Initial commit

opentcs-api-base/src/main/java/org/opentcs/access/CredentialsException.java

@@ -0,0 +1,53 @@
+// SPDX-FileCopyrightText: The openTCS Authors
+// SPDX-License-Identifier: MIT
+package org.opentcs.access;
+
+import java.io.Serializable;
+
+/**
+ * Thrown when there are insufficient user permissions to perform an operation.
+ */
+public class CredentialsException
+    extends
+      KernelRuntimeException
+    implements
+      Serializable {
+
+  /**
+   * Constructs a CredentialsException with no detail message.
+   */
+  public CredentialsException() {
+    super();
+  }
+
+  /**
+   * Constructs a CredentialsException with the specified detail message.
+   *
+   * @param message The detail message.
+   */
+  public CredentialsException(String message) {
+    super(message);
+  }
+
+  /**
+   * Constructs a CredentialsException with the specified detail message and
+   * cause.
+   *
+   * @param message The detail message.
+   * @param cause The exception's cause.
+   */
+  public CredentialsException(String message, Throwable cause) {
+    super(message, cause);
+  }
+
+  /**
+   * Constructs a CredentialsException with the specified cause and a detail
+   * message of <code>(cause == null ? null : cause.toString())</code> (which
+   * typically contains the class and detail message of <code>cause</code>).
+   *
+   * @param cause The exception's cause.
+   */
+  public CredentialsException(Throwable cause) {
+    super(cause);
+  }
+}

opentcs-api-base/src/main/java/org/opentcs/access/Kernel.java

@@ -0,0 +1,60 @@
+// SPDX-FileCopyrightText: The openTCS Authors
+// SPDX-License-Identifier: MIT
+package org.opentcs.access;
+
+/**
+ * Declares the methods an openTCS kernel implements.
+ */
+public interface Kernel {
+
+  /**
+   * The default name used for the empty model created on startup.
+   */
+  String DEFAULT_MODEL_NAME = "unnamed";
+
+  /**
+   * Returns the current state of the kernel.
+   *
+   * @return The current state of the kernel.
+   * @throws CredentialsException If the calling client is not allowed to
+   * execute this method.
+   */
+  State getState()
+      throws CredentialsException;
+
+  /**
+   * Sets the current state of the kernel.
+   * <p>
+   * Note: This method should only be used internally by the Kernel application.
+   * </p>
+   *
+   * @param newState The state the kernel is to be set to.
+   * @throws IllegalArgumentException If setting the new state is not possible,
+   * e.g. because a transition from the current to the new state is not allowed.
+   * @throws CredentialsException If the calling client is not allowed to
+   * execute this method.
+   */
+  void setState(State newState)
+      throws IllegalArgumentException,
+        CredentialsException;
+
+  /**
+   * The various states a kernel instance may be running in.
+   */
+  enum State {
+
+    /**
+     * The state in which the model/topology is created and parameters are set.
+     */
+    MODELLING,
+    /**
+     * The normal mode of operation in which transport orders may be accepted
+     * and dispatched to vehicles.
+     */
+    OPERATING,
+    /**
+     * A transitional state the kernel is in while shutting down.
+     */
+    SHUTDOWN
+  }
+}

opentcs-api-base/src/main/java/org/opentcs/access/KernelException.java

@@ -0,0 +1,52 @@
+// SPDX-FileCopyrightText: The openTCS Authors
+// SPDX-License-Identifier: MIT
+package org.opentcs.access;
+
+import java.io.Serializable;
+
+/**
+ * An exception thrown by the openTCS kernel.
+ */
+public class KernelException
+    extends
+      Exception
+    implements
+      Serializable {
+
+  /**
+   * Constructs a new instance with no detail message.
+   */
+  public KernelException() {
+    super();
+  }
+
+  /**
+   * Constructs a new instance with the specified detail message.
+   *
+   * @param message The detail message.
+   */
+  public KernelException(String message) {
+    super(message);
+  }
+
+  /**
+   * Constructs a new instance with the specified detail message and cause.
+   *
+   * @param message The detail message.
+   * @param cause The exception's cause.
+   */
+  public KernelException(String message, Throwable cause) {
+    super(message, cause);
+  }
+
+  /**
+   * Constructs a new instance with the specified cause and a detail
+   * message of <code>(cause == null ? null : cause.toString())</code> (which
+   * typically contains the class and detail message of <code>cause</code>).
+   *
+   * @param cause The exception's cause.
+   */
+  public KernelException(Throwable cause) {
+    super(cause);
+  }
+}

opentcs-api-base/src/main/java/org/opentcs/access/KernelRuntimeException.java

@@ -0,0 +1,52 @@
+// SPDX-FileCopyrightText: The openTCS Authors
+// SPDX-License-Identifier: MIT
+package org.opentcs.access;
+
+import java.io.Serializable;
+
+/**
+ * A runtime exception thrown by the openTCS kernel.
+ */
+public class KernelRuntimeException
+    extends
+      RuntimeException
+    implements
+      Serializable {
+
+  /**
+   * Constructs a new instance with no detail message.
+   */
+  public KernelRuntimeException() {
+    super();
+  }
+
+  /**
+   * Constructs a new instance with the specified detail message.
+   *
+   * @param message The detail message.
+   */
+  public KernelRuntimeException(String message) {
+    super(message);
+  }
+
+  /**
+   * Constructs a new instance with the specified detail message and cause.
+   *
+   * @param message The detail message.
+   * @param cause The exception's cause.
+   */
+  public KernelRuntimeException(String message, Throwable cause) {
+    super(message, cause);
+  }
+
+  /**
+   * Constructs a new instance with the specified cause and a detail
+   * message of <code>(cause == null ? null : cause.toString())</code> (which
+   * typically contains the class and detail message of <code>cause</code>).
+   *
+   * @param cause The exception's cause.
+   */
+  public KernelRuntimeException(Throwable cause) {
+    super(cause);
+  }
+}

opentcs-api-base/src/main/java/org/opentcs/access/KernelServicePortal.java

@@ -0,0 +1,155 @@
+// SPDX-FileCopyrightText: The openTCS Authors
+// SPDX-License-Identifier: MIT
+package org.opentcs.access;
+
+import jakarta.annotation.Nonnull;
+import java.util.List;
+import org.opentcs.components.kernel.services.DispatcherService;
+import org.opentcs.components.kernel.services.NotificationService;
+import org.opentcs.components.kernel.services.PeripheralDispatcherService;
+import org.opentcs.components.kernel.services.PeripheralJobService;
+import org.opentcs.components.kernel.services.PeripheralService;
+import org.opentcs.components.kernel.services.PlantModelService;
+import org.opentcs.components.kernel.services.QueryService;
+import org.opentcs.components.kernel.services.RouterService;
+import org.opentcs.components.kernel.services.TransportOrderService;
+import org.opentcs.components.kernel.services.VehicleService;
+
+/**
+ * Provides clients access to kernel services.
+ */
+public interface KernelServicePortal {
+
+  /**
+   * Logs in with/establishes a connection to the remote kernel service portal.
+   *
+   * @param hostName The host on which the remote portal is running.
+   * @param port The port at which we can reach the remote RMI registry.
+   * @throws KernelRuntimeException If there was a problem logging in with the remote portal.
+   */
+  void login(
+      @Nonnull
+      String hostName,
+      int port
+  )
+      throws KernelRuntimeException;
+
+  /**
+   * Logs out from/clears the connection to the remote kernel service portal.
+   *
+   * @throws KernelRuntimeException If there was a problem logging out from the remote portal, i.e.
+   * it is no longer available.
+   */
+  void logout()
+      throws KernelRuntimeException;
+
+  /**
+   * Returns the current state of the kernel.
+   *
+   * @return The current state of the kernel.
+   * @throws KernelRuntimeException In case there is an exception executing this method.
+   */
+  Kernel.State getState()
+      throws KernelRuntimeException;
+
+  /**
+   * Fetches events buffered for the client.
+   *
+   * @param timeout A timeout (in ms) for which to wait for events to arrive.
+   * @return A list of events (in the order they arrived).
+   * @throws KernelRuntimeException In case there is an exception executing this method.
+   */
+  List<Object> fetchEvents(long timeout)
+      throws KernelRuntimeException;
+
+  /**
+   * Publishes an event.
+   *
+   * @param event The event to be published.
+   * @throws KernelRuntimeException In case there is an exception executing this method.
+   */
+  void publishEvent(Object event)
+      throws KernelRuntimeException;
+
+  /**
+   * Returns the service a client can use to access methods regarding the plant model.
+   *
+   * @return The service a client can use to access methods regarding the plant model.
+   */
+  @Nonnull
+  PlantModelService getPlantModelService();
+
+  /**
+   * Returns the service a client can use to access methods regarding transport orders and order
+   * sequences.
+   *
+   * @return The service a client can use to access methods regarding transport orders and order
+   * sequences.
+   */
+  @Nonnull
+  TransportOrderService getTransportOrderService();
+
+  /**
+   * Returns the service a client can use to access methods regarding vehicles.
+   *
+   * @return The service a client can use to access methods regarding vehicles.
+   */
+  @Nonnull
+  VehicleService getVehicleService();
+
+  /**
+   * Returns the service a client can use to access methods regarding user notifications.
+   *
+   * @return The service a client can use to access methods regarding user notifications.
+   */
+  @Nonnull
+  NotificationService getNotificationService();
+
+  /**
+   * Returns the service a client can use to access methods regarding the dispatcher.
+   *
+   * @return The service a client can use to access methods regarding the dispatcher.
+   */
+  @Nonnull
+  DispatcherService getDispatcherService();
+
+  /**
+   * Returns the service a client can use to access methods regarding the router.
+   *
+   * @return The service a client can use to access methods regarding the router.
+   */
+  @Nonnull
+  RouterService getRouterService();
+
+  /**
+   * Returns the service a client can use to access methods for generic queries.
+   *
+   * @return The service a client can use to access methods for generic queries.
+   */
+  @Nonnull
+  QueryService getQueryService();
+
+  /**
+   * Returns the service a client can use to access methods regarding peripherals.
+   *
+   * @return The service a client can use to access methods regarding peripherals.
+   */
+  @Nonnull
+  PeripheralService getPeripheralService();
+
+  /**
+   * Returns the service a client can use to access methods regarding peripheral jobs.
+   *
+   * @return The service a client can use to access methods regarding peripheral jobs.
+   */
+  @Nonnull
+  PeripheralJobService getPeripheralJobService();
+
+  /**
+   * Returns the service a client can use to access methods regarding the peripheral dispatcher.
+   *
+   * @return The service a client can use to access methods regarding the peripheral dispatcher.
+   */
+  @Nonnull
+  PeripheralDispatcherService getPeripheralDispatcherService();
+}

opentcs-api-base/src/main/java/org/opentcs/access/KernelStateTransitionEvent.java

@@ -0,0 +1,82 @@
+// SPDX-FileCopyrightText: The openTCS Authors
+// SPDX-License-Identifier: MIT
+package org.opentcs.access;
+
+import java.io.Serializable;
+
+/**
+ * Emitted by/for kernel state changes.
+ */
+public class KernelStateTransitionEvent
+    implements
+      Serializable {
+
+  /**
+   * The old state the kernel is leaving.
+   */
+  private final Kernel.State leftState;
+  /**
+   * The new state the kernel is in transition to.
+   */
+  private final Kernel.State enteredState;
+  /**
+   * Whether the transition to the entered state is finished or not.
+   */
+  private final boolean transitionFinished;
+
+  /**
+   * Creates a new TCSKernelStateEvent.
+   *
+   * @param leftState The previous state of the kernel.
+   * @param enteredState The new state of the kernel.
+   * @param transitionFinished Whether the transistion is finished, yet.
+   */
+  public KernelStateTransitionEvent(
+      Kernel.State leftState,
+      Kernel.State enteredState,
+      boolean transitionFinished
+  ) {
+    this.leftState = leftState;
+    this.enteredState = enteredState;
+    this.transitionFinished = transitionFinished;
+  }
+
+  /**
+   * Returns the state the kernel is leaving.
+   *
+   * @return The state the kernel is leaving.
+   */
+  public Kernel.State getLeftState() {
+    return leftState;
+  }
+
+  /**
+   * Returns the state for which this event was generated.
+   *
+   * @return The state for which this event was generated.
+   */
+  public Kernel.State getEnteredState() {
+    return enteredState;
+  }
+
+  /**
+   * Returns <code>true</code> if, and only if, the transition to the new kernel
+   * state is finished.
+   *
+   * @return <code>true</code> if, and only if, the transition to the new kernel
+   * state is finished.
+   */
+  public boolean isTransitionFinished() {
+    return transitionFinished;
+  }
+
+  @Override
+  public String toString() {
+    return getClass().getSimpleName()
+        + '{'
+        + "leftState=" + leftState
+        + ", enteredState=" + enteredState
+        + ", transitionFinished=" + transitionFinished
+        + '}';
+  }
+}

opentcs-api-base/src/main/java/org/opentcs/access/LocalKernel.java

@@ -0,0 +1,30 @@
+// SPDX-FileCopyrightText: The openTCS Authors
+// SPDX-License-Identifier: MIT
+package org.opentcs.access;
+
+import org.opentcs.components.Lifecycle;
+import org.opentcs.components.kernel.KernelExtension;
+
+/**
+ * Declares the methods the openTCS kernel must provide which are not accessible
+ * to remote peers.
+ */
+public interface LocalKernel
+    extends
+      Kernel,
+      Lifecycle {
+
+  /**
+   * Adds a <code>KernelExtension</code> to this kernel.
+   *
+   * @param newExtension The extension to be added.
+   */
+  void addKernelExtension(KernelExtension newExtension);
+
+  /**
+   * Removes a <code>KernelExtension</code> from this kernel.
+   *
+   * @param rmExtension The extension to be removed.
+   */
+  void removeKernelExtension(KernelExtension rmExtension);
+}

opentcs-api-base/src/main/java/org/opentcs/access/ModelTransitionEvent.java

@@ -0,0 +1,103 @@
+// SPDX-FileCopyrightText: The openTCS Authors
+// SPDX-License-Identifier: MIT
+package org.opentcs.access;
+
+import java.io.Serializable;
+
+/**
+ * Emitted when the kernel loads a model.
+ */
+public class ModelTransitionEvent
+    implements
+      Serializable {
+
+  /**
+   * The old model the kernel is leaving.
+   */
+  private final String oldModelName;
+  /**
+   * The new model the kernel is in transition to.
+   */
+  private final String newModelName;
+  /**
+   * Whether the content of the model actually changed with the transition.
+   */
+  private final boolean modelContentChanged;
+  /**
+   * Whether the transition to the entered state is finished or not.
+   */
+  private final boolean transitionFinished;
+
+  /**
+   * Creates a new TCSModelTransitionEvent.
+   *
+   * @param oldModelName The name of the previously loaded model.
+   * @param newModelName The name of the new model.
+   * @param modelContentChanged Whether the content of the model actually
+   * changed with the transition.
+   * @param transitionFinished Whether the transition to the new model is
+   * finished, yet.
+   */
+  public ModelTransitionEvent(
+      String oldModelName,
+      String newModelName,
+      boolean modelContentChanged,
+      boolean transitionFinished
+  ) {
+    this.oldModelName = oldModelName;
+    this.newModelName = newModelName;
+    this.modelContentChanged = modelContentChanged;
+    this.transitionFinished = transitionFinished;
+  }
+
+  /**
+   * Returns the model name the kernel is leaving.
+   *
+   * @return The model the kernel is leaving.
+   */
+  public String getOldModelName() {
+    return oldModelName;
+  }
+
+  /**
+   * Returns the model for which this event was generated.
+   *
+   * @return The model for which this event was generated.
+   */
+  public String getNewModelName() {
+    return newModelName;
+  }
+
+  /**
+   * Returns <code>true</code> if, and only if, the content of the model
+   * actually changed with the transition.
+   *
+   * @return <code>true</code> if, and only if, the content of the model
+   * actually changed with the transition.
+   */
+  public boolean hasModelContentChanged() {
+    return modelContentChanged;
+  }
+
+  /**
+   * Returns <code>true</code> if, and only if, the transition to the new kernel
+   * state is finished.
+   *
+   * @return <code>true</code> if, and only if, the transition to the new kernel
+   * state is finished.
+   */
+  public boolean isTransitionFinished() {
+    return transitionFinished;
+  }
+
+  @Override
+  public String toString() {
+    return getClass().getSimpleName()
+        + '{'
+        + "oldModelName=" + oldModelName
+        + ", newModelName=" + newModelName
+        + ", modelContentChanged=" + modelContentChanged
+        + ", transitionFinished=" + transitionFinished
+        + '}';
+  }
+}

opentcs-api-base/src/main/java/org/opentcs/access/NotificationPublicationEvent.java

@@ -0,0 +1,47 @@
+// SPDX-FileCopyrightText: The openTCS Authors
+// SPDX-License-Identifier: MIT
+package org.opentcs.access;
+
+import static java.util.Objects.requireNonNull;
+
+import java.io.Serializable;
+import org.opentcs.data.notification.UserNotification;
+
+/**
+ * Instances of this class represent events emitted by/for notifications being published.
+ */
+public class NotificationPublicationEvent
+    implements
+      Serializable {
+
+  /**
+   * The published message.
+   */
+  private final UserNotification notification;
+
+  /**
+   * Creates a new instance.
+   *
+   * @param message The message being published.
+   */
+  public NotificationPublicationEvent(UserNotification message) {
+    this.notification = requireNonNull(message, "notification");
+  }
+
+  /**
+   * Returns the message being published.
+   *
+   * @return The message being published.
+   */
+  public UserNotification getNotification() {
+    return notification;
+  }
+
+  @Override
+  public String toString() {
+    return getClass().getSimpleName()
+        + '{'
+        + "notification=" + notification
+        + '}';
+  }
+}

opentcs-api-base/src/main/java/org/opentcs/access/SharedKernelServicePortal.java

@@ -0,0 +1,30 @@
+// SPDX-FileCopyrightText: The openTCS Authors
+// SPDX-License-Identifier: MIT
+package org.opentcs.access;
+
+/**
+ * Provides access to a shared {@link KernelServicePortal} instance.
+ */
+public interface SharedKernelServicePortal
+    extends
+      AutoCloseable {
+
+  @Override
+  void close();
+
+  /**
+   * Indicates whether this instance is closed/unregistered from the shared portal pool.
+   *
+   * @return {@code true} if, and only if, this instance is closed.
+   */
+  boolean isClosed();
+
+  /**
+   * Returns the {@link KernelServicePortal} instance being shared.
+   *
+   * @return The portal instance being shared.
+   * @throws IllegalStateException If this instance is closed.
+   */
+  KernelServicePortal getPortal()
+      throws IllegalStateException;
+}

opentcs-api-base/src/main/java/org/opentcs/access/SharedKernelServicePortalProvider.java

@@ -0,0 +1,38 @@
+// SPDX-FileCopyrightText: The openTCS Authors
+// SPDX-License-Identifier: MIT
+package org.opentcs.access;
+
+import org.opentcs.components.kernel.services.ServiceUnavailableException;
+
+/**
+ * Pools access to a {@link KernelServicePortal} instance for multiple clients.
+ */
+public interface SharedKernelServicePortalProvider {
+
+  /**
+   * Creates and registers a new client with this access pool.
+   * This is a convenience method that supports try-with-ressources and does not require a
+   * preexisting client.
+   *
+   * @return The {@link SharedKernelServicePortal}.
+   * @throws ServiceUnavailableException in case of connection falure with the portal.
+   */
+  SharedKernelServicePortal register()
+      throws ServiceUnavailableException;
+
+  /**
+   * Checks whether a kernel reference is currently being shared.
+   *
+   * @return {@code true} if, and only if, a portal reference is currently being shared, meaning
+   * that at least one client is registered and a usable portal reference exists.
+   */
+  boolean portalShared();
+
+  /**
+   * Returns a description for the portal currently being shared.
+   *
+   * @return A description for the portal currently being shared, or the empty string, if none is
+   * currently being shared.
+   */
+  String getPortalDescription();
+}

opentcs-api-base/src/main/java/org/opentcs/access/SslParameterSet.java

@@ -0,0 +1,122 @@
+// SPDX-FileCopyrightText: The openTCS Authors
+// SPDX-License-Identifier: MIT
+package org.opentcs.access;
+
+import static java.util.Objects.requireNonNull;
+
+import jakarta.annotation.Nonnull;
+import jakarta.annotation.Nullable;
+import java.io.File;
+import java.io.Serializable;
+
+/**
+ * A set of parameters to be used for SSL-encrypted socket connections.
+ */
+public class SslParameterSet
+    implements
+      Serializable {
+
+  /**
+   * The default type used for truststore and keystore files.
+   */
+  public static final String DEFAULT_KEYSTORE_TYPE = "PKCS12";
+
+  /**
+   * The type used for keystore and truststore.
+   */
+  private final String keystoreType;
+  /**
+   * The file path of the keystore.
+   */
+  private final File keystoreFile;
+  /**
+   * The password for the keystore file.
+   */
+  private final String keystorePassword;
+  /**
+   * The file path of the truststore.
+   */
+  private final File truststoreFile;
+  /**
+   * The password for the truststore file.
+   */
+  private final String truststorePassword;
+
+  /**
+   * Creates a new instance.
+   *
+   * @param keystoreType The type used for keystore and truststore
+   * @param keystoreFile The keystore file
+   * @param truststoreFile The truststore file
+   * @param keystorePassword The keystore file password
+   * @param truststorePassword The truststore file password
+   */
+  public SslParameterSet(
+      @Nonnull
+      String keystoreType,
+      @Nullable
+      File keystoreFile,
+      @Nullable
+      String keystorePassword,
+      @Nullable
+      File truststoreFile,
+      @Nullable
+      String truststorePassword
+  ) {
+    this.keystoreType = requireNonNull(keystoreType, "keystoreType");
+    this.keystoreFile = keystoreFile;
+    this.keystorePassword = keystorePassword;
+    this.truststoreFile = truststoreFile;
+    this.truststorePassword = truststorePassword;
+  }
+
+  /**
+   * Returns the keystoreType used to decrypt the keystore and truststore.
+   *
+   * @return The keystoreType used to decrypt the keystore and truststore
+   */
+  @Nonnull
+  public String getKeystoreType() {
+    return keystoreType;
+  }
+
+  /**
+   * Returns the file path of the keystore file.
+   *
+   * @return The file path of the keystore file
+   */
+  @Nullable
+  public File getKeystoreFile() {
+    return keystoreFile;
+  }
+
+  /**
+   * Returns the password for the keystore file.
+   *
+   * @return The password for the keystore file
+   */
+  @Nullable
+  public String getKeystorePassword() {
+    return keystorePassword;
+  }
+
+  /**
+   * Returns the file path of the truststore file.
+   *
+   * @return The file path of the truststore file
+   */
+  @Nullable
+  public File getTruststoreFile() {
+    return truststoreFile;
+  }
+
+  /**
+   * Returns the password for the truststore file.
+   *
+   * @return The password for the truststore file
+   */
+  @Nullable
+  public String getTruststorePassword() {
+    return truststorePassword;
+  }
+}

opentcs-api-base/src/main/java/org/opentcs/access/package-info.java

@@ -0,0 +1,7 @@
+// SPDX-FileCopyrightText: The openTCS Authors
+// SPDX-License-Identifier: MIT
+/**
+ * Interfaces and classes for accessing the kernel from outside, for instance
+ * from a remote client or a communication adapter.
+ */
+package org.opentcs.access;

opentcs-api-base/src/main/java/org/opentcs/access/rmi/ClientID.java

@@ -0,0 +1,77 @@
+// SPDX-FileCopyrightText: The openTCS Authors
+// SPDX-License-Identifier: MIT
+package org.opentcs.access.rmi;
+
+import static java.util.Objects.requireNonNull;
+
+import jakarta.annotation.Nonnull;
+import java.io.Serializable;
+import java.util.UUID;
+
+/**
+ * Identifies a remote client unambiguously.
+ */
+public class ClientID
+    implements
+      Serializable {
+  /**
+   * The client's name.
+   */
+  private final String clientName;
+  /**
+   * The client's UUID.
+   */
+  private final UUID uuid;
+
+  /**
+   * Creates a new ClientID.
+   *
+   * @param clientName The client's name.
+   */
+  public ClientID(
+      @Nonnull
+      String clientName
+  ) {
+    this.clientName = requireNonNull(clientName, "clientName");
+    uuid = UUID.randomUUID();
+  }
+
+  /**
+   * Return the client's name.
+   *
+   * @return The client's name.
+   */
+  @Nonnull
+  public String getClientName() {
+    return clientName;
+  }
+
+  /**
+   * Checks if this object equals another one.
+   *
+   * @param otherObject The other object to be compared with this object.
+   * @return <code>true</code> if, and only if, the given object is also a
+   * <code>ClientID</code> and contains the same name and the same UUID as this
+   * one.
+   */
+  @Override
+  public boolean equals(Object otherObject) {
+    if (otherObject instanceof ClientID) {
+      ClientID otherID = (ClientID) otherObject;
+      return clientName.equals(otherID.clientName) && uuid.equals(otherID.uuid);
+    }
+    else {
+      return false;
+    }
+  }
+
+  @Override
+  public int hashCode() {
+    return uuid.hashCode();
+  }
+
+  @Override
+  public String toString() {
+    return clientName + ":" + uuid;
+  }
+}

opentcs-api-base/src/main/java/org/opentcs/access/rmi/KernelServicePortalBuilder.java

@@ -0,0 +1,132 @@
+// SPDX-FileCopyrightText: The openTCS Authors
+// SPDX-License-Identifier: MIT
+package org.opentcs.access.rmi;
+
+import static java.util.Objects.requireNonNull;
+
+import jakarta.annotation.Nonnull;
+import java.util.function.Predicate;
+import org.opentcs.access.CredentialsException;
+import org.opentcs.access.KernelServicePortal;
+import org.opentcs.access.rmi.factories.NullSocketFactoryProvider;
+import org.opentcs.access.rmi.factories.SocketFactoryProvider;
+import org.opentcs.access.rmi.services.RemoteKernelServicePortalProxy;
+import org.opentcs.components.kernel.services.ServiceUnavailableException;
+import org.opentcs.util.ClassMatcher;
+
+/**
+ * Builds {@link KernelServicePortal} instances for connections to remote portals.
+ */
+public class KernelServicePortalBuilder {
+
+  /**
+   * Provides socket factories used for RMI.
+   */
+  private SocketFactoryProvider socketFactoryProvider = new NullSocketFactoryProvider();
+  /**
+   * The user name for logging in.
+   */
+  private final String userName;
+  /**
+   * The password for logging in.
+   */
+  private final String password;
+  /**
+   * The event filter to be applied for the built portal.
+   */
+  private Predicate<Object> eventFilter = new ClassMatcher(Object.class);
+
+  /**
+   * Creates a new instance.
+   *
+   * @param userName The user name to use for logging in.
+   * @param password The password to use for logging in.
+   */
+  public KernelServicePortalBuilder(String userName, String password) {
+    this.userName = requireNonNull(userName, "userName");
+    this.password = requireNonNull(password, "password");
+  }
+
+  /**
+   * Returns the socket factory provider used for RMI.
+   *
+   * @return The socket factory provider used for RMI.
+   */
+  public SocketFactoryProvider getSocketFactoryProvider() {
+    return socketFactoryProvider;
+  }
+
+  /**
+   * Sets the socket factory provider used for RMI.
+   *
+   * @param socketFactoryProvider The socket factory provider.
+   * @return This instance.
+   */
+  public KernelServicePortalBuilder setSocketFactoryProvider(
+      @Nonnull
+      SocketFactoryProvider socketFactoryProvider
+  ) {
+    this.socketFactoryProvider = requireNonNull(socketFactoryProvider, "socketFactoryProvider");
+    return this;
+  }
+
+  /**
+   * Returns the user name used for logging in.
+   *
+   * @return The user name used for logging in.
+   */
+  public String getUserName() {
+    return userName;
+  }
+
+  /**
+   * Returns the password used for logging in.
+   *
+   * @return The password used for logging in.
+   */
+  public String getPassword() {
+    return password;
+  }
+
+  /**
+   * Returns the event filter to be applied for the built portal.
+   *
+   * @return The event filter to be applied for the built portal.
+   */
+  public Predicate<Object> getEventFilter() {
+    return eventFilter;
+  }
+
+  /**
+   * Sets the event filter to be applied for the built portal.
+   *
+   * @param eventFilter The event filter.
+   * @return This instance.
+   */
+  public KernelServicePortalBuilder setEventFilter(
+      @Nonnull
+      Predicate<Object> eventFilter
+  ) {
+    this.eventFilter = requireNonNull(eventFilter, "eventFilter");
+    return this;
+  }
+
+  /**
+   * Builds and returns a {@link KernelServicePortal} with the configured parameters.
+   *
+   * @return A {@link KernelServicePortal} instance.
+   * @throws ServiceUnavailableException If the remote portal is not reachable for some reason.
+   * @throws CredentialsException If the client login with the remote portal failed, e.g. because of
+   * incorrect login data.
+   */
+  public KernelServicePortal build()
+      throws ServiceUnavailableException,
+        CredentialsException {
+    return new RemoteKernelServicePortalProxy(
+        userName,
+        password,
+        socketFactoryProvider,
+        eventFilter
+    );
+  }
+}

opentcs-api-base/src/main/java/org/opentcs/access/rmi/factories/CustomSslRMIClientSocketFactory.java

@@ -0,0 +1,55 @@
+// SPDX-FileCopyrightText: The openTCS Authors
+// SPDX-License-Identifier: MIT
+package org.opentcs.access.rmi.factories;
+
+import static java.util.Objects.requireNonNull;
+
+import java.io.IOException;
+import java.io.Serializable;
+import java.net.Socket;
+import java.rmi.server.RMIClientSocketFactory;
+import javax.net.ssl.SSLContext;
+import javax.net.ssl.SSLParameters;
+import javax.net.ssl.SSLSocket;
+import javax.net.ssl.SSLSocketFactory;
+import javax.rmi.ssl.SslRMIClientSocketFactory;
+
+/**
+ * This implementation is similar to {@link SslRMIClientSocketFactory} but allows the use of a
+ * custom SSLConext.
+ */
+class CustomSslRMIClientSocketFactory
+    implements
+      RMIClientSocketFactory,
+      Serializable {
+
+  /**
+   * Provides an instance of {@link SSLContext} used to get the actual socket factory.
+   */
+  private final SecureSslContextFactory secureSslContextFactory;
+
+  /**
+   * Creates a new instance.
+   *
+   * @param secureSslContextFactory Provides an instance of {@link SSLContext} used to get the
+   * actual socket factory.
+   */
+  CustomSslRMIClientSocketFactory(SecureSslContextFactory secureSslContextFactory) {
+    this.secureSslContextFactory = requireNonNull(
+        secureSslContextFactory,
+        "secureSslContextFactory"
+    );
+  }
+
+  @Override
+  public Socket createSocket(String host, int port)
+      throws IOException {
+    SSLContext context = secureSslContextFactory.createClientContext();
+    SSLSocketFactory sf = context.getSocketFactory();
+    SSLSocket socket = (SSLSocket) sf.createSocket(host, port);
+    SSLParameters param = context.getSupportedSSLParameters();
+    socket.setEnabledCipherSuites(param.getCipherSuites());
+    socket.setEnabledProtocols(param.getProtocols());
+    return socket;
+  }
+}

opentcs-api-base/src/main/java/org/opentcs/access/rmi/factories/NullSocketFactoryProvider.java

@@ -0,0 +1,32 @@
+// SPDX-FileCopyrightText: The openTCS Authors
+// SPDX-License-Identifier: MIT
+package org.opentcs.access.rmi.factories;
+
+import jakarta.inject.Inject;
+import java.rmi.registry.Registry;
+import java.rmi.server.RMIClientSocketFactory;
+import java.rmi.server.RMIServerSocketFactory;
+
+/**
+ * Provides {@code null} for both client and server socket factories.
+ * By using this provider, the default client-side/server-side socket factory will be used in
+ * {@link Registry} stubs.
+ */
+public class NullSocketFactoryProvider
+    implements
+      SocketFactoryProvider {
+
+  @Inject
+  public NullSocketFactoryProvider() {
+  }
+
+  @Override
+  public RMIClientSocketFactory getClientSocketFactory() {
+    return null;
+  }
+
+  @Override
+  public RMIServerSocketFactory getServerSocketFactory() {
+    return null;
+  }
+}

opentcs-api-base/src/main/java/org/opentcs/access/rmi/factories/SecureSocketFactoryProvider.java

@@ -0,0 +1,57 @@
+// SPDX-FileCopyrightText: The openTCS Authors
+// SPDX-License-Identifier: MIT
+package org.opentcs.access.rmi.factories;
+
+import static java.util.Objects.requireNonNull;
+
+import jakarta.inject.Inject;
+import java.rmi.server.RMIClientSocketFactory;
+import java.rmi.server.RMIServerSocketFactory;
+import javax.net.ssl.SSLContext;
+import javax.net.ssl.SSLParameters;
+import javax.rmi.ssl.SslRMIServerSocketFactory;
+import org.opentcs.access.SslParameterSet;
+
+/**
+ * Provides instances of {@link RMIClientSocketFactory} and {@link RMIServerSocketFactory} that are
+ * implemented over the SSL or TLS protocols.
+ * Since these factories don't support anonymous cipher suites a keystore on the server-side and a
+ * truststore on the client-side is necessary.
+ */
+public class SecureSocketFactoryProvider
+    implements
+      SocketFactoryProvider {
+
+  /**
+   * Provides methods for creating client-side and server-side {@link SSLContext} instances.
+   */
+  private final SecureSslContextFactory secureSslContextFactory;
+
+  /**
+   * Creates a new instance.
+   *
+   * @param sslParameterSet The SSL parameters to be used for creating socket factories.
+   */
+  @Inject
+  public SecureSocketFactoryProvider(SslParameterSet sslParameterSet) {
+    requireNonNull(sslParameterSet, "sslParameterSet");
+    this.secureSslContextFactory = new SecureSslContextFactory(sslParameterSet);
+  }
+
+  @Override
+  public RMIClientSocketFactory getClientSocketFactory() {
+    return new CustomSslRMIClientSocketFactory(secureSslContextFactory);
+  }
+
+  @Override
+  public RMIServerSocketFactory getServerSocketFactory() {
+    SSLContext context = secureSslContextFactory.createServerContext();
+    SSLParameters param = context.getSupportedSSLParameters();
+    return new SslRMIServerSocketFactory(
+        context,
+        param.getCipherSuites(),
+        param.getProtocols(),
+        param.getWantClientAuth()
+    );
+  }
+}

opentcs-api-base/src/main/java/org/opentcs/access/rmi/factories/SecureSslContextFactory.java

@@ -0,0 +1,111 @@
+// SPDX-FileCopyrightText: The openTCS Authors
+// SPDX-License-Identifier: MIT
+package org.opentcs.access.rmi.factories;
+
+import static java.util.Objects.requireNonNull;
+
+import java.io.FileInputStream;
+import java.io.IOException;
+import java.io.Serializable;
+import java.security.KeyManagementException;
+import java.security.KeyStore;
+import java.security.KeyStoreException;
+import java.security.NoSuchAlgorithmException;
+import java.security.UnrecoverableKeyException;
+import java.security.cert.CertificateException;
+import javax.net.ssl.KeyManagerFactory;
+import javax.net.ssl.SSLContext;
+import javax.net.ssl.TrustManagerFactory;
+import org.opentcs.access.SslParameterSet;
+
+/**
+ * Provides methods for creating client-side and server-side {@link SSLContext} instances.
+ */
+class SecureSslContextFactory
+    implements
+      Serializable {
+
+  /**
+   * The name of the algorithm to use for the {@link KeyManagerFactory} and
+   * {@link TrustManagerFactory}.
+   */
+  private static final String KEY_TRUST_MANAGEMENT_ALGORITHM = "SunX509";
+  /**
+   * The protocol to use with the ssl context.
+   */
+  private static final String SSL_CONTEXT_PROTOCOL = "TLSv1.2";
+  /**
+   * The ssl parameters to be used for creating the ssl context.
+   */
+  private final SslParameterSet sslParameterSet;
+
+  /**
+   * Creates a new instance.
+   *
+   * @param sslParameterSet The ssl parameters to be used for creating the ssl context.
+   */
+  SecureSslContextFactory(SslParameterSet sslParameterSet) {
+    this.sslParameterSet = requireNonNull(sslParameterSet, "sslParameterSet");
+  }
+
+  /**
+   * Creates an instance of {@link SSLContext} for the client.
+   *
+   * @return The ssl context.
+   * @throws IllegalStateException If the creation of the ssl context fails.
+   */
+  public SSLContext createClientContext()
+      throws IllegalStateException {
+    SSLContext context = null;
+
+    try {
+      KeyStore ts = KeyStore.getInstance(sslParameterSet.getKeystoreType());
+      ts.load(
+          new FileInputStream(sslParameterSet.getTruststoreFile()),
+          sslParameterSet.getTruststorePassword().toCharArray()
+      );
+      TrustManagerFactory tmf = TrustManagerFactory.getInstance(KEY_TRUST_MANAGEMENT_ALGORITHM);
+      tmf.init(ts);
+
+      context = SSLContext.getInstance(SSL_CONTEXT_PROTOCOL);
+      context.init(null, tmf.getTrustManagers(), null);
+    }
+    catch (NoSuchAlgorithmException | KeyStoreException | CertificateException | IOException
+           | KeyManagementException ex) {
+      throw new IllegalStateException("Error creating the client's ssl context", ex);
+    }
+
+    return context;
+  }
+
+  /**
+   * Creates an instance of {@link SSLContext} for the server.
+   *
+   * @return The ssl context.
+   * @throws IllegalStateException If the creation of the ssl context fails.
+   */
+  public SSLContext createServerContext()
+      throws IllegalStateException {
+    SSLContext context = null;
+
+    try {
+      KeyStore ks = KeyStore.getInstance(sslParameterSet.getKeystoreType());
+      ks.load(
+          new FileInputStream(sslParameterSet.getKeystoreFile()),
+          sslParameterSet.getKeystorePassword().toCharArray()
+      );
+      KeyManagerFactory kmf = KeyManagerFactory.getInstance(KEY_TRUST_MANAGEMENT_ALGORITHM);
+      kmf.init(ks, sslParameterSet.getKeystorePassword().toCharArray());
+
+      context = SSLContext.getInstance(SSL_CONTEXT_PROTOCOL);
+      context.init(kmf.getKeyManagers(), null, null);
+
+    }
+    catch (NoSuchAlgorithmException | KeyStoreException | CertificateException | IOException
+           | KeyManagementException | UnrecoverableKeyException ex) {
+      throw new IllegalStateException("Error creating the server's ssl context", ex);
+    }
+
+    return context;
+  }
+}

opentcs-api-base/src/main/java/org/opentcs/access/rmi/factories/SocketFactoryProvider.java

