// ae.setPath_info(pathList);
//
// BaseRequestTo baseRequestTo = new BaseRequestTo(2, "OPENTCS", "KC-CTRL", 1, "2025-6-6 10:00:00", ae);
//
// httpClient.sendCommand("http://192.168.124.121:2005", baseRequestTo);
// }
}
}

22
opentcs-common/src/main/java/org/opentcs/communication/http/service/BaseService.java
View File

@@ -1,12 +1,34 @@
package org.opentcs.communication.http.service;
import java.util.concurrent.ThreadLocalRandom;
import java.util.concurrent.atomic.AtomicInteger;
import org.opentcs.communication.http.enums.VehicleEnums;
public class BaseService {
// 随机初始化起点，减少重复概率
private static final AtomicInteger counter = new AtomicInteger(
ThreadLocalRandom.current().nextInt(1, Integer.MAX_VALUE / 2)
);
public static String getUrl(String vehicleName) {
VehicleEnums vehicleEnums = VehicleEnums.valueOf(vehicleName);
return "http://" + vehicleEnums.getIp() + ":" + vehicleEnums.getPort();
}
/**
* 生成进程内唯一的int型ID
* 优点：简单高效
* 限制：
* - 重启后可能重复
* - 超过21亿后会回绕（正常应用很难达到）
*/
public static int generate() {
int id = counter.getAndIncrement();
// 处理溢出（当接近int上限时重置为随机值）
return (id < 0) ? counter.getAndSet(
ThreadLocalRandom.current().nextInt(1, Integer.MAX_VALUE / 2)
) : id;
}
}

67
opentcs-common/src/main/java/org/opentcs/communication/http/service/ExecuteMove.java
View File

@@ -5,6 +5,7 @@ import java.time.format.DateTimeFormatter;
import java.util.ArrayList;
import java.util.HashMap;
import java.util.Objects;
import org.opentcs.common.LoopbackAdapterConstants;
import org.opentcs.communication.http.HttpClient;
import org.opentcs.communication.http.dto.BaseRequestTo;
import org.opentcs.communication.http.dto.kc.move.Path;
@@ -12,17 +13,19 @@ import org.opentcs.communication.http.dto.kc.move.Point;
import org.opentcs.communication.http.dto.kc.move.RequestAe;
import org.opentcs.communication.http.entity.OrderInfo;
import org.opentcs.drivers.vehicle.MovementCommand;
import org.slf4j.Logger;
import org.slf4j.LoggerFactory;
public class ExecuteMove extends BaseService {
/**
* LOG
*/
private static final Logger LOG = LoggerFactory.getLogger(ExecuteMove.class);
/**
* 订单名映射int类型数据.
*/
private static final HashMap<String, OrderInfo> orderInfoMap = new HashMap<>();
/**
* 通讯适配器当前执行taskkey
*/
private static HashMap<String, Integer> execTaskKeyMap = new HashMap<>();
/**
* 发送移动指令
@@ -79,6 +82,8 @@ public class ExecuteMove extends BaseService {
}
maxVelocity = 5;
Integer drivePose = getDrivePose(pathInfo); //行驶姿态
RequestAe ae = new RequestAe();
ae.setWms_order_id(1); //todo 测试填写
ae.setOrder_id(orderID);
@@ -112,7 +117,7 @@ public class ExecuteMove extends BaseService {
path.setPath_id(pathID);
path.setPath_serial(orderInfo.getPathSerialNum());
path.setPath_angle(0);
path.setDriver_pose(0);
path.setDriver_pose(drivePose);
path.setMax_speed(maxVelocity);
path.setMax_angle_speed(maxVelocity);
@@ -138,13 +143,8 @@ public class ExecuteMove extends BaseService {
//当前车辆已存在集合中
OrderInfo orderInfo = orderInfoMap.get(vehicleName);
if (!Objects.equals(orderName, orderInfo.getName())) {
//订单名称不相等为执行下一个订单，初始化订单对应参数
orderInfoMap.remove(vehicleName);
Integer currentOrderId = orderInfo.getId() + 1;
orderInfo.setId(currentOrderId);
if (!Objects.equals(orderName, orderInfo.getName()) && orderInfoMap.containsKey(vehicleName)) {
orderInfo.setId(generate());
orderInfo.setName(orderName);
orderInfo.setState(1);
orderInfo.setTaskKey(1);
@@ -154,7 +154,7 @@ public class ExecuteMove extends BaseService {
} else {
//车辆不在集合中
OrderInfo orderInfo = new OrderInfo();
orderInfo.setId(1); //todo 测试修改，正式上线应该为1
orderInfo.setId(generate());
orderInfo.setName(orderName);
orderInfo.setState(1);
orderInfo.setTaskKey(1);
@@ -165,28 +165,33 @@ public class ExecuteMove extends BaseService {
}
}
/**
* 设置当前执行任务key
*/
public static void setExecTaskKey(String vehicleName, Integer taskKey) {
if (execTaskKeyMap.containsKey(vehicleName)) {
execTaskKeyMap.put(vehicleName, taskKey);
} else {
execTaskKeyMap.put(vehicleName, 1);
}
}
/**
* 获取任务key
*/
public static Integer getTaskKey(String vehicleName) {
return execTaskKeyMap.get(vehicleName);
}
/**
* 获取当前订单ID
*/
public static Integer getOrderID(String vehicleName) {
return orderInfoMap.get(vehicleName).getId();
}
/**
* 返回行驶姿态
*/
private static Integer getDrivePose(org.opentcs.data.model.Path path) {
String drivePost = path.getProperties().get(LoopbackAdapterConstants.AGV_DRIVE_POSE);
System.out.println("getDrivePose drivePost: " + drivePost);
int pose = 0;
if (drivePost == null) {
return pose;
}
switch (drivePost) {
case "1" -> pose = 1;
default -> {
LOG.error("getDrivePose UNKNOWN DRIVE POSE: {}", drivePost);
throw new IllegalArgumentException("UNKNOWN DRIVE POSE: " + drivePost);
}
}
return pose;
}
}

42
opentcs-common/src/main/java/org/opentcs/communication/http/service/ExecuteOperation.java
View File

@@ -2,6 +2,7 @@ package org.opentcs.communication.http.service;
import java.time.LocalDateTime;
import java.time.format.DateTimeFormatter;
import java.util.HashMap;
import org.opentcs.communication.http.HttpClient;
import org.opentcs.communication.http.dto.BaseRequestTo;
import org.opentcs.communication.http.dto.kc.operation.Action01;
@@ -18,6 +19,14 @@ public class ExecuteOperation extends BaseService{
* This class's Logger.
*/
private static final Logger LOG = LoggerFactory.getLogger(ExecuteOperation.class);
/**
* 通讯适配器当前执行taskkey
*/
private static HashMap<String, Integer> execTaskKeyMap = new HashMap<>();
/**
* 序列号
*/
private static Integer serialNum = 0;
/**
* 暂停执行订单
@@ -32,7 +41,7 @@ public class ExecuteOperation extends BaseService{
b2.setParam_size(4);
Action01 action01 = new Action01();
action01.setIsStopImmediately(1);
action01.setIsStopImmediately(0);
b2.setParam_data(action01);
@@ -49,7 +58,7 @@ public class ExecuteOperation extends BaseService{
Integer orderId = ExecuteMove.getOrderID(vehicleName);
//获取任务key
Integer taskKey = ExecuteMove.getTaskKey(vehicleName);
Integer taskKey = getTaskKey(vehicleName);
RequestB2 b2 = new RequestB2();
@@ -69,9 +78,8 @@ public class ExecuteOperation extends BaseService{
/**
* 撤销订单
* @param vehicleName 车辆名称
* @param serialNum 序列号
*/
public static void cancelOrder(String vehicleName, Integer serialNum) {
public static void cancelOrder(String vehicleName) {
//获取订单ID
Integer orderId = ExecuteMove.getOrderID(vehicleName);
@@ -84,11 +92,11 @@ public class ExecuteOperation extends BaseService{
Action03 action03 = new Action03();
action03.setOrderId(orderId);
action03.setIsStopImmediately(1);
action03.setIsStopImmediately(0);
b2.setParam_data(action03);
sendCmd(vehicleName, b2, serialNum);
sendCmd(vehicleName, b2, getSerialNum());
}
public static void sendCmd(String vehicleName, Object data, Integer serialNum)
@@ -107,4 +115,26 @@ public class ExecuteOperation extends BaseService{
httpClient.sendCommand(url, baseRequestTo);
}
/**
* 设置当前执行任务key
*/
public static void setExecTaskKey(String vehicleName, Integer taskKey) {
if (execTaskKeyMap.containsKey(vehicleName)) {
execTaskKeyMap.put(vehicleName, taskKey);
} else {
execTaskKeyMap.put(vehicleName, 1);
}
}
/**
* 获取任务key
*/
public static Integer getTaskKey(String vehicleName) {
return execTaskKeyMap.get(vehicleName);
}
private static int getSerialNum() {
return serialNum++;
}
}