@@ -0,0 +1,32 @@
+// SPDX-FileCopyrightText: The openTCS Authors
+// SPDX-License-Identifier: MIT
+package org.opentcs.access.rmi.factories;
+
+import jakarta.annotation.Nullable;
+import java.rmi.server.RMIClientSocketFactory;
+import java.rmi.server.RMIServerSocketFactory;
+
+/**
+ * A provider for instances of {@link RMIClientSocketFactory} and {@link RMIServerSocketFactory}.
+ * Generally one provider should provide compatible factories for clients and servers.
+ */
+public interface SocketFactoryProvider {
+
+  /**
+   * Returns a {@link RMIClientSocketFactory}.
+   *
+   * @return A {@link RMIClientSocketFactory}.
+   * May be <code>null</code> to indicate that a default factory implementation is to be used.
+   */
+  @Nullable
+  RMIClientSocketFactory getClientSocketFactory();
+
+  /**
+   * Returns a {@link RMIServerSocketFactory}.
+   *
+   * @return A {@link RMIServerSocketFactory}.
+   * May be <code>null</code> to indicate that a default factory implementation is to be used.
+   */
+  @Nullable
+  RMIServerSocketFactory getServerSocketFactory();
+}

opentcs-api-base/src/main/java/org/opentcs/access/rmi/factories/package-info.java

@@ -0,0 +1,6 @@
+// SPDX-FileCopyrightText: The openTCS Authors
+// SPDX-License-Identifier: MIT
+/**
+ * Interfaces and classes for configuration of the RMI runtime used by openTCS kernel and clients.
+ */
+package org.opentcs.access.rmi.factories;

opentcs-api-base/src/main/java/org/opentcs/access/rmi/package-info.java

@@ -0,0 +1,7 @@
+// SPDX-FileCopyrightText: The openTCS Authors
+// SPDX-License-Identifier: MIT
+/**
+ * Interfaces and classes for transparently providing an openTCS kernel's
+ * functionality via RMI.
+ */
+package org.opentcs.access.rmi;

opentcs-api-base/src/main/java/org/opentcs/access/rmi/services/AbstractRemoteServiceProxy.java

@@ -0,0 +1,141 @@
+// SPDX-FileCopyrightText: The openTCS Authors
+// SPDX-License-Identifier: MIT
+package org.opentcs.access.rmi.services;
+
+import java.rmi.Remote;
+import java.rmi.RemoteException;
+import org.opentcs.access.rmi.ClientID;
+import org.opentcs.components.kernel.services.ServiceUnavailableException;
+import org.opentcs.data.ObjectExistsException;
+import org.opentcs.data.ObjectUnknownException;
+
+/**
+ * A base class for remote service proxy implementations.
+ *
+ * @param <R> The remote service's type.
+ */
+abstract class AbstractRemoteServiceProxy<R extends Remote> {
+
+  /**
+   * The message to log when a service is unavailable.
+   */
+  private static final String SERVICE_UNAVAILABLE_MESSAGE = "Remote service unreachable";
+  /**
+   * The client using this service.
+   */
+  private ClientID clientId;
+  /**
+   * The corresponding remote service.
+   */
+  private R remoteService;
+  /**
+   * The listener that is interested in updates of this service.
+   */
+  private ServiceListener serviceListener;
+
+  /**
+   * Returns the client id using this service.
+   *
+   * @return The client id using this service.
+   */
+  ClientID getClientId() {
+    return clientId;
+  }
+
+  /**
+   * Sets the client id using this service.
+   *
+   * @param clientId The client id.
+   * @return This remote service proxy.
+   */
+  AbstractRemoteServiceProxy<R> setClientId(ClientID clientId) {
+    this.clientId = clientId;
+    return this;
+  }
+
+  /**
+   * Returns the remote service to delegate method invocations to.
+   *
+   * @return The remote service to delegate method invocations to.
+   */
+  R getRemoteService() {
+    return remoteService;
+  }
+
+  /**
+   * Sets the remote service to delegate method invocations to.
+   *
+   * @param remoteService The remote service.
+   * @return This remote service proxy.
+   */
+  AbstractRemoteServiceProxy<R> setRemoteService(R remoteService) {
+    this.remoteService = remoteService;
+    return this;
+  }
+
+  /**
+   * Returns the listener that is interested in updates of this service.
+   *
+   * @return The listener that is interested in updates of this service.
+   */
+  ServiceListener getServiceListener() {
+    return serviceListener;
+  }
+
+  /**
+   * Sets the listener that is interested in updates of this service.
+   *
+   * @param serviceListener The service listener.
+   * @return This remote service proxy.
+   */
+  public AbstractRemoteServiceProxy<R> setServiceListener(ServiceListener serviceListener) {
+    this.serviceListener = serviceListener;
+    return this;
+  }
+
+  /**
+   * Checks whether this service is logged in or not.
+   *
+   * @return {@code true} if, and only if, this service has both a client id and a remote service
+   * associated to it.
+   */
+  boolean isLoggedIn() {
+    return getClientId() != null && getRemoteService() != null;
+  }
+
+  /**
+   * Ensures that this service is available to be used.
+   *
+   * @throws ServiceUnavailableException If the service is not available.
+   */
+  void checkServiceAvailability()
+      throws ServiceUnavailableException {
+    if (!isLoggedIn()) {
+      throw new ServiceUnavailableException(SERVICE_UNAVAILABLE_MESSAGE);
+    }
+  }
+
+  /**
+   * Returns a suitable {@link RuntimeException} for the given {@link RemoteException}.
+   *
+   * @param ex The exception to find a runtime exception for.
+   * @return The runtime exception.
+   */
+  RuntimeException findSuitableExceptionFor(RemoteException ex) {
+    if (ex.getCause() instanceof ObjectUnknownException) {
+      return (ObjectUnknownException) ex.getCause();
+    }
+    if (ex.getCause() instanceof ObjectExistsException) {
+      return (ObjectExistsException) ex.getCause();
+    }
+    if (ex.getCause() instanceof IllegalArgumentException) {
+      return (IllegalArgumentException) ex.getCause();
+    }
+
+    if (getServiceListener() != null) {
+      getServiceListener().onServiceUnavailable();
+    }
+
+    return new ServiceUnavailableException(SERVICE_UNAVAILABLE_MESSAGE, ex);
+  }
+}

opentcs-api-base/src/main/java/org/opentcs/access/rmi/services/KernelStateEventListener.java

@@ -0,0 +1,16 @@
+// SPDX-FileCopyrightText: The openTCS Authors
+// SPDX-License-Identifier: MIT
+package org.opentcs.access.rmi.services;
+
+import org.opentcs.access.Kernel;
+
+/**
+ * A listener for events concerning kernel state changes.
+ */
+interface KernelStateEventListener {
+
+  /**
+   * Called when the kernel state changes to {@link Kernel.State#SHUTDOWN}.
+   */
+  void onKernelShutdown();
+}

opentcs-api-base/src/main/java/org/opentcs/access/rmi/services/RegistrationName.java

@@ -0,0 +1,55 @@
+// SPDX-FileCopyrightText: The openTCS Authors
+// SPDX-License-Identifier: MIT
+package org.opentcs.access.rmi.services;
+
+/**
+ * Defines the names used for binding the remote services in the RMI registry.
+ */
+public interface RegistrationName {
+
+  /**
+   * The name the {@link RemoteKernelServicePortal} registers itself with a RMI registry.
+   */
+  String REMOTE_KERNEL_CLIENT_PORTAL = RemoteKernelServicePortal.class.getCanonicalName();
+  /**
+   * The name the {@link RemotePlantModelService} registers itself with a RMI registry.
+   */
+  String REMOTE_PLANT_MODEL_SERVICE = RemotePlantModelService.class.getCanonicalName();
+  /**
+   * The name the {@link RemoteTransportOrderService} registers itself with a RMI registry.
+   */
+  String REMOTE_TRANSPORT_ORDER_SERVICE = RemoteTransportOrderService.class.getCanonicalName();
+  /**
+   * The name the {@link RemoteVehicleService} registers itself with a RMI registry.
+   */
+  String REMOTE_VEHICLE_SERVICE = RemoteVehicleService.class.getCanonicalName();
+  /**
+   * The name the {@link RemoteNotificationService} registers itself with a RMI registry.
+   */
+  String REMOTE_NOTIFICATION_SERVICE = RemoteNotificationService.class.getCanonicalName();
+  /**
+   * The name the {@link RemoteRouterService} registers itself with a RMI registry.
+   */
+  String REMOTE_ROUTER_SERVICE = RemoteRouterService.class.getCanonicalName();
+  /**
+   * The name the {@link RemoteDispatcherService} registers itself with a RMI registry.
+   */
+  String REMOTE_DISPATCHER_SERVICE = RemoteDispatcherService.class.getCanonicalName();
+  /**
+   * The name the {@link RemoteQueryService} registers itself with a RMI registry.
+   */
+  String REMOTE_QUERY_SERVICE = RemoteQueryService.class.getCanonicalName();
+  /**
+   * The name the {@link RemotePeripheralService} registers itself with a RMI registry.
+   */
+  String REMOTE_PERIPHERAL_SERVICE = RemotePeripheralService.class.getCanonicalName();
+  /**
+   * The name the {@link RemotePeripheralJobService} registers itself with a RMI registry.
+   */
+  String REMOTE_PERIPHERAL_JOB_SERVICE = RemotePeripheralJobService.class.getCanonicalName();
+  /**
+   * The name the {@link RemotePeripheralDispatcherService} registers itself with a RMI registry.
+   */
+  String REMOTE_PERIPHERAL_DISPATCHER_SERVICE
+      = RemotePeripheralDispatcherService.class.getCanonicalName();
+}

opentcs-api-base/src/main/java/org/opentcs/access/rmi/services/RemoteDispatcherService.java

@@ -0,0 +1,59 @@
+// SPDX-FileCopyrightText: The openTCS Authors
+// SPDX-License-Identifier: MIT
+package org.opentcs.access.rmi.services;
+
+import java.rmi.Remote;
+import java.rmi.RemoteException;
+import org.opentcs.access.rmi.ClientID;
+import org.opentcs.components.kernel.services.DispatcherService;
+import org.opentcs.data.TCSObjectReference;
+import org.opentcs.data.model.Vehicle;
+import org.opentcs.data.order.ReroutingType;
+import org.opentcs.data.order.TransportOrder;
+
+/**
+ * Declares the methods provided by the {@link DispatcherService} via RMI.
+ *
+ * <p>
+ * The majority of the methods declared here have signatures analogous to their counterparts in
+ * {@link DispatcherService}, with an additional {@link ClientID} parameter which serves the purpose
+ * of identifying the calling client and determining its permissions.
+ * </p>
+ * <p>
+ * To avoid redundancy, the semantics of methods that only pass through their arguments are not
+ * explicitly documented here again. See the corresponding API documentation in
+ * {@link DispatcherService} for these, instead.
+ * </p>
+ */
+public interface RemoteDispatcherService
+    extends
+      Remote {
+
+  // CHECKSTYLE:OFF
+  void dispatch(ClientID clientId)
+      throws RemoteException;
+
+  void withdrawByVehicle(
+      ClientID clientId,
+      TCSObjectReference<Vehicle> ref,
+      boolean immediateAbort
+  )
+      throws RemoteException;
+
+  void withdrawByTransportOrder(
+      ClientID clientId,
+      TCSObjectReference<TransportOrder> ref,
+      boolean immediateAbort
+  )
+      throws RemoteException;
+
+  void reroute(ClientID clientId, TCSObjectReference<Vehicle> ref, ReroutingType reroutingType)
+      throws RemoteException;
+
+  void rerouteAll(ClientID clientId, ReroutingType reroutingType)
+      throws RemoteException;
+
+  void assignNow(ClientID clientId, TCSObjectReference<TransportOrder> ref)
+      throws RemoteException;
+  // CHECKSTYLE:ON
+}

opentcs-api-base/src/main/java/org/opentcs/access/rmi/services/RemoteDispatcherServiceProxy.java

@@ -0,0 +1,122 @@
+// SPDX-FileCopyrightText: The openTCS Authors
+// SPDX-License-Identifier: MIT
+package org.opentcs.access.rmi.services;
+
+import java.rmi.RemoteException;
+import org.opentcs.access.KernelRuntimeException;
+import org.opentcs.components.kernel.services.DispatcherService;
+import org.opentcs.data.ObjectUnknownException;
+import org.opentcs.data.TCSObjectReference;
+import org.opentcs.data.model.Vehicle;
+import org.opentcs.data.order.ReroutingType;
+import org.opentcs.data.order.TransportOrder;
+
+/**
+ * The default implementation of the dispatcher service.
+ * Delegates method invocations to the corresponding remote service.
+ */
+class RemoteDispatcherServiceProxy
+    extends
+      AbstractRemoteServiceProxy<RemoteDispatcherService>
+    implements
+      DispatcherService {
+
+  /**
+   * Creates a new instance.
+   */
+  RemoteDispatcherServiceProxy() {
+  }
+
+  @Override
+  public void dispatch()
+      throws KernelRuntimeException {
+    checkServiceAvailability();
+
+    try {
+      getRemoteService().dispatch(getClientId());
+    }
+    catch (RemoteException ex) {
+      throw findSuitableExceptionFor(ex);
+    }
+  }
+
+  @Override
+  public void withdrawByVehicle(
+      TCSObjectReference<Vehicle> vehicleRef,
+      boolean immediateAbort
+  )
+      throws ObjectUnknownException,
+        KernelRuntimeException {
+    checkServiceAvailability();
+
+    try {
+      getRemoteService().withdrawByVehicle(
+          getClientId(),
+          vehicleRef,
+          immediateAbort
+      );
+    }
+    catch (RemoteException ex) {
+      throw findSuitableExceptionFor(ex);
+    }
+  }
+
+  @Override
+  public void withdrawByTransportOrder(
+      TCSObjectReference<TransportOrder> ref,
+      boolean immediateAbort
+  )
+      throws ObjectUnknownException,
+        KernelRuntimeException {
+    checkServiceAvailability();
+
+    try {
+      getRemoteService().withdrawByTransportOrder(
+          getClientId(),
+          ref,
+          immediateAbort
+      );
+    }
+    catch (RemoteException ex) {
+      throw findSuitableExceptionFor(ex);
+    }
+  }
+
+  @Override
+  public void reroute(TCSObjectReference<Vehicle> ref, ReroutingType reroutingType)
+      throws ObjectUnknownException,
+        KernelRuntimeException {
+    checkServiceAvailability();
+
+    try {
+      getRemoteService().reroute(getClientId(), ref, reroutingType);
+    }
+    catch (RemoteException ex) {
+      throw findSuitableExceptionFor(ex);
+    }
+  }
+
+  @Override
+  public void rerouteAll(ReroutingType reroutingType) {
+    checkServiceAvailability();
+
+    try {
+      getRemoteService().rerouteAll(getClientId(), reroutingType);
+    }
+    catch (RemoteException ex) {
+      throw findSuitableExceptionFor(ex);
+    }
+  }
+
+  @Override
+  public void assignNow(TCSObjectReference<TransportOrder> ref)
+      throws KernelRuntimeException {
+    checkServiceAvailability();
+    try {
+      getRemoteService().assignNow(getClientId(), ref);
+    }
+    catch (RemoteException ex) {
+      throw findSuitableExceptionFor(ex);
+    }
+  }
+}

opentcs-api-base/src/main/java/org/opentcs/access/rmi/services/RemoteKernelServicePortal.java

@@ -0,0 +1,46 @@
+// SPDX-FileCopyrightText: The openTCS Authors
+// SPDX-License-Identifier: MIT
+package org.opentcs.access.rmi.services;
+
+import java.rmi.Remote;
+import java.rmi.RemoteException;
+import java.util.List;
+import java.util.function.Predicate;
+import org.opentcs.access.CredentialsException;
+import org.opentcs.access.Kernel;
+import org.opentcs.access.KernelServicePortal;
+import org.opentcs.access.rmi.ClientID;
+
+/**
+ * Declares the methods provided by the {@link KernelServicePortal} via RMI.
+ */
+public interface RemoteKernelServicePortal
+    extends
+      Remote {
+
+  /**
+   * Introduce the calling client to the server and authenticate for operations.
+   *
+   * @param userName The user's name.
+   * @param password The user's password.
+   * @param eventFilter The event filter to be applied to events on the server side.
+   * @return An identification object that is required for subsequent method calls.
+   * @throws CredentialsException If authentication with the given username and password failed.
+   * @throws RemoteException If there was an RMI-related problem.
+   */
+  ClientID login(String userName, String password, Predicate<Object> eventFilter)
+      throws CredentialsException,
+        RemoteException;
+
+  void logout(ClientID clientId)
+      throws RemoteException;
+
+  Kernel.State getState(ClientID clientId)
+      throws RemoteException;
+
+  List<Object> fetchEvents(ClientID clientId, long timeout)
+      throws RemoteException;
+
+  void publishEvent(ClientID clientId, Object event)
+      throws RemoteException;
+}

opentcs-api-base/src/main/java/org/opentcs/access/rmi/services/RemoteKernelServicePortalProxy.java

@@ -0,0 +1,388 @@
+// SPDX-FileCopyrightText: The openTCS Authors
+// SPDX-License-Identifier: MIT
+package org.opentcs.access.rmi.services;
+
+import static java.util.Objects.requireNonNull;
+import static org.opentcs.access.rmi.services.RegistrationName.REMOTE_DISPATCHER_SERVICE;
+import static org.opentcs.access.rmi.services.RegistrationName.REMOTE_KERNEL_CLIENT_PORTAL;
+import static org.opentcs.access.rmi.services.RegistrationName.REMOTE_NOTIFICATION_SERVICE;
+import static org.opentcs.access.rmi.services.RegistrationName.REMOTE_PERIPHERAL_DISPATCHER_SERVICE;
+import static org.opentcs.access.rmi.services.RegistrationName.REMOTE_PERIPHERAL_JOB_SERVICE;
+import static org.opentcs.access.rmi.services.RegistrationName.REMOTE_PERIPHERAL_SERVICE;
+import static org.opentcs.access.rmi.services.RegistrationName.REMOTE_PLANT_MODEL_SERVICE;
+import static org.opentcs.access.rmi.services.RegistrationName.REMOTE_QUERY_SERVICE;
+import static org.opentcs.access.rmi.services.RegistrationName.REMOTE_ROUTER_SERVICE;
+import static org.opentcs.access.rmi.services.RegistrationName.REMOTE_TRANSPORT_ORDER_SERVICE;
+import static org.opentcs.access.rmi.services.RegistrationName.REMOTE_VEHICLE_SERVICE;
+
+import jakarta.annotation.Nonnull;
+import java.rmi.NotBoundException;
+import java.rmi.RemoteException;
+import java.rmi.registry.LocateRegistry;
+import java.rmi.registry.Registry;
+import java.util.List;
+import java.util.function.Predicate;
+import org.opentcs.access.CredentialsException;
+import org.opentcs.access.Kernel;
+import org.opentcs.access.KernelRuntimeException;
+import org.opentcs.access.KernelServicePortal;
+import org.opentcs.access.rmi.factories.SocketFactoryProvider;
+import org.opentcs.components.kernel.services.DispatcherService;
+import org.opentcs.components.kernel.services.NotificationService;
+import org.opentcs.components.kernel.services.PeripheralDispatcherService;
+import org.opentcs.components.kernel.services.PeripheralJobService;
+import org.opentcs.components.kernel.services.PeripheralService;
+import org.opentcs.components.kernel.services.PlantModelService;
+import org.opentcs.components.kernel.services.QueryService;
+import org.opentcs.components.kernel.services.RouterService;
+import org.opentcs.components.kernel.services.ServiceUnavailableException;
+import org.opentcs.components.kernel.services.TransportOrderService;
+import org.opentcs.components.kernel.services.VehicleService;
+import org.slf4j.Logger;
+import org.slf4j.LoggerFactory;
+
+/**
+ * The default implementation for the {@link KernelServicePortal}.
+ */
+public class RemoteKernelServicePortalProxy
+    extends
+      AbstractRemoteServiceProxy<RemoteKernelServicePortal>
+    implements
+      KernelServicePortal,
+      ServiceListener {
+
+  /**
+   * This class' logger.
+   */
+  private static final Logger LOG = LoggerFactory.getLogger(RemoteKernelServicePortalProxy.class);
+  /**
+   * The user name used with the remote portal.
+   */
+  private final String userName;
+  /**
+   * The password used with the remote portal.
+   */
+  private final String password;
+  /**
+   * Provides socket factories used for RMI.
+   */
+  private final SocketFactoryProvider socketFactoryProvider;
+  /**
+   * The event filter to be applied to events on the server side (before polling).
+   */
+  private final Predicate<Object> eventFilter;
+  /**
+   * The plant model service.
+   */
+  private final RemotePlantModelServiceProxy plantModelService
+      = new RemotePlantModelServiceProxy();
+  /**
+   * The transport order service.
+   */
+  private final RemoteTransportOrderServiceProxy transportOrderService
+      = new RemoteTransportOrderServiceProxy();
+  /**
+   * The vehicle service.
+   */
+  private final RemoteVehicleServiceProxy vehicleService = new RemoteVehicleServiceProxy();
+  /**
+   * The notification service.
+   */
+  private final RemoteNotificationServiceProxy notificationService
+      = new RemoteNotificationServiceProxy();
+  /**
+   * The dispatcher service.
+   */
+  private final RemoteDispatcherServiceProxy dispatcherService
+      = new RemoteDispatcherServiceProxy();
+  /**
+   * The router service.
+   */
+  private final RemoteRouterServiceProxy routerService = new RemoteRouterServiceProxy();
+  /**
+   * The query service.
+   */
+  private final RemoteQueryServiceProxy queryService = new RemoteQueryServiceProxy();
+  /**
+   * The peripheral service.
+   */
+  private final RemotePeripheralServiceProxy peripheralService = new RemotePeripheralServiceProxy();
+  /**
+   * The peripheral job service.
+   */
+  private final RemotePeripheralJobServiceProxy peripheralJobService
+      = new RemotePeripheralJobServiceProxy();
+  /**
+   * The peripheral dispatcher service.
+   */
+  private final RemotePeripheralDispatcherServiceProxy peripheralDispatcherService
+      = new RemotePeripheralDispatcherServiceProxy();
+
+  /**
+   * Creates a new instance.
+   *
+   * @param userName The user name used with the remote portal.
+   * @param password The password used with the remote portal.
+   * @param socketFactoryProvider Provides socket factories used for RMI.
+   * @param eventFilter The event filter to be applied to events on the server side.
+   */
+  public RemoteKernelServicePortalProxy(
+      @Nonnull
+      String userName,
+      @Nonnull
+      String password,
+      @Nonnull
+      SocketFactoryProvider socketFactoryProvider,
+      @Nonnull
+      Predicate<Object> eventFilter
+  ) {
+    this.userName = requireNonNull(userName, "userName");
+    this.password = requireNonNull(password, "password");
+    this.socketFactoryProvider = requireNonNull(socketFactoryProvider, "socketFactoryProvider");
+    this.eventFilter = requireNonNull(eventFilter, "eventFilter");
+  }
+
+  @Override
+  public ServiceListener getServiceListener() {
+    return this;
+  }
+
+  @Override
+  public void onServiceUnavailable() {
+    resetServiceLogins();
+  }
+
+  @Override
+  public void login(
+      @Nonnull
+      String hostName,
+      int port
+  )
+      throws CredentialsException,
+        ServiceUnavailableException {
+    requireNonNull(hostName, "hostName");
+
+    if (isLoggedIn()) {
+      LOG.warn("Already logged in, doing nothing.");
+      return;
+    }
+
+    try {
+      // Look up the remote portal with the RMI registry.
+      Registry registry
+          = LocateRegistry.getRegistry(
+              hostName,
+              port,
+              socketFactoryProvider.getClientSocketFactory()
+          );
+
+      setRemoteService((RemoteKernelServicePortal) registry.lookup(REMOTE_KERNEL_CLIENT_PORTAL));
+      // Login and save the client ID.
+      setClientId(getRemoteService().login(userName, password, eventFilter));
+      // Get notified when a service call on us fails.
+      setServiceListener(this);
+
+      // Look up the remote services with the RMI registry and update the other service logins.
+      updateServiceLogins(registry);
+    }
+    catch (RemoteException | NotBoundException exc) {
+      resetServiceLogins();
+      throw new ServiceUnavailableException(
+          "Exception logging in with remote kernel client portal",
+          exc
+      );
+    }
+  }
+
+  @Override
+  public void logout() {
+    if (!isLoggedIn()) {
+      LOG.warn("Not logged in, doing nothing.");
+      return;
+    }
+
+    try {
+      getRemoteService().logout(getClientId());
+    }
+    catch (RemoteException ex) {
+      throw new ServiceUnavailableException("Remote kernel client portal unavailable", ex);
+    }
+
+    resetServiceLogins();
+  }
+
+  @Override
+  public Kernel.State getState()
+      throws KernelRuntimeException {
+    checkServiceAvailability();
+
+    try {
+      return getRemoteService().getState(getClientId());
+    }
+    catch (RemoteException ex) {
+      throw findSuitableExceptionFor(ex);
+    }
+  }
+
+  @Override
+  public List<Object> fetchEvents(long timeout)
+      throws KernelRuntimeException {
+    checkServiceAvailability();
+
+    try {
+      return getRemoteService().fetchEvents(getClientId(), timeout);
+    }
+    catch (RemoteException ex) {
+      throw findSuitableExceptionFor(ex);
+    }
+  }
+
+  @Override
+  public void publishEvent(Object event)
+      throws KernelRuntimeException {
+    checkServiceAvailability();
+
+    try {
+      getRemoteService().publishEvent(getClientId(), event);
+    }
+    catch (RemoteException ex) {
+      throw findSuitableExceptionFor(ex);
+    }
+  }
+
+  @Override
+  @Nonnull
+  public PlantModelService getPlantModelService() {
+    return plantModelService;
+  }
+
+  @Override
+  @Nonnull
+  public TransportOrderService getTransportOrderService() {
+    return transportOrderService;
+  }
+
+  @Override
+  @Nonnull
+  public VehicleService getVehicleService() {
+    return vehicleService;
+  }
+
+  @Override
+  @Nonnull
+  public NotificationService getNotificationService() {
+    return notificationService;
+  }
+
+  @Override
+  @Nonnull
+  public DispatcherService getDispatcherService() {
+    return dispatcherService;
+  }
+
+  @Override
+  @Nonnull
+  public RouterService getRouterService() {
+    return routerService;
+  }
+
+  @Override
+  @Nonnull
+  public QueryService getQueryService() {
+    return queryService;
+  }
+
+  @Override
+  @Nonnull
+  public PeripheralService getPeripheralService() {
+    return peripheralService;
+  }
+
+  @Override
+  @Nonnull
+  public PeripheralJobService getPeripheralJobService() {
+    return peripheralJobService;
+  }
+
+  @Override
+  @Nonnull
+  public PeripheralDispatcherService getPeripheralDispatcherService() {
+    return peripheralDispatcherService;
+  }
+
+  private void updateServiceLogins(Registry registry)
+      throws RemoteException,
+        NotBoundException {
+    plantModelService
+        .setClientId(getClientId())
+        .setRemoteService((RemotePlantModelService) registry.lookup(REMOTE_PLANT_MODEL_SERVICE))
+        .setServiceListener(this);
+
+    transportOrderService
+        .setClientId(getClientId())
+        .setRemoteService(
+            (RemoteTransportOrderService) registry.lookup(REMOTE_TRANSPORT_ORDER_SERVICE)
+        )
+        .setServiceListener(this);
+
+    vehicleService
+        .setClientId(getClientId())
+        .setRemoteService((RemoteVehicleService) registry.lookup(REMOTE_VEHICLE_SERVICE))
+        .setServiceListener(this);
+
+    notificationService
+        .setClientId(getClientId())
+        .setRemoteService((RemoteNotificationService) registry.lookup(REMOTE_NOTIFICATION_SERVICE))
+        .setServiceListener(this);
+
+    dispatcherService
+        .setClientId(getClientId())
+        .setRemoteService((RemoteDispatcherService) registry.lookup(REMOTE_DISPATCHER_SERVICE))
+        .setServiceListener(this);
+
+    routerService
+        .setClientId(getClientId())
+        .setRemoteService((RemoteRouterService) registry.lookup(REMOTE_ROUTER_SERVICE))
+        .setServiceListener(this);
+
+    queryService
+        .setClientId(getClientId())
+        .setRemoteService((RemoteQueryService) registry.lookup(REMOTE_QUERY_SERVICE))
+        .setServiceListener(this);
+
+    peripheralService
+        .setClientId(getClientId())
+        .setRemoteService((RemotePeripheralService) registry.lookup(REMOTE_PERIPHERAL_SERVICE))
+        .setServiceListener(this);
+
+    peripheralJobService
+        .setClientId(getClientId())
+        .setRemoteService(
+            (RemotePeripheralJobService) registry.lookup(REMOTE_PERIPHERAL_JOB_SERVICE)
+        )
+        .setServiceListener(this);
+
+    peripheralDispatcherService
+        .setClientId(getClientId())
+        .setRemoteService(
+            (RemotePeripheralDispatcherService) registry.lookup(
+                REMOTE_PERIPHERAL_DISPATCHER_SERVICE
+            )
+        )
+        .setServiceListener(this);
+  }
+
+  private void resetServiceLogins() {
+    this.setClientId(null).setRemoteService(null).setServiceListener(null);
+    plantModelService.setClientId(null).setRemoteService(null).setServiceListener(null);
+    transportOrderService.setClientId(null).setRemoteService(null).setServiceListener(null);
+    vehicleService.setClientId(null).setRemoteService(null).setServiceListener(null);
+    notificationService.setClientId(null).setRemoteService(null).setServiceListener(null);
+    dispatcherService.setClientId(null).setRemoteService(null).setServiceListener(null);
+    routerService.setClientId(null).setRemoteService(null).setServiceListener(null);
+    queryService.setClientId(null).setRemoteService(null).setServiceListener(null);
+    peripheralService.setClientId(null).setRemoteService(null).setServiceListener(null);
+    peripheralJobService.setClientId(null).setRemoteService(null).setServiceListener(null);
+    peripheralDispatcherService.setClientId(null).setRemoteService(null).setServiceListener(null);
+  }
+}

opentcs-api-base/src/main/java/org/opentcs/access/rmi/services/RemoteNotificationService.java

@@ -0,0 +1,41 @@
+// SPDX-FileCopyrightText: The openTCS Authors
+// SPDX-License-Identifier: MIT
+package org.opentcs.access.rmi.services;
+
+import java.rmi.Remote;
+import java.rmi.RemoteException;
+import java.util.List;
+import java.util.function.Predicate;
+import org.opentcs.access.rmi.ClientID;
+import org.opentcs.components.kernel.services.NotificationService;
+import org.opentcs.data.notification.UserNotification;
+
+/**
+ * Declares the methods provided by the {@link NotificationService} via RMI.
+ *
+ * <p>
+ * The majority of the methods declared here have signatures analogous to their counterparts in
+ * {@link NotificationService}, with an additional {@link ClientID} parameter which serves the
+ * purpose of identifying the calling client and determining its permissions.
+ * </p>
+ * <p>
+ * To avoid redundancy, the semantics of methods that only pass through their arguments are not
+ * explicitly documented here again. See the corresponding API documentation in
+ * {@link NotificationService} for these, instead.
+ * </p>
+ */
+public interface RemoteNotificationService
+    extends
+      Remote {
+
+  // CHECKSTYLE:OFF
+  List<UserNotification> fetchUserNotifications(
+      ClientID clientId,
+      Predicate<UserNotification> predicate
+  )
+      throws RemoteException;
+
+  void publishUserNotification(ClientID clientId, UserNotification notification)
+      throws RemoteException;
+  // CHECKSTYLE:ON
+}

opentcs-api-base/src/main/java/org/opentcs/access/rmi/services/RemoteNotificationServiceProxy.java

@@ -0,0 +1,53 @@
+// SPDX-FileCopyrightText: The openTCS Authors
+// SPDX-License-Identifier: MIT
+package org.opentcs.access.rmi.services;
+
+import java.rmi.RemoteException;
+import java.util.List;
+import java.util.function.Predicate;
+import org.opentcs.access.KernelRuntimeException;
+import org.opentcs.components.kernel.services.NotificationService;
+import org.opentcs.data.notification.UserNotification;
+
+/**
+ * The default implementation of the notification service.
+ * Delegates method invocations to the corresponding remote service.
+ */
+class RemoteNotificationServiceProxy
+    extends
+      AbstractRemoteServiceProxy<RemoteNotificationService>
+    implements
+      NotificationService {
+
+  /**
+   * Creates a new instance.
+   */
+  RemoteNotificationServiceProxy() {
+  }
+
+  @Override
+  public List<UserNotification> fetchUserNotifications(Predicate<UserNotification> predicate)
+      throws KernelRuntimeException {
+    checkServiceAvailability();
+
+    try {
+      return getRemoteService().fetchUserNotifications(getClientId(), predicate);
+    }
+    catch (RemoteException ex) {
+      throw findSuitableExceptionFor(ex);
+    }
+  }
+
+  @Override
+  public void publishUserNotification(UserNotification notification)
+      throws KernelRuntimeException {
+    checkServiceAvailability();
+
+    try {
+      getRemoteService().publishUserNotification(getClientId(), notification);
+    }
+    catch (RemoteException ex) {
+      throw findSuitableExceptionFor(ex);
+    }
+  }
+}

opentcs-api-base/src/main/java/org/opentcs/access/rmi/services/RemotePeripheralDispatcherService.java

@@ -0,0 +1,42 @@
+// SPDX-FileCopyrightText: The openTCS Authors
+// SPDX-License-Identifier: MIT
+package org.opentcs.access.rmi.services;
+
+import java.rmi.Remote;
+import java.rmi.RemoteException;
+import org.opentcs.access.rmi.ClientID;
+import org.opentcs.components.kernel.services.PeripheralDispatcherService;
+import org.opentcs.data.TCSObjectReference;
+import org.opentcs.data.model.Location;
+import org.opentcs.data.model.TCSResourceReference;
+import org.opentcs.data.peripherals.PeripheralJob;
+
+/**
+ * Declares the methods provided by the {@link PeripheralDispatcherService} via RMI.
+ *
+ * <p>
+ * The majority of the methods declared here have signatures analogous to their counterparts in
+ * {@link PeripheralDispatcherService}, with an additional {@link ClientID} parameter which serves
+ * the purpose of identifying the calling client and determining its permissions.
+ * </p>
+ * <p>
+ * To avoid redundancy, the semantics of methods that only pass through their arguments are not
+ * explicitly documented here again. See the corresponding API documentation in
+ * {@link PeripheralDispatcherService} for these, instead.
+ * </p>
+ */
+public interface RemotePeripheralDispatcherService
+    extends
+      Remote {
+
+  // CHECKSTYLE:OFF
+  void dispatch(ClientID clientId)
+      throws RemoteException;
+
+  void withdrawByLocation(ClientID clientId, TCSResourceReference<Location> ref)
+      throws RemoteException;
+
+  void withdrawByPeripheralJob(ClientID clientId, TCSObjectReference<PeripheralJob> ref)
+      throws RemoteException;
+  // CHECKSTYLE:ON
+}

opentcs-api-base/src/main/java/org/opentcs/access/rmi/services/RemotePeripheralDispatcherServiceProxy.java

@@ -0,0 +1,70 @@
+// SPDX-FileCopyrightText: The openTCS Authors
+// SPDX-License-Identifier: MIT
+package org.opentcs.access.rmi.services;
+
+import java.rmi.RemoteException;
+import org.opentcs.access.KernelRuntimeException;
+import org.opentcs.components.kernel.services.PeripheralDispatcherService;
+import org.opentcs.data.ObjectUnknownException;
+import org.opentcs.data.TCSObjectReference;
+import org.opentcs.data.model.Location;
+import org.opentcs.data.model.TCSResourceReference;
+import org.opentcs.data.peripherals.PeripheralJob;
+
+/**
+ * The default implementation of the peripheral dispatcher service.
+ * Delegates method invocations to the corresponding remote service.
+ */
+class RemotePeripheralDispatcherServiceProxy
+    extends
+      AbstractRemoteServiceProxy<RemotePeripheralDispatcherService>
+    implements
+      PeripheralDispatcherService {
+
+  /**
+   * Creates a new instance.
+   */
+  RemotePeripheralDispatcherServiceProxy() {
+  }
+
+  @Override
+  public void dispatch()
+      throws KernelRuntimeException {
+    checkServiceAvailability();
+
+    try {
+      getRemoteService().dispatch(getClientId());
+    }
+    catch (RemoteException ex) {
+      throw findSuitableExceptionFor(ex);
+    }
+  }
+
+  @Override
+  public void withdrawByLocation(TCSResourceReference<Location> locationRef)
+      throws ObjectUnknownException,
+        KernelRuntimeException {
+    checkServiceAvailability();
+
+    try {
+      getRemoteService().withdrawByLocation(getClientId(), locationRef);
+    }
+    catch (RemoteException ex) {
+      throw findSuitableExceptionFor(ex);
+    }
+  }
+
+  @Override
+  public void withdrawByPeripheralJob(TCSObjectReference<PeripheralJob> jobRef)
+      throws ObjectUnknownException,
+        KernelRuntimeException {
+    checkServiceAvailability();
+
+    try {
+      getRemoteService().withdrawByPeripheralJob(getClientId(), jobRef);
+    }
+    catch (RemoteException ex) {
+      throw findSuitableExceptionFor(ex);
+    }
+  }
+}

opentcs-api-base/src/main/java/org/opentcs/access/rmi/services/RemotePeripheralJobService.java

@@ -0,0 +1,35 @@
+// SPDX-FileCopyrightText: The openTCS Authors
+// SPDX-License-Identifier: MIT
+package org.opentcs.access.rmi.services;
+
+import java.rmi.Remote;
+import java.rmi.RemoteException;
+import org.opentcs.access.rmi.ClientID;
+import org.opentcs.access.to.peripherals.PeripheralJobCreationTO;
+import org.opentcs.components.kernel.services.PeripheralJobService;
+import org.opentcs.data.peripherals.PeripheralJob;
+
+/**
+ * Declares the methods provided by the {@link PeripheralJobService} via RMI.
+ *
+ * <p>
+ * The majority of the methods declared here have signatures analogous to their counterparts in
+ * {@link PeripheralJobService}, with an additional {@link ClientID} parameter which serves the
+ * purpose of identifying the calling client and determining its permissions.
+ * </p>
+ * <p>
+ * To avoid redundancy, the semantics of methods that only pass through their arguments are not
+ * explicitly documented here again. See the corresponding API documentation in
+ * {@link PeripheralJobService} for these, instead.
+ * </p>
+ */
+public interface RemotePeripheralJobService
+    extends
+      RemoteTCSObjectService,
+      Remote {
+
+  // CHECKSTYLE:OFF
+  PeripheralJob createPeripheralJob(ClientID clientId, PeripheralJobCreationTO to)
+      throws RemoteException;
+  // CHECKSTYLE:ON
+}

opentcs-api-base/src/main/java/org/opentcs/access/rmi/services/RemotePeripheralJobServiceProxy.java

@@ -0,0 +1,43 @@
+// SPDX-FileCopyrightText: The openTCS Authors
+// SPDX-License-Identifier: MIT
+package org.opentcs.access.rmi.services;
+
+import java.rmi.RemoteException;
+import org.opentcs.access.KernelRuntimeException;
+import org.opentcs.access.to.peripherals.PeripheralJobCreationTO;
+import org.opentcs.components.kernel.services.PeripheralJobService;
+import org.opentcs.data.ObjectExistsException;
+import org.opentcs.data.ObjectUnknownException;
+import org.opentcs.data.peripherals.PeripheralJob;
+
+/**
+ * The default implementation of the peripheral job service.
+ * Delegates method invocations to the corresponding remote service.
+ */
+class RemotePeripheralJobServiceProxy
+    extends
+      RemoteTCSObjectServiceProxy<RemotePeripheralJobService>
+    implements
+      PeripheralJobService {
+
+  /**
+   * Creates a new instance.
+   */
+  RemotePeripheralJobServiceProxy() {
+  }
+
+  @Override
+  public PeripheralJob createPeripheralJob(PeripheralJobCreationTO to)
+      throws ObjectUnknownException,
+        ObjectExistsException,
+        KernelRuntimeException {
+    checkServiceAvailability();
+
+    try {
+      return getRemoteService().createPeripheralJob(getClientId(), to);
+    }
+    catch (RemoteException ex) {
+      throw findSuitableExceptionFor(ex);
+    }
+  }
+}

opentcs-api-base/src/main/java/org/opentcs/access/rmi/services/RemotePeripheralService.java

@@ -0,0 +1,65 @@
+// SPDX-FileCopyrightText: The openTCS Authors
+// SPDX-License-Identifier: MIT
+package org.opentcs.access.rmi.services;
+
+import java.rmi.Remote;
+import java.rmi.RemoteException;
+import org.opentcs.access.rmi.ClientID;
+import org.opentcs.components.kernel.services.PeripheralService;
+import org.opentcs.data.model.Location;
+import org.opentcs.data.model.TCSResourceReference;
+import org.opentcs.drivers.peripherals.PeripheralAdapterCommand;
+import org.opentcs.drivers.peripherals.PeripheralCommAdapterDescription;
+import org.opentcs.drivers.peripherals.PeripheralProcessModel;
+import org.opentcs.drivers.peripherals.management.PeripheralAttachmentInformation;
+
+/**
+ * Declares the methods provided by the {@link PeripheralService} via RMI.
+ *
+ * <p>
+ * The majority of the methods declared here have signatures analogous to their counterparts in
+ * {@link PeripheralService}, with an additional {@link ClientID} parameter which serves the purpose
+ * of identifying the calling client and determining its permissions.
+ * </p>
+ * <p>
+ * To avoid redundancy, the semantics of methods that only pass through their arguments are not
+ * explicitly documented here again. See the corresponding API documentation in
+ * {@link PeripheralService} for these, instead.
+ * </p>
+ */
+public interface RemotePeripheralService
+    extends
+      RemoteTCSObjectService,
+      Remote {
+
+  // CHECKSTYLE:OFF
+  void attachCommAdapter(
+      ClientID clientId,
+      TCSResourceReference<Location> ref,
+      PeripheralCommAdapterDescription description
+  )
+      throws RemoteException;
+
+  void disableCommAdapter(ClientID clientId, TCSResourceReference<Location> ref)
+      throws RemoteException;
+
+  void enableCommAdapter(ClientID clientId, TCSResourceReference<Location> ref)
+      throws RemoteException;
+
+  PeripheralAttachmentInformation fetchAttachmentInformation(
+      ClientID clientId,
+      TCSResourceReference<Location> ref
+  )
+      throws RemoteException;
+
+  PeripheralProcessModel fetchProcessModel(ClientID clientId, TCSResourceReference<Location> ref)
+      throws RemoteException;
+
+  void sendCommAdapterCommand(
+      ClientID clientId,
+      TCSResourceReference<Location> ref,
+      PeripheralAdapterCommand command
+  )
+      throws RemoteException;
+  // CHECKSTYLE:ON
+}

opentcs-api-base/src/main/java/org/opentcs/access/rmi/services/RemotePeripheralServiceProxy.java

@@ -0,0 +1,123 @@
+// SPDX-FileCopyrightText: The openTCS Authors
+// SPDX-License-Identifier: MIT
+package org.opentcs.access.rmi.services;
+
+import java.rmi.RemoteException;
+import org.opentcs.access.KernelRuntimeException;
+import org.opentcs.components.kernel.services.PeripheralService;
+import org.opentcs.data.ObjectUnknownException;
+import org.opentcs.data.model.Location;
+import org.opentcs.data.model.TCSResourceReference;
+import org.opentcs.drivers.peripherals.PeripheralAdapterCommand;
+import org.opentcs.drivers.peripherals.PeripheralCommAdapterDescription;
+import org.opentcs.drivers.peripherals.PeripheralProcessModel;
+import org.opentcs.drivers.peripherals.management.PeripheralAttachmentInformation;
+
+/**
+ * The default implementation of the vehicle service.
+ * Delegates method invocations to the corresponding remote service.
+ */
+class RemotePeripheralServiceProxy
+    extends
+      RemoteTCSObjectServiceProxy<RemotePeripheralService>
+    implements
+      PeripheralService {
+
+  /**
+   * Creates a new instance.
+   */
+  RemotePeripheralServiceProxy() {
+  }
+
+  @Override
+  public void attachCommAdapter(
+      TCSResourceReference<Location> ref,
+      PeripheralCommAdapterDescription description
+  )
+      throws ObjectUnknownException,
+        KernelRuntimeException {
+    checkServiceAvailability();
+
+    try {
+      getRemoteService().attachCommAdapter(getClientId(), ref, description);
+    }
+    catch (RemoteException ex) {
+      throw findSuitableExceptionFor(ex);
+    }
+  }
+
+  @Override
+  public void disableCommAdapter(TCSResourceReference<Location> ref)
+      throws ObjectUnknownException,
+        KernelRuntimeException {
+    checkServiceAvailability();
+
+    try {
+      getRemoteService().disableCommAdapter(getClientId(), ref);
+    }
+    catch (RemoteException ex) {
+      throw findSuitableExceptionFor(ex);
+    }
+  }
+
+  @Override
+  public void enableCommAdapter(TCSResourceReference<Location> ref)
+      throws ObjectUnknownException,
+        KernelRuntimeException {
+    checkServiceAvailability();
+
+    try {
+      getRemoteService().enableCommAdapter(getClientId(), ref);
+    }
+    catch (RemoteException ex) {
+      throw findSuitableExceptionFor(ex);
+    }
+  }
+
+  @Override
+  public PeripheralAttachmentInformation fetchAttachmentInformation(
+      TCSResourceReference<Location> ref
+  )
+      throws ObjectUnknownException,
+        KernelRuntimeException {
+    checkServiceAvailability();
+
+    try {
+      return getRemoteService().fetchAttachmentInformation(getClientId(), ref);
+    }
+    catch (RemoteException ex) {
+      throw findSuitableExceptionFor(ex);
+    }
+  }
+
+  @Override
+  public PeripheralProcessModel fetchProcessModel(TCSResourceReference<Location> ref)
+      throws ObjectUnknownException,
+        KernelRuntimeException {
+    checkServiceAvailability();
+
+    try {
+      return getRemoteService().fetchProcessModel(getClientId(), ref);
+    }
+    catch (RemoteException ex) {
+      throw findSuitableExceptionFor(ex);
+    }
+  }
+
+  @Override
+  public void sendCommAdapterCommand(
+      TCSResourceReference<Location> ref,
+      PeripheralAdapterCommand command
+  )
+      throws ObjectUnknownException,
+        KernelRuntimeException {
+    checkServiceAvailability();
+
+    try {
+      getRemoteService().sendCommAdapterCommand(getClientId(), ref, command);
+    }
+    catch (RemoteException ex) {
+      throw findSuitableExceptionFor(ex);
+    }
+  }
+}

opentcs-api-base/src/main/java/org/opentcs/access/rmi/services/RemotePlantModelService.java

@@ -0,0 +1,54 @@
+// SPDX-FileCopyrightText: The openTCS Authors
+// SPDX-License-Identifier: MIT
+package org.opentcs.access.rmi.services;
+
+import java.rmi.Remote;
+import java.rmi.RemoteException;
+import java.util.Map;
+import org.opentcs.access.rmi.ClientID;
+import org.opentcs.access.to.model.PlantModelCreationTO;
+import org.opentcs.components.kernel.services.PlantModelService;
+import org.opentcs.data.TCSObjectReference;
+import org.opentcs.data.model.Location;
+import org.opentcs.data.model.Path;
+import org.opentcs.data.model.PlantModel;
+
+/**
+ * Declares the methods provided by the {@link PlantModelService} via RMI.
+ *
+ * <p>
+ * The majority of the methods declared here have signatures analogous to their counterparts in
+ * {@link PlantModelService}, with an additional {@link ClientID} parameter which serves the purpose
+ * of identifying the calling client and determining its permissions.
+ * </p>
+ * <p>
+ * To avoid redundancy, the semantics of methods that only pass through their arguments are not
+ * explicitly documented here again. See the corresponding API documentation in
+ * {@link PlantModelService} for these, instead.
+ * </p>
+ */
+public interface RemotePlantModelService
+    extends
+      RemoteTCSObjectService,
+      Remote {
+
+  // CHECKSTYLE:OFF
+  PlantModel getPlantModel(ClientID clientId)
+      throws RemoteException;
+
+  void createPlantModel(ClientID clientId, PlantModelCreationTO to)
+      throws RemoteException;
+
+  String getModelName(ClientID clientId)
+      throws RemoteException;
+
+  Map<String, String> getModelProperties(ClientID clientId)
+      throws RemoteException;
+
+  void updateLocationLock(ClientID clientId, TCSObjectReference<Location> ref, boolean locked)
+      throws RemoteException;
+
+  void updatePathLock(ClientID clientId, TCSObjectReference<Path> ref, boolean locked)
+      throws RemoteException;
+  // CHECKSTYLE:ON
+}

opentcs-api-base/src/main/java/org/opentcs/access/rmi/services/RemotePlantModelServiceProxy.java

@@ -0,0 +1,115 @@
+// SPDX-FileCopyrightText: The openTCS Authors
+// SPDX-License-Identifier: MIT
+package org.opentcs.access.rmi.services;
+
+import java.rmi.RemoteException;
+import java.util.Map;
+import org.opentcs.access.KernelRuntimeException;
+import org.opentcs.access.to.model.PlantModelCreationTO;
+import org.opentcs.components.kernel.services.PlantModelService;
+import org.opentcs.data.ObjectExistsException;
+import org.opentcs.data.ObjectUnknownException;
+import org.opentcs.data.TCSObjectReference;
+import org.opentcs.data.model.Location;
+import org.opentcs.data.model.Path;
+import org.opentcs.data.model.PlantModel;
+
+/**
+ * The default implementation of the plant model service.
+ * Delegates method invocations to the corresponding remote service.
+ */
+class RemotePlantModelServiceProxy
+    extends
+      RemoteTCSObjectServiceProxy<RemotePlantModelService>
+    implements
+      PlantModelService {
+
+  /**
+   * Creates a new instance.
+   */
+  RemotePlantModelServiceProxy() {
+  }
+
+  @Override
+  public PlantModel getPlantModel()
+      throws KernelRuntimeException {
+    checkServiceAvailability();
+
+    try {
+      return getRemoteService().getPlantModel(getClientId());
+    }
+    catch (RemoteException ex) {
+      throw findSuitableExceptionFor(ex);
+    }
+  }
+
+  @Override
+  public void createPlantModel(PlantModelCreationTO to)
+      throws ObjectUnknownException,
+        ObjectExistsException,
+        KernelRuntimeException,
+        IllegalStateException {
+    checkServiceAvailability();
+
+    try {
+      getRemoteService().createPlantModel(getClientId(), to);
+    }
+    catch (RemoteException ex) {
+      throw findSuitableExceptionFor(ex);
+    }
+  }
+
+  @Override
+  public String getModelName()
+      throws KernelRuntimeException {
+    checkServiceAvailability();
+
+    try {
+      return getRemoteService().getModelName(getClientId());
+    }
+    catch (RemoteException ex) {
+      throw findSuitableExceptionFor(ex);
+    }
+  }
+
+  @Override
+  public Map<String, String> getModelProperties()
+      throws KernelRuntimeException {
+    checkServiceAvailability();
+
+    try {
+      return getRemoteService().getModelProperties(getClientId());
+    }
+    catch (RemoteException ex) {
+      throw findSuitableExceptionFor(ex);
+    }
+  }
+
+  @Override
+  public void updateLocationLock(TCSObjectReference<Location> ref, boolean locked)
+      throws ObjectUnknownException,
+        KernelRuntimeException {
+    checkServiceAvailability();
+
+    try {
+      getRemoteService().updateLocationLock(getClientId(), ref, locked);
+    }
+    catch (RemoteException ex) {
+      throw findSuitableExceptionFor(ex);
+    }
+  }
+
+  @Override
+  public void updatePathLock(TCSObjectReference<Path> ref, boolean locked)
+      throws ObjectUnknownException,
+        KernelRuntimeException {
+    checkServiceAvailability();
+
+    try {
+      getRemoteService().updatePathLock(getClientId(), ref, locked);
+    }
+    catch (RemoteException ex) {
+      throw findSuitableExceptionFor(ex);
+    }
+  }
+}

opentcs-api-base/src/main/java/org/opentcs/access/rmi/services/RemoteQueryService.java

@@ -0,0 +1,33 @@
+// SPDX-FileCopyrightText: The openTCS Authors
+// SPDX-License-Identifier: MIT
+package org.opentcs.access.rmi.services;
+
+import java.rmi.Remote;
+import java.rmi.RemoteException;
+import org.opentcs.access.rmi.ClientID;
+import org.opentcs.components.kernel.Query;
+import org.opentcs.components.kernel.services.QueryService;
+
+/**
+ * Declares the methods provided by the {@link QueryService} via RMI.
+ *
+ * <p>
+ * The majority of the methods declared here have signatures analogous to their counterparts in
+ * {@link QueryService}, with an additional {@link ClientID} parameter which serves the purpose
+ * of identifying the calling client and determining its permissions.
+ * </p>
+ * <p>
+ * To avoid redundancy, the semantics of methods that only pass through their arguments are not
+ * explicitly documented here again. See the corresponding API documentation in
+ * {@link QueryService} for these, instead.
+ * </p>
+ */
+public interface RemoteQueryService
+    extends
+      Remote {
+
+  // CHECKSTYLE:OFF
+  <T> T query(ClientID clientId, Query<T> query)
+      throws RemoteException;
+  // CHECKSTYLE:ON
+}

opentcs-api-base/src/main/java/org/opentcs/access/rmi/services/RemoteQueryServiceProxy.java

@@ -0,0 +1,36 @@
+// SPDX-FileCopyrightText: The openTCS Authors
+// SPDX-License-Identifier: MIT
+package org.opentcs.access.rmi.services;
+
+import java.rmi.RemoteException;
+import org.opentcs.components.kernel.Query;
+import org.opentcs.components.kernel.services.QueryService;
+
+/**
+ * The default implementation of the query service.
+ * Delegates method invocations to the corresponding remote service.
+ */
+class RemoteQueryServiceProxy
+    extends
+      AbstractRemoteServiceProxy<RemoteQueryService>
+    implements
+      QueryService {
+
+  /**
+   * Creates a new instance.
+   */
+  RemoteQueryServiceProxy() {
+  }
+
+  @Override
+  public <T> T query(Query<T> query) {
+    checkServiceAvailability();
+
+    try {
+      return getRemoteService().query(getClientId(), query);
+    }
+    catch (RemoteException ex) {
+      throw findSuitableExceptionFor(ex);
+    }
+  }
+}

opentcs-api-base/src/main/java/org/opentcs/access/rmi/services/RemoteRouterService.java

@@ -0,0 +1,49 @@
+// SPDX-FileCopyrightText: The openTCS Authors
+// SPDX-License-Identifier: MIT
+package org.opentcs.access.rmi.services;
+
+import java.rmi.Remote;
+import java.rmi.RemoteException;
+import java.util.Map;
+import java.util.Set;
+import org.opentcs.access.rmi.ClientID;
+import org.opentcs.components.kernel.services.RouterService;
+import org.opentcs.data.TCSObjectReference;
+import org.opentcs.data.model.Path;
+import org.opentcs.data.model.Point;
+import org.opentcs.data.model.TCSResourceReference;
+import org.opentcs.data.model.Vehicle;
+import org.opentcs.data.order.Route;
+
+/**
+ * Declares the methods provided by the {@link RouterService} via RMI.
+ *
+ * <p>
+ * The majority of the methods declared here have signatures analogous to their counterparts in
+ * {@link RouterService}, with an additional {@link ClientID} parameter which serves the purpose
+ * of identifying the calling client and determining its permissions.
+ * </p>
+ * <p>
+ * To avoid redundancy, the semantics of methods that only pass through their arguments are not
+ * explicitly documented here again. See the corresponding API documentation in
+ * {@link RouterService} for these, instead.
+ * </p>
+ */
+public interface RemoteRouterService
+    extends
+      Remote {
+
+  // CHECKSTYLE:OFF
+  public void updateRoutingTopology(ClientID clientId, Set<TCSObjectReference<Path>> refs)
+      throws RemoteException;
+
+  public Map<TCSObjectReference<Point>, Route> computeRoutes(
+      ClientID clientId,
+      TCSObjectReference<Vehicle> vehicleRef,
+      TCSObjectReference<Point> sourcePointRef,
+      Set<TCSObjectReference<Point>> destinationPointRefs,
+      Set<TCSResourceReference<?>> resourcesToAvoid
+  )
+      throws RemoteException;
+  // CHECKSTYLE:ON
+}

opentcs-api-base/src/main/java/org/opentcs/access/rmi/services/RemoteRouterServiceProxy.java

@@ -0,0 +1,69 @@
+// SPDX-FileCopyrightText: The openTCS Authors
+// SPDX-License-Identifier: MIT
+package org.opentcs.access.rmi.services;
+
+import java.rmi.RemoteException;
+import java.util.Map;
+import java.util.Set;
+import org.opentcs.access.KernelRuntimeException;
+import org.opentcs.components.kernel.services.RouterService;
+import org.opentcs.data.TCSObjectReference;
+import org.opentcs.data.model.Path;
+import org.opentcs.data.model.Point;
+import org.opentcs.data.model.TCSResourceReference;
+import org.opentcs.data.model.Vehicle;
+import org.opentcs.data.order.Route;
+
+/**
+ * The default implementation of the router service.
+ * Delegates method invocations to the corresponding remote service.
+ */
+class RemoteRouterServiceProxy
+    extends
+      AbstractRemoteServiceProxy<RemoteRouterService>
+    implements
+      RouterService {
+
+  /**
+   * Creates a new instance.
+   */
+  RemoteRouterServiceProxy() {
+  }
+
+  @Override
+  public void updateRoutingTopology(Set<TCSObjectReference<Path>> refs)
+      throws KernelRuntimeException {
+    checkServiceAvailability();
+
+    try {
+      getRemoteService().updateRoutingTopology(getClientId(), refs);
+    }
+    catch (RemoteException ex) {
+      throw findSuitableExceptionFor(ex);
+    }
+  }
+
+  @Override
+  public Map<TCSObjectReference<Point>, Route> computeRoutes(
+      TCSObjectReference<Vehicle> vehicleRef,
+      TCSObjectReference<Point> sourcePointRef,
+      Set<TCSObjectReference<Point>> destinationPointRefs,
+      Set<TCSResourceReference<?>> resourcesToAvoid
+  )
+      throws KernelRuntimeException {
+    checkServiceAvailability();
+
+    try {
+      return getRemoteService().computeRoutes(
+          getClientId(),
+          vehicleRef,
+          sourcePointRef,
+          destinationPointRefs,
+          resourcesToAvoid
+      );
+    }
+    catch (RemoteException ex) {
+      throw findSuitableExceptionFor(ex);
+    }
+  }
+}

opentcs-api-base/src/main/java/org/opentcs/access/rmi/services/RemoteTCSObjectService.java

@@ -0,0 +1,69 @@
+// SPDX-FileCopyrightText: The openTCS Authors
+// SPDX-License-Identifier: MIT
+package org.opentcs.access.rmi.services;
+
+import java.rmi.Remote;
+import java.rmi.RemoteException;
+import java.util.Set;
+import java.util.function.Predicate;
+import org.opentcs.access.rmi.ClientID;
+import org.opentcs.components.kernel.services.TCSObjectService;
+import org.opentcs.data.ObjectHistory;
+import org.opentcs.data.TCSObject;
+import org.opentcs.data.TCSObjectReference;
+
+/**
+ * Declares the methods provided by the {@link TCSObjectService} via RMI.
+ *
+ * <p>
+ * The majority of the methods declared here have signatures analogous to their counterparts in
+ * {@link TCSObjectService}, with an additional {@link ClientID} parameter which serves the purpose
+ * of identifying the calling client and determining its permissions.
+ * </p>
+ * <p>
+ * To avoid redundancy, the semantics of methods that only pass through their arguments are not
+ * explicitly documented here again. See the corresponding API documentation in
+ * {@link TCSObjectService} for these, instead.
+ * </p>
+ */
+public interface RemoteTCSObjectService
+    extends
+      Remote {
+
+  // CHECKSTYLE:OFF
+  <T extends TCSObject<T>> T fetchObject(
+      ClientID clientId,
+      Class<T> clazz,
+      TCSObjectReference<T> ref
+  )
+      throws RemoteException;
+
+  <T extends TCSObject<T>> T fetchObject(ClientID clientId, Class<T> clazz, String name)
+      throws RemoteException;
+
+  <T extends TCSObject<T>> Set<T> fetchObjects(ClientID clientId, Class<T> clazz)
+      throws RemoteException;
+
+  <T extends TCSObject<T>> Set<T> fetchObjects(
+      ClientID clientId,
+      Class<T> clazz,
+      Predicate<? super T> predicate
+  )
+      throws RemoteException;
+
+  void updateObjectProperty(
+      ClientID clientId,
+      TCSObjectReference<?> ref,
+      String key,
+      String value
+  )
+      throws RemoteException;
+
+  void appendObjectHistoryEntry(
+      ClientID clientId,
+      TCSObjectReference<?> ref,
+      ObjectHistory.Entry entry
+  )
+      throws RemoteException;
+  // CHECKSTYLE:ON
+}

opentcs-api-base/src/main/java/org/opentcs/access/rmi/services/RemoteTCSObjectServiceProxy.java

@@ -0,0 +1,110 @@
+// SPDX-FileCopyrightText: The openTCS Authors
+// SPDX-License-Identifier: MIT
+package org.opentcs.access.rmi.services;
+
+import java.rmi.RemoteException;
+import java.util.Set;
+import java.util.function.Predicate;
+import org.opentcs.access.KernelRuntimeException;
+import org.opentcs.components.kernel.services.TCSObjectService;
+import org.opentcs.data.ObjectHistory;
+import org.opentcs.data.ObjectUnknownException;
+import org.opentcs.data.TCSObject;
+import org.opentcs.data.TCSObjectReference;
+
+/**
+ * The default implementation of the tcs object service.
+ * Delegates method invocations to the corresponding remote service.
+ *
+ * @param <R> The remote service's type.
+ */
+abstract class RemoteTCSObjectServiceProxy<R extends RemoteTCSObjectService>
+    extends
+      AbstractRemoteServiceProxy<R>
+    implements
+      TCSObjectService {
+
+  @Override
+  public <T extends TCSObject<T>> T fetchObject(Class<T> clazz, TCSObjectReference<T> ref)
+      throws KernelRuntimeException {
+    checkServiceAvailability();
+
+    try {
+      return getRemoteService().fetchObject(getClientId(), clazz, ref);
+    }
+    catch (RemoteException ex) {
+      throw findSuitableExceptionFor(ex);
+    }
+  }
+
+  @Override
+  public <T extends TCSObject<T>> T fetchObject(Class<T> clazz, String name)
+      throws KernelRuntimeException {
+    checkServiceAvailability();
+
+    try {
+      return getRemoteService().fetchObject(getClientId(), clazz, name);
+    }
+    catch (RemoteException ex) {
+      throw findSuitableExceptionFor(ex);
+    }
+  }
+
+  @Override
+  public <T extends TCSObject<T>> Set<T> fetchObjects(Class<T> clazz)
+      throws KernelRuntimeException {
+    checkServiceAvailability();
+
+    try {
+      return getRemoteService().fetchObjects(getClientId(), clazz);
+    }
+    catch (RemoteException ex) {
+      throw findSuitableExceptionFor(ex);
+    }
+  }
+
+  @Override
+  public <T extends TCSObject<T>> Set<T> fetchObjects(
+      Class<T> clazz,
+      Predicate<? super T> predicate
+  )
+      throws KernelRuntimeException {
+    checkServiceAvailability();
+
+    try {
+      return getRemoteService().fetchObjects(getClientId(), clazz, predicate);
+    }
+    catch (RemoteException ex) {
+      throw findSuitableExceptionFor(ex);
+    }
+  }
+
+  @Override
+  public void updateObjectProperty(TCSObjectReference<?> ref, String key, String value)
+      throws ObjectUnknownException,
+        KernelRuntimeException {
+    checkServiceAvailability();
+
+    try {
+      getRemoteService().updateObjectProperty(getClientId(), ref, key, value);
+    }
+    catch (RemoteException ex) {
+      throw findSuitableExceptionFor(ex);
+    }
+  }
+
+  @Override
+  public void appendObjectHistoryEntry(TCSObjectReference<?> ref, ObjectHistory.Entry entry)
+      throws ObjectUnknownException,
+        KernelRuntimeException {
+    checkServiceAvailability();
+
+    try {
+      getRemoteService().appendObjectHistoryEntry(getClientId(), ref, entry);
+    }
+    catch (RemoteException ex) {
+      throw findSuitableExceptionFor(ex);
+    }
+  }
+
+}

opentcs-api-base/src/main/java/org/opentcs/access/rmi/services/RemoteTransportOrderService.java

@@ -0,0 +1,52 @@
+// SPDX-FileCopyrightText: The openTCS Authors
+// SPDX-License-Identifier: MIT
+package org.opentcs.access.rmi.services;
+
+import java.rmi.Remote;
+import java.rmi.RemoteException;
+import org.opentcs.access.rmi.ClientID;
+import org.opentcs.access.to.order.OrderSequenceCreationTO;
+import org.opentcs.access.to.order.TransportOrderCreationTO;
+import org.opentcs.components.kernel.services.TransportOrderService;
+import org.opentcs.data.TCSObjectReference;
+import org.opentcs.data.model.Vehicle;
+import org.opentcs.data.order.OrderSequence;
+import org.opentcs.data.order.TransportOrder;
+
+/**
+ * Declares the methods provided by the {@link TransportOrderService} via RMI.
+ *
+ * <p>
+ * The majority of the methods declared here have signatures analogous to their counterparts in
+ * {@link TransportOrderService}, with an additional {@link ClientID} parameter which serves the
+ * purpose of identifying the calling client and determining its permissions.
+ * </p>
+ * <p>
+ * To avoid redundancy, the semantics of methods that only pass through their arguments are not
+ * explicitly documented here again. See the corresponding API documentation in
+ * {@link TransportOrderService} for these, instead.
+ * </p>
+ */
+public interface RemoteTransportOrderService
+    extends
+      RemoteTCSObjectService,
+      Remote {
+
+  // CHECKSTYLE:OFF
+  OrderSequence createOrderSequence(ClientID clientId, OrderSequenceCreationTO to)
+      throws RemoteException;
+
+  TransportOrder createTransportOrder(ClientID clientId, TransportOrderCreationTO to)
+      throws RemoteException;
+
+  void markOrderSequenceComplete(ClientID clientId, TCSObjectReference<OrderSequence> ref)
+      throws RemoteException;
+
+  void updateTransportOrderIntendedVehicle(
+      ClientID clientId,
+      TCSObjectReference<TransportOrder> orderRef,
+      TCSObjectReference<Vehicle> vehicleRef
+  )
+      throws RemoteException;
+  // CHECKSTYLE:ON
+}

opentcs-api-base/src/main/java/org/opentcs/access/rmi/services/RemoteTransportOrderServiceProxy.java

@@ -0,0 +1,91 @@
+// SPDX-FileCopyrightText: The openTCS Authors
+// SPDX-License-Identifier: MIT
+package org.opentcs.access.rmi.services;
+
+import java.rmi.RemoteException;
+import org.opentcs.access.KernelRuntimeException;
+import org.opentcs.access.to.order.OrderSequenceCreationTO;
+import org.opentcs.access.to.order.TransportOrderCreationTO;
+import org.opentcs.components.kernel.services.TransportOrderService;
+import org.opentcs.data.ObjectExistsException;
+import org.opentcs.data.ObjectUnknownException;
+import org.opentcs.data.TCSObjectReference;
+import org.opentcs.data.model.Vehicle;
+import org.opentcs.data.order.OrderSequence;
+import org.opentcs.data.order.TransportOrder;
+
+/**
+ * The default implementation of the transport order service.
+ * Delegates method invocations to the corresponding remote service.
+ */
+class RemoteTransportOrderServiceProxy
+    extends
+      RemoteTCSObjectServiceProxy<RemoteTransportOrderService>
+    implements
+      TransportOrderService {
+
+  /**
+   * Creates a new instance.
+   */
+  RemoteTransportOrderServiceProxy() {
+  }
+
+  @Override
+  public OrderSequence createOrderSequence(OrderSequenceCreationTO to)
+      throws KernelRuntimeException {
+    checkServiceAvailability();
+
+    try {
+      return getRemoteService().createOrderSequence(getClientId(), to);
+    }
+    catch (RemoteException ex) {
+      throw findSuitableExceptionFor(ex);
+    }
+  }
+
+  @Override
+  public TransportOrder createTransportOrder(TransportOrderCreationTO to)
+      throws ObjectUnknownException,
+        ObjectExistsException,
+        KernelRuntimeException {
+    checkServiceAvailability();
+
+    try {
+      return getRemoteService().createTransportOrder(getClientId(), to);
+    }
+    catch (RemoteException ex) {
+      throw findSuitableExceptionFor(ex);
+    }
+  }
+
+  @Override
+  public void markOrderSequenceComplete(TCSObjectReference<OrderSequence> ref)
+      throws ObjectUnknownException,
+        KernelRuntimeException {
+    checkServiceAvailability();
+
+    try {
+      getRemoteService().markOrderSequenceComplete(getClientId(), ref);
+    }
+    catch (RemoteException ex) {
+      throw findSuitableExceptionFor(ex);
+    }
+  }
+
+  @Override
+  public void updateTransportOrderIntendedVehicle(
+      TCSObjectReference<TransportOrder> orderRef,
+      TCSObjectReference<Vehicle> vehicleRef
+  )
+      throws ObjectUnknownException,
+        IllegalArgumentException {
+    checkServiceAvailability();
+
+    try {
+      getRemoteService().updateTransportOrderIntendedVehicle(getClientId(), orderRef, vehicleRef);
+    }
+    catch (RemoteException ex) {
+      throw findSuitableExceptionFor(ex);
+    }
+  }
+}

opentcs-api-base/src/main/java/org/opentcs/access/rmi/services/RemoteVehicleService.java