36
opentcs-common/src/main/java/org/opentcs/communication/mqtt/service/ExecuteAction.java
View File

@@ -1,36 +0,0 @@
package org.opentcs.communication.mqtt.service;
import java.time.LocalDateTime;
import java.time.format.DateTimeFormatter;
import org.opentcs.communication.mqtt.entity.BaseRequestTo;
import org.opentcs.communication.mqtt.entity.kc.action.RequestAction;
public class ExecuteAction {
/**
* 下发动作到平台
* @param action 动作
*/
public static void sendCmd(String action, Integer serialNum) {
// 获取当前时间
LocalDateTime now = LocalDateTime.now();
DateTimeFormatter formatter = DateTimeFormatter.ofPattern("yyyy-MM-dd HH:mm:ss");
String time = now.format(formatter);
RequestAction requestAction = new RequestAction();
requestAction.setAction(action);
BaseRequestTo baseRequestTo = new BaseRequestTo(
4,
"OPENTCS",
"KC-CTRL",
serialNum,
time,
requestAction
);
//发送mqtt消息
}
}

168
opentcs-common/src/main/java/org/opentcs/communication/mqtt/service/ExecuteMove.java
View File

@@ -1,168 +0,0 @@
package org.opentcs.communication.mqtt.service;
import java.time.LocalDateTime;
import java.time.format.DateTimeFormatter;
import java.util.ArrayList;
import java.util.HashMap;
import org.opentcs.communication.mqtt.entity.BaseRequestTo;
import org.opentcs.communication.mqtt.entity.kc.move.Path;
import org.opentcs.communication.mqtt.entity.kc.move.Point;
import org.opentcs.communication.mqtt.entity.kc.move.RequestAe;
import org.opentcs.drivers.vehicle.MovementCommand;
public class ExecuteMove {
/**
* 订单名映射int类型数据.
*/
private static final HashMap<String, Integer> orderNameMap = new HashMap<>();
/**
* 记录上次下发订单名称
*/
private static String oldOrderName;
/**
* 当前订单名称对应唯一整数ID
*/
private static Integer currentOrderId = 0;
/**
* 任务ID
* 任务的唯一标识。与订单ID绑定，从1开始，当同一订单下发新的资源时加1；订单ID发生改变，任务KEY需要重新计数。
*/
private static Integer taskKey;
/**
* 序列号
* 用于定位点在整个任务中的位置。目的是区分同一个点ID是否在一个任务中出现多次。从0开始偶数递增，例如：0->2->4->6……
*/
private static Integer pointSerialNum = 0;
/**
* 用于定位段在整个任务中的位置。目的是区分同一个段ID是否在一个任务中出现多次。从1开始奇数递增，例如：1->3->5->7……
*/
private static Integer pathSerialNum = 1;
public static void sendCmd(MovementCommand cmd, Integer serialNum)
{
// 获取当前时间
LocalDateTime now = LocalDateTime.now();
DateTimeFormatter formatter = DateTimeFormatter.ofPattern("yyyy-MM-dd HH:mm:ss");
String time = now.format(formatter);
RequestAe ae = buildCommand(cmd);
BaseRequestTo baseRequestTo = new BaseRequestTo(2, "OPENTCS", "KC-CTRL", serialNum, time, ae);
// HttpClient httpClient = new HttpClient();
// httpClient.sendCommand(baseRequestTo);
}
private static RequestAe buildCommand(MovementCommand cmd)