@@ -0,0 +1,112 @@
+// SPDX-FileCopyrightText: The openTCS Authors
+// SPDX-License-Identifier: MIT
+package org.opentcs.access.rmi.services;
+
+import java.rmi.Remote;
+import java.rmi.RemoteException;
+import java.util.Set;
+import org.opentcs.access.rmi.ClientID;
+import org.opentcs.components.kernel.services.VehicleService;
+import org.opentcs.data.TCSObjectReference;
+import org.opentcs.data.model.Vehicle;
+import org.opentcs.data.model.Vehicle.EnergyLevelThresholdSet;
+import org.opentcs.drivers.vehicle.AdapterCommand;
+import org.opentcs.drivers.vehicle.VehicleCommAdapterDescription;
+import org.opentcs.drivers.vehicle.management.VehicleAttachmentInformation;
+import org.opentcs.drivers.vehicle.management.VehicleProcessModelTO;
+import org.opentcs.util.annotations.ScheduledApiChange;
+
+/**
+ * Declares the methods provided by the {@link VehicleService} via RMI.
+ *
+ * <p>
+ * The majority of the methods declared here have signatures analogous to their counterparts in
+ * {@link VehicleService}, with an additional {@link ClientID} parameter which serves the purpose
+ * of identifying the calling client and determining its permissions.
+ * </p>
+ * <p>
+ * To avoid redundancy, the semantics of methods that only pass through their arguments are not
+ * explicitly documented here again. See the corresponding API documentation in
+ * {@link VehicleService} for these, instead.
+ * </p>
+ */
+public interface RemoteVehicleService
+    extends
+      RemoteTCSObjectService,
+      Remote {
+
+  // CHECKSTYLE:OFF
+  void attachCommAdapter(
+      ClientID clientId, TCSObjectReference<Vehicle> ref,
+      VehicleCommAdapterDescription description
+  )
+      throws RemoteException;
+
+  void disableCommAdapter(ClientID clientId, TCSObjectReference<Vehicle> ref)
+      throws RemoteException;
+
+  void enableCommAdapter(ClientID clientId, TCSObjectReference<Vehicle> ref)
+      throws RemoteException;
+
+  VehicleAttachmentInformation fetchAttachmentInformation(
+      ClientID clientId,
+      TCSObjectReference<Vehicle> ref
+  )
+      throws RemoteException;
+
+  VehicleProcessModelTO fetchProcessModel(ClientID clientId, TCSObjectReference<Vehicle> ref)
+      throws RemoteException;
+
+  void sendCommAdapterCommand(
+      ClientID clientId,
+      TCSObjectReference<Vehicle> ref,
+      AdapterCommand command
+  )
+      throws RemoteException;
+
+  void sendCommAdapterMessage(
+      ClientID clientId,
+      TCSObjectReference<Vehicle> vehicleRef,
+      Object message
+  )
+      throws RemoteException;
+
+  void updateVehicleIntegrationLevel(
+      ClientID clientId,
+      TCSObjectReference<Vehicle> ref,
+      Vehicle.IntegrationLevel integrationLevel
+  )
+      throws RemoteException;
+
+  void updateVehiclePaused(
+      ClientID clientId,
+      TCSObjectReference<Vehicle> ref,
+      boolean paused
+  )
+      throws RemoteException;
+
+  @ScheduledApiChange(when = "7.0", details = "Default implementation will be removed.")
+  default void updateVehicleEnergyLevelThresholdSet(
+      ClientID clientId,
+      TCSObjectReference<Vehicle> ref,
+      EnergyLevelThresholdSet energyLevelThresholdSet
+  )
+      throws RemoteException {
+    throw new UnsupportedOperationException("Not yet implemented.");
+  }
+
+  void updateVehicleAllowedOrderTypes(
+      ClientID clientId,
+      TCSObjectReference<Vehicle> ref,
+      Set<String> allowedOrderTypes
+  )
+      throws RemoteException;
+
+  void updateVehicleEnvelopeKey(
+      ClientID clientId,
+      TCSObjectReference<Vehicle> ref,
+      String envelopeKey
+  )
+      throws RemoteException;
+  // CHECKSTYLE:ON
+}

opentcs-api-base/src/main/java/org/opentcs/access/rmi/services/RemoteVehicleServiceProxy.java

@@ -0,0 +1,221 @@
+// SPDX-FileCopyrightText: The openTCS Authors
+// SPDX-License-Identifier: MIT
+package org.opentcs.access.rmi.services;
+
+import java.rmi.RemoteException;
+import java.util.Set;
+import org.opentcs.access.KernelRuntimeException;
+import org.opentcs.components.kernel.services.VehicleService;
+import org.opentcs.data.ObjectUnknownException;
+import org.opentcs.data.TCSObjectReference;
+import org.opentcs.data.model.Vehicle;
+import org.opentcs.data.model.Vehicle.EnergyLevelThresholdSet;
+import org.opentcs.drivers.vehicle.AdapterCommand;
+import org.opentcs.drivers.vehicle.VehicleCommAdapterDescription;
+import org.opentcs.drivers.vehicle.management.VehicleAttachmentInformation;
+import org.opentcs.drivers.vehicle.management.VehicleProcessModelTO;
+
+/**
+ * The default implementation of the vehicle service.
+ * Delegates method invocations to the corresponding remote service.
+ */
+class RemoteVehicleServiceProxy
+    extends
+      RemoteTCSObjectServiceProxy<RemoteVehicleService>
+    implements
+      VehicleService {
+
+  /**
+   * Creates a new instance.
+   */
+  RemoteVehicleServiceProxy() {
+  }
+
+  @Override
+  public void attachCommAdapter(
+      TCSObjectReference<Vehicle> ref,
+      VehicleCommAdapterDescription description
+  )
+      throws ObjectUnknownException,
+        KernelRuntimeException {
+    checkServiceAvailability();
+
+    try {
+      getRemoteService().attachCommAdapter(getClientId(), ref, description);
+    }
+    catch (RemoteException ex) {
+      throw findSuitableExceptionFor(ex);
+    }
+  }
+
+  @Override
+  public void disableCommAdapter(TCSObjectReference<Vehicle> ref)
+      throws ObjectUnknownException,
+        KernelRuntimeException {
+    checkServiceAvailability();
+
+    try {
+      getRemoteService().disableCommAdapter(getClientId(), ref);
+    }
+    catch (RemoteException ex) {
+      throw findSuitableExceptionFor(ex);
+    }
+  }
+
+  @Override
+  public void enableCommAdapter(TCSObjectReference<Vehicle> ref)
+      throws ObjectUnknownException,
+        KernelRuntimeException {
+    checkServiceAvailability();
+
+    try {
+      getRemoteService().enableCommAdapter(getClientId(), ref);
+    }
+    catch (RemoteException ex) {
+      throw findSuitableExceptionFor(ex);
+    }
+  }
+
+  @Override
+  public VehicleAttachmentInformation fetchAttachmentInformation(TCSObjectReference<Vehicle> ref)
+      throws ObjectUnknownException,
+        KernelRuntimeException {
+    checkServiceAvailability();
+
+    try {
+      return getRemoteService().fetchAttachmentInformation(getClientId(), ref);
+    }
+    catch (RemoteException ex) {
+      throw findSuitableExceptionFor(ex);
+    }
+  }
+
+  @Override
+  public VehicleProcessModelTO fetchProcessModel(TCSObjectReference<Vehicle> ref)
+      throws ObjectUnknownException,
+        KernelRuntimeException {
+    checkServiceAvailability();
+
+    try {
+      return getRemoteService().fetchProcessModel(getClientId(), ref);
+    }
+    catch (RemoteException ex) {
+      throw findSuitableExceptionFor(ex);
+    }
+  }
+
+  @Override
+  public void sendCommAdapterCommand(TCSObjectReference<Vehicle> ref, AdapterCommand command)
+      throws ObjectUnknownException,
+        KernelRuntimeException {
+    checkServiceAvailability();
+
+    try {
+      getRemoteService().sendCommAdapterCommand(getClientId(), ref, command);
+    }
+    catch (RemoteException ex) {
+      throw findSuitableExceptionFor(ex);
+    }
+  }
+
+  @Override
+  public void sendCommAdapterMessage(TCSObjectReference<Vehicle> ref, Object message)
+      throws ObjectUnknownException,
+        KernelRuntimeException {
+    checkServiceAvailability();
+
+    try {
+      getRemoteService().sendCommAdapterMessage(getClientId(), ref, message);
+    }
+    catch (RemoteException ex) {
+      throw findSuitableExceptionFor(ex);
+    }
+  }
+
+  @Override
+  public void updateVehicleIntegrationLevel(
+      TCSObjectReference<Vehicle> ref,
+      Vehicle.IntegrationLevel integrationLevel
+  )
+      throws ObjectUnknownException,
+        KernelRuntimeException {
+    checkServiceAvailability();
+
+    try {
+      getRemoteService().updateVehicleIntegrationLevel(getClientId(), ref, integrationLevel);
+    }
+    catch (RemoteException ex) {
+      throw findSuitableExceptionFor(ex);
+    }
+  }
+
+  @Override
+  public void updateVehiclePaused(TCSObjectReference<Vehicle> ref, boolean paused)
+      throws ObjectUnknownException,
+        KernelRuntimeException {
+    checkServiceAvailability();
+
+    try {
+      getRemoteService().updateVehiclePaused(getClientId(), ref, paused);
+    }
+    catch (RemoteException ex) {
+      throw findSuitableExceptionFor(ex);
+    }
+  }
+
+  @Override
+  public void updateVehicleEnergyLevelThresholdSet(
+      TCSObjectReference<Vehicle> ref,
+      EnergyLevelThresholdSet energyLevelThresholdSet
+  )
+      throws ObjectUnknownException,
+        KernelRuntimeException {
+    checkServiceAvailability();
+
+    try {
+      getRemoteService().updateVehicleEnergyLevelThresholdSet(
+          getClientId(),
+          ref,
+          energyLevelThresholdSet
+      );
+    }
+    catch (RemoteException ex) {
+      throw findSuitableExceptionFor(ex);
+    }
+  }
+
+  @Override
+  public void updateVehicleAllowedOrderTypes(
+      TCSObjectReference<Vehicle> ref,
+      Set<String> allowedOrderTypes
+  )
+      throws ObjectUnknownException,
+        KernelRuntimeException {
+    checkServiceAvailability();
+
+    try {
+      getRemoteService().updateVehicleAllowedOrderTypes(
+          getClientId(),
+          ref,
+          allowedOrderTypes
+      );
+    }
+    catch (RemoteException ex) {
+      throw findSuitableExceptionFor(ex);
+    }
+  }
+
+  @Override
+  public void updateVehicleEnvelopeKey(TCSObjectReference<Vehicle> ref, String envelopeKey)
+      throws ObjectUnknownException,
+        KernelRuntimeException {
+    checkServiceAvailability();
+
+    try {
+      getRemoteService().updateVehicleEnvelopeKey(getClientId(), ref, envelopeKey);
+    }
+    catch (RemoteException ex) {
+      throw findSuitableExceptionFor(ex);
+    }
+  }
+}

opentcs-api-base/src/main/java/org/opentcs/access/rmi/services/ServiceListener.java

@@ -0,0 +1,14 @@
+// SPDX-FileCopyrightText: The openTCS Authors
+// SPDX-License-Identifier: MIT
+package org.opentcs.access.rmi.services;
+
+/**
+ * Provides callback methods for instances interested in service updates.
+ */
+public interface ServiceListener {
+
+  /**
+   * Notifies a listener that the service is unavailable, i.e. is not in a usable state.
+   */
+  void onServiceUnavailable();
+}

opentcs-api-base/src/main/java/org/opentcs/access/rmi/services/package-info.java

@@ -0,0 +1,7 @@
+// SPDX-FileCopyrightText: The openTCS Authors
+// SPDX-License-Identifier: MIT
+/**
+ * Interfaces and classes for transparently providing an openTCS kernel's service functionality via
+ * RMI.
+ */
+package org.opentcs.access.rmi.services;

opentcs-api-base/src/main/java/org/opentcs/access/to/CreationTO.java

@@ -0,0 +1,180 @@
+// SPDX-FileCopyrightText: The openTCS Authors
+// SPDX-License-Identifier: MIT
+package org.opentcs.access.to;
+
+import static java.util.Objects.requireNonNull;
+
+import jakarta.annotation.Nonnull;
+import java.io.Serializable;
+import java.util.ArrayList;
+import java.util.Collections;
+import java.util.HashMap;
+import java.util.List;
+import java.util.Map;
+
+/**
+ * The base class for all creation transfer objects.
+ */
+public class CreationTO
+    implements
+      Serializable {
+
+  /**
+   * The name of this transfer object.
+   */
+  @Nonnull
+  private final String name;
+
+  /**
+   * The properties of this transfer object.
+   */
+  @Nonnull
+  private final Map<String, String> properties;
+
+  /**
+   * Creates a new instance.
+   *
+   * @param name The name of this transfer object.
+   */
+  public CreationTO(
+      @Nonnull
+      String name
+  ) {
+    this.name = requireNonNull(name, "name");
+    this.properties = Map.of();
+  }
+
+  protected CreationTO(
+      @Nonnull
+      String name,
+      @Nonnull
+      Map<String, String> properties
+  ) {
+    this.name = requireNonNull(name, "name");
+    this.properties = requireNonNull(properties, "properties");
+  }
+
+  /**
+   * Returns the name of this transfer object.
+   *
+   * @return The name of this transfer object.
+   */
+  @Nonnull
+  public String getName() {
+    return name;
+  }
+
+  /**
+   * Creates a copy of this object with the given name.
+   *
+   * @param name the new name
+   * @return A copy of this object, differing in the given value.
+   */
+  public CreationTO withName(
+      @Nonnull
+      String name
+  ) {
+    return new CreationTO(
+        name,
+        properties
+    );
+  }
+
+  /**
+   * Returns the properties of this transfer object in an unmodifiable map.
+   *
+   * @return The properties of this transfer object in an unmodifiable map.
+   */
+  @Nonnull
+  public Map<String, String> getProperties() {
+    return Collections.unmodifiableMap(properties);
+  }
+
+  /**
+   * Returns the properties of this transfer object.
+   *
+   * @return The properties of this transfer object.
+   */
+  protected Map<String, String> getModifiableProperties() {
+    return properties;
+  }
+
+  /**
+   * Creates a copy of this object with the given properties.
+   *
+   * @param properties The properties.
+   * @return A copy of this object with the given properties.
+   */
+  public CreationTO withProperties(
+      @Nonnull
+      Map<String, String> properties
+  ) {
+    return new CreationTO(name, properties);
+  }
+
+  /**
+   * Creates a copy of this object with the given property.
+   * If value == null is true then the key-value pair is removed from the properties.
+   *
+   * @param key the key.
+   * @param value the value
+   * @return A copy of this object that includes the given property or
+   * removes the entry, if value == null.
+   */
+  public CreationTO withProperty(
+      @Nonnull
+      String key,
+      @Nonnull
+      String value
+  ) {
+    return new CreationTO(
+        name,
+        propertiesWith(key, value)
+    );
+  }
+
+  protected final Map<String, String> propertiesWith(String key, String value) {
+    return mapWithMapping(properties, key, value);
+  }
+
+  /**
+   * Returns a new map, with the mappings of the given map and the given mapping added to it.
+   *
+   * @param <K> The type of the map's keys.
+   * @param <V> The type of the map's values.
+   * @param map The map to be extended.
+   * @param key The key.
+   * @param value The value. May be <code>null</code> to remove the mapping from the given map.
+   * @return a new map, with the mappings of the given map and the given mapping added to it.
+   */
+  protected static final <K, V> Map<K, V> mapWithMapping(Map<K, V> map, K key, V value) {
+    requireNonNull(map, "map");
+    requireNonNull(key, "key");
+
+    Map<K, V> result = new HashMap<>(map);
+
+    if (value == null) {
+      result.remove(key);
+    }
+    else {
+      result.put(key, value);
+    }
+
+    return result;
+  }
+
+  /**
+   * Returns a new list, with the elements of the given list and the given element added to it.
+   *
+   * @param <T> The element type of the list.
+   * @param list The list to be extended.
+   * @param newElement The element to be added to the list.
+   * @return A new list, consisting of the given list and the given element added to it.
+   */
+  protected static final <T> List<T> listWithAppendix(List<T> list, T newElement) {
+    List<T> result = new ArrayList<>(list.size() + 1);
+    result.addAll(list);
+    result.add(newElement);
+    return result;
+  }
+}

opentcs-api-base/src/main/java/org/opentcs/access/to/model/BlockCreationTO.java

@@ -0,0 +1,291 @@
+// SPDX-FileCopyrightText: The openTCS Authors
+// SPDX-License-Identifier: MIT
+package org.opentcs.access.to.model;
+
+import static java.util.Objects.requireNonNull;
+
+import jakarta.annotation.Nonnull;
+import java.awt.Color;
+import java.io.Serializable;
+import java.util.Collections;
+import java.util.Map;
+import java.util.Set;
+import org.opentcs.access.to.CreationTO;
+import org.opentcs.data.model.Block;
+
+/**
+ * A transfer object describing a block in the plant model.
+ */
+public class BlockCreationTO
+    extends
+      CreationTO
+    implements
+      Serializable {
+
+  /**
+   * This block's type.
+   */
+  @Nonnull
+  private final Block.Type type;
+  /**
+   * This block's member names.
+   */
+  @Nonnull
+  private final Set<String> memberNames;
+  /**
+   * The information regarding the grahical representation of this block.
+   */
+  private final Layout layout;
+
+  /**
+   * Creates a new instance.
+   *
+   * @param name The name of this block.
+   */
+  public BlockCreationTO(String name) {
+    super(name);
+    this.type = Block.Type.SINGLE_VEHICLE_ONLY;
+    this.memberNames = Set.of();
+    this.layout = new Layout();
+  }
+
+  /**
+   * Creates a new block.
+   *
+   * @param name the name of the new block.
+   * @param memberNames the names of the block's members.
+   * @param properties the properties.
+   */
+  private BlockCreationTO(
+      @Nonnull
+      String name,
+      @Nonnull
+      Map<String, String> properties,
+      @Nonnull
+      Block.Type type,
+      @Nonnull
+      Set<String> memberNames,
+      @Nonnull
+      Layout layout
+  ) {
+    super(name, properties);
+    this.type = requireNonNull(type, "type");
+    this.memberNames = requireNonNull(memberNames, "memberNames");
+    this.layout = requireNonNull(layout, "layout");
+  }
+
+  /**
+   * Creates a copy of this object with the given name.
+   *
+   * @param name The new name.
+   * @return A copy of this object, differing in the given name.
+   */
+  @Override
+  public BlockCreationTO withName(
+      @Nonnull
+      String name
+  ) {
+    return new BlockCreationTO(
+        name,
+        getModifiableProperties(),
+        type,
+        memberNames,
+        layout
+    );
+  }
+
+  /**
+   * Creates a copy of this object with the given properties.
+   *
+   * @param properties The new properties.
+   * @return A copy of this object, differing in the given properties.
+   */
+  @Override
+  public BlockCreationTO withProperties(
+      @Nonnull
+      Map<String, String> properties
+  ) {
+    return new BlockCreationTO(
+        getName(),
+        properties,
+        type,
+        memberNames,
+        layout
+    );
+  }
+
+  /**
+   * Creates a copy of this object and adds the given property.
+   * If value == null, then the key-value pair is removed from the properties.
+   *
+   * @param key the key.
+   * @param value the value
+   * @return A copy of this object that either
+   * includes the given entry in it's current properties, if value != null or
+   * excludes the entry otherwise.
+   */
+  @Override
+  public BlockCreationTO withProperty(
+      @Nonnull
+      String key,
+      @Nonnull
+      String value
+  ) {
+    return new BlockCreationTO(
+        getName(),
+        propertiesWith(key, value),
+        type,
+        memberNames,
+        layout
+    );
+  }
+
+  /**
+   * Returns the type of this block.
+   *
+   * @return The type of this block.
+   */
+  @Nonnull
+  public Block.Type getType() {
+    return type;
+  }
+
+  /**
+   * Creates a copy of this object with the given type.
+   *
+   * @param type The new type.
+   * @return A copy of this object, differing in the given type.
+   */
+  public BlockCreationTO withType(
+      @Nonnull
+      Block.Type type
+  ) {
+    return new BlockCreationTO(
+        getName(),
+        getModifiableProperties(),
+        type,
+        memberNames,
+        layout
+    );
+  }
+
+  /**
+   * Returns the names of this block's members.
+   *
+   * @return The names of this block's members.
+   */
+  @Nonnull
+  public Set<String> getMemberNames() {
+    return Collections.unmodifiableSet(memberNames);
+  }
+
+  /**
+   * Creates a copy of this object with the given members.
+   *
+   * @param memberNames The names of the block's members.
+   * @return A copy of this object, differing in the given value.
+   */
+  public BlockCreationTO withMemberNames(
+      @Nonnull
+      Set<String> memberNames
+  ) {
+    return new BlockCreationTO(
+        getName(),
+        getModifiableProperties(),
+        type,
+        memberNames,
+        layout
+    );
+  }
+
+  /**
+   * Returns the information regarding the grahical representation of this block.
+   *
+   * @return The information regarding the grahical representation of this block.
+   */
+  public Layout getLayout() {
+    return layout;
+  }
+
+  /**
+   * Creates a copy of this object, with the given layout.
+   *
+   * @param layout The value to be set in the copy.
+   * @return A copy of this object, differing in the given value.
+   */
+  public BlockCreationTO withLayout(Layout layout) {
+    return new BlockCreationTO(
+        getName(),
+        getModifiableProperties(),
+        type,
+        memberNames,
+        layout
+    );
+  }
+
+  @Override
+  public String toString() {
+    return "BlockCreationTO{"
+        + "name=" + getName()
+        + ", type=" + type
+        + ", memberNames=" + memberNames
+        + ", layout=" + layout
+        + ", properties=" + getProperties()
+        + '}';
+  }
+
+  /**
+   * Contains information regarding the grahical representation of a block.
+   */
+  public static class Layout
+      implements
+        Serializable {
+
+    /**
+     * The color in which block elements are to be emphasized.
+     */
+    private final Color color;
+
+    /**
+     * Creates a new instance.
+     */
+    public Layout() {
+      this(Color.RED);
+    }
+
+    /**
+     * Creates a new instance.
+     *
+     * @param color The color in which block elements are to be emphasized.
+     */
+    public Layout(Color color) {
+      this.color = requireNonNull(color, "color");
+    }
+
+    /**
+     * Returns the color in which block elements are to be emphasized.
+     *
+     * @return The color in which block elements are to be emphasized.
+     */
+    public Color getColor() {
+      return color;
+    }
+
+    /**
+     * Creates a copy of this object, with the given color.
+     *
+     * @param color The value to be set in the copy.
+     * @return A copy of this object, differing in the given value.
+     */
+    public Layout withColor(Color color) {
+      return new Layout(color);
+    }
+
+    @Override
+    public String toString() {
+      return "Layout{"
+          + "color=" + color
+          + '}';
+    }
+  }
+}

opentcs-api-base/src/main/java/org/opentcs/access/to/model/BoundingBoxCreationTO.java

@@ -0,0 +1,120 @@
+// SPDX-FileCopyrightText: The openTCS Authors
+// SPDX-License-Identifier: MIT
+package org.opentcs.access.to.model;
+
+import static java.util.Objects.requireNonNull;
+import static org.opentcs.util.Assertions.checkInRange;
+
+import java.io.Serializable;
+
+/**
+ * A transfer object describing a bounding box.
+ */
+public class BoundingBoxCreationTO
+    implements
+      Serializable {
+
+  private final long length;
+  private final long width;
+  private final long height;
+  private final CoupleCreationTO referenceOffset;
+
+  /**
+   * Creates a new instance with a (0, 0) reference offset.
+   *
+   * @param length The bounding box's length.
+   * @param width The bounding box's width.
+   * @param height The bounding box's height.
+   */
+  public BoundingBoxCreationTO(long length, long width, long height) {
+    this(length, width, height, new CoupleCreationTO(0, 0));
+  }
+
+  private BoundingBoxCreationTO(
+      long length,
+      long width,
+      long height,
+      CoupleCreationTO referenceOffset
+  ) {
+    this.length = checkInRange(length, 1, Long.MAX_VALUE, "length");
+    this.width = checkInRange(width, 1, Long.MAX_VALUE, "width");
+    this.height = checkInRange(height, 1, Long.MAX_VALUE, "height");
+    this.referenceOffset = requireNonNull(referenceOffset, "referenceOffset");
+  }
+
+  /**
+   * Returns the bounding box's length.
+   *
+   * @return The bounding box's length.
+   */
+  public long getLength() {
+    return length;
+  }
+
+  /**
+   * Creates a copy of this object, with the given length.
+   *
+   * @param length The value to be set in the copy.
+   * @return A copy of this object, differing in the given value.
+   */
+  public BoundingBoxCreationTO withLength(long length) {
+    return new BoundingBoxCreationTO(length, width, height, referenceOffset);
+  }
+
+  /**
+   * Returns the bounding box's width.
+   *
+   * @return The bounding box's width.
+   */
+  public long getWidth() {
+    return width;
+  }
+
+  /**
+   * Creates a copy of this object, with the given width.
+   *
+   * @param width The value to be set in the copy.
+   * @return A copy of this object, differing in the given value.
+   */
+  public BoundingBoxCreationTO withWidth(long width) {
+    return new BoundingBoxCreationTO(length, width, height, referenceOffset);
+  }
+
+  /**
+   * Returns the bounding box's height.
+   *
+   * @return The bounding box's height.
+   */
+  public long getHeight() {
+    return height;
+  }
+
+  /**
+   * Creates a copy of this object, with the given height.
+   *
+   * @param height The value to be set in the copy.
+   * @return A copy of this object, differing in the given value.
+   */
+  public BoundingBoxCreationTO withHeight(long height) {
+    return new BoundingBoxCreationTO(length, width, height, referenceOffset);
+  }
+
+  /**
+   * Returns the bounding box's reference offset.
+   *
+   * @return The bounding box's reference offset.
+   */
+  public CoupleCreationTO getReferenceOffset() {
+    return referenceOffset;
+  }
+
+  /**
+   * Creates a copy of this object, with the given reference offset.
+   *
+   * @param referenceOffset The value to be set in the copy.
+   * @return A copy of this object, differing in the given value.
+   */
+  public BoundingBoxCreationTO withReferenceOffset(CoupleCreationTO referenceOffset) {
+    return new BoundingBoxCreationTO(length, width, height, referenceOffset);
+  }
+}

opentcs-api-base/src/main/java/org/opentcs/access/to/model/CoupleCreationTO.java

@@ -0,0 +1,65 @@
+// SPDX-FileCopyrightText: The openTCS Authors
+// SPDX-License-Identifier: MIT
+package org.opentcs.access.to.model;
+
+import java.io.Serializable;
+
+/**
+ * A transfer object describing generic 2-tuple of long integer values.
+ */
+public class CoupleCreationTO
+    implements
+      Serializable {
+
+  private final long x;
+  private final long y;
+
+  /**
+   * Creates a new instance.
+   *
+   * @param x The X coordinate.
+   * @param y The Y coordinate.
+   */
+  public CoupleCreationTO(long x, long y) {
+    this.x = x;
+    this.y = y;
+  }
+
+  /**
+   * Returns the x coordinate.
+   *
+   * @return The x coordinate.
+   */
+  public long getX() {
+    return x;
+  }
+
+  /**
+   * Creates a copy of this object, with the given x coordinate.
+   *
+   * @param x The value to be set in the copy.
+   * @return A copy of this object, differing in the given value.
+   */
+  public CoupleCreationTO withX(long x) {
+    return new CoupleCreationTO(x, y);
+  }
+
+  /**
+   * Returns the y coordinate.
+   *
+   * @return The y coordinate.
+   */
+  public long getY() {
+    return y;
+  }
+
+  /**
+   * Creates a copy of this object, with the given y coordinate.
+   *
+   * @param y The value to be set in the copy.
+   * @return A copy of this object, differing in the given value.
+   */
+  public CoupleCreationTO withY(long y) {
+    return new CoupleCreationTO(x, y);
+  }
+}

opentcs-api-base/src/main/java/org/opentcs/access/to/model/LocationCreationTO.java

@@ -0,0 +1,515 @@
+// SPDX-FileCopyrightText: The openTCS Authors
+// SPDX-License-Identifier: MIT
+package org.opentcs.access.to.model;
+
+import static java.util.Objects.requireNonNull;
+
+import jakarta.annotation.Nonnull;
+import java.io.Serializable;
+import java.util.Collections;
+import java.util.Map;
+import java.util.Set;
+import org.opentcs.access.to.CreationTO;
+import org.opentcs.data.model.Couple;
+import org.opentcs.data.model.Triple;
+import org.opentcs.data.model.visualization.LocationRepresentation;
+
+/**
+ * A transfer object describing a location in a plant model.
+ */
+public class LocationCreationTO
+    extends
+      CreationTO
+    implements
+      Serializable {
+
+  /**
+   * The name of this location's type.
+   */
+  @Nonnull
+  private final String typeName;
+  /**
+   * This location's position (in mm).
+   */
+  @Nonnull
+  private final Triple position;
+  /**
+   * The links attaching points to this location.
+   * This is a map of point names to allowed operations.
+   */
+  @Nonnull
+  private final Map<String, Set<String>> links;
+  /**
+   * A flag for marking this location as locked (i.e. to prevent vehicles from using it).
+   */
+  private final boolean locked;
+  /**
+   * The information regarding the grahical representation of this location.
+   */
+  private final Layout layout;
+
+  /**
+   * Creates a new instance.
+   *
+   * @param name The name of this location.
+   * @param typeName The name of this location's type.
+   * @param position The position of this location.
+   */
+  public LocationCreationTO(
+      @Nonnull
+      String name,
+      @Nonnull
+      String typeName,
+      @Nonnull
+      Triple position
+  ) {
+    super(name);
+    this.typeName = requireNonNull(typeName, "typeName");
+    this.position = position;
+    this.links = Map.of();
+    this.locked = false;
+    this.layout = new Layout();
+  }
+
+  private LocationCreationTO(
+      @Nonnull
+      String name,
+      @Nonnull
+      Map<String, String> properties,
+      @Nonnull
+      String typeName,
+      @Nonnull
+      Triple position,
+      @Nonnull
+      Map<String, Set<String>> links,
+      boolean locked,
+      @Nonnull
+      Layout layout
+  ) {
+    super(name, properties);
+    this.typeName = requireNonNull(typeName, "typeName");
+    this.position = requireNonNull(position, "position");
+    this.links = requireNonNull(links, "links");
+    this.locked = locked;
+    this.layout = requireNonNull(layout, "layout");
+  }
+
+  /**
+   * Creates a copy of this object with the given name.
+   *
+   * @param name The new name.
+   * @return A copy of this object, differing in the given name.
+   */
+  @Override
+  public LocationCreationTO withName(
+      @Nonnull
+      String name
+  ) {
+    return new LocationCreationTO(
+        name,
+        getModifiableProperties(),
+        typeName,
+        position,
+        links,
+        locked,
+        layout
+    );
+  }
+
+  /**
+   * Returns the name of this location's type.
+   *
+   * @return The name of this location's type.
+   */
+  @Nonnull
+  public String getTypeName() {
+    return typeName;
+  }
+
+  /**
+   * Creates a copy of this object with the location's type.
+   *
+   * @param typeName The location type.
+   * @return A copy of this object, differing in the given type.
+   */
+  public LocationCreationTO withTypeName(
+      @Nonnull
+      String typeName
+  ) {
+    return new LocationCreationTO(
+        getName(),
+        getModifiableProperties(),
+        typeName,
+        position,
+        links,
+        locked,
+        layout
+    );
+  }
+
+  /**
+   * Returns the position of this location (in mm).
+   *
+   * @return The position of this location (in mm).
+   */
+  @Nonnull
+  public Triple getPosition() {
+    return position;
+  }
+
+  /**
+   * Creates a copy of this object with the given position (in mm).
+   *
+   * @param position the new position of this location (in mm).
+   * @return A copy of this object, differing in the given position.
+   */
+  public LocationCreationTO withPosition(
+      @Nonnull
+      Triple position
+  ) {
+    return new LocationCreationTO(
+        getName(),
+        getModifiableProperties(),
+        typeName,
+        position,
+        links,
+        locked,
+        layout
+    );
+  }
+
+  /**
+   * Returns the links attaching points to this location.
+   * This is a map of point names to allowed operations.
+   *
+   * @return The links attaching points to this location.
+   */
+  @Nonnull
+  public Map<String, Set<String>> getLinks() {
+    return Collections.unmodifiableMap(links);
+  }
+
+  /**
+   * Creates a copy of this object with the given links that attach points to this location.
+   *
+   * @param links the new links. This is supposed to be a map of point names to allowed operations.
+   * @return A copy of this object, differing in the given links.
+   */
+  public LocationCreationTO withLinks(
+      @Nonnull
+      Map<String, Set<String>> links
+  ) {
+    return new LocationCreationTO(
+        getName(),
+        getModifiableProperties(),
+        typeName,
+        position,
+        links,
+        locked,
+        layout
+    );
+  }
+
+  /**
+   * Creates a copy of this object with the given links that attach points to this location.
+   *
+   * @param pointName The name of the point linked to.
+   * @param allowedOperations The operations allowed at the point.
+   * @return A copy of this object, differing in the given link.
+   */
+  public LocationCreationTO withLink(
+      @Nonnull
+      String pointName,
+      @Nonnull
+      Set<String> allowedOperations
+  ) {
+    return new LocationCreationTO(
+        getName(),
+        getModifiableProperties(),
+        typeName,
+        position,
+        mapWithMapping(links, pointName, allowedOperations),
+        locked,
+        layout
+    );
+  }
+
+  /**
+   * Returns the lock status of this location (i.e. whether it my be used by vehicles or not).
+   *
+   * @return {@code true} if this location is currently locked (i.e. it may not be used
+   * by vehicles), else {@code false}.
+   */
+  public boolean isLocked() {
+    return locked;
+  }
+
+  /**
+   * Creates a copy of this object with the given locked flag.
+   *
+   * @param locked The new locked attribute.
+   * @return A copy of this object, differing in the locked attribute.
+   */
+  public LocationCreationTO withLocked(boolean locked) {
+    return new LocationCreationTO(
+        getName(),
+        getModifiableProperties(),
+        typeName,
+        position,
+        links,
+        locked,
+        layout
+    );
+  }
+
+  /**
+   * Creates a copy of this object with the given properties.
+   *
+   * @param properties The new properties.
+   * @return A copy of this object, differing in the given properties.
+   */
+  @Override
+  public LocationCreationTO withProperties(
+      @Nonnull
+      Map<String, String> properties
+  ) {
+    return new LocationCreationTO(
+        getName(),
+        properties,
+        typeName,
+        position,
+        links,
+        locked,
+        layout
+    );
+  }
+
+  /**
+   * Creates a copy of this object and adds the given property.
+   * If value == null, then the key-value pair is removed from the properties.
+   *
+   * @param key the key.
+   * @param value the value
+   * @return A copy of this object that either
+   * includes the given entry in it's current properties, if value != null or
+   * excludes the entry otherwise.
+   */
+  @Override
+  public LocationCreationTO withProperty(
+      @Nonnull
+      String key,
+      @Nonnull
+      String value
+  ) {
+    return new LocationCreationTO(
+        getName(),
+        propertiesWith(key, value),
+        typeName,
+        position,
+        links,
+        locked,
+        layout
+    );
+  }
+
+  /**
+   * Returns the information regarding the grahical representation of this location.
+   *
+   * @return The information regarding the grahical representation of this location.
+   */
+  public Layout getLayout() {
+    return layout;
+  }
+
+  /**
+   * Creates a copy of this object, with the given layout.
+   *
+   * @param layout The value to be set in the copy.
+   * @return A copy of this object, differing in the given value.
+   */
+  public LocationCreationTO withLayout(Layout layout) {
+    return new LocationCreationTO(
+        getName(),
+        getModifiableProperties(),
+        typeName,
+        position,
+        links,
+        locked,
+        layout
+    );
+  }
+
+  @Override
+  public String toString() {
+    return "LocationCreationTO{"
+        + "name=" + getName()
+        + ", typeName=" + typeName
+        + ", position=" + position
+        + ", links=" + links
+        + ", locked=" + locked
+        + ", layout=" + layout
+        + ", properties=" + getProperties()
+        + '}';
+  }
+
+  /**
+   * Contains information regarding the grahical representation of a location.
+   */
+  public static class Layout
+      implements
+        Serializable {
+
+    /**
+     * The coordinates at which the location is to be drawn (in mm).
+     */
+    private final Couple position;
+    /**
+     * The offset of the label's position to the location's position (in lu).
+     */
+    private final Couple labelOffset;
+    /**
+     * The location representation to use.
+     */
+    private final LocationRepresentation locationRepresentation;
+    /**
+     * The ID of the layer on which the location is to be drawn.
+     */
+    private final int layerId;
+
+    /**
+     * Creates a new instance.
+     */
+    public Layout() {
+      this(new Couple(0, 0), new Couple(0, 0), LocationRepresentation.DEFAULT, 0);
+    }
+
+    /**
+     * Creates a new instance.
+     *
+     * @param position The coordinates at which the location is to be drawn (in mm).
+     * @param labelOffset The offset of the label's location to the point's position (in lu).
+     * @param locationRepresentation The location representation to use.
+     * @param layerId The ID of the layer on which the location is to be drawn.
+     */
+    public Layout(
+        Couple position,
+        Couple labelOffset,
+        LocationRepresentation locationRepresentation,
+        int layerId
+    ) {
+      this.position = requireNonNull(position, "position");
+      this.labelOffset = requireNonNull(labelOffset, "labelOffset");
+      this.locationRepresentation = requireNonNull(
+          locationRepresentation,
+          "locationRepresentation"
+      );
+      this.layerId = layerId;
+    }
+
+    /**
+     * Returns the coordinates at which the location is to be drawn (in mm).
+     *
+     * @return The coordinates at which the location is to be drawn (in mm).
+     */
+    public Couple getPosition() {
+      return position;
+    }
+
+    /**
+     * Creates a copy of this object, with the given position.
+     *
+     * @param position The value to be set in the copy.
+     * @return A copy of this object, differing in the given value.
+     */
+    public Layout withPosition(Couple position) {
+      return new Layout(
+          position,
+          labelOffset,
+          locationRepresentation,
+          layerId
+      );
+    }
+
+    /**
+     * Returns the offset of the label's position to the location's position (in lu).
+     *
+     * @return The offset of the label's position to the location's position (in lu).
+     */
+    public Couple getLabelOffset() {
+      return labelOffset;
+    }
+
+    /**
+     * Creates a copy of this object, with the given X label offset.
+     *
+     * @param labelOffset The value to be set in the copy.
+     * @return A copy of this object, differing in the given value.
+     */
+    public Layout withLabelOffset(Couple labelOffset) {
+      return new Layout(
+          position,
+          labelOffset,
+          locationRepresentation,
+          layerId
+      );
+    }
+
+    /**
+     * Returns the location representation to use.
+     *
+     * @return The location representation to use.
+     */
+    public LocationRepresentation getLocationRepresentation() {
+      return locationRepresentation;
+    }
+
+    /**
+     * Creates a copy of this object, with the given location representation.
+     *
+     * @param locationRepresentation The value to be set in the copy.
+     * @return A copy of this object, differing in the given value.
+     */
+    public Layout withLocationRepresentation(LocationRepresentation locationRepresentation) {
+      return new Layout(
+          position,
+          labelOffset,
+          locationRepresentation,
+          layerId
+      );
+    }
+
+    /**
+     * Returns the ID of the layer on which the location is to be drawn.
+     *
+     * @return The layer ID.
+     */
+    public int getLayerId() {
+      return layerId;
+    }
+
+    /**
+     * Creates a copy of this object, with the given layer ID.
+     *
+     * @param layerId The value to be set in the copy.
+     * @return A copy of this object, differing in the given value.
+     */
+    public Layout withLayerId(int layerId) {
+      return new Layout(
+          position,
+          labelOffset,
+          locationRepresentation,
+          layerId
+      );
+    }
+
+    @Override
+    public String toString() {
+      return "Layout{"
+          + "position=" + position
+          + ", labelOffset=" + labelOffset
+          + ", locationRepresentation=" + locationRepresentation
+          + ", layerId=" + layerId
+          + '}';
+    }
+  }
+}

opentcs-api-base/src/main/java/org/opentcs/access/to/model/LocationTypeCreationTO.java

@@ -0,0 +1,291 @@
+// SPDX-FileCopyrightText: The openTCS Authors
+// SPDX-License-Identifier: MIT
+package org.opentcs.access.to.model;
+
+import static java.util.Objects.requireNonNull;
+
+import jakarta.annotation.Nonnull;
+import java.io.Serializable;
+import java.util.Collections;
+import java.util.List;
+import java.util.Map;
+import org.opentcs.access.to.CreationTO;
+import org.opentcs.data.model.visualization.LocationRepresentation;
+
+/**
+ * A transfer object describing a location type in the plant model.
+ */
+public class LocationTypeCreationTO
+    extends
+      CreationTO
+    implements
+      Serializable {
+
+  /**
+   * The allowed operations for this location type.
+   */
+  private final List<String> allowedOperations;
+  /**
+   * The allowed peripheral operations for this location type.
+   */
+  private final List<String> allowedPeripheralOperations;
+  /**
+   * The information regarding the grahical representation of this location type.
+   */
+  private final Layout layout;
+
+  /**
+   * Creates a new instance.
+   *
+   * @param name The name of this location type.
+   */
+  public LocationTypeCreationTO(
+      @Nonnull
+      String name
+  ) {
+    super(name);
+    this.allowedOperations = List.of();
+    this.allowedPeripheralOperations = List.of();
+    this.layout = new Layout();
+  }
+
+  private LocationTypeCreationTO(
+      @Nonnull
+      String name,
+      @Nonnull
+      Map<String, String> properties,
+      @Nonnull
+      List<String> allowedOperations,
+      @Nonnull
+      List<String> allowedPeripheralOperations,
+      @Nonnull
+      Layout layout
+  ) {
+    super(name, properties);
+    this.allowedOperations = requireNonNull(allowedOperations, "allowedOperations");
+    this.allowedPeripheralOperations = requireNonNull(
+        allowedPeripheralOperations,
+        "allowedPeripheralOperations"
+    );
+    this.layout = requireNonNull(layout, "layout");
+  }
+
+  /**
+   * Returns the allowed operations for this location type.
+   *
+   * @return The allowed operations for this location type.
+   */
+  @Nonnull
+  public List<String> getAllowedOperations() {
+    return Collections.unmodifiableList(allowedOperations);
+  }
+
+  /**
+   * Creates a copy of this object with the given allowed operations.
+   *
+   * @param allowedOperations the new allowed operations.
+   * @return A copy of this object, differing in the given value.
+   */
+  public LocationTypeCreationTO withAllowedOperations(
+      @Nonnull
+      List<String> allowedOperations
+  ) {
+    return new LocationTypeCreationTO(
+        getName(),
+        getModifiableProperties(),
+        allowedOperations,
+        allowedPeripheralOperations,
+        layout
+    );
+  }
+
+  /**
+   * Returns the allowed peripheral operations for this location type.
+   *
+   * @return The allowed peripheral operations for this location type.
+   */
+  @Nonnull
+  public List<String> getAllowedPeripheralOperations() {
+    return Collections.unmodifiableList(allowedPeripheralOperations);
+  }
+
+  /**
+   * Creates a copy of this object with the given allowed peripheral operations.
+   *
+   * @param allowedPeripheralOperations the new allowed peripheral operations.
+   * @return A copy of this object, differing in the given value.
+   */
+  public LocationTypeCreationTO withAllowedPeripheralOperations(
+      @Nonnull
+      List<String> allowedPeripheralOperations
+  ) {
+    return new LocationTypeCreationTO(
+        getName(),
+        getModifiableProperties(),
+        allowedOperations,
+        allowedPeripheralOperations,
+        layout
+    );
+  }
+
+  /**
+   * Creates a copy of this object with the given name.
+   *
+   * @param name The new name.
+   * @return A copy of this object, differing in the given name.
+   */
+  @Override
+  public LocationTypeCreationTO withName(
+      @Nonnull
+      String name
+  ) {
+    return new LocationTypeCreationTO(
+        name,
+        getProperties(),
+        allowedOperations,
+        allowedPeripheralOperations,
+        layout
+    );
+  }
+
+  /**
+   * Creates a copy of this object with the given properties.
+   *
+   * @param properties The new properties.
+   * @return A copy of this object, differing in the given properties.
+   */
+  @Override
+  public LocationTypeCreationTO withProperties(
+      @Nonnull
+      Map<String, String> properties
+  ) {
+    return new LocationTypeCreationTO(
+        getName(),
+        properties,
+        allowedOperations,
+        allowedPeripheralOperations,
+        layout
+    );
+  }
+
+  /**
+   * Creates a copy of this object and adds the given property.
+   * If value == null, then the key-value pair is removed from the properties.
+   *
+   * @param key the key.
+   * @param value the value
+   * @return A copy of this object that either
+   * includes the given entry in it's current properties, if value != null or
+   * excludes the entry otherwise.
+   */
+  @Override
+  public LocationTypeCreationTO withProperty(
+      @Nonnull
+      String key,
+      @Nonnull
+      String value
+  ) {
+    return new LocationTypeCreationTO(
+        getName(),
+        propertiesWith(key, value),
+        allowedOperations,
+        allowedPeripheralOperations,
+        layout
+    );
+  }
+
+  /**
+   * Returns the information regarding the grahical representation of this location type.
+   *
+   * @return The information regarding the grahical representation of this location type.
+   */
+  public Layout getLayout() {
+    return layout;
+  }
+
+  /**
+   * Creates a copy of this object, with the given layout.
+   *
+   * @param layout The value to be set in the copy.
+   * @return A copy of this object, differing in the given value.
+   */
+  public LocationTypeCreationTO withLayout(Layout layout) {
+    return new LocationTypeCreationTO(
+        getName(),
+        getModifiableProperties(),
+        allowedOperations,
+        allowedPeripheralOperations,
+        layout
+    );
+  }
+
+  @Override
+  public String toString() {
+    return "LocationTypeCreationTO{"
+        + "name=" + getName()
+        + ", allowedOperations=" + allowedOperations
+        + ", allowedPeripheralOperations" + allowedPeripheralOperations
+        + ", layout=" + layout
+        + ", properties=" + getProperties()
+        + '}';
+  }
+
+  /**
+   * Contains information regarding the grahical representation of a location type.
+   */
+  public static class Layout
+      implements
+        Serializable {
+
+    /**
+     * The location representation to use for locations with this location type.
+     */
+    private final LocationRepresentation locationRepresentation;
+
+    /**
+     * Creates a new instance.
+     */
+    public Layout() {
+      this(LocationRepresentation.NONE);
+    }
+
+    /**
+     * Creates a new instance.
+     *
+     * @param locationRepresentation The location representation to use for locations with this
+     * location type.
+     */
+    public Layout(LocationRepresentation locationRepresentation) {
+      this.locationRepresentation = requireNonNull(
+          locationRepresentation,
+          "locationRepresentation"
+      );
+    }
+
+    /**
+     * Returns the location representation to use for locations with this location type.
+     *
+     * @return The location representation to use for locations with this location type.
+     */
+    public LocationRepresentation getLocationRepresentation() {
+      return locationRepresentation;
+    }
+
+    /**
+     * Creates a copy of this object, with the given location representation.
+     *
+     * @param locationRepresentation The value to be set in the copy.
+     * @return A copy of this object, differing in the given value.
+     */
+    public Layout withLocationRepresentation(LocationRepresentation locationRepresentation) {
+      return new Layout(locationRepresentation);
+    }
+
+    @Override
+    public String toString() {
+      return "Layout{"
+          + "locationRepresentation=" + locationRepresentation
+          + '}';
+    }
+  }
+}

opentcs-api-base/src/main/java/org/opentcs/access/to/model/PathCreationTO.java

@@ -0,0 +1,651 @@
+// SPDX-FileCopyrightText: The openTCS Authors
+// SPDX-License-Identifier: MIT
+package org.opentcs.access.to.model;
+
+import static java.util.Objects.requireNonNull;
+import static org.opentcs.util.Assertions.checkArgument;
+
+import jakarta.annotation.Nonnull;
+import java.io.Serializable;
+import java.util.ArrayList;
+import java.util.Collections;
+import java.util.List;
+import java.util.Map;
+import org.opentcs.access.to.CreationTO;
+import org.opentcs.access.to.peripherals.PeripheralOperationCreationTO;
+import org.opentcs.data.model.Couple;
+import org.opentcs.data.model.Envelope;
+import org.opentcs.data.model.Path.Layout.ConnectionType;
+
+/**
+ * A transfer object describing a path in the plant model.
+ */
+public class PathCreationTO
+    extends
+      CreationTO
+    implements
+      Serializable {
+
+  /**
+   * The point name this path originates in.
+   */
+  @Nonnull
+  private final String srcPointName;
+  /**
+   * The point name this path ends in.
+   */
+  @Nonnull
+  private final String destPointName;
+  /**
+   * This path's length (in mm).
+   */
+  private final long length;
+  /**
+   * The absolute maximum allowed forward velocity on this path (in mm/s).
+   * A value of 0 (default) means forward movement is not allowed on this path.
+   */
+  private final int maxVelocity;
+  /**
+   * The absolute maximum allowed reverse velocity on this path (in mm/s).
+   * A value of 0 (default) means reverse movement is not allowed on this path.
+   */
+  private final int maxReverseVelocity;
+  /**
+   * The peripheral operations to be performed when a vehicle travels along this path.
+   */
+  private final List<PeripheralOperationCreationTO> peripheralOperations;
+  /**
+   * A flag for marking this path as locked (i.e. to prevent vehicles from using it).
+   */
+  private final boolean locked;
+  /**
+   * A map of envelope keys to envelopes that vehicles traversing this path may occupy.
+   */
+  private final Map<String, Envelope> vehicleEnvelopes;
+  /**
+   * The information regarding the grahical representation of this path.
+   */
+  private final Layout layout;
+
+  /**
+   * Creates a new instance.
+   *
+   * @param name The name of this path.
+   * @param srcPointName The point name this path originates in.
+   * @param destPointName The point name this path ends in.
+   */
+  public PathCreationTO(
+      @Nonnull
+      String name,
+      @Nonnull
+      String srcPointName,
+      @Nonnull
+      String destPointName
+  ) {
+    super(name);
+    this.srcPointName = requireNonNull(srcPointName, "srcPointName");
+    this.destPointName = requireNonNull(destPointName, "destPointName");
+    this.length = 1;
+    this.maxVelocity = 0;
+    this.maxReverseVelocity = 0;
+    this.peripheralOperations = List.of();
+    this.locked = false;
+    this.vehicleEnvelopes = Map.of();
+    this.layout = new Layout();
+  }
+
+  private PathCreationTO(
+      String name,
+      @Nonnull
+      String srcPointName,
+      @Nonnull
+      String destPointName,
+      @Nonnull
+      Map<String, String> properties,
+      long length,
+      int maxVelocity,
+      int maxReverseVelocity,
+      List<PeripheralOperationCreationTO> peripheralOperations,
+      boolean locked,
+      @Nonnull
+      Map<String, Envelope> vehicleEnvelopes,
+      @Nonnull
+      Layout layout
+  ) {
+    super(name, properties);
+    this.srcPointName = requireNonNull(srcPointName, "srcPointName");
+    this.destPointName = requireNonNull(destPointName, "destPointName");
+    this.length = length;
+    this.maxVelocity = maxVelocity;
+    this.maxReverseVelocity = maxReverseVelocity;
+    this.peripheralOperations = new ArrayList<>(
+        requireNonNull(
+            peripheralOperations,
+            "peripheralOperations"
+        )
+    );
+    this.locked = locked;
+    this.vehicleEnvelopes = requireNonNull(vehicleEnvelopes, "vehicleEnvelopes");
+    this.layout = requireNonNull(layout, "layout");
+  }
+
+  /**
+   * Creates a copy of this object with the given name.
+   *
+   * @param name The new name.
+   * @return A copy of this object, differing in the given name.
+   */
+  @Override
+  public PathCreationTO withName(
+      @Nonnull
+      String name
+  ) {
+    return new PathCreationTO(
+        name,
+        srcPointName,
+        destPointName,
+        getModifiableProperties(),
+        length,
+        maxVelocity,
+        maxReverseVelocity,
+        peripheralOperations,
+        locked,
+        vehicleEnvelopes,
+        layout
+    );
+  }
+
+  /**
+   * Returns the point name this path originates in.
+   *
+   * @return The point name this path originates in.
+   */
+  @Nonnull
+  public String getSrcPointName() {
+    return srcPointName;
+  }
+
+  /**
+   * Creates a copy of this object with the given point name this path originates in.
+   *
+   * @param srcPointName The new source point name.
+   * @return A copy of this object, differing in the given source point.
+   */
+  public PathCreationTO withSrcPointName(
+      @Nonnull
+      String srcPointName
+  ) {
+    return new PathCreationTO(
+        getName(),
+        srcPointName,
+        destPointName,
+        getModifiableProperties(),
+        length,
+        maxVelocity,
+        maxReverseVelocity,
+        peripheralOperations,
+        locked,
+        vehicleEnvelopes,
+        layout
+    );
+  }
+
+  /**
+   * Returns the point name this path ends in.
+   *
+   * @return The point name this path ends in.
+   */
+  @Nonnull
+  public String getDestPointName() {
+    return destPointName;
+  }
+
+  /**
+   * Creates a copy of this object with the given destination point.
+   *
+   * @param destPointName The new source point.
+   * @return A copy of this object, differing in the given value.
+   */
+  public PathCreationTO withDestPointName(
+      @Nonnull
+      String destPointName
+  ) {
+    return new PathCreationTO(
+        getName(),
+        srcPointName,
+        destPointName,
+        getModifiableProperties(),
+        length,
+        maxVelocity,
+        maxReverseVelocity,
+        peripheralOperations,
+        locked,
+        vehicleEnvelopes,
+        layout
+    );
+  }
+
+  /**
+   * Returns the length of this path (in mm).
+   *
+   * @return The length of this path (in mm).
+   */
+  public long getLength() {
+    return length;
+  }
+
+  /**
+   * Creates a copy of this object with the given path length (in mm).
+   *
+   * @param length the new length (in mm). Must be a positive value.
+   * @return A copy of this object, differing in the given length.
+   */
+  public PathCreationTO withLength(long length) {
+    checkArgument(length > 0, "length must be a positive value: " + length);
+    return new PathCreationTO(
+        getName(),
+        srcPointName,
+        destPointName,
+        getModifiableProperties(),
+        length,
+        maxVelocity,
+        maxReverseVelocity,
+        peripheralOperations,
+        locked,
+        vehicleEnvelopes,
+        layout
+    );
+  }
+
+  /**
+   * Returns the maximum allowed forward velocity (in mm/s) for this path.
+   *
+   * @return The maximum allowed forward velocity (in mm/s). A value of 0 means forward movement is
+   * not allowed on this path.
+   */
+  public int getMaxVelocity() {
+    return maxVelocity;
+  }
+
+  /**
+   * Creates a copy of this object with the maximum allowed forward velocity (in mm/s) for this
+   * path.
+   *
+   * @param maxVelocity The new maximum allowed velocity (in mm/s). May not be a negative value.
+   * @return A copy of this object, differing in the given maximum velocity.
+   */
+  public PathCreationTO withMaxVelocity(int maxVelocity) {
+    checkArgument(
+        maxVelocity >= 0,
+        "maxVelocity may not be a negative value: " + maxVelocity
+    );
+    return new PathCreationTO(
+        getName(),
+        srcPointName,
+        destPointName,
+        getModifiableProperties(),
+        length,
+        maxVelocity,
+        maxReverseVelocity,
+        peripheralOperations,
+        locked,
+        vehicleEnvelopes,
+        layout
+    );
+  }
+
+  /**
+   * Returns the maximum allowed reverse velocity (in mm/s) for this path.
+   *
+   * @return The maximum allowed reverse velocity (in mm/s). A value of 0 means reverse movement is
+   * not allowed on this path.
+   */
+  public int getMaxReverseVelocity() {
+    return maxReverseVelocity;
+  }
+
+  /**
+   * Creates a copy of this object with the allowed maximum reverse velocity (in mm/s).
+   *
+   * @param maxReverseVelocity The new maximum allowed reverse velocity (in mm/s). Must not be a
+   * negative value.
+   * @return A copy of this object, differing in the given maximum reverse velocity.
+   */
+  public PathCreationTO withMaxReverseVelocity(int maxReverseVelocity) {
+    checkArgument(
+        maxReverseVelocity >= 0,
+        "maxReverseVelocity may not be a negative value: " + maxReverseVelocity
+    );
+    return new PathCreationTO(
+        getName(),
+        srcPointName,
+        destPointName,
+        getModifiableProperties(),
+        length,
+        maxVelocity,
+        maxReverseVelocity,
+        peripheralOperations,
+        locked,
+        vehicleEnvelopes,
+        layout
+    );
+  }
+
+  /**
+   * Returns the peripheral operations to be performed when a vehicle travels along this path.
+   *
+   * @return The peripheral operations to be performed when a vehicle travels along this path.
+   */
+  public List<PeripheralOperationCreationTO> getPeripheralOperations() {
+    return Collections.unmodifiableList(peripheralOperations);
+  }
+
+  /**
+   * Creates a copy of this object with the given peripheral operations.
+   *
+   * @param peripheralOperations The peripheral operations.
+   * @return A copy of this object, differing in the given peripheral operations.
+   */
+  public PathCreationTO withPeripheralOperations(
+      @Nonnull
+      List<PeripheralOperationCreationTO> peripheralOperations
+  ) {
+    return new PathCreationTO(
+        getName(),
+        srcPointName,
+        destPointName,
+        getModifiableProperties(),
+        length,
+        maxVelocity,
+        maxReverseVelocity,
+        peripheralOperations,
+        locked,
+        vehicleEnvelopes,
+        layout
+    );
+  }
+
+  /**
+   * Returns the lock status of this path (i.e. whether this path my be used by vehicles or not).
+   *
+   * @return {@code true} if this path is currently locked (i.e. it may not be used by vehicles),
+   * else {@code false}.
+   */
+  public boolean isLocked() {
+    return locked;
+  }
+
+  /**
+   * Creates a copy of this object that is locked if {@code locked==true} and unlocked otherwise.
+   *
+   * @param locked If {@code true}, this path will be locked when the method call returns; if
+   * {@code false}, this path will be unlocked.
+   * @return a copy of this object, differing in the locked attribute.
+   */
+  public PathCreationTO withLocked(boolean locked) {
+    return new PathCreationTO(
+        getName(),
+        srcPointName,
+        destPointName,
+        getModifiableProperties(),
+        length,
+        maxVelocity,
+        maxReverseVelocity,
+        peripheralOperations,
+        locked,
+        vehicleEnvelopes,
+        layout
+    );
+  }
+
+  /**
+   * Creates a copy of this object with the given properties.
+   *
+   * @param properties The new properties.
+   * @return A copy of this object, differing in the given properties.
+   */
+  @Override
+  public PathCreationTO withProperties(
+      @Nonnull
+      Map<String, String> properties
+  ) {
+    return new PathCreationTO(
+        getName(),
+        srcPointName,
+        destPointName,
+        properties,
+        length,
+        maxVelocity,
+        maxReverseVelocity,
+        peripheralOperations,
+        locked,
+        vehicleEnvelopes,
+        layout
+    );
+  }
+
+  /**
+   * Creates a copy of this object and adds the given property.
+   * If value == null, then the key-value pair is removed from the properties.
+   *
+   * @param key the key.
+   * @param value the value
+   * @return A copy of this object that either
+   * includes the given entry in it's current properties, if value != null or
+   * excludes the entry otherwise.
+   */
+  @Override
+  public PathCreationTO withProperty(
+      @Nonnull
+      String key,
+      @Nonnull
+      String value
+  ) {
+    return new PathCreationTO(
+        getName(),
+        srcPointName,
+        destPointName,
+        propertiesWith(key, value),
+        length,
+        maxVelocity,
+        maxReverseVelocity,
+        peripheralOperations,
+        locked,
+        vehicleEnvelopes,
+        layout
+    );
+  }
+
+  /**
+   * Returns a map of envelope keys to envelopes that vehicles traversing this path may occupy.
+   *
+   * @return A map of envelope keys to envelopes that vehicles traversing this path may occupy.
+   */
+  public Map<String, Envelope> getVehicleEnvelopes() {
+    return vehicleEnvelopes;
+  }
+
+  /**
+   * Creates a copy of this object, with the given vehicle envelopes.
+   *
+   * @param vehicleEnvelopes The value to be set in the copy.
+   * @return A copy of this object, differing in the given value.
+   */
+  public PathCreationTO withVehicleEnvelopes(
+      @Nonnull
+      Map<String, Envelope> vehicleEnvelopes
+  ) {
+    return new PathCreationTO(
+        getName(),
+        srcPointName,
+        destPointName,
+        getModifiableProperties(),
+        length,
+        maxVelocity,
+        maxReverseVelocity,
+        peripheralOperations,
+        locked,
+        vehicleEnvelopes,
+        layout
+    );
+  }
+
+  /**
+   * Returns the information regarding the grahical representation of this path.
+   *
+   * @return The information regarding the grahical representation of this path.
+   */
+  public Layout getLayout() {
+    return layout;
+  }
+
+  /**
+   * Creates a copy of this object, with the given layout.
+   *
+   * @param layout The value to be set in the copy.
+   * @return A copy of this object, differing in the given value.
+   */
+  public PathCreationTO withLayout(Layout layout) {
+    return new PathCreationTO(
+        getName(),
+        srcPointName,
+        destPointName,
+        getModifiableProperties(),
+        length,
+        maxVelocity,
+        maxReverseVelocity,
+        peripheralOperations,
+        locked,
+        vehicleEnvelopes,
+        layout
+    );
+  }
+
+  @Override
+  public String toString() {
+    return "PathCreationTO{"
+        + "name=" + getName()
+        + ", srcPointName=" + srcPointName
+        + ", destPointName=" + destPointName
+        + ", length=" + length
+        + ", maxVelocity=" + maxVelocity
+        + ", maxReverseVelocity=" + maxReverseVelocity
+        + ", peripheralOperations=" + peripheralOperations
+        + ", locked=" + locked
+        + ", layout=" + layout
+        + ", vehicleEnvelopes=" + vehicleEnvelopes
+        + ", properties=" + getProperties()
+        + '}';
+  }
+
+  /**
+   * Contains information regarding the grahical representation of a path.
+   */
+  public static class Layout
+      implements
+        Serializable {
+
+    /**
+     * The connection type the path is represented as.
+     */
+    private final ConnectionType connectionType;
+    /**
+     * Control points describing the way the path is drawn (if the connection type
+     * is {@link ConnectionType#BEZIER}, {@link ConnectionType#BEZIER_3}
+     * or {@link ConnectionType#POLYPATH}).
+     */
+    private final List<Couple> controlPoints;
+    /**
+     * The ID of the layer on which the path is to be drawn.
+     */
+    private final int layerId;
+
+    /**
+     * Creates a new instance.
+     */
+    public Layout() {
+      this(ConnectionType.DIRECT, new ArrayList<>(), 0);
+    }
+
+    /**
+     * Creates a new instance.
+     *
+     * @param connectionType The connection type a path is represented as.
+     * @param controlPoints Control points describing the way the path is drawn.
+     * @param layerId The ID of the layer on which the path is to be drawn.
+     */
+    public Layout(ConnectionType connectionType, List<Couple> controlPoints, int layerId) {
+      this.connectionType = connectionType;
+      this.controlPoints = requireNonNull(controlPoints, "controlPoints");
+      this.layerId = layerId;
+    }
+
+    /**
+     * Returns the connection type the path is represented as.
+     *
+     * @return The connection type the path is represented as.
+     */
+    public ConnectionType getConnectionType() {
+      return connectionType;
+    }
+
+    /**
+     * Creates a copy of this object, with the given connection type.
+     *
+     * @param connectionType The value to be set in the copy.
+     * @return A copy of this object, differing in the given value.
+     */
+    public Layout withConnectionType(ConnectionType connectionType) {
+      return new Layout(connectionType, controlPoints, layerId);
+    }
+
+    /**
+     * Returns the control points describing the way the path is drawn.
+     * Returns an empty list if connection type is not {@link ConnectionType#BEZIER},
+     * {@link ConnectionType#BEZIER_3} or {@link ConnectionType#POLYPATH}.
+     *
+     * @return The control points describing the way the path is drawn.
+     */
+    public List<Couple> getControlPoints() {
+      return Collections.unmodifiableList(controlPoints);
+    }
+
+    /**
+     * Creates a copy of this object, with the given control points.
+     *
+     * @param controlPoints The value to be set in the copy.
+     * @return A copy of this object, differing in the given value.
+     */
+    public Layout withControlPoints(List<Couple> controlPoints) {
+      return new Layout(connectionType, controlPoints, layerId);
+    }
+
+    /**
+     * Returns the ID of the layer on which the path is to be drawn.
+     *
+     * @return The layer ID.
+     */
+    public int getLayerId() {
+      return layerId;
+    }
+
+    /**
+     * Creates a copy of this object, with the given layer ID.
+     *
+     * @param layerId The value to be set in the copy.
+     * @return A copy of this object, differing in the given value.
+     */
+    public Layout withLayer(int layerId) {
+      return new Layout(connectionType, controlPoints, layerId);
+    }
+
+    @Override
+    public String toString() {
+      return "Layout{"
+          + "connectionType=" + connectionType
+          + ", controlPoints=" + controlPoints
+          + ", layerId=" + layerId
+          + '}';
+    }
+  }
+}

opentcs-api-base/src/main/java/org/opentcs/access/to/model/PlantModelCreationTO.java

@@ -0,0 +1,598 @@
+// SPDX-FileCopyrightText: The openTCS Authors
+// SPDX-License-Identifier: MIT
+package org.opentcs.access.to.model;
+
+import static java.util.Objects.requireNonNull;
+
+import jakarta.annotation.Nonnull;
+import java.io.Serializable;
+import java.util.Collections;
+import java.util.List;
+import java.util.Map;
+import org.opentcs.access.to.CreationTO;
+import org.opentcs.data.model.ModelConstants;
+import org.opentcs.data.model.visualization.Layer;
+import org.opentcs.data.model.visualization.LayerGroup;
+import org.slf4j.Logger;
+import org.slf4j.LoggerFactory;
+
+/**
+ * A transfer object describing a plant model.
+ */
+public class PlantModelCreationTO
+    extends
+      CreationTO
+    implements
+      Serializable {
+
+  /**
+   * This class's logger.
+   */
+  private static final Logger LOG = LoggerFactory.getLogger(PlantModelCreationTO.class);
+
+  /**
+   * The plant model's points.
+   */
+  private final List<PointCreationTO> points;
+  /**
+   * The plant model's paths.
+   */
+  private final List<PathCreationTO> paths;
+  /**
+   * The plant model's location types.
+   */
+  private final List<LocationTypeCreationTO> locationTypes;
+  /**
+   * The plant model's locations.
+   */
+  private final List<LocationCreationTO> locations;
+  /**
+   * The plant model's blocks.
+   */
+  private final List<BlockCreationTO> blocks;
+  /**
+   * The plant model's vehicles.
+   */
+  private final List<VehicleCreationTO> vehicles;
+  /**
+   * The plant model's visual layout.
+   */
+  private final VisualLayoutCreationTO visualLayout;
+
+  /**
+   * Creates a new instance.
+   *
+   * @param name The name of this plant model.
+   */
+  public PlantModelCreationTO(String name) {
+    super(name);
+    this.points = List.of();
+    this.paths = List.of();
+    this.locationTypes = List.of();
+    this.locations = List.of();
+    this.blocks = List.of();
+    this.vehicles = List.of();
+    this.visualLayout = defaultVisualLayout();
+  }
+
+  private PlantModelCreationTO(
+      @Nonnull
+      String name,
+      @Nonnull
+      Map<String, String> properties,
+      @Nonnull
+      List<PointCreationTO> points,
+      @Nonnull
+      List<PathCreationTO> paths,
+      @Nonnull
+      List<LocationTypeCreationTO> locationTypes,
+      @Nonnull
+      List<LocationCreationTO> locations,
+      @Nonnull
+      List<BlockCreationTO> blocks,
+      @Nonnull
+      List<VehicleCreationTO> vehicles,
+      @Nonnull
+      VisualLayoutCreationTO visualLayout
+  ) {
+    super(name, properties);
+    this.points = requireNonNull(points, "points");
+    this.paths = requireNonNull(paths, "paths");
+    this.locationTypes = requireNonNull(locationTypes, "locationTypes");
+    this.locations = requireNonNull(locations, "locations");
+    this.blocks = requireNonNull(blocks, "blocks");
+    this.vehicles = requireNonNull(vehicles, "vehicles");
+    this.visualLayout = requireNonNull(visualLayout, "visualLayout");
+  }
+
+  /**
+   * Returns this plant model's points.
+   *
+   * @return This plant model's points.
+   */
+  public List<PointCreationTO> getPoints() {
+    return Collections.unmodifiableList(points);
+  }
+
+  /**
+   * Creates a copy of this object with the given points.
+   *
+   * @param points The new points.
+   * @return A copy of this model, differing in the given points.
+   */
+  public PlantModelCreationTO withPoints(
+      @Nonnull
+      List<PointCreationTO> points
+  ) {
+    return new PlantModelCreationTO(
+        getName(),
+        getModifiableProperties(),
+        points,
+        paths,
+        locationTypes,
+        locations,
+        blocks,
+        vehicles,
+        visualLayout
+    );
+  }
+
+  /**
+   * Creates a copy of this object that includes the given point in the list of points.
+   *
+   * @param point the new point.
+   * @return A copy of this model that also includes the given point.
+   */
+  public PlantModelCreationTO withPoint(
+      @Nonnull
+      PointCreationTO point
+  ) {
+    requireNonNull(point, "point");
+    return new PlantModelCreationTO(
+        getName(),
+        getModifiableProperties(),
+        listWithAppendix(points, point),
+        paths,
+        locationTypes,
+        locations,
+        blocks,
+        vehicles,
+        visualLayout
+    );
+  }
+
+  /**
+   * Returns this plant model's paths.
+   *
+   * @return This plant model's paths.
+   */
+  public List<PathCreationTO> getPaths() {
+    return Collections.unmodifiableList(paths);
+  }
+
+  /**
+   * Creates a copy of this object with the given paths.
+   *
+   * @param paths The new paths.
+   * @return A copy of this model, differing in the given paths.
+   */
+  public PlantModelCreationTO withPaths(
+      @Nonnull
+      List<PathCreationTO> paths
+  ) {
+    return new PlantModelCreationTO(
+        getName(),
+        getModifiableProperties(),
+        points,
+        paths,
+        locationTypes,
+        locations,
+        blocks,
+        vehicles,
+        visualLayout
+    );
+  }
+
+  /**
+   * Creates a copy of this object that includes the given path in the list of paths.
+   *
+   * @param path the new path.
+   * @return A copy of this model that also includes the given path.
+   */
+  public PlantModelCreationTO withPath(
+      @Nonnull
+      PathCreationTO path
+  ) {
+    requireNonNull(path, "path");
+    return new PlantModelCreationTO(
+        getName(),
+        getModifiableProperties(),
+        points,
+        listWithAppendix(paths, path),
+        locationTypes,
+        locations,
+        blocks,
+        vehicles,
+        visualLayout
+    );
+  }
+
+  /**
+   * Returns this plant model's location types.
+   *
+   * @return This plant model's location types.
+   */
+  public List<LocationTypeCreationTO> getLocationTypes() {
+    return Collections.unmodifiableList(locationTypes);
+  }
+
+  /**
+   * Creates a copy of this object with the given location type.
+   *
+   * @param locationTypes The new location types.
+   * @return A copy of this model, differing in the given location types.
+   */
+  public PlantModelCreationTO withLocationTypes(
+      @Nonnull
+      List<LocationTypeCreationTO> locationTypes
+  ) {
+    return new PlantModelCreationTO(
+        getName(),
+        getModifiableProperties(),
+        points,
+        paths,
+        locationTypes,
+        locations,
+        blocks,
+        vehicles,
+        visualLayout
+    );
+  }
+
+  /**
+   * Creates a copy of this object that includes the given path in the list of location types.
+   *
+   * @param locationType the new location type.
+   * @return A copy of this model that also includes the given location type.
+   */
+  public PlantModelCreationTO withLocationType(
+      @Nonnull
+      LocationTypeCreationTO locationType
+  ) {
+    requireNonNull(locationType, "locationType");
+    return new PlantModelCreationTO(
+        getName(),
+        getModifiableProperties(),
+        points,
+        paths,
+        listWithAppendix(locationTypes, locationType),
+        locations,
+        blocks,
+        vehicles,
+        visualLayout
+    );
+  }
+
+  /**
+   * Returns this plant model's locations.
+   *
+   * @return This plant model's locations.
+   */
+  public List<LocationCreationTO> getLocations() {
+    return Collections.unmodifiableList(locations);
+  }
+
+  /**
+   * Creates a copy of this object with the given locations.
+   *
+   * @param locations The new locations.
+   * @return A copy of this model, differing in the given locations.
+   */
+  public PlantModelCreationTO withLocations(
+      @Nonnull
+      List<LocationCreationTO> locations
+  ) {
+    return new PlantModelCreationTO(
+        getName(),
+        getModifiableProperties(),
+        points,
+        paths,
+        locationTypes,
+        locations,
+        blocks,
+        vehicles,
+        visualLayout
+    );
+  }
+
+  /**
+   * Creates a copy of this object that includes the given block in the list of locations.
+   *
+   * @param location the new location.
+   * @return A copy of this model that also includes the given location.
+   */
+  public PlantModelCreationTO withLocation(
+      @Nonnull
+      LocationCreationTO location
+  ) {
+    requireNonNull(location, "location");
+    return new PlantModelCreationTO(
+        getName(),
+        getModifiableProperties(),
+        points,
+        paths,
+        locationTypes,
+        listWithAppendix(locations, location),
+        blocks,
+        vehicles,
+        visualLayout
+    );
+  }
+
+  /**
+   * Returns this plant model's blocks.
+   *
+   * @return This plant model's blocks.
+   */
+  public List<BlockCreationTO> getBlocks() {
+    return Collections.unmodifiableList(blocks);
+  }
+
+  /**
+   * Creates a copy of this object with the given blocks.
+   *
+   * @param blocks The new blocks.
+   * @return A copy of this model, differing in the given blocks.
+   */
+  public PlantModelCreationTO withBlocks(
+      @Nonnull
+      List<BlockCreationTO> blocks
+  ) {
+    return new PlantModelCreationTO(
+        getName(),
+        getModifiableProperties(),
+        points,
+        paths,
+        locationTypes,
+        locations,
+        blocks,
+        vehicles,
+        visualLayout
+    );
+  }
+
+  /**
+   * Creates a copy of this object that includes the given block in the list of blocks.
+   *
+   * @param block the new block.
+   * @return A copy of this model that also includes the given block.
+   */
+  public PlantModelCreationTO withBlock(
+      @Nonnull
+      BlockCreationTO block
+  ) {
+    requireNonNull(block, "block");
+    return new PlantModelCreationTO(
+        getName(),
+        getModifiableProperties(),
+        points,
+        paths,
+        locationTypes,
+        locations,
+        CreationTO.listWithAppendix(blocks, block),
+        vehicles,
+        visualLayout
+    );
+  }
+
+  /**
+   * Returns this plant model's vehicles.
+   *
+   * @return This plant model's vehicles.
+   */
+  public List<VehicleCreationTO> getVehicles() {
+    return Collections.unmodifiableList(vehicles);
+  }
+
+  /**
+   * Creates a copy of this object with the given vehicles.
+   *
+   * @param vehicles The new vehicles.
+   * @return A copy of this model, differing in the given vehicles.
+   */
+  public PlantModelCreationTO withVehicles(
+      @Nonnull
+      List<VehicleCreationTO> vehicles
+  ) {
+    return new PlantModelCreationTO(
+        getName(),
+        getModifiableProperties(),
+        points,
+        paths,
+        locationTypes,
+        locations,
+        blocks,
+        vehicles,
+        visualLayout
+    );
+  }
+
+  /**
+   * Creates a copy of this object that includes the given vehicle in the list of vehicles.
+   *
+   * @param vehicle the new vehicle.
+   * @return A copy of this model that also includes the given vehicle.
+   */
+  public PlantModelCreationTO withVehicle(
+      @Nonnull
+      VehicleCreationTO vehicle
+  ) {
+    requireNonNull(vehicle, "vehicle");
+    return new PlantModelCreationTO(
+        getName(),
+        getModifiableProperties(),
+        points,
+        paths,
+        locationTypes,
+        locations,
+        blocks,
+        listWithAppendix(vehicles, vehicle),
+        visualLayout
+    );
+  }
+
+  /**
+   * Returns this plant model's visual layout.
+   *
+   * @return This plant model's visual layout.
+   */
+  public VisualLayoutCreationTO getVisualLayout() {
+    return visualLayout;
+  }
+
+  /**
+   * Creates a copy of this object with the given visual layout.
+   *
+   * @param visualLayout the new visual layout.
+   * @return A copy of this model with the given visual layout.
+   */
+  public PlantModelCreationTO withVisualLayout(
+      @Nonnull
+      VisualLayoutCreationTO visualLayout
+  ) {
+    requireNonNull(visualLayout, "visualLayout");
+    return new PlantModelCreationTO(
+        getName(),
+        getModifiableProperties(),
+        points,
+        paths,
+        locationTypes,
+        locations,
+        blocks,
+        vehicles,
+        ensureValidity(visualLayout)
+    );
+  }
+
+  /**
+   * Creates a copy of this object with the given properties.
+   *
+   * @param properties The new properties.
+   * @return A copy of this object, differing in the given properties.
+   */
+  @Override
+  public PlantModelCreationTO withProperties(
+      @Nonnull
+      Map<String, String> properties
+  ) {
+    return new PlantModelCreationTO(
+        getName(),
+        properties,
+        points,
+        paths,
+        locationTypes,
+        locations,
+        blocks,
+        vehicles,
+        visualLayout
+    );
+  }
+
+  /**
+   * Creates a copy of this object and adds the given property.
+   * If value == null, then the key-value pair is removed from the properties.
+   *
+   * @param key the key.
+   * @param value the value
+   * @return A copy of this object that either
+   * includes the given entry in it's current properties, if value != null or
+   * excludes the entry otherwise.
+   */
+  @Override
+  public PlantModelCreationTO withProperty(
+      @Nonnull
+      String key,
+      @Nonnull
+      String value
+  ) {
+    return new PlantModelCreationTO(
+        getName(),
+        propertiesWith(key, value),
+        points,
+        paths,
+        locationTypes,
+        locations,
+        blocks,
+        vehicles,
+        visualLayout
+    );
+  }
+
+  @Override
+  public String toString() {
+    return "PlantModelCreationTO{"
+        + "name=" + getName()
+        + ", points=" + points
+        + ", paths=" + paths
+        + ", locationTypes=" + locationTypes
+        + ", locations=" + locations
+        + ", blocks=" + blocks
+        + ", vehicles=" + vehicles
+        + ", visualLayout=" + visualLayout
+        + ", properties=" + getProperties()
+        + '}';
+  }
+
+  private VisualLayoutCreationTO defaultVisualLayout() {
+    return new VisualLayoutCreationTO(ModelConstants.DEFAULT_VISUAL_LAYOUT_NAME)
+        .withLayer(
+            new Layer(
+                ModelConstants.DEFAULT_LAYER_ID,
+                ModelConstants.DEFAULT_LAYER_ORDINAL,
+                true,
+                ModelConstants.DEFAULT_LAYER_NAME,
+                ModelConstants.DEFAULT_LAYER_GROUP_ID
+            )
+        )
+        .withLayerGroup(
+            new LayerGroup(
+                ModelConstants.DEFAULT_LAYER_GROUP_ID,
+                ModelConstants.DEFAULT_LAYER_GROUP_NAME,
+                true
+            )
+        );
+  }
+
+  private VisualLayoutCreationTO ensureValidity(
+      @Nonnull
+      VisualLayoutCreationTO visualLayout
+  ) {
+    VisualLayoutCreationTO vLayout = visualLayout;
+
+    if (visualLayout.getLayers().isEmpty()) {
+      LOG.warn("Adding default layer to visual layout with no layers...");
+      vLayout = visualLayout.withLayer(
+          new Layer(
+              ModelConstants.DEFAULT_LAYER_ID,
+              ModelConstants.DEFAULT_LAYER_ORDINAL,
+              true,
+              ModelConstants.DEFAULT_LAYER_NAME,
+              ModelConstants.DEFAULT_LAYER_GROUP_ID
+          )
+      );
+    }
+
+    if (visualLayout.getLayerGroups().isEmpty()) {
+      LOG.warn("Adding default layer group to visual layout with no layer groups...");
+      vLayout = vLayout.withLayerGroup(
+          new LayerGroup(
+              ModelConstants.DEFAULT_LAYER_GROUP_ID,
+              ModelConstants.DEFAULT_LAYER_GROUP_NAME,
+              true
+          )
+      );
+    }
+
+    return vLayout;
+  }
+}