{
//订单ID
int orderID = getUniqueOrderID(cmd.getTransportOrder().getName());
//下发起点
String sourcePoint = cmd.getStep().getSourcePoint().getName();
int newSourcePoint = Integer.parseInt(sourcePoint);
//下发终点
String destinationPoint = cmd.getStep().getDestinationPoint().getName();
int newDestination = Integer.parseInt(destinationPoint);
//获取路径ID
int pathID;
if (newSourcePoint < newDestination) {
pathID = Integer.parseInt(sourcePoint + destinationPoint);
} else {
pathID = Integer.parseInt(destinationPoint + sourcePoint);
}
org.opentcs.data.model.Path pathInfo = cmd.getStep().getPath();
int maxVelocity = 1; //获取最大速度
int maxReverseVelocity = 1; //获取最大反向速度
if (pathInfo != null) {
maxVelocity = pathInfo.getMaxVelocity(); //获取设置速度
maxReverseVelocity = pathInfo.getMaxReverseVelocity();
}
RequestAe ae = new RequestAe();
ae.setOrderId(orderID);
ae.setTaskKey(taskKey);
ae.setPointSize(2);
ae.setPathSize(1);
ArrayList<Point> pointList = new ArrayList<>();
for (int i = 0; i < ae.getPointSize(); i++) {
Point point = new Point();
if (i == 0) {
point.setPoint_id(newSourcePoint);
} else {
point.setPoint_id(newDestination);
}
point.setPoint_serial(pointSerialNum);
point.setPoint_angle(0);
pointSerialNum = pointSerialNum + 2;
pointList.add(point);
}
ae.setPoint(pointList);
ArrayList<Path> pathList = new ArrayList<>();
for (int i = 0; i < ae.getPathSize(); i++) {
Path path = new Path();
path.setPath_id(pathID);
path.setPath_serial(pathSerialNum);
path.setPath_angle(0);
path.setDrive_pose(1);
path.setMax_speed(maxVelocity);
path.setMax_angle_speed(maxVelocity);
pathSerialNum = pathSerialNum + 2;
pathList.add(path);
}
ae.setPath(pathList);
return ae;
}
/**
* 维护订单名对应int类型唯一ID--------todo 待优化：如果调度重启，控制器也需要重启。否则0xAE指令会因为重置订单ID和任务key下发失败。应改成wms数据库ID交互
* @param orderName 订单名
* @return Integer
*/
private static int getUniqueOrderID(String orderName){
Integer orderId;
if (orderNameMap.containsKey(orderName)) {
//订单名已存在
orderId = orderNameMap.get(orderName);
} else { //订单名不存在
//初始化参数
initParams();
if (oldOrderName != null) {
//删除上次订单映射唯一ID
orderNameMap.remove(oldOrderName);
}
//更新记录订单名称
oldOrderName = orderName;
// 创建对应映射
orderId = currentOrderId;
currentOrderId++;
orderNameMap.put(orderName, orderId);
}
return orderId;
}
/**
* 初始化参数
*/
private static void initParams() {
taskKey = 1;
pointSerialNum = 0;
pathSerialNum = 1;
}
}

7
opentcs-common/src/main/java/org/opentcs/communication/mqtt/service/ExecuteOperation.java
View File

@@ -1,7 +0,0 @@
package org.opentcs.communication.mqtt.service;
public class ExecuteOperation {
}