opentcs-api-base/src/main/java/org/opentcs/access/to/model/PointCreationTO.java

@@ -0,0 +1,444 @@
+// SPDX-FileCopyrightText: The openTCS Authors
+// SPDX-License-Identifier: MIT
+package org.opentcs.access.to.model;
+
+import static java.util.Objects.requireNonNull;
+
+import jakarta.annotation.Nonnull;
+import java.io.Serializable;
+import java.util.Map;
+import org.opentcs.access.to.CreationTO;
+import org.opentcs.data.model.Couple;
+import org.opentcs.data.model.Envelope;
+import org.opentcs.data.model.Point;
+import org.opentcs.data.model.Pose;
+import org.opentcs.data.model.Triple;
+
+/**
+ * A transfer object describing a point in the plant model.
+ */
+public class PointCreationTO
+    extends
+      CreationTO
+    implements
+      Serializable {
+
+  /**
+   * The pose of the vehicle at this point.
+   */
+  private final Pose pose;
+  /**
+   * This point's type.
+   */
+  @Nonnull
+  private final Point.Type type;
+  /**
+   * A map of envelope keys to envelopes that vehicles located at this point may occupy.
+   */
+  private final Map<String, Envelope> vehicleEnvelopes;
+  /**
+   * The maximum bounding box (in mm) that a vehicle at this point is allowed to have.
+   */
+  private final BoundingBoxCreationTO maxVehicleBoundingBox;
+  /**
+   * The information regarding the graphical representation of this point.
+   */
+  private final Layout layout;
+
+  /**
+   * Creates a new instance.
+   *
+   * @param name The name of this point.
+   */
+  public PointCreationTO(
+      @Nonnull
+      String name
+  ) {
+    super(name);
+    this.pose = new Pose(new Triple(0, 0, 0), Double.NaN);
+    this.type = Point.Type.HALT_POSITION;
+    this.vehicleEnvelopes = Map.of();
+    this.maxVehicleBoundingBox
+        = new BoundingBoxCreationTO(1000, 1000, 1000);
+    this.layout = new Layout();
+  }
+
+  private PointCreationTO(
+      @Nonnull
+      String name,
+      @Nonnull
+      Map<String, String> properties,
+      @Nonnull
+      Pose pose,
+      @Nonnull
+      Point.Type type,
+      @Nonnull
+      Map<String, Envelope> vehicleEnvelopes,
+      @Nonnull
+      BoundingBoxCreationTO maxVehicleBoundingBox,
+      @Nonnull
+      Layout layout
+  ) {
+    super(name, properties);
+    this.pose = requireNonNull(pose, "pose");
+    requireNonNull(pose.getPosition(), "A point requires a pose with a position.");
+    this.type = requireNonNull(type, "type");
+    this.vehicleEnvelopes = requireNonNull(vehicleEnvelopes, "vehicleEnvelopes");
+    this.maxVehicleBoundingBox = requireNonNull(maxVehicleBoundingBox, "maxVehicleBoundingBox");
+    this.layout = requireNonNull(layout, "layout");
+  }
+
+  /**
+   * Creates a copy of this object with the given name.
+   *
+   * @param name The new name.
+   * @return A copy of this object, differing in the given name.
+   */
+  @Override
+  public PointCreationTO withName(
+      @Nonnull
+      String name
+  ) {
+    return new PointCreationTO(
+        name,
+        getModifiableProperties(),
+        pose,
+        type,
+        vehicleEnvelopes,
+        maxVehicleBoundingBox,
+        layout
+    );
+  }
+
+  /**
+   * Returns the pose of the vehicle at this point.
+   *
+   * @return The pose of the vehicle at this point.
+   */
+  @Nonnull
+  public Pose getPose() {
+    return pose;
+  }
+
+  /**
+   * Creates a copy of this object with the given pose.
+   *
+   * @param pose The new pose.
+   * @return A copy of this object, differing in the given position.
+   */
+  public PointCreationTO withPose(
+      @Nonnull
+      Pose pose
+  ) {
+    return new PointCreationTO(
+        getName(),
+        getModifiableProperties(),
+        pose,
+        type,
+        vehicleEnvelopes,
+        maxVehicleBoundingBox,
+        layout
+    );
+  }
+
+  /**
+   * Returns the type of this point.
+   *
+   * @return The type of this point.
+   */
+  @Nonnull
+  public Point.Type getType() {
+    return type;
+  }
+
+  /**
+   * Creates a copy of this object with the given type.
+   *
+   * @param type The new type.
+   * @return A copy of this object, differing in the given type.
+   */
+  public PointCreationTO withType(
+      @Nonnull
+      Point.Type type
+  ) {
+    return new PointCreationTO(
+        getName(),
+        getProperties(),
+        pose,
+        type,
+        vehicleEnvelopes,
+        maxVehicleBoundingBox,
+        layout
+    );
+  }
+
+  /**
+   * Creates a copy of this object with the given properties.
+   *
+   * @param properties The new properties.
+   * @return A copy of this object, differing in the given properties.
+   */
+  @Override
+  public PointCreationTO withProperties(
+      @Nonnull
+      Map<String, String> properties
+  ) {
+    return new PointCreationTO(
+        getName(),
+        properties,
+        pose,
+        type,
+        vehicleEnvelopes,
+        maxVehicleBoundingBox,
+        layout
+    );
+  }
+
+  /**
+   * Creates a copy of this object and adds the given property.
+   * If value == null, then the key-value pair is removed from the properties.
+   *
+   * @param key the key.
+   * @param value the value
+   * @return A copy of this object that either
+   * includes the given entry in its current properties, if value != null or
+   * excludes the entry otherwise.
+   */
+  @Override
+  public PointCreationTO withProperty(
+      @Nonnull
+      String key,
+      @Nonnull
+      String value
+  ) {
+    return new PointCreationTO(
+        getName(),
+        propertiesWith(key, value),
+        pose,
+        type,
+        vehicleEnvelopes,
+        maxVehicleBoundingBox,
+        layout
+    );
+  }
+
+  /**
+   * Returns a map of envelope keys to envelopes that vehicles located at this point may occupy.
+   *
+   * @return A map of envelope keys to envelopes that vehicles located at this point may occupy.
+   */
+  public Map<String, Envelope> getVehicleEnvelopes() {
+    return vehicleEnvelopes;
+  }
+
+  /**
+   * Creates a copy of this object, with the given vehicle envelopes.
+   *
+   * @param vehicleEnvelopes The value to be set in the copy.
+   * @return A copy of this object, differing in the given value.
+   */
+  public PointCreationTO withVehicleEnvelopes(
+      @Nonnull
+      Map<String, Envelope> vehicleEnvelopes
+  ) {
+    return new PointCreationTO(
+        getName(),
+        getModifiableProperties(),
+        pose,
+        type,
+        vehicleEnvelopes,
+        maxVehicleBoundingBox,
+        layout
+    );
+  }
+
+  /**
+   * Returns the maximum bounding box (in mm) that a vehicle at this point is allowed to have.
+   *
+   * @return The maximum bounding box (in mm) that a vehicle at this point is allowed to have.
+   */
+  public BoundingBoxCreationTO getMaxVehicleBoundingBox() {
+    return maxVehicleBoundingBox;
+  }
+
+  /**
+   * Creates a copy of this object, with the given maximum vehicle bounding box.
+   *
+   * @param maxVehicleBoundingBox The value to be set in the copy.
+   * @return A copy of this object, differing in the given value.
+   */
+  public PointCreationTO withMaxVehicleBoundingBox(BoundingBoxCreationTO maxVehicleBoundingBox) {
+    return new PointCreationTO(
+        getName(),
+        getModifiableProperties(),
+        pose,
+        type,
+        vehicleEnvelopes,
+        maxVehicleBoundingBox,
+        layout
+    );
+  }
+
+  /**
+   * Returns the information regarding the graphical representation of this point.
+   *
+   * @return The information regarding the graphical representation of this point.
+   */
+  public Layout getLayout() {
+    return layout;
+  }
+
+  /**
+   * Creates a copy of this object, with the given layout.
+   *
+   * @param layout The value to be set in the copy.
+   * @return A copy of this object, differing in the given value.
+   */
+  public PointCreationTO withLayout(Layout layout) {
+    return new PointCreationTO(
+        getName(),
+        getModifiableProperties(),
+        pose,
+        type,
+        vehicleEnvelopes,
+        maxVehicleBoundingBox,
+        layout
+    );
+  }
+
+  @Override
+  public String toString() {
+    return "PointCreationTO{"
+        + "name=" + getName()
+        + ", pose=" + pose
+        + ", type=" + type
+        + ", vehicleEnvelopes=" + vehicleEnvelopes
+        + ", layout=" + layout
+        + ", maxVehicleBoundingBox=" + maxVehicleBoundingBox
+        + ", properties=" + getProperties()
+        + '}';
+  }
+
+  /**
+   * Contains information regarding the graphical representation of a point.
+   */
+  public static class Layout
+      implements
+        Serializable {
+
+    /**
+     * The coordinates at which the point is to be drawn (in mm).
+     */
+    private final Couple position;
+    /**
+     * The offset of the label's position to the point's position (in lu).
+     */
+    private final Couple labelOffset;
+    /**
+     * The ID of the layer on which the point is to be drawn.
+     */
+    private final int layerId;
+
+    /**
+     * Creates a new instance.
+     */
+    public Layout() {
+      this(new Couple(0, 0), new Couple(0, 0), 0);
+    }
+
+    /**
+     * Creates a new instance.
+     *
+     * @param position The coordinates at which the point is to be drawn (in mm).
+     * @param labelOffset The offset of the label's position to the point's position (in lu).
+     * @param layerId The ID of the layer on which the point is to be drawn.
+     */
+    public Layout(
+        Couple position,
+        Couple labelOffset,
+        int layerId
+    ) {
+      this.position = requireNonNull(position, "position");
+      this.labelOffset = requireNonNull(labelOffset, "labelOffset");
+      this.layerId = layerId;
+    }
+
+    /**
+     * Returns the coordinates at which the point is to be drawn (in mm).
+     *
+     * @return The coordinates at which the point is to be drawn (in mm).
+     */
+    public Couple getPosition() {
+      return position;
+    }
+
+    /**
+     * Creates a copy of this object, with the given position.
+     *
+     * @param position The value to be set in the copy.
+     * @return A copy of this object, differing in the given value.
+     */
+    public Layout withPosition(Couple position) {
+      return new Layout(
+          position,
+          labelOffset,
+          layerId
+      );
+    }
+
+    /**
+     * Returns the offset of the label's position to the point's position (in lu).
+     *
+     * @return The offset of the label's position to the point's position (in lu).
+     */
+    public Couple getLabelOffset() {
+      return labelOffset;
+    }
+
+    /**
+     * Creates a copy of this object, with the given X label offset.
+     *
+     * @param labelOffset The value to be set in the copy.
+     * @return A copy of this object, differing in the given value.
+     */
+    public Layout withLabelOffset(Couple labelOffset) {
+      return new Layout(
+          position,
+          labelOffset,
+          layerId
+      );
+    }
+
+    /**
+     * Returns the ID of the layer on which the point is to be drawn.
+     *
+     * @return The layer ID.
+     */
+    public int getLayerId() {
+      return layerId;
+    }
+
+    /**
+     * Creates a copy of this object, with the given layer ID.
+     *
+     * @param layerId The value to be set in the copy.
+     * @return A copy of this object, differing in the given value.
+     */
+    public Layout withLayerId(int layerId) {
+      return new Layout(
+          position,
+          labelOffset,
+          layerId
+      );
+    }
+
+    @Override
+    public String toString() {
+      return "Layout{"
+          + "position=" + position
+          + ", labelOffset=" + labelOffset
+          + ", layerId=" + layerId
+          + '}';
+    }
+  }
+}

opentcs-api-base/src/main/java/org/opentcs/access/to/model/VehicleCreationTO.java

@@ -0,0 +1,729 @@
+// SPDX-FileCopyrightText: The openTCS Authors
+// SPDX-License-Identifier: MIT
+package org.opentcs.access.to.model;
+
+import static java.util.Objects.requireNonNull;
+import static org.opentcs.util.Assertions.checkInRange;
+
+import jakarta.annotation.Nonnull;
+import jakarta.annotation.Nullable;
+import java.awt.Color;
+import java.io.Serializable;
+import java.util.Map;
+import org.opentcs.access.to.CreationTO;
+import org.opentcs.util.annotations.ScheduledApiChange;
+
+/**
+ * A transfer object describing a block in the plant model.
+ */
+public class VehicleCreationTO
+    extends
+      CreationTO
+    implements
+      Serializable {
+
+  /**
+   * The vehicle's bounding box (in mm).
+   */
+  private final BoundingBoxCreationTO boundingBox;
+  /**
+   * Contains information regarding the energy level threshold values of the vehicle.
+   */
+  private final EnergyLevelThresholdSet energyLevelThresholdSet;
+  /**
+   * The vehicle's maximum velocity (in mm/s).
+   */
+  private final int maxVelocity;
+  /**
+   * The vehicle's maximum reverse velocity (in mm/s).
+   */
+  private final int maxReverseVelocity;
+  /**
+   * The key for selecting the envelope to be used for resources the vehicle occupies.
+   */
+  private final String envelopeKey;
+  /**
+   * The information regarding the graphical representation of this vehicle.
+   */
+  private final Layout layout;
+
+  /**
+   * Creates a new instance.
+   *
+   * @param name The name of this vehicle.
+   */
+  public VehicleCreationTO(
+      @Nonnull
+      String name
+  ) {
+    super(name);
+    this.boundingBox = new BoundingBoxCreationTO(1000, 1000, 1000);
+    this.energyLevelThresholdSet = new EnergyLevelThresholdSet(30, 90, 30, 90);
+    this.maxVelocity = 1000;
+    this.maxReverseVelocity = 1000;
+    this.envelopeKey = null;
+    this.layout = new Layout();
+  }
+
+  private VehicleCreationTO(
+      @Nonnull
+      String name,
+      @Nonnull
+      Map<String, String> properties,
+      @Nonnull
+      BoundingBoxCreationTO boundingBox,
+      @Nonnull
+      EnergyLevelThresholdSet energyLevelThresholdSet,
+      int maxVelocity,
+      int maxReverseVelocity,
+      @Nullable
+      String envelopeKey,
+      @Nonnull
+      Layout layout
+  ) {
+    super(name, properties);
+    this.boundingBox = requireNonNull(boundingBox, "boundingBox");
+    this.energyLevelThresholdSet
+        = requireNonNull(energyLevelThresholdSet, "energyLevelThresholdSet");
+    this.maxVelocity = maxVelocity;
+    this.maxReverseVelocity = maxReverseVelocity;
+    this.envelopeKey = envelopeKey;
+    this.layout = requireNonNull(layout, "layout");
+  }
+
+  /**
+   * Creates a copy of this object with the given name.
+   *
+   * @param name The new instance.
+   * @return A copy of this object, differing in the given name.
+   */
+  @Override
+  public VehicleCreationTO withName(
+      @Nonnull
+      String name
+  ) {
+    return new VehicleCreationTO(
+        name,
+        getModifiableProperties(),
+        boundingBox,
+        energyLevelThresholdSet,
+        maxVelocity,
+        maxReverseVelocity,
+        envelopeKey,
+        layout
+    );
+  }
+
+  /**
+   * Creates a copy of this object with the given properties.
+   *
+   * @param properties The new properties.
+   * @return A copy of this object, differing in the given properties.
+   */
+  @Override
+  public VehicleCreationTO withProperties(
+      @Nonnull
+      Map<String, String> properties
+  ) {
+    return new VehicleCreationTO(
+        getName(),
+        properties,
+        boundingBox,
+        energyLevelThresholdSet,
+        maxVelocity,
+        maxReverseVelocity,
+        envelopeKey,
+        layout
+    );
+  }
+
+  /**
+   * Creates a copy of this object and adds the given property.
+   * If value == null, then the key-value pair is removed from the properties.
+   *
+   * @param key the key.
+   * @param value the value
+   * @return A copy of this object that either
+   * includes the given entry in its current properties, if value != null or
+   * excludes the entry otherwise.
+   */
+  @Override
+  public VehicleCreationTO withProperty(
+      @Nonnull
+      String key,
+      @Nonnull
+      String value
+  ) {
+    return new VehicleCreationTO(
+        getName(),
+        propertiesWith(key, value),
+        boundingBox,
+        energyLevelThresholdSet,
+        maxVelocity,
+        maxReverseVelocity,
+        envelopeKey,
+        layout
+    );
+  }
+
+  /**
+   * Returns the vehicle's current bounding box (in mm).
+   *
+   * @return The vehicle's current bounding box (in mm).
+   */
+  public BoundingBoxCreationTO getBoundingBox() {
+    return boundingBox;
+  }
+
+  /**
+   * Creates a copy of this object, with the given bounding box (in mm).
+   *
+   * @param boundingBox The new bounding box.
+   * @return A copy of this object, differing in the given vehicle bounding box.
+   */
+  public VehicleCreationTO withBoundingBox(BoundingBoxCreationTO boundingBox) {
+    return new VehicleCreationTO(
+        getName(),
+        getModifiableProperties(),
+        boundingBox,
+        energyLevelThresholdSet,
+        maxVelocity,
+        maxReverseVelocity,
+        envelopeKey,
+        layout
+    );
+  }
+
+  /**
+   * Returns the vehicle's length (in mm).
+   *
+   * @return The vehicle's length (in mm).
+   * @deprecated Use {@link #getBoundingBox()} instead.
+   */
+  @Deprecated
+  @ScheduledApiChange(when = "7.0", details = "Will be removed.")
+  public int getLength() {
+    return (int) boundingBox.getLength();
+  }
+
+  /**
+   * Creates a copy of this object with the vehicle's given length (in mm).
+   *
+   * @param length The new length. Must be at least 1.
+   * @return A copy of this object, differing in the given vehicle length.
+   * @deprecated Use {@link #withBoundingBox(BoundingBoxCreationTO)} instead.
+   */
+  @Deprecated
+  @ScheduledApiChange(when = "7.0", details = "Will be removed.")
+  public VehicleCreationTO withLength(int length) {
+    return withBoundingBox(boundingBox.withLength(length));
+  }
+
+  /**
+   * Returns this vehicle's critical energy level (in percent of the maximum).
+   * The critical energy level is the one at/below which the vehicle should be recharged.
+   *
+   * @return This vehicle's critical energy level.
+   * @deprecated Use {@link #getEnergyLevelThresholdSet()} instead.
+   */
+  @Deprecated
+  @ScheduledApiChange(when = "7.0", details = "Will be removed.")
+  public int getEnergyLevelCritical() {
+    return energyLevelThresholdSet.getEnergyLevelCritical();
+  }
+
+  /**
+   * Creates a copy of this object with the given critical energy level.
+   * The critical energy level is the one at/below which the vehicle should be recharged.
+   *
+   * @param energyLevelCritical The new critical energy level. Must not be smaller than 0 or
+   * greater than 100.
+   * @return A copy of this object, differing in the given value.
+   * @deprecated Use {@link #withEnergyLevelThresholdSet(EnergyLevelThresholdSet)} instead.
+   */
+  @Deprecated
+  @ScheduledApiChange(when = "7.0", details = "Will be removed.")
+  public VehicleCreationTO withEnergyLevelCritical(int energyLevelCritical) {
+    return withEnergyLevelThresholdSet(
+        getEnergyLevelThresholdSet().withEnergyLevelCritical(energyLevelCritical)
+    );
+  }
+
+  /**
+   * Returns this vehicle's good energy level (in percent of the maximum).
+   * The good energy level is the one at/above which the vehicle can be dispatched again when
+   * charging.
+   *
+   * @return This vehicle's good energy level.
+   * @deprecated Use {@link #getEnergyLevelThresholdSet()} instead.
+   */
+  @Deprecated
+  @ScheduledApiChange(when = "7.0", details = "Will be removed.")
+  public int getEnergyLevelGood() {
+    return energyLevelThresholdSet.getEnergyLevelGood();
+  }
+
+  /**
+   * Creates a copy of this object with the vehicle's good energy level (in percent of the maximum).
+   * The good energy level is the one at/above which the vehicle can be dispatched again when
+   * charging.
+   *
+   * @param energyLevelGood The new good energy level. Must not be smaller than 0 or greater than
+   * 100.
+   * @return A copy of this object, differing in the given value.
+   * @deprecated Use {@link #withEnergyLevelThresholdSet(EnergyLevelThresholdSet)} instead.
+   */
+  @Deprecated
+  @ScheduledApiChange(when = "7.0", details = "Will be removed.")
+  public VehicleCreationTO withEnergyLevelGood(int energyLevelGood) {
+    return withEnergyLevelThresholdSet(
+        getEnergyLevelThresholdSet().withEnergyLevelGood(energyLevelGood)
+    );
+  }
+
+  /**
+   * Returns this vehicle's fully recharged energy level (in percent of the maximum).
+   *
+   * @return This vehicle's fully recharged energy level.
+   * @deprecated Use {@link #getEnergyLevelThresholdSet()} instead.
+   */
+  @Deprecated
+  @ScheduledApiChange(when = "7.0", details = "Will be removed.")
+  public int getEnergyLevelFullyRecharged() {
+    return energyLevelThresholdSet.getEnergyLevelFullyRecharged();
+  }
+
+  /**
+   * Creates a copy of this object with the vehicle's fully recharged energy level (in percent of
+   * the maximum).
+   *
+   * @param energyLevelFullyRecharged The new fully recharged energy level.
+   * Must not be smaller than 0 or greater than 100.
+   * @return A copy of this object, differing in the given value.
+   * @deprecated Use {@link #withEnergyLevelThresholdSet(EnergyLevelThresholdSet)} instead.
+   */
+  @Deprecated
+  @ScheduledApiChange(when = "7.0", details = "Will be removed.")
+  public VehicleCreationTO withEnergyLevelFullyRecharged(int energyLevelFullyRecharged) {
+    return withEnergyLevelThresholdSet(
+        getEnergyLevelThresholdSet().withEnergyLevelFullyRecharged(energyLevelFullyRecharged)
+    );
+  }
+
+  /**
+   * Returns this vehicle's sufficiently recharged energy level (in percent of the maximum).
+   *
+   * @return This vehicle's sufficiently recharged energy level.
+   * @deprecated Use {@link #getEnergyLevelThresholdSet()} instead.
+   */
+  @Deprecated
+  @ScheduledApiChange(when = "7.0", details = "Will be removed.")
+  public int getEnergyLevelSufficientlyRecharged() {
+    return energyLevelThresholdSet.getEnergyLevelSufficientlyRecharged();
+  }
+
+  /**
+   * Creates a copy of this object with the vehicle's sufficiently recharged energy level (in
+   * percent of the maximum).
+   *
+   * @param energyLevelSufficientlyRecharged The new sufficiently recharged energy level.
+   * Must not be smaller than 0 or greater than 100.
+   * @return A copy of this object, differing in the given value.
+   * @deprecated Use {@link #withEnergyLevelThresholdSet(EnergyLevelThresholdSet)} instead.
+   */
+  @Deprecated
+  @ScheduledApiChange(when = "7.0", details = "Will be removed.")
+  public VehicleCreationTO withEnergyLevelSufficientlyRecharged(
+      int energyLevelSufficientlyRecharged
+  ) {
+    return withEnergyLevelThresholdSet(
+        getEnergyLevelThresholdSet()
+            .withEnergyLevelSufficientlyRecharged(energyLevelSufficientlyRecharged)
+    );
+  }
+
+  /**
+   * Returns this vehicle's energy level threshold set.
+   *
+   * @return This vehicle's energy level threshold set.
+   */
+  @Nonnull
+  public EnergyLevelThresholdSet getEnergyLevelThresholdSet() {
+    return energyLevelThresholdSet;
+  }
+
+  /**
+   * Creates a copy of this object, with the given EnergyLevelThresholdSet.
+   *
+   * @param energyLevelThresholdSet The new EnergyLevelThresholdSet.
+   * @return A copy of this object, differing in the given value.
+   */
+  public VehicleCreationTO withEnergyLevelThresholdSet(
+      @Nonnull
+      EnergyLevelThresholdSet energyLevelThresholdSet
+  ) {
+    return new VehicleCreationTO(
+        getName(),
+        getModifiableProperties(),
+        boundingBox,
+        energyLevelThresholdSet,
+        maxVelocity,
+        maxReverseVelocity,
+        envelopeKey,
+        layout
+    );
+  }
+
+  public int getMaxVelocity() {
+    return maxVelocity;
+  }
+
+  /**
+   * Creates a copy of this object with the given maximum velocity (in mm/s).
+   *
+   * @param maxVelocity the new max velocity.
+   * @return A copy of this object, differing in the given value.
+   */
+  public VehicleCreationTO withMaxVelocity(int maxVelocity) {
+    checkInRange(maxVelocity, 0, Integer.MAX_VALUE);
+    return new VehicleCreationTO(
+        getName(),
+        getModifiableProperties(),
+        boundingBox,
+        energyLevelThresholdSet,
+        maxVelocity,
+        maxReverseVelocity,
+        envelopeKey,
+        layout
+    );
+  }
+
+  public int getMaxReverseVelocity() {
+    return maxReverseVelocity;
+  }
+
+  /**
+   * Creates a copy of this object with the given maximum reverse velocity (in mm/s).
+   *
+   * @param maxReverseVelocity the new maximum reverse velocity.
+   * @return A copy of this object, differing in the given value.
+   */
+  public VehicleCreationTO withMaxReverseVelocity(int maxReverseVelocity) {
+    checkInRange(maxReverseVelocity, 0, Integer.MAX_VALUE);
+    return new VehicleCreationTO(
+        getName(),
+        getModifiableProperties(),
+        boundingBox,
+        energyLevelThresholdSet,
+        maxVelocity,
+        maxReverseVelocity,
+        envelopeKey,
+        layout
+    );
+  }
+
+  /**
+   * Returns the key for selecting the envelope to be used for resources the vehicle occupies.
+   *
+   * @return The key for selecting the envelope to be used for resources the vehicle occupies.
+   */
+  @ScheduledApiChange(when = "7.0", details = "Envelope key will become non-null.")
+  @Nullable
+  public String getEnvelopeKey() {
+    return envelopeKey;
+  }
+
+  /**
+   *
+   * Creates a copy of this object, with the given envelope key.
+   *
+   * @param envelopeKey The value to be set in the copy.
+   * @return A copy of this object, differing in the given value.
+   */
+  @ScheduledApiChange(when = "7.0", details = "Envelope key will become non-null.")
+  public VehicleCreationTO withEnvelopeKey(
+      @Nullable
+      String envelopeKey
+  ) {
+    return new VehicleCreationTO(
+        getName(),
+        getModifiableProperties(),
+        boundingBox,
+        energyLevelThresholdSet,
+        maxVelocity,
+        maxReverseVelocity,
+        envelopeKey,
+        layout
+    );
+  }
+
+  /**
+   * Returns the information regarding the graphical representation of this vehicle.
+   *
+   * @return The information regarding the graphical representation of this vehicle.
+   */
+  public Layout getLayout() {
+    return layout;
+  }
+
+  /**
+   * Creates a copy of this object, with the given layout.
+   *
+   * @param layout The value to be set in the copy.
+   * @return A copy of this object, differing in the given value.
+   */
+  public VehicleCreationTO withLayout(Layout layout) {
+    return new VehicleCreationTO(
+        getName(),
+        getModifiableProperties(),
+        boundingBox,
+        energyLevelThresholdSet,
+        maxVelocity,
+        maxReverseVelocity,
+        envelopeKey,
+        layout
+    );
+  }
+
+  @Override
+  public String toString() {
+    return "VehicleCreationTO{"
+        + "name=" + getName()
+        + ", boundingBox=" + boundingBox
+        + ", energyLevelThresholdSet=" + energyLevelThresholdSet
+        + ", maxVelocity=" + maxVelocity
+        + ", maxReverseVelocity=" + maxReverseVelocity
+        + ", envelopeKey=" + envelopeKey
+        + ", layout=" + layout
+        + ", properties=" + getProperties()
+        + '}';
+  }
+
+  /**
+   * Contains information regarding the graphical representation of a vehicle.
+   */
+  public static class Layout
+      implements
+        Serializable {
+
+    /**
+     * The color in which vehicle routes are to be emphasized.
+     */
+    private final Color routeColor;
+
+    /**
+     * Creates a new instance.
+     */
+    public Layout() {
+      this(Color.RED);
+    }
+
+    /**
+     * Creates a new instance.
+     *
+     * @param routeColor The color in which vehicle routes are to be emphasized.
+     */
+    public Layout(Color routeColor) {
+      this.routeColor = requireNonNull(routeColor, "routeColor");
+    }
+
+    /**
+     * Returns the color in which vehicle routes are to be emphasized.
+     *
+     * @return The color in which vehicle routes are to be emphasized.
+     */
+    public Color getRouteColor() {
+      return routeColor;
+    }
+
+    /**
+     * Creates a copy of this object, with the given color.
+     *
+     * @param routeColor The value to be set in the copy.
+     * @return A copy of this object, differing in the given value.
+     */
+    public Layout withRouteColor(Color routeColor) {
+      return new Layout(routeColor);
+    }
+
+    @Override
+    public String toString() {
+      return "Layout{"
+          + "routeColor=" + routeColor
+          + '}';
+    }
+  }
+
+  /**
+   * Contains information regarding the energy level threshold values of a vehicle.
+   */
+  public static class EnergyLevelThresholdSet
+      implements
+        Serializable {
+
+    private final int energyLevelCritical;
+    private final int energyLevelGood;
+    private final int energyLevelSufficientlyRecharged;
+    private final int energyLevelFullyRecharged;
+
+    /**
+     * Creates a new instance.
+     *
+     * @param energyLevelCritical The value at/below which the vehicle's energy level is considered
+     * "critical".
+     * @param energyLevelGood The value at/above which the vehicle's energy level is considered
+     * "good".
+     * @param energyLevelSufficientlyRecharged The value at/above which the vehicle's energy level
+     * is considered fully recharged.
+     * @param energyLevelFullyRecharged The value at/above which the vehicle's energy level is
+     * considered sufficiently recharged.
+     */
+    public EnergyLevelThresholdSet(
+        int energyLevelCritical,
+        int energyLevelGood,
+        int energyLevelSufficientlyRecharged,
+        int energyLevelFullyRecharged
+    ) {
+      this.energyLevelCritical = checkInRange(
+          energyLevelCritical,
+          0,
+          100,
+          "energyLevelCritical"
+      );
+      this.energyLevelGood = checkInRange(
+          energyLevelGood,
+          0,
+          100,
+          "energyLevelGood"
+      );
+      this.energyLevelSufficientlyRecharged = checkInRange(
+          energyLevelSufficientlyRecharged,
+          0,
+          100,
+          "energyLevelSufficientlyRecharged"
+      );
+      this.energyLevelFullyRecharged = checkInRange(
+          energyLevelFullyRecharged,
+          0,
+          100,
+          "energyLevelFullyRecharged"
+      );
+    }
+
+    /**
+     * Returns the vehicle's critical energy level (in percent of the maximum).
+     * <p>
+     * The critical energy level is the one at/below which the vehicle should be recharged.
+     * </p>
+     *
+     * @return The vehicle's critical energy level.
+     */
+    public int getEnergyLevelCritical() {
+      return energyLevelCritical;
+    }
+
+    /**
+     * Creates a copy of this object, with the given critical energy level.
+     *
+     * @param energyLevelCritical The value to be set in the copy.
+     * @return A copy of this object, differing in the given value.
+     */
+    public EnergyLevelThresholdSet withEnergyLevelCritical(int energyLevelCritical) {
+      return new EnergyLevelThresholdSet(
+          energyLevelCritical,
+          energyLevelGood,
+          energyLevelSufficientlyRecharged,
+          energyLevelFullyRecharged
+      );
+    }
+
+    /**
+     * Returns the vehicle's good energy level (in percent of the maximum).
+     * <p>
+     * The good energy level is the one at/above which the vehicle can be dispatched again when
+     * charging.
+     * </p>
+     *
+     * @return The vehicle's good energy level.
+     */
+    public int getEnergyLevelGood() {
+      return energyLevelGood;
+    }
+
+    /**
+     * Creates a copy of this object, with the given good energy level.
+     *
+     * @param energyLevelGood The value to be set in the copy.
+     * @return A copy of this object, differing in the given value.
+     */
+    public EnergyLevelThresholdSet withEnergyLevelGood(int energyLevelGood) {
+      return new EnergyLevelThresholdSet(
+          energyLevelCritical,
+          energyLevelGood,
+          energyLevelSufficientlyRecharged,
+          energyLevelFullyRecharged
+      );
+    }
+
+    /**
+     * Returns the vehicle's energy level for being sufficiently recharged (in percent of the
+     * maximum).
+     *
+     * @return This vehicle's sufficiently recharged energy level.
+     */
+    public int getEnergyLevelSufficientlyRecharged() {
+      return energyLevelSufficientlyRecharged;
+    }
+
+    /**
+     * Creates a copy of this object, with the given sufficiently recharged energy level.
+     *
+     * @param energyLevelSufficientlyRecharged The value to be set in the copy.
+     * @return A copy of this object, differing in the given value.
+     */
+    public EnergyLevelThresholdSet withEnergyLevelSufficientlyRecharged(
+        int energyLevelSufficientlyRecharged
+    ) {
+      return new EnergyLevelThresholdSet(
+          energyLevelCritical,
+          energyLevelGood,
+          energyLevelSufficientlyRecharged,
+          energyLevelFullyRecharged
+      );
+    }
+
+    /**
+     * Returns the vehicle's energy level for being fully recharged (in percent of the maximum).
+     *
+     * @return The vehicle's fully recharged threshold.
+     */
+    public int getEnergyLevelFullyRecharged() {
+      return energyLevelFullyRecharged;
+    }
+
+    /**
+     * Creates a copy of this object, with the given fully recharged energy level.
+     *
+     * @param energyLevelFullyRecharged The value to be set in the copy.
+     * @return A copy of this object, differing in the given value.
+     */
+    public EnergyLevelThresholdSet withEnergyLevelFullyRecharged(int energyLevelFullyRecharged) {
+      return new EnergyLevelThresholdSet(
+          energyLevelCritical,
+          energyLevelGood,
+          energyLevelSufficientlyRecharged,
+          energyLevelFullyRecharged
+      );
+    }
+
+    @Override
+    public String toString() {
+      return "EnergyLevelThresholdSet{"
+          + "energyLevelCritical=" + energyLevelCritical
+          + ", energyLevelGood=" + energyLevelGood
+          + ", energyLevelSufficientlyRecharged=" + energyLevelSufficientlyRecharged
+          + ", energyLevelFullyRecharged=" + energyLevelFullyRecharged
+          + '}';
+    }
+  }
+}

opentcs-api-base/src/main/java/org/opentcs/access/to/model/VisualLayoutCreationTO.java

@@ -0,0 +1,311 @@
+// SPDX-FileCopyrightText: The openTCS Authors
+// SPDX-License-Identifier: MIT
+package org.opentcs.access.to.model;
+
+import static java.util.Objects.requireNonNull;
+
+import jakarta.annotation.Nonnull;
+import java.io.Serializable;
+import java.util.Collections;
+import java.util.List;
+import java.util.Map;
+import org.opentcs.access.to.CreationTO;
+import org.opentcs.data.model.visualization.Layer;
+import org.opentcs.data.model.visualization.LayerGroup;
+
+/**
+ * A transfer object describing a visual layout in the plant model.
+ */
+public class VisualLayoutCreationTO
+    extends
+      CreationTO
+    implements
+      Serializable {
+
+  /**
+   * This layout's scale on the X axis (in mm/pixel).
+   */
+  private final double scaleX;
+  /**
+   * This layout's scale on the Y axis (in mm/pixel).
+   */
+  private final double scaleY;
+  /**
+   * This layout's layers.
+   */
+  private final List<Layer> layers;
+  /**
+   * The layout's layer groups.
+   */
+  private final List<LayerGroup> layerGroups;
+
+  /**
+   * Creates a new instance.
+   *
+   * @param name The name of this visual layout.
+   */
+  public VisualLayoutCreationTO(
+      @Nonnull
+      String name
+  ) {
+    super(name);
+
+    this.scaleX = 50.0;
+    this.scaleY = 50.0;
+    this.layers = List.of();
+    this.layerGroups = List.of();
+  }
+
+  private VisualLayoutCreationTO(
+      @Nonnull
+      String name,
+      @Nonnull
+      Map<String, String> properties,
+      double scaleX,
+      double scaleY,
+      @Nonnull
+      List<Layer> layers,
+      @Nonnull
+      List<LayerGroup> layerGroups
+  ) {
+    super(name, properties);
+    this.scaleX = scaleX;
+    this.scaleY = scaleY;
+    this.layers = requireNonNull(layers, "layers");
+    this.layerGroups = requireNonNull(layerGroups, "layerGroups");
+  }
+
+  /**
+   * Creates a copy of this object with the given name.
+   *
+   * @param name the new name of the instance.
+   * @return A copy of this object, differing in the given value.
+   */
+  @Override
+  public VisualLayoutCreationTO withName(
+      @Nonnull
+      String name
+  ) {
+    return new VisualLayoutCreationTO(
+        name,
+        getModifiableProperties(),
+        scaleX,
+        scaleY,
+        layers,
+        layerGroups
+    );
+  }
+
+  /**
+   * Creates a copy of this object with the given properties.
+   *
+   * @param properties The new properties.
+   * @return A copy of this object, differing in the given value.
+   */
+  @Override
+  public VisualLayoutCreationTO withProperties(
+      @Nonnull
+      Map<String, String> properties
+  ) {
+    return new VisualLayoutCreationTO(
+        getName(),
+        properties,
+        scaleX,
+        scaleY,
+        layers,
+        layerGroups
+    );
+  }
+
+  /**
+   * Creates a copy of this object and adds the given property.
+   * If value == null, then the key-value pair is removed from the properties.
+   *
+   * @param key the key.
+   * @param value the value
+   * @return A copy of this object that either
+   * includes the given entry in it's current properties, if value != null or
+   * excludes the entry otherwise.
+   */
+  @Override
+  public VisualLayoutCreationTO withProperty(
+      @Nonnull
+      String key,
+      @Nonnull
+      String value
+  ) {
+    return new VisualLayoutCreationTO(
+        getName(),
+        propertiesWith(key, value),
+        scaleX,
+        scaleY,
+        layers,
+        layerGroups
+    );
+  }
+
+  /**
+   * Returns this layout's scale on the X axis (in mm/pixel).
+   *
+   * @return This layout's scale on the X axis.
+   */
+  public double getScaleX() {
+    return scaleX;
+  }
+
+  /**
+   * Creates a copy of this object with the layout's scale on the X axis (in mm/pixel).
+   *
+   * @param scaleX The new scale.
+   * @return A copy of this object, differing in the given value.
+   */
+  public VisualLayoutCreationTO withScaleX(double scaleX) {
+    return new VisualLayoutCreationTO(
+        getName(),
+        getModifiableProperties(),
+        scaleX,
+        scaleY,
+        layers,
+        layerGroups
+    );
+  }
+
+  /**
+   * Returns this layout's scale on the Y axis (in mm/pixel).
+   *
+   * @return This layout's scale on the Y axis.
+   */
+  public double getScaleY() {
+    return scaleY;
+  }
+
+  /**
+   * Creates a copy of this object with the given layout's scale on the Y axis (in mm/pixel).
+   *
+   * @param scaleY The new scale.
+   * @return A copy of this object, differing in the given value.
+   */
+  public VisualLayoutCreationTO withScaleY(double scaleY) {
+    return new VisualLayoutCreationTO(
+        getName(),
+        getModifiableProperties(),
+        scaleX,
+        scaleY,
+        layers,
+        layerGroups
+    );
+  }
+
+  /**
+   * Returns the layers of this visual layout.
+   *
+   * @return The layers of this visual layout.
+   */
+  @Nonnull
+  public List<Layer> getLayers() {
+    return Collections.unmodifiableList(layers);
+  }
+
+  /**
+   * Creates a copy of this object, with the given layers.
+   *
+   * @param layers The value to be set in the copy.
+   * @return A copy of this object, differing in the given value.
+   */
+  public VisualLayoutCreationTO withLayers(
+      @Nonnull
+      List<Layer> layers
+  ) {
+    return new VisualLayoutCreationTO(
+        getName(),
+        getModifiableProperties(),
+        scaleX,
+        scaleY,
+        layers,
+        layerGroups
+    );
+  }
+
+  /**
+   * Creates a copy of this object, with the given layer.
+   *
+   * @param layer The value to be set in the copy.
+   * @return A copy of this object, differing in the given value.
+   */
+  public VisualLayoutCreationTO withLayer(
+      @Nonnull
+      Layer layer
+  ) {
+    return new VisualLayoutCreationTO(
+        getName(),
+        getModifiableProperties(),
+        scaleX,
+        scaleY,
+        listWithAppendix(layers, layer),
+        layerGroups
+    );
+  }
+
+  /**
+   * Returns the layer groups of this visual layout.
+   *
+   * @return The layer groups of this visual layout.
+   */
+  @Nonnull
+  public List<LayerGroup> getLayerGroups() {
+    return Collections.unmodifiableList(layerGroups);
+  }
+
+  /**
+   * Creates a copy of this object, with the given layer groups.
+   *
+   * @param layerGroups The value to be set in the copy.
+   * @return A copy of this object, differing in the given value.
+   */
+  public VisualLayoutCreationTO withLayerGroups(
+      @Nonnull
+      List<LayerGroup> layerGroups
+  ) {
+    return new VisualLayoutCreationTO(
+        getName(),
+        getModifiableProperties(),
+        scaleX,
+        scaleY,
+        layers,
+        layerGroups
+    );
+  }
+
+  /**
+   * Creates a copy of this object, with the given layer group.
+   *
+   * @param layerGroup The value to be set in the copy.
+   * @return A copy of this object, differing in the given value.
+   */
+  public VisualLayoutCreationTO withLayerGroup(
+      @Nonnull
+      LayerGroup layerGroup
+  ) {
+    return new VisualLayoutCreationTO(
+        getName(),
+        getModifiableProperties(),
+        scaleX,
+        scaleY,
+        layers,
+        listWithAppendix(layerGroups, layerGroup)
+    );
+  }
+
+  @Override
+  public String toString() {
+    return "VisualLayoutCreationTO{"
+        + "name=" + getName()
+        + ", scaleX=" + scaleX
+        + ", scaleY=" + scaleY
+        + ", layers=" + layers
+        + ", layerGroups=" + layerGroups
+        + ", properties=" + getProperties()
+        + '}';
+  }
+
+}

opentcs-api-base/src/main/java/org/opentcs/access/to/model/package-info.java

@@ -0,0 +1,6 @@
+// SPDX-FileCopyrightText: The openTCS Authors
+// SPDX-License-Identifier: MIT
+/**
+ * Transfer object classes for plant model objects.
+ */
+package org.opentcs.access.to.model;

opentcs-api-base/src/main/java/org/opentcs/access/to/order/DestinationCreationTO.java

@@ -0,0 +1,177 @@
+// SPDX-FileCopyrightText: The openTCS Authors
+// SPDX-License-Identifier: MIT
+package org.opentcs.access.to.order;
+
+import static java.util.Objects.requireNonNull;
+
+import jakarta.annotation.Nonnull;
+import java.io.Serializable;
+import java.util.Map;
+import org.opentcs.access.to.CreationTO;
+
+/**
+ * A transfer object describing a destination of a drive order.
+ */
+public class DestinationCreationTO
+    extends
+      CreationTO
+    implements
+      Serializable {
+
+  /**
+   * The name of the destination location (or point).
+   */
+  @Nonnull
+  private final String destLocationName;
+  /**
+   * The operation to be performed at the destination.
+   */
+  @Nonnull
+  private final String destOperation;
+
+  /**
+   * Creates a new instance.
+   *
+   * @param destLocationName The name of the destination location (or destination point).
+   * @param destOperation The operation to be performed at the destination.
+   */
+  public DestinationCreationTO(
+      @Nonnull
+      String destLocationName,
+      @Nonnull
+      String destOperation
+  ) {
+    super("");
+    this.destLocationName = requireNonNull(destLocationName, "destLocationName");
+    this.destOperation = requireNonNull(destOperation, "destOperation");
+  }
+
+  private DestinationCreationTO(
+      @Nonnull
+      String destLocationName,
+      @Nonnull
+      String destOperation,
+      @Nonnull
+      String name,
+      @Nonnull
+      Map<String, String> properties
+  ) {
+    super(name, properties);
+    this.destLocationName = requireNonNull(destLocationName, "destLocationName");
+    this.destOperation = requireNonNull(destOperation, "destOperation");
+  }
+
+  /**
+   * Creates a copy of this object with the given name.
+   *
+   * @param name the new name of the instance.
+   * @return A copy of this object, differing in the given value.
+   */
+  @Override
+  public DestinationCreationTO withName(
+      @Nonnull
+      String name
+  ) {
+    return new DestinationCreationTO(
+        destLocationName,
+        destOperation,
+        name,
+        getModifiableProperties()
+    );
+  }
+
+  /**
+   * Creates a copy of this object with the given properties.
+   *
+   * @param properties The new properties.
+   * @return A copy of this object, differing in the given value.
+   */
+  @Override
+  public DestinationCreationTO withProperties(
+      @Nonnull
+      Map<String, String> properties
+  ) {
+    return new DestinationCreationTO(destLocationName, destOperation, getName(), properties);
+  }
+
+  /**
+   * Creates a copy of this object and adds the given property.
+   * If value == null, then the key-value pair is removed from the properties.
+   *
+   * @param key the key.
+   * @param value the value
+   * @return A copy of this object that either
+   * includes the given entry in it's current properties, if value != null or
+   * excludes the entry otherwise.
+   */
+  @Override
+  public DestinationCreationTO withProperty(
+      @Nonnull
+      String key,
+      @Nonnull
+      String value
+  ) {
+    return new DestinationCreationTO(
+        destLocationName,
+        destOperation,
+        getName(),
+        propertiesWith(key, value)
+    );
+  }
+
+  /**
+   * Returns the destination location (or point) name.
+   *
+   * @return The destination location (or point) name.
+   */
+  @Nonnull
+  public String getDestLocationName() {
+    return destLocationName;
+  }
+
+  /**
+   * Creates a copy of this object with the given destination location (or point) name.
+   *
+   * @param desLocationName The destination location (or point) name.
+   * @return A copy of this object, differing in the given destination.
+   */
+  public DestinationCreationTO withDestLocationName(
+      @Nonnull
+      String desLocationName
+  ) {
+    return new DestinationCreationTO(
+        destLocationName,
+        destOperation,
+        getName(),
+        getModifiableProperties()
+    );
+  }
+
+  /**
+   * Returns the operation to be performed at the destination.
+   *
+   * @return The operation to be performed at the destination.
+   */
+  @Nonnull
+  public String getDestOperation() {
+    return destOperation;
+  }
+
+  /**
+   * Creates a copy of this object with the given operation to be performed at the destination.
+   *
+   * @param destOperation The operation.
+   * @return A copy of this object, differing in the given destination operation.
+   */
+  public DestinationCreationTO withDestOperation(
+      @Nonnull
+      String destOperation
+  ) {
+    return new DestinationCreationTO(
+        destLocationName,
+        destOperation,
+        getName(),
+        getModifiableProperties()
+    );
+  }
+}

opentcs-api-base/src/main/java/org/opentcs/access/to/order/OrderSequenceCreationTO.java

@@ -0,0 +1,266 @@
+// SPDX-FileCopyrightText: The openTCS Authors
+// SPDX-License-Identifier: MIT
+package org.opentcs.access.to.order;
+
+import static java.util.Objects.requireNonNull;
+
+import jakarta.annotation.Nonnull;
+import jakarta.annotation.Nullable;
+import java.io.Serializable;
+import java.util.Map;
+import org.opentcs.access.to.CreationTO;
+import org.opentcs.data.order.OrderConstants;
+
+/**
+ * A transfer object describing a transport order.
+ */
+public class OrderSequenceCreationTO
+    extends
+      CreationTO
+    implements
+      Serializable {
+
+  /**
+   * Indicates whether the name is incomplete and requires to be completed when creating the actual
+   * order sequence.
+   * (How exactly this is done is decided by the kernel.)
+   */
+  private final boolean incompleteName;
+  /**
+   * The type of the order sequence.
+   */
+  private final String type;
+  /**
+   * The (optional) name of the vehicle that is supposed to execute the transport order.
+   */
+  @Nullable
+  private final String intendedVehicleName;
+  /**
+   * Whether failure of one transport order in the sequence makes subsequent ones fail, too.
+   */
+  private final boolean failureFatal;
+
+  /**
+   * Creates a new instance.
+   *
+   * @param name The name of this transport order.
+   */
+  public OrderSequenceCreationTO(
+      @Nonnull
+      String name
+  ) {
+    super(name);
+    this.incompleteName = false;
+    this.type = OrderConstants.TYPE_NONE;
+    this.intendedVehicleName = null;
+    this.failureFatal = false;
+  }
+
+  private OrderSequenceCreationTO(
+      @Nonnull
+      String name,
+      @Nonnull
+      Map<String, String> properties,
+      boolean incompleteName,
+      @Nonnull
+      String type,
+      @Nullable
+      String intendedVehicleName,
+      boolean failureFatal
+  ) {
+    super(name, properties);
+    this.incompleteName = incompleteName;
+    this.type = requireNonNull(type, "type");
+    this.intendedVehicleName = intendedVehicleName;
+    this.failureFatal = failureFatal;
+  }
+
+  /**
+   * Creates a copy of this object with the given name.
+   *
+   * @param name the new name of the instance.
+   * @return A copy of this object, differing in the given name.
+   */
+  @Override
+  public OrderSequenceCreationTO withName(
+      @Nonnull
+      String name
+  ) {
+    return new OrderSequenceCreationTO(
+        name,
+        getModifiableProperties(),
+        incompleteName,
+        type,
+        intendedVehicleName,
+        failureFatal
+    );
+  }
+
+  /**
+   * Creates a copy of this object with the given properties.
+   *
+   * @param properties The new properties.
+   * @return A copy of this object, differing in the given value.
+   */
+  @Override
+  public OrderSequenceCreationTO withProperties(
+      @Nonnull
+      Map<String, String> properties
+  ) {
+    return new OrderSequenceCreationTO(
+        getName(),
+        properties,
+        incompleteName,
+        type,
+        intendedVehicleName,
+        failureFatal
+    );
+  }
+
+  /**
+   * Creates a copy of this object and adds the given property.
+   * If value == null, then the key-value pair is removed from the properties.
+   *
+   * @param key the key.
+   * @param value the value
+   * @return A copy of this object that either
+   * includes the given entry in it's current properties, if value != null or
+   * excludes the entry otherwise.
+   */
+  @Override
+  public OrderSequenceCreationTO withProperty(
+      @Nonnull
+      String key,
+      @Nonnull
+      String value
+  ) {
+    return new OrderSequenceCreationTO(
+        getName(),
+        propertiesWith(key, value),
+        incompleteName,
+        type,
+        intendedVehicleName,
+        failureFatal
+    );
+  }
+
+  /**
+   * Indicates whether the name is incomplete and requires to be completed when creating the actual
+   * order sequence.
+   * (How exactly this is done is decided by the kernel.)
+   *
+   * @return <code>true</code> if, and only if, the name is incomplete and requires to be completed
+   * by the kernel.
+   */
+  public boolean hasIncompleteName() {
+    return incompleteName;
+  }
+
+  /**
+   * Creates a copy of this object with the given <em>nameIncomplete</em> flag.
+   *
+   * @param incompleteName Whether the name is incomplete and requires to be completed when creating
+   * the actual order sequence.
+   *
+   * @return A copy of this object, differing in the given value.
+   */
+  public OrderSequenceCreationTO withIncompleteName(boolean incompleteName) {
+    return new OrderSequenceCreationTO(
+        getName(),
+        getModifiableProperties(),
+        incompleteName,
+        type,
+        intendedVehicleName,
+        failureFatal
+    );
+  }
+
+  /**
+   * Returns the (optional) type of the order sequence.
+   *
+   * @return The (optional) type of the order sequence.
+   */
+  @Nonnull
+  public String getType() {
+    return type;
+  }
+
+  /**
+   * Creates a copy of this object with the given type.
+   *
+   * @param type The type.
+   * @return A copy of this object, differing in the given type.
+   */
+  public OrderSequenceCreationTO withType(
+      @Nonnull
+      String type
+  ) {
+    return new OrderSequenceCreationTO(
+        getName(),
+        getModifiableProperties(),
+        incompleteName,
+        type,
+        intendedVehicleName,
+        failureFatal
+    );
+  }
+
+  /**
+   * Returns the (optional) name of the vehicle that is supposed to execute the transport order.
+   *
+   * @return The (optional) name of the vehicle that is supposed to execute the transport order.
+   */
+  @Nullable
+  public String getIntendedVehicleName() {
+    return intendedVehicleName;
+  }
+
+  /**
+   * Creates a copy of this object with the given
+   * (optional) name of the vehicle that is supposed to execute the transport order.
+   *
+   * @param intendedVehicleName The vehicle name.
+   * @return A copy of this object, differing in the given name of the intended vehicle.
+   */
+  public OrderSequenceCreationTO withIntendedVehicleName(
+      @Nullable
+      String intendedVehicleName
+  ) {
+    return new OrderSequenceCreationTO(
+        getName(),
+        getModifiableProperties(),
+        incompleteName,
+        type,
+        intendedVehicleName,
+        failureFatal
+    );
+  }
+
+  /**
+   * Returns whether failure of one transport order in the sequence makes subsequent ones fail, too.
+   *
+   * @return Whether failure of one transport order in the sequence makes subsequent ones fail, too.
+   */
+  public boolean isFailureFatal() {
+    return failureFatal;
+  }
+
+  /**
+   * Creates a copy of this object with the given <em>failureFatal</em> flag.
+   *
+   * @param failureFatal Whether failure of one transport order in the sequence makes subsequent
+   * ones fail, too.
+   *
+   * @return A copy of this object, differing in the given value.
+   */
+  public OrderSequenceCreationTO withFailureFatal(boolean failureFatal) {
+    return new OrderSequenceCreationTO(
+        getName(),
+        getModifiableProperties(),
+        incompleteName,
+        type,
+        intendedVehicleName,
+        failureFatal
+    );
+  }
+}

opentcs-api-base/src/main/java/org/opentcs/access/to/order/TransportOrderCreationTO.java

@@ -0,0 +1,533 @@
+// SPDX-FileCopyrightText: The openTCS Authors
+// SPDX-License-Identifier: MIT
+package org.opentcs.access.to.order;
+
+import static java.util.Objects.requireNonNull;
+
+import jakarta.annotation.Nonnull;
+import jakarta.annotation.Nullable;
+import java.io.Serializable;
+import java.time.Instant;
+import java.util.Collections;
+import java.util.List;
+import java.util.Map;
+import java.util.Set;
+import org.opentcs.access.to.CreationTO;
+import org.opentcs.data.order.OrderConstants;
+
+/**
+ * A transfer object describing a transport order.
+ */
+public class TransportOrderCreationTO
+    extends
+      CreationTO
+    implements
+      Serializable {
+
+  /**
+   * Indicates whether the name is incomplete and requires to be completed when creating the actual
+   * transport order.
+   * (How exactly this is done is decided by the kernel.)
+   */
+  private final boolean incompleteName;
+  /**
+   * The destinations that need to be travelled to.
+   */
+  @Nonnull
+  private final List<DestinationCreationTO> destinations;
+  /**
+   * An optional token for reserving peripheral devices while processing this transport order.
+   */
+  @Nullable
+  private final String peripheralReservationToken;
+  /**
+   * The (optional) name of the order sequence the transport order belongs to.
+   */
+  @Nullable
+  private final String wrappingSequence;
+  /**
+   * The (optional) names of transport orders the transport order depends on.
+   */
+  @Nonnull
+  private final Set<String> dependencyNames;
+  /**
+   * The (optional) name of the vehicle that is supposed to execute the transport order.
+   */
+  @Nullable
+  private final String intendedVehicleName;
+  /**
+   * The type of the transport order.
+   */
+  @Nonnull
+  private final String type;
+  /**
+   * The point of time at which execution of the transport order is supposed to be finished.
+   */
+  @Nonnull
+  private final Instant deadline;
+  /**
+   * Whether the transport order is dispensable or not.
+   */
+  private final boolean dispensable;
+
+  /**
+   * Creates a new instance.
+   *
+   * @param name The name of this transport order.
+   * @param destinations The destinations that need to be travelled to.
+   */
+  public TransportOrderCreationTO(
+      @Nonnull
+      String name,
+      @Nonnull
+      List<DestinationCreationTO> destinations
+  ) {
+    super(name);
+    this.incompleteName = false;
+    this.destinations = requireNonNull(destinations, "destinations");
+    this.peripheralReservationToken = null;
+    this.wrappingSequence = null;
+    this.dependencyNames = Set.of();
+    this.intendedVehicleName = null;
+    this.type = OrderConstants.TYPE_NONE;
+    this.deadline = Instant.MAX;
+    this.dispensable = false;
+  }
+
+  private TransportOrderCreationTO(
+      @Nonnull
+      String name,
+      @Nonnull
+      Map<String, String> properties,
+      boolean incompleteName,
+      @Nonnull
+      List<DestinationCreationTO> destinations,
+      @Nullable
+      String peripheralReservationToken,
+      @Nullable
+      String wrappingSequence,
+      @Nonnull
+      Set<String> dependencyNames,
+      @Nullable
+      String intendedVehicleName,
+      @Nonnull
+      String type,
+      @Nonnull
+      Instant deadline,
+      boolean dispensable
+  ) {
+    super(name, properties);
+    this.incompleteName = incompleteName;
+    this.destinations = requireNonNull(destinations, "destinations");
+    this.peripheralReservationToken = peripheralReservationToken;
+    this.wrappingSequence = wrappingSequence;
+    this.dependencyNames = requireNonNull(dependencyNames, "dependencyNames");
+    this.intendedVehicleName = intendedVehicleName;
+    this.type = requireNonNull(type, "type");
+    this.deadline = requireNonNull(deadline, "deadline");
+    this.dispensable = dispensable;
+  }
+
+  /**
+   * Creates a copy of this object with the given name.
+   *
+   * @param name The new name of the instance.
+   * @return A copy of this object, differing in the given name.
+   */
+  @Override
+  public TransportOrderCreationTO withName(
+      @Nonnull
+      String name
+  ) {
+    return new TransportOrderCreationTO(
+        name,
+        getModifiableProperties(),
+        incompleteName,
+        destinations,
+        peripheralReservationToken,
+        wrappingSequence,
+        dependencyNames,
+        intendedVehicleName,
+        type,
+        deadline,
+        dispensable
+    );
+  }
+
+  /**
+   * Creates a copy of this object with the given properties.
+   *
+   * @param properties The new properties.
+   * @return A copy of this object, differing in the given value.
+   */
+  @Override
+  public TransportOrderCreationTO withProperties(
+      @Nonnull
+      Map<String, String> properties
+  ) {
+    return new TransportOrderCreationTO(
+        getName(),
+        properties,
+        incompleteName,
+        destinations,
+        peripheralReservationToken,
+        wrappingSequence,
+        dependencyNames,
+        intendedVehicleName,
+        type,
+        deadline,
+        dispensable
+    );
+  }
+
+  /**
+   * Creates a copy of this object and adds the given property.
+   * If value == null, then the key-value pair is removed from the properties.
+   *
+   * @param key the key.
+   * @param value the value
+   * @return A copy of this object that either
+   * includes the given entry in it's current properties, if value != null or
+   * excludes the entry otherwise.
+   */
+  @Override
+  public TransportOrderCreationTO withProperty(
+      @Nonnull
+      String key,
+      @Nonnull
+      String value
+  ) {
+    return new TransportOrderCreationTO(
+        getName(),
+        propertiesWith(key, value),
+        incompleteName,
+        destinations,
+        peripheralReservationToken,
+        wrappingSequence,
+        dependencyNames,
+        intendedVehicleName,
+        type,
+        deadline,
+        dispensable
+    );
+  }
+
+  /**
+   * Indicates whether the name is incomplete and requires to be completed when creating the actual
+   * transport order.
+   * (How exactly this is done is decided by the kernel.)
+   *
+   * @return <code>true</code> if, and only if, the name is incomplete and requires to be completed
+   * by the kernel.
+   */
+  public boolean hasIncompleteName() {
+    return incompleteName;
+  }
+
+  /**
+   * Creates a copy of this object with the given <em>nameIncomplete</em> flag.
+   *
+   * @param incompleteName Whether the name is incomplete and requires to be completed when creating
+   * the actual transport order.
+   *
+   * @return A copy of this object, differing in the given value.
+   */
+  public TransportOrderCreationTO withIncompleteName(boolean incompleteName) {
+    return new TransportOrderCreationTO(
+        getName(),
+        getModifiableProperties(),
+        incompleteName,
+        destinations,
+        peripheralReservationToken,
+        wrappingSequence,
+        dependencyNames,
+        intendedVehicleName,
+        type,
+        deadline,
+        dispensable
+    );
+  }
+
+  /**
+   * Returns the destinations that need to be travelled to.
+   *
+   * @return The destinations that need to be travelled to.
+   */
+  @Nonnull
+  public List<DestinationCreationTO> getDestinations() {
+    return Collections.unmodifiableList(destinations);
+  }
+
+  /**
+   * Creates a copy of this object with the given destinations that need to be travelled to.
+   *
+   * @param destinations The destinations.
+   * @return A copy of this object, differing in the given derstinations.
+   */
+  public TransportOrderCreationTO withDestinations(
+      @Nonnull
+      List<DestinationCreationTO> destinations
+  ) {
+    return new TransportOrderCreationTO(
+        getName(),
+        getModifiableProperties(),
+        incompleteName,
+        destinations,
+        peripheralReservationToken,
+        wrappingSequence,
+        dependencyNames,
+        intendedVehicleName,
+        type,
+        deadline,
+        dispensable
+    );
+  }
+
+  /**
+   * Returns an optional token for reserving peripheral devices while processing this transport
+   * order.
+   *
+   * @return An optional token for reserving peripheral devices while processing this transport
+   * order.
+   */
+  @Nullable
+  public String getPeripheralReservationToken() {
+    return peripheralReservationToken;
+  }
+
+  /**
+   * Creates a copy of this object with the given (optional) peripheral reservation token.
+   *
+   * @param peripheralReservationToken The token.
+   * @return A copy of this object, differing in the given peripheral reservation token.
+   */
+  public TransportOrderCreationTO withPeripheralReservationToken(
+      @Nullable
+      String peripheralReservationToken
+  ) {
+    return new TransportOrderCreationTO(
+        getName(),
+        getModifiableProperties(),
+        incompleteName,
+        destinations,
+        peripheralReservationToken,
+        wrappingSequence,
+        dependencyNames,
+        intendedVehicleName,
+        type,
+        deadline,
+        dispensable
+    );
+  }
+
+  /**
+   * Returns the (optional) name of the order sequence the transport order belongs to.
+   *
+   * @return The (optional) name of the order sequence the transport order belongs to.
+   */
+  @Nullable
+  public String getWrappingSequence() {
+    return wrappingSequence;
+  }
+
+  /**
+   * Creates a copy of this object with the given
+   * (optional) name of the order sequence the transport order belongs to.
+   *
+   * @param wrappingSequence The name of the sequence.
+   * @return A copy of this object, differing in the given name of the sequence.
+   */
+  public TransportOrderCreationTO withWrappingSequence(
+      @Nullable
+      String wrappingSequence
+  ) {
+    return new TransportOrderCreationTO(
+        getName(),
+        getModifiableProperties(),
+        incompleteName,
+        destinations,
+        peripheralReservationToken,
+        wrappingSequence,
+        dependencyNames,
+        intendedVehicleName,
+        type,
+        deadline,
+        dispensable
+    );
+  }
+
+  /**
+   * Returns the (optional) names of transport orders the transport order depends on.
+   *
+   * @return The (optional) names of transport orders the transport order depends on.
+   */
+  @Nonnull
+  public Set<String> getDependencyNames() {
+    return Collections.unmodifiableSet(dependencyNames);
+  }
+
+  /**
+   * Creates a copy of this object with the given
+   * (optional) names of transport orders the transport order depends on.
+   *
+   * @param dependencyNames The dependency names.
+   * @return A copy of this object, differing in the given dependency names.
+   */
+  public TransportOrderCreationTO withDependencyNames(
+      @Nonnull
+      Set<String> dependencyNames
+  ) {
+    return new TransportOrderCreationTO(
+        getName(),
+        getModifiableProperties(),
+        incompleteName,
+        destinations,
+        peripheralReservationToken,
+        wrappingSequence,
+        dependencyNames,
+        intendedVehicleName,
+        type,
+        deadline,
+        dispensable
+    );
+  }
+
+  /**
+   * Returns the (optional) name of the vehicle that is supposed to execute the transport order.
+   *
+   * @return The (optional) name of the vehicle that is supposed to execute the transport order.
+   */
+  @Nullable
+  public String getIntendedVehicleName() {
+    return intendedVehicleName;
+  }
+
+  /**
+   * Creates a copy of this object with the given
+   * (optional) name of the vehicle that is supposed to execute the transport order.
+   *
+   * @param intendedVehicleName The vehicle name.
+   * @return A copy of this object, differing in the given vehicle's name.
+   */
+  public TransportOrderCreationTO withIntendedVehicleName(
+      @Nullable
+      String intendedVehicleName
+  ) {
+    return new TransportOrderCreationTO(
+        getName(),
+        getModifiableProperties(),
+        incompleteName,
+        destinations,
+        peripheralReservationToken,
+        wrappingSequence,
+        dependencyNames,
+        intendedVehicleName,
+        type,
+        deadline,
+        dispensable
+    );
+  }
+
+  /**
+   * Returns the (optional) type of the transport order.
+   *
+   * @return The (optional) type of the transport order.
+   */
+  @Nonnull
+  public String getType() {
+    return type;
+  }
+
+  /**
+   * Creates a copy of this object with the given (optional) type of the transport order.
+   *
+   * @param type The type.
+   * @return A copy of this object, differing in the given type.
+   */
+  public TransportOrderCreationTO withType(
+      @Nonnull
+      String type
+  ) {
+    return new TransportOrderCreationTO(
+        getName(),
+        getModifiableProperties(),
+        incompleteName,
+        destinations,
+        peripheralReservationToken,
+        wrappingSequence,
+        dependencyNames,
+        intendedVehicleName,
+        type,
+        deadline,
+        dispensable
+    );
+  }
+
+  /**
+   * Returns the point of time at which execution of the transport order is supposed to be finished.
+   *
+   * @return The point of time at which execution of the transport order is supposed to be finished.
+   */
+  @Nonnull
+  public Instant getDeadline() {
+    return deadline;
+  }
+
+  /**
+   * Creates a copy of this object with the given
+   * point of time at which execution of the transport order is supposed to be finished.
+   *
+   * @param deadline The deadline.
+   * @return A copy of this object, differing in the given deadline.
+   */
+  public TransportOrderCreationTO withDeadline(
+      @Nonnull
+      Instant deadline
+  ) {
+    return new TransportOrderCreationTO(
+        getName(),
+        getModifiableProperties(),
+        incompleteName,
+        destinations,
+        peripheralReservationToken,
+        wrappingSequence,
+        dependencyNames,
+        intendedVehicleName,
+        type,
+        deadline,
+        dispensable
+    );
+  }
+
+  /**
+   * Returns whether the transport order is dispensable or not.
+   *
+   * @return Whether the transport order is dispensable or not.
+   */
+  public boolean isDispensable() {
+    return dispensable;
+  }
+
+  /**
+   * Creates a copy of this object with the
+   * given indication whether the transport order is dispensable or not.
+   *
+   * @param dispensable The dispensable flag.
+   * @return A copy of this object, differing in the given dispensable flag.
+   */
+  public TransportOrderCreationTO withDispensable(boolean dispensable) {
+    return new TransportOrderCreationTO(
+        getName(),
+        getModifiableProperties(),
+        incompleteName,
+        destinations,
+        peripheralReservationToken,
+        wrappingSequence,
+        dependencyNames,
+        intendedVehicleName,
+        type,
+        deadline,
+        dispensable
+    );
+  }
+}

opentcs-api-base/src/main/java/org/opentcs/access/to/order/package-info.java

@@ -0,0 +1,6 @@
+// SPDX-FileCopyrightText: The openTCS Authors
+// SPDX-License-Identifier: MIT
+/**
+ * Transfer object classes for transport order objects.
+ */
+package org.opentcs.access.to.order;

opentcs-api-base/src/main/java/org/opentcs/access/to/package-info.java

@@ -0,0 +1,6 @@
+// SPDX-FileCopyrightText: The openTCS Authors
+// SPDX-License-Identifier: MIT
+/**
+ * Transfer object classes for domain objects.
+ */
+package org.opentcs.access.to;

opentcs-api-base/src/main/java/org/opentcs/access/to/peripherals/PeripheralJobCreationTO.java