63
opentcs-common/src/main/java/org/opentcs/manage/AdapterManage.java
View File

@@ -7,11 +7,7 @@ import java.util.concurrent.ConcurrentHashMap;
import java.util.concurrent.Executors;
import java.util.concurrent.ScheduledExecutorService;
import java.util.concurrent.TimeUnit;
import org.opentcs.access.KernelServicePortal;
import org.opentcs.access.rmi.KernelServicePortalBuilder;
import org.opentcs.common.GuestUserCredentials;
import org.opentcs.components.kernel.services.VehicleService;
import org.opentcs.data.model.Vehicle;
import org.opentcs.manage.entity.AgvInfo;
import org.opentcs.manage.entity.AgvInfoParams;
import org.opentcs.manage.entity.AgvStatus;
@@ -45,15 +41,6 @@ public class AdapterManage {
* 设置自动关闭适配器时间阈值，单位：毫秒
*/
private static final Long AUTO_CLOSE_TIME = 2000L;
/**
* 记录通讯适配器数据，实现异步不阻塞更新车辆模型
* 基于线程安全HASHMAP
*/
// private static final ConcurrentHashMap<String, AgvInfo> adapterDataMap = new ConcurrentHashMap<>();
/**
* 内核状态
*/
// public static Boolean kernelStatus = false;
//开启通讯信息
private static final String USER = GuestUserCredentials.USER;
@@ -63,7 +50,7 @@ public class AdapterManage {
//开启定时任务
public void START() {
scheduler.scheduleWithFixedDelay(task, 5000, 500, TimeUnit.MILLISECONDS);
scheduler.scheduleWithFixedDelay(task, 5000, 1000, TimeUnit.MILLISECONDS);
}
//关闭定时任务
@@ -87,9 +74,9 @@ public class AdapterManage {
Date date = new Date();
long currentTime = date.getTime();
System.out.println("autoManageAdapterStatus sout: " + adapterStatusMap);
// System.out.println("autoManageAdapterStatus sout: " + adapterStatusMap);
adapterStatusMap.forEach((key, value) -> {
LOG.info("adapterStatusMap starts name: {}", key);
// LOG.info("adapterStatusMap starts name: {}", key);
AgvStatus agvStatus = new AgvStatus();
agvStatus.setTime(value.getTime());
@@ -108,8 +95,7 @@ public class AdapterManage {
//更新记录数据
adapterStatusMap.put(key, agvStatus);
LOG.info("adapterStatusMap end name: {}", key);
// LOG.info("adapterStatusMap end name: {}", key);
});
}
@@ -151,7 +137,6 @@ public class AdapterManage {
agvInfo.setTime(jsonObject.getString("time"));
agvInfo.setParams(getAgvInfoParams(jsonObject.getString("params")));
// adapterDataMap.put(name, agvInfo);
return agvInfo;
}
@@ -181,44 +166,4 @@ public class AdapterManage {
Boolean ENABLE = true;
Boolean DISABLE = false;
}
// private void testSendMessage() {
// System.out.println("test");
// AgvInfoParams agvInfoParams = new AgvInfoParams();
// agvInfoParams.setX(0.5f);
// agvInfoParams.setY(0.5f);
// agvInfoParams.setAngle(0.5f);
// agvInfoParams.setPoint(12);
// agvInfoParams.setPower(0.52f);
// agvInfoParams.setAgv_status(0);
// agvInfoParams.setCargo_status(0);
// agvInfoParams.setAgv_model(0);
// agvInfoParams.setCharge_status(0);
// agvInfoParams.setAction_status(1);
//
// AgvInfo agvInfo = new AgvInfo();
// agvInfo.setReceiver("OPENTCS");
// agvInfo.setSender("KC-CTRL");
// agvInfo.setSerial_num(1);
// agvInfo.setType(1);
// agvInfo.setTime("2020-07-07 09:09:09");
// agvInfo.setVehicle_name("v2");
// agvInfo.setParams(agvInfoParams);
//
// System.out.println("testSendMessage agvInfo: " + agvInfo);
//
// KernelServicePortal servicePortal = new KernelServicePortalBuilder(USER, PASSWORD).build();
// servicePortal.login(IP, PORT);
// VehicleService vehicleService = servicePortal.getVehicleService();
// Vehicle vehicle = vehicleService.fetchObject(Vehicle.class, "v2");
//
// if (vehicle != null) {
// System.out.println("send success");
// vehicleService.sendCommAdapterMessage(vehicle.getReference(), agvInfo);
// } else {
// System.out.println("send not fund");
// }
//
//// kernel.sendToAdapter("v2", agvInfo);
// }
}

19
opentcs-common/src/main/java/org/opentcs/traffic/common/ContourAlgorithm.java
View File

@@ -1,7 +1,8 @@
package org.opentcs.traffic.common;
import java.util.HashMap;
import org.opentcs.traffic.entity.VehicleAttr;
import java.awt.geom.Point2D;
import org.locationtech.jts.geom.Coordinate;
import org.locationtech.jts.geom.GeometryFactory;
import org.slf4j.Logger;
import org.slf4j.LoggerFactory;
@@ -30,9 +31,19 @@ public class ContourAlgorithm {
*
* @return true,可通过，false，不通过
*/
public boolean interferenceDetection() {
public boolean interferenceDetection(Point2D.Double center) {
// center.setLocation(0.0, 0.0);
GeometryFactory geometryFactory = new GeometryFactory();
Coordinate[] coords = {
};
// new BezierCurve()
//
return true;
}