@@ -0,0 +1,295 @@
+// SPDX-FileCopyrightText: The openTCS Authors
+// SPDX-License-Identifier: MIT
+package org.opentcs.access.to.peripherals;
+
+import static java.util.Objects.requireNonNull;
+
+import jakarta.annotation.Nonnull;
+import jakarta.annotation.Nullable;
+import java.io.Serializable;
+import java.util.Map;
+import org.opentcs.access.to.CreationTO;
+
+/**
+ * A transfer object describing a peripheral job.
+ */
+public class PeripheralJobCreationTO
+    extends
+      CreationTO
+    implements
+      Serializable {
+
+  /**
+   * Indicates whether the name is incomplete and requires to be completed when creating the actual
+   * peripheral job.
+   * (How exactly this is done is decided by the kernel.)
+   */
+  private final boolean incompleteName;
+  /**
+   * A token that may be used to reserve a peripheral device.
+   * A peripheral device that is reserved for a specific token can only process jobs which match
+   * that reservation token.
+   * This string may not be empty.
+   */
+  @Nonnull
+  private final String reservationToken;
+  /**
+   * The name of the vehicle for which this peripheral job is to be created.
+   */
+  @Nullable
+  private final String relatedVehicleName;
+  /**
+   * The name of the transport order for which this peripheral job is to be created.
+   */
+  @Nullable
+  private final String relatedTransportOrderName;
+  /**
+   * The operation that is to be perfromed by the pripheral device.
+   */
+  @Nonnull
+  private final PeripheralOperationCreationTO peripheralOperation;
+
+  /**
+   * Creates a new instance.
+   *
+   * @param name The name of this peripheral job.
+   * @param reservationToken The reservation token to be used.
+   * @param peripheralOperation The peripheral operation to be performed.
+   */
+  public PeripheralJobCreationTO(
+      @Nonnull
+      String name,
+      @Nonnull
+      String reservationToken,
+      @Nonnull
+      PeripheralOperationCreationTO peripheralOperation
+  ) {
+    super(name);
+    this.incompleteName = false;
+    this.reservationToken = requireNonNull(reservationToken, "reservationToken");
+    this.relatedVehicleName = null;
+    this.relatedTransportOrderName = null;
+    this.peripheralOperation = requireNonNull(peripheralOperation, "peripheralOperation");
+  }
+
+  private PeripheralJobCreationTO(
+      @Nonnull
+      String name,
+      @Nonnull
+      Map<String, String> properties,
+      boolean incompleteName,
+      @Nonnull
+      String reservationToken,
+      @Nullable
+      String relatedVehicleName,
+      @Nullable
+      String relatedTransportOrderName,
+      @Nonnull
+      PeripheralOperationCreationTO peripheralOperation
+  ) {
+    super(name, properties);
+    this.incompleteName = incompleteName;
+    this.reservationToken = requireNonNull(reservationToken, "reservationToken");
+    this.relatedVehicleName = relatedVehicleName;
+    this.relatedTransportOrderName = relatedTransportOrderName;
+    this.peripheralOperation = requireNonNull(peripheralOperation, "peripheralOperation");
+  }
+
+  @Override
+  public PeripheralJobCreationTO withName(
+      @Nonnull
+      String name
+  ) {
+    return new PeripheralJobCreationTO(
+        name,
+        getModifiableProperties(),
+        incompleteName,
+        reservationToken,
+        relatedVehicleName,
+        relatedTransportOrderName,
+        peripheralOperation
+    );
+  }
+
+  @Override
+  public PeripheralJobCreationTO withProperties(
+      @Nonnull
+      Map<String, String> properties
+  ) {
+    return new PeripheralJobCreationTO(
+        getName(),
+        properties,
+        incompleteName,
+        reservationToken,
+        relatedVehicleName,
+        relatedTransportOrderName,
+        peripheralOperation
+    );
+  }
+
+  @Override
+  public PeripheralJobCreationTO withProperty(
+      @Nonnull
+      String key,
+      @Nonnull
+      String value
+  ) {
+    return new PeripheralJobCreationTO(
+        getName(),
+        propertiesWith(key, value),
+        incompleteName,
+        reservationToken,
+        relatedVehicleName,
+        relatedTransportOrderName,
+        peripheralOperation
+    );
+  }
+
+  /**
+   * Indicates whether the name is incomplete and requires to be completed when creating the actual
+   * transport order.
+   * (How exactly this is done is decided by the kernel.)
+   *
+   * @return {@code true} if, and only if, the name is incomplete and requires to be completed
+   * by the kernel.
+   */
+  public boolean hasIncompleteName() {
+    return incompleteName;
+  }
+
+  /**
+   * Creates a copy of this object, with the given incomplete name flag.
+   *
+   * @param incompleteName The value to be set in the copy.
+   * @return A copy of this object, differing in the given value.
+   */
+  public PeripheralJobCreationTO withIncompleteName(boolean incompleteName) {
+    return new PeripheralJobCreationTO(
+        getName(),
+        getModifiableProperties(),
+        incompleteName,
+        reservationToken,
+        relatedVehicleName,
+        relatedTransportOrderName,
+        peripheralOperation
+    );
+  }
+
+  /**
+   * Returns the token that may be used to reserve a peripheral device.
+   *
+   * @return The token that may be used to reserve a peripheral device.
+   */
+  public String getReservationToken() {
+    return reservationToken;
+  }
+
+  /**
+   * Creates a copy of this object, with the given reservation token.
+   *
+   * @param reservationToken The value to be set in the copy.
+   * @return A copy of this object, differing in the given value.
+   */
+  public PeripheralJobCreationTO withReservationToken(String reservationToken) {
+    return new PeripheralJobCreationTO(
+        getName(),
+        getModifiableProperties(),
+        incompleteName,
+        reservationToken,
+        relatedVehicleName,
+        relatedTransportOrderName,
+        peripheralOperation
+    );
+  }
+
+  /**
+   * Returns the name of the vehicle for which this peripheral job is to be created.
+   *
+   * @return The name of the vehicle for which this peripheral job is to be created.
+   */
+  @Nullable
+  public String getRelatedVehicleName() {
+    return relatedVehicleName;
+  }
+
+  /**
+   * Creates a copy of this object, with the given related vehicle name.
+   *
+   * @param relatedVehicleName The value to be set in the copy.
+   * @return A copy of this object, differing in the given value.
+   */
+  public PeripheralJobCreationTO withRelatedVehicleName(
+      @Nullable
+      String relatedVehicleName
+  ) {
+    return new PeripheralJobCreationTO(
+        getName(),
+        getModifiableProperties(),
+        incompleteName,
+        reservationToken,
+        relatedVehicleName,
+        relatedTransportOrderName,
+        peripheralOperation
+    );
+  }
+
+  /**
+   * Returns the name of the transport order for which this peripheral job is to be created.
+   *
+   * @return The name of the transport order for which this peripheral job is to be created.
+   */
+  @Nullable
+  public String getRelatedTransportOrderName() {
+    return relatedTransportOrderName;
+  }
+
+  /**
+   * Creates a copy of this object, with the given related transport order name.
+   *
+   * @param relatedTransportOrderName The value to be set in the copy.
+   * @return A copy of this object, differing in the given value.
+   */
+  public PeripheralJobCreationTO withRelatedTransportOrderName(
+      @Nullable
+      String relatedTransportOrderName
+  ) {
+    return new PeripheralJobCreationTO(
+        getName(),
+        getModifiableProperties(),
+        incompleteName,
+        reservationToken,
+        relatedVehicleName,
+        relatedTransportOrderName,
+        peripheralOperation
+    );
+  }
+
+  /**
+   * Returns the operation that is to be performed by the pripheral device.
+   *
+   * @return The operation that is to be performed by the pripheral device.
+   */
+  public PeripheralOperationCreationTO getPeripheralOperation() {
+    return peripheralOperation;
+  }
+
+  /**
+   * Creates a copy of this object, with the given peripheral operation.
+   *
+   * @param peripheralOperation The value to be set in the copy.
+   * @return A copy of this object, differing in the given value.
+   */
+  public PeripheralJobCreationTO withPeripheralOperation(
+      PeripheralOperationCreationTO peripheralOperation
+  ) {
+    return new PeripheralJobCreationTO(
+        getName(),
+        getModifiableProperties(),
+        incompleteName,
+        reservationToken,
+        relatedVehicleName,
+        relatedTransportOrderName,
+        peripheralOperation
+    );
+  }
+}

opentcs-api-base/src/main/java/org/opentcs/access/to/peripherals/PeripheralOperationCreationTO.java

@@ -0,0 +1,252 @@
+// SPDX-FileCopyrightText: The openTCS Authors
+// SPDX-License-Identifier: MIT
+package org.opentcs.access.to.peripherals;
+
+import static java.util.Objects.requireNonNull;
+
+import jakarta.annotation.Nonnull;
+import java.io.Serializable;
+import java.util.Map;
+import org.opentcs.access.to.CreationTO;
+import org.opentcs.data.peripherals.PeripheralOperation;
+
+/**
+ * A transfer object describing an operation to be performed by a peripheral device.
+ */
+public class PeripheralOperationCreationTO
+    extends
+      CreationTO
+    implements
+      Serializable {
+
+  /**
+   * The operation to be performed by the peripheral device.
+   */
+  private final String operation;
+  /**
+   * The name of the location the peripheral device is associated with.
+   */
+  @Nonnull
+  private final String locationName;
+  /**
+   * The moment at which this operation is to be performed.
+   */
+  @Nonnull
+  private final PeripheralOperation.ExecutionTrigger executionTrigger;
+  /**
+   * Whether the completion of this operation is required to allow a vehicle to continue driving.
+   */
+  private final boolean completionRequired;
+
+  /**
+   * Creates a new instance with {@code executionTrigger} set to
+   * {@link PeripheralOperation.ExecutionTrigger#IMMEDIATE} and {@code completionRequired}
+   * set to {@code false}.
+   *
+   * @param operation The operation to be performed by the peripheral device.
+   * @param locationName The name of the location the peripheral device is associated with.
+   */
+  public PeripheralOperationCreationTO(
+      @Nonnull
+      String operation,
+      @Nonnull
+      String locationName
+  ) {
+    super("");
+    this.operation = requireNonNull(operation, "operation");
+    this.locationName = requireNonNull(locationName, "locationName");
+    this.executionTrigger = PeripheralOperation.ExecutionTrigger.IMMEDIATE;
+    this.completionRequired = false;
+  }
+
+  private PeripheralOperationCreationTO(
+      @Nonnull
+      String name,
+      @Nonnull
+      Map<String, String> properties,
+      @Nonnull
+      String operation,
+      @Nonnull
+      String locationName,
+      @Nonnull
+      PeripheralOperation.ExecutionTrigger executionTrigger,
+      boolean completionRequired
+  ) {
+    super(name, properties);
+    this.operation = requireNonNull(operation, "operation");
+    this.locationName = requireNonNull(locationName, "locationName");
+    this.executionTrigger = requireNonNull(executionTrigger, "executionTrigger");
+    this.completionRequired = completionRequired;
+  }
+
+  @Override
+  public PeripheralOperationCreationTO withName(
+      @Nonnull
+      String name
+  ) {
+    return new PeripheralOperationCreationTO(
+        name,
+        getModifiableProperties(),
+        operation,
+        locationName,
+        executionTrigger,
+        completionRequired
+    );
+  }
+
+  @Override
+  public PeripheralOperationCreationTO withProperties(
+      @Nonnull
+      Map<String, String> properties
+  ) {
+    return new PeripheralOperationCreationTO(
+        getName(),
+        properties,
+        operation,
+        locationName,
+        executionTrigger,
+        completionRequired
+    );
+  }
+
+  @Override
+  public PeripheralOperationCreationTO withProperty(
+      @Nonnull
+      String key,
+      @Nonnull
+      String value
+  ) {
+    return new PeripheralOperationCreationTO(
+        getName(),
+        propertiesWith(key, value),
+        operation,
+        locationName,
+        executionTrigger,
+        completionRequired
+    );
+  }
+
+  /**
+   * Returns the operation to be performed by the peripheral device.
+   *
+   * @return The operation to be performed by the peripheral device.
+   */
+  @Nonnull
+  public String getOperation() {
+    return operation;
+  }
+
+  /**
+   * Creates a copy of this object, with the given operation.
+   *
+   * @param operation The value to be set in the copy.
+   * @return A copy of this object, differing in the given value.
+   */
+  public PeripheralOperationCreationTO withOperation(
+      @Nonnull
+      String operation
+  ) {
+    return new PeripheralOperationCreationTO(
+        getName(),
+        getModifiableProperties(),
+        operation,
+        locationName,
+        executionTrigger,
+        completionRequired
+    );
+  }
+
+  /**
+   * Returns the name of the location the peripheral device is associated with.
+   *
+   * @return The name of the location the peripheral device is associated with.
+   */
+  @Nonnull
+  public String getLocationName() {
+    return locationName;
+  }
+
+  /**
+   * Creates a copy of this object, with the given location name.
+   *
+   * @param locationName The value to be set in the copy.
+   * @return A copy of this object, differing in the given value.
+   */
+  public PeripheralOperationCreationTO withLocationName(
+      @Nonnull
+      String locationName
+  ) {
+    return new PeripheralOperationCreationTO(
+        getName(),
+        getModifiableProperties(),
+        operation,
+        locationName,
+        executionTrigger,
+        completionRequired
+    );
+  }
+
+  /**
+   * Returns the moment at which this operation is to be performed.
+   *
+   * @return The moment at which this operation is to be performed.
+   */
+  @Nonnull
+  public PeripheralOperation.ExecutionTrigger getExecutionTrigger() {
+    return executionTrigger;
+  }
+
+  /**
+   * Creates a copy of this object, with the given execution trigger.
+   * <p>
+   * This method should only be used by the vehicle controller component of the baseline project.
+   * </p>
+   *
+   * @param executionTrigger The value to be set in the copy.
+   * @return A copy of this object, differing in the given value.
+   */
+  public PeripheralOperationCreationTO withExecutionTrigger(
+      @Nonnull
+      PeripheralOperation.ExecutionTrigger executionTrigger
+  ) {
+    return new PeripheralOperationCreationTO(
+        getName(),
+        getModifiableProperties(),
+        operation,
+        locationName,
+        executionTrigger,
+        completionRequired
+    );
+  }
+
+  /**
+   * Returns whether the completion of this operation is required to allow a vehicle to continue
+   * driving.
+   *
+   * @return Whether the completion of this operation is required to allow a vehicle to continue
+   * driving.
+   */
+  public boolean isCompletionRequired() {
+    return completionRequired;
+  }
+
+  /**
+   * Creates a copy of this object, with the given completion required flag.
+   * <p>
+   * This method should only be used by the vehicle controller component of the baseline project.
+   * </p>
+   *
+   * @param completionRequired The value to be set in the copy.
+   * @return A copy of this object, differing in the given value.
+   */
+  public PeripheralOperationCreationTO withCompletionRequired(boolean completionRequired) {
+    return new PeripheralOperationCreationTO(
+        getName(),
+        getModifiableProperties(),
+        operation,
+        locationName,
+        executionTrigger,
+        completionRequired
+    );
+  }
+}

opentcs-api-base/src/main/java/org/opentcs/components/Lifecycle.java

@@ -0,0 +1,26 @@
+// SPDX-FileCopyrightText: The openTCS Authors
+// SPDX-License-Identifier: MIT
+package org.opentcs.components;
+
+/**
+ * Defines methods for controlling a generic component's lifecycle.
+ */
+public interface Lifecycle {
+
+  /**
+   * (Re-)Initializes this component before it is being used.
+   */
+  void initialize();
+
+  /**
+   * Checks whether this component is initialized.
+   *
+   * @return <code>true</code> if, and only if, this component is initialized.
+   */
+  boolean isInitialized();
+
+  /**
+   * Terminates the instance and frees resources.
+   */
+  void terminate();
+}

opentcs-api-base/src/main/java/org/opentcs/components/kernel/Dispatcher.java

@@ -0,0 +1,152 @@
+// SPDX-FileCopyrightText: The openTCS Authors
+// SPDX-License-Identifier: MIT
+package org.opentcs.components.kernel;
+
+import jakarta.annotation.Nonnull;
+import org.opentcs.components.Lifecycle;
+import org.opentcs.components.kernel.dipatching.TransportOrderAssignmentException;
+import org.opentcs.data.model.Vehicle;
+import org.opentcs.data.order.ReroutingType;
+import org.opentcs.data.order.TransportOrder;
+
+/**
+ * This interface declares the methods a dispatcher module for the openTCS
+ * kernel must implement.
+ * <p>
+ * A dispatcher manages the distribution of transport orders among the vehicles
+ * in a system. It is basically event-driven, where an event can be a new
+ * transport order being introduced into the system or a vehicle becoming
+ * available for processing existing orders.
+ * </p>
+ */
+public interface Dispatcher
+    extends
+      Lifecycle {
+
+  /**
+   * The key of a parking position property defining its priority.
+   * <p>
+   * Whether and in what way this is respected for assigning a parking position to a vehicle is
+   * implementation-specific.
+   * </p>
+   */
+  String PROPKEY_PARKING_POSITION_PRIORITY = "tcs:parkingPositionPriority";
+  /**
+   * The key of a vehicle property defining the name of the vehicle's assigned parking position.
+   * <p>
+   * Whether and in what way this is respected for selecting a parking position is
+   * implementation-specific.
+   * </p>
+   */
+  String PROPKEY_ASSIGNED_PARKING_POSITION = "tcs:assignedParkingPosition";
+  /**
+   * The key of a vehicle property defining the name of the vehicle's preferred parking position.
+   * <p>
+   * Whether and in what way this is respected for selecting a parking position is
+   * implementation-specific.
+   * </p>
+   */
+  String PROPKEY_PREFERRED_PARKING_POSITION = "tcs:preferredParkingPosition";
+  /**
+   * The key of a vehicle property defining the name of the vehicle's assigned recharge location.
+   * <p>
+   * Whether and in what way this is respected for selecting a recharge location is
+   * implementation-specific.
+   * </p>
+   */
+  String PROPKEY_ASSIGNED_RECHARGE_LOCATION = "tcs:assignedRechargeLocation";
+  /**
+   * The key of a vehicle property defining the name of the vehicle's preferred recharge location.
+   * <p>
+   * Whether and in what way this is respected for selecting a recharge location is
+   * implementation-specific.
+   * </p>
+   */
+  String PROPKEY_PREFERRED_RECHARGE_LOCATION = "tcs:preferredRechargeLocation";
+
+  /**
+   * Notifies the dispatcher that it should start the dispatching process.
+   * <p>
+   * This method is supposed to be called only from the kernel executor thread.
+   * </p>
+   */
+  void dispatch();
+
+  /**
+   * Notifies the dispatcher that the given transport order is to be withdrawn/aborted.
+   * <p>
+   * This method is supposed to be called only from the kernel executor thread.
+   * </p>
+   *
+   * @param order The transport order to be withdrawn/aborted.
+   * @param immediateAbort Whether the order should be aborted immediately instead of withdrawn.
+   */
+  void withdrawOrder(
+      @Nonnull
+      TransportOrder order,
+      boolean immediateAbort
+  );
+
+  /**
+   * Notifies the dispatcher that any order a given vehicle might be processing is to be withdrawn.
+   * <p>
+   * This method is supposed to be called only from the kernel executor thread.
+   * </p>
+   *
+   * @param vehicle The vehicle whose order is withdrawn.
+   * @param immediateAbort Whether the vehicle's order should be aborted immediately instead of
+   * withdrawn.
+   */
+  void withdrawOrder(
+      @Nonnull
+      Vehicle vehicle,
+      boolean immediateAbort
+  );
+
+  /**
+   * Notifies the dispatcher of a request to reroute the given vehicle considering the given
+   * rerouting type.
+   * <p>
+   * This method is supposed to be called only from the kernel executor thread.
+   * </p>
+   *
+   * @param vehicle The vehicle to be rerouted.
+   * @param reroutingType The type of the requested rerouting.
+   */
+  void reroute(
+      @Nonnull
+      Vehicle vehicle,
+      @Nonnull
+      ReroutingType reroutingType
+  );
+
+  /**
+   * Notifies the dispatcher to reroute all vehicles considering the given rerouting type.
+   * <p>
+   * This method is supposed to be called only from the kernel executor thread.
+   * </p>
+   *
+   * @param reroutingType The type of the requested rerouting.
+   */
+  void rerouteAll(
+      @Nonnull
+      ReroutingType reroutingType
+  );
+
+  /**
+   * Notifies the dispatcher that it should assign the given transport order (to its intended
+   * vehicle) <em>now</em>.
+   * <p>
+   * This method is supposed to be called only from the kernel executor thread.
+   * </p>
+   *
+   * @param transportOrder The transport order to be assigned.
+   * @throws TransportOrderAssignmentException If the given transport order could not be assigned
+   * to its intended vehicle.
+   */
+  void assignNow(
+      @Nonnull
+      TransportOrder transportOrder
+  )
+      throws TransportOrderAssignmentException;
+}

opentcs-api-base/src/main/java/org/opentcs/components/kernel/KernelExtension.java

@@ -0,0 +1,13 @@
+// SPDX-FileCopyrightText: The openTCS Authors
+// SPDX-License-Identifier: MIT
+package org.opentcs.components.kernel;
+
+import org.opentcs.components.Lifecycle;
+
+/**
+ * Declares the methods that a generic kernel extension must implement.
+ */
+public interface KernelExtension
+    extends
+      Lifecycle {
+}

opentcs-api-base/src/main/java/org/opentcs/components/kernel/ObjectNameProvider.java

@@ -0,0 +1,15 @@
+// SPDX-FileCopyrightText: The openTCS Authors
+// SPDX-License-Identifier: MIT
+package org.opentcs.components.kernel;
+
+import java.util.function.Function;
+import org.opentcs.access.to.CreationTO;
+
+/**
+ * Provides names for {@link CreationTO}s.
+ */
+public interface ObjectNameProvider
+    extends
+      Function<CreationTO, String> {
+
+}

opentcs-api-base/src/main/java/org/opentcs/components/kernel/OrderSequenceCleanupApproval.java

@@ -0,0 +1,15 @@
+// SPDX-FileCopyrightText: The openTCS Authors
+// SPDX-License-Identifier: MIT
+package org.opentcs.components.kernel;
+
+import java.util.function.Predicate;
+import org.opentcs.data.order.OrderSequence;
+
+/**
+ * Implementations of this interface check whether an order sequence may be removed.
+ */
+public interface OrderSequenceCleanupApproval
+    extends
+      Predicate<OrderSequence> {
+
+}

opentcs-api-base/src/main/java/org/opentcs/components/kernel/PeripheralJobCleanupApproval.java

@@ -0,0 +1,15 @@
+// SPDX-FileCopyrightText: The openTCS Authors
+// SPDX-License-Identifier: MIT
+package org.opentcs.components.kernel;
+
+import java.util.function.Predicate;
+import org.opentcs.data.peripherals.PeripheralJob;
+
+/**
+ * Implementations of this interface check whether a peripheral job may be removed.
+ */
+public interface PeripheralJobCleanupApproval
+    extends
+      Predicate<PeripheralJob> {
+
+}

opentcs-api-base/src/main/java/org/opentcs/components/kernel/PeripheralJobDispatcher.java

@@ -0,0 +1,65 @@
+// SPDX-FileCopyrightText: The openTCS Authors
+// SPDX-License-Identifier: MIT
+package org.opentcs.components.kernel;
+
+import jakarta.annotation.Nonnull;
+import org.opentcs.components.Lifecycle;
+import org.opentcs.data.model.Location;
+import org.opentcs.data.peripherals.PeripheralJob;
+
+/**
+ * This interface declares the methods a peripheral job dispatcher module for the openTCS kernel
+ * must implement.
+ * <p>
+ * A peripheral job dispatcher manages the distribution of peripheral jobs among the peripheral
+ * devices represented by locations in a system. It is basically event-driven, where an event can
+ * be a new peripheral job being introduced into the system or a peripheral device becoming
+ * available for processing existing jobs.
+ * </p>
+ */
+public interface PeripheralJobDispatcher
+    extends
+      Lifecycle {
+
+  /**
+   * Notifies the dispatcher that it should start the dispatching process.
+   * <p>
+   * This method is supposed to be called only from the kernel executor thread.
+   * </p>
+   */
+  void dispatch();
+
+  /**
+   * Notifies the dispatcher that any job a peripheral device (represented by the given location)
+   * might be processing is to be withdrawn.
+   * <p>
+   * This method is supposed to be called only from the kernel executor thread.
+   * </p>
+   *
+   * @param location The location representing a peripheral device whose job is withdrawn.
+   * @throws IllegalArgumentException If the given peripheral's current job is already in a final
+   * state, or if it is related to a transport order and this transport order is not in a final
+   * state.
+   */
+  void withdrawJob(
+      @Nonnull
+      Location location
+  )
+      throws IllegalArgumentException;
+
+  /**
+   * Notifies the dispatcher that the given peripheral job is to be withdrawn.
+   * <p>
+   * This method is supposed to be called only from the kernel executor thread.
+   * </p>
+   *
+   * @param job The job to be withdrawn.
+   * @throws IllegalArgumentException If the given peripheral job is already in a final state, or if
+   * it is related to a transport order and this transport order is not in a final state.
+   */
+  void withdrawJob(
+      @Nonnull
+      PeripheralJob job
+  )
+      throws IllegalArgumentException;
+}

opentcs-api-base/src/main/java/org/opentcs/components/kernel/Query.java

@@ -0,0 +1,27 @@
+// SPDX-FileCopyrightText: The openTCS Authors
+// SPDX-License-Identifier: MIT
+package org.opentcs.components.kernel;
+
+import java.io.Serializable;
+
+/**
+ * Marks a query (parameter) object.
+ *
+ * @param <T> The result type.
+ */
+public interface Query<T> {
+
+  /**
+   * A convenience class to be used as the result type for queries that do not return any result.
+   */
+  class Void
+      implements
+        Serializable {
+
+    /**
+     * Creates a new instance.
+     */
+    public Void() {
+    }
+  }
+}

opentcs-api-base/src/main/java/org/opentcs/components/kernel/QueryResponder.java

@@ -0,0 +1,18 @@
+// SPDX-FileCopyrightText: The openTCS Authors
+// SPDX-License-Identifier: MIT
+package org.opentcs.components.kernel;
+
+/**
+ * A responder for generic queries.
+ */
+public interface QueryResponder {
+
+  /**
+   * Executes the specified query.
+   *
+   * @param <T> The query/result type.
+   * @param query The query/parameter object.
+   * @return The query result.
+   */
+  <T> T query(Query<T> query);
+}

opentcs-api-base/src/main/java/org/opentcs/components/kernel/ResourceAllocationException.java

@@ -0,0 +1,33 @@
+// SPDX-FileCopyrightText: The openTCS Authors
+// SPDX-License-Identifier: MIT
+package org.opentcs.components.kernel;
+
+import org.opentcs.access.KernelException;
+
+/**
+ * Thrown when allocating resources for a {@link Scheduler.Client Scheduler.Client} is impossible.
+ */
+public class ResourceAllocationException
+    extends
+      KernelException {
+
+  /**
+   * Creates a new ResourceAllocationException with the given detail message.
+   *
+   * @param message The detail message.
+   */
+  public ResourceAllocationException(String message) {
+    super(message);
+  }
+
+  /**
+   * Creates a new ResourceAllocationException with the given detail message and
+   * cause.
+   *
+   * @param message The detail message.
+   * @param cause The cause.
+   */
+  public ResourceAllocationException(String message, Throwable cause) {
+    super(message, cause);
+  }
+}

opentcs-api-base/src/main/java/org/opentcs/components/kernel/Router.java

@@ -0,0 +1,233 @@
+// SPDX-FileCopyrightText: The openTCS Authors
+// SPDX-License-Identifier: MIT
+package org.opentcs.components.kernel;
+
+import jakarta.annotation.Nonnull;
+import jakarta.annotation.Nullable;
+import java.util.List;
+import java.util.Map;
+import java.util.Optional;
+import java.util.Set;
+import org.opentcs.components.Lifecycle;
+import org.opentcs.data.model.Path;
+import org.opentcs.data.model.Point;
+import org.opentcs.data.model.TCSResourceReference;
+import org.opentcs.data.model.Vehicle;
+import org.opentcs.data.order.DriveOrder;
+import org.opentcs.data.order.Route;
+import org.opentcs.data.order.TransportOrder;
+import org.opentcs.util.annotations.ScheduledApiChange;
+
+/**
+ * This interface declares the methods a router module for the openTCS
+ * kernel must implement.
+ * <p>
+ * A router finds routes from a start point to an end point, rating them
+ * according to implementation specific criteria/costs parameters.
+ * </p>
+ */
+public interface Router
+    extends
+      Lifecycle {
+
+  /**
+   * The key of a vehicle property defining the group of vehicles that may share the same routing.
+   * <p>
+   * The value is expected to be an integer.
+   * </p>
+   */
+  String PROPKEY_ROUTING_GROUP = "tcs:routingGroup";
+  /**
+   * The key (prefix) of a path property defining the routing cost when its travelled in forward
+   * direction.
+   * <p>
+   * The value is expected to be a (long) integer.
+   * </p>
+   */
+  String PROPKEY_ROUTING_COST_FORWARD = "tcs:routingCostForward";
+  /**
+   * The key (prefix) of a path property defining the routing cost when its travelled in reverse
+   * direction.
+   * <p>
+   * The value is expected to be a (long) integer.
+   * </p>
+   */
+  String PROPKEY_ROUTING_COST_REVERSE = "tcs:routingCostReverse";
+
+  /**
+   * Notifies the router to update its routing topology with respect to the given paths.
+   * <p>
+   * This method is supposed to be called only from the kernel executor thread.
+   * </p>
+   *
+   * @param paths The paths to update in the routing topology. An empty set of paths results in the
+   * router updating the entire routing topology.
+   */
+  void updateRoutingTopology(
+      @Nonnull
+      Set<Path> paths
+  );
+
+  /**
+   * Checks the routability of a given transport order.
+   * <p>
+   * The check for routability is affected by path properties and configured edge evaluators. This
+   * means that whether a transport order is considered routable <em>can</em> change between
+   * consecutive calls to this method.
+   * </p>
+   * <p>
+   * This method is supposed to be called only from the kernel executor thread.
+   * </p>
+   *
+   * @param order The transport order to check for routability.
+   * @return A set of vehicles for which a route for the given transport order
+   * would be computable.
+   */
+  @Nonnull
+  Set<Vehicle> checkRoutability(
+      @Nonnull
+      TransportOrder order
+  );
+
+  /**
+   * Checks the general routability of a given transport order.
+   * <p>
+   * The check for general routability is <em>not</em> affected by any path properties or any
+   * configured edge evaluators. This means that whether a transport order is considered generally
+   * routable <em>will not</em> change between consecutive calls to this method.
+   * </p>
+   * <p>
+   * This method is supposed to be called only from the kernel executor thread.
+   * </p>
+   *
+   * @param order The transport order to check for routability.
+   * @return {@code true}, if the transport order is generally routable, otherwise {@code false}.
+   */
+  @ScheduledApiChange(when = "7.0", details = "Default implementation will be removed.")
+  default boolean checkGeneralRoutability(
+      @Nonnull
+      TransportOrder order
+  ) {
+    return false;
+  }
+
+  /**
+   * Returns a complete route for a given vehicle that starts on a specified
+   * point and allows the vehicle to process a given transport order.
+   * The route is encapsulated into drive orders which correspond to those drive
+   * orders that the transport order is composed of. The transport order itself
+   * is not modified.
+   * <p>
+   * This method is supposed to be called only from the kernel executor thread.
+   * </p>
+   *
+   * @param vehicle The vehicle for which the calculated route must be passable.
+   * @param sourcePoint The position at which the vehicle would start processing
+   * the transport order (i.e. the vehicle's current position).
+   * @param transportOrder The transport order to be processed by the vehicle.
+   * @return A list of drive orders containing the complete calculated route for
+   * the given transport order, passable the given vehicle and starting on the
+   * given point, or the empty optional, if no such route exists.
+   */
+  @Nonnull
+  Optional<List<DriveOrder>> getRoute(
+      @Nonnull
+      Vehicle vehicle,
+      @Nonnull
+      Point sourcePoint,
+      @Nonnull
+      TransportOrder transportOrder
+  );
+
+  /**
+   * Returns a route from one point to another, passable for a given vehicle.
+   * <p>
+   * This method is supposed to be called only from the kernel executor thread.
+   * </p>
+   *
+   * @param vehicle The vehicle for which the route must be passable.
+   * @param sourcePoint The starting point of the route to calculate.
+   * @param destinationPoint The end point of the route to calculate.
+   * @param resourcesToAvoid Resources to avoid when calculating the route.
+   * @return The calculated route, or the empty optional, if a route between the
+   * given points does not exist.
+   */
+  @Nonnull
+  Optional<Route> getRoute(
+      @Nonnull
+      Vehicle vehicle,
+      @Nonnull
+      Point sourcePoint,
+      @Nonnull
+      Point destinationPoint,
+      @Nonnull
+      Set<TCSResourceReference<?>> resourcesToAvoid
+  );
+
+  /**
+   * Returns the costs for travelling a route from one point to another with a
+   * given vehicle.
+   * <p>
+   * This method is supposed to be called only from the kernel executor thread.
+   * </p>
+   *
+   * @param vehicle The vehicle for which the route must be passable.
+   * @param sourcePoint The starting point of the route.
+   * @param destinationPoint The end point of the route.
+   * @param resourcesToAvoid Resources to avoid when calculating the route.
+   * @return The costs of the route, or <code>Long.MAX_VALUE</code>, if no such
+   * route exists.
+   */
+  long getCosts(
+      @Nonnull
+      Vehicle vehicle,
+      @Nonnull
+      Point sourcePoint,
+      @Nonnull
+      Point destinationPoint,
+      @Nonnull
+      Set<TCSResourceReference<?>> resourcesToAvoid
+  );
+
+  /**
+   * Notifies the router of a route being selected for a vehicle.
+   * <p>
+   * This method is supposed to be called only from the kernel executor thread.
+   * </p>
+   *
+   * @param vehicle The vehicle for which a route is being selected.
+   * @param driveOrders The drive orders encapsulating the route being selected,
+   * or <code>null</code>, if no route is being selected for the vehicle (i.e.
+   * an existing entry for the given vehicle would be removed).
+   */
+  void selectRoute(
+      @Nonnull
+      Vehicle vehicle,
+      @Nullable
+      List<DriveOrder> driveOrders
+  );
+
+  /**
+   * Returns an unmodifiable view on the selected routes the router knows about.
+   * The returned map contains an entry for each vehicle for which a selected
+   * route is known.
+   * <p>
+   * This method is supposed to be called only from the kernel executor thread.
+   * </p>
+   *
+   * @return An unmodifiable view on the selected routes the router knows about.
+   */
+  @Nonnull
+  Map<Vehicle, List<DriveOrder>> getSelectedRoutes();
+
+  /**
+   * Returns all points which are currently targeted by any vehicle.
+   * <p>
+   * This method is supposed to be called only from the kernel executor thread.
+   * </p>
+   *
+   * @return A set of all points currently targeted by any vehicle.
+   */
+  @Nonnull
+  Set<Point> getTargetedPoints();
+}

opentcs-api-base/src/main/java/org/opentcs/components/kernel/Scheduler.java

@@ -0,0 +1,402 @@
+// SPDX-FileCopyrightText: The openTCS Authors
+// SPDX-License-Identifier: MIT
+package org.opentcs.components.kernel;
+
+import jakarta.annotation.Nonnull;
+import jakarta.annotation.Nullable;
+import java.util.List;
+import java.util.Map;
+import java.util.Set;
+import org.opentcs.components.Lifecycle;
+import org.opentcs.data.TCSObjectReference;
+import org.opentcs.data.model.TCSResource;
+import org.opentcs.data.model.Vehicle;
+
+/**
+ * Manages resources used by clients (vehicles) to help prevent both collisions and deadlocks.
+ * <p>
+ * Every client usually interacts with the <code>Scheduler</code> according to the following
+ * workflow:
+ * </p>
+ * <ol>
+ * <li>
+ * Initially, the client calls
+ * {@link #allocateNow(org.opentcs.components.kernel.Scheduler.Client, java.util.Set) allocateNow()}
+ * when a vehicle pops up somewhere in the driving course.
+ * This usually happens either upon kernel startup or when a vehicle communicates its current
+ * position to the kernel for the first time.
+ * </li>
+ * <li>
+ * Once a transport order is assigned to a vehicle, the client calls
+ * {@link #claim(org.opentcs.components.kernel.Scheduler.Client, java.util.List) claim()} with the
+ * complete sequence of resource sets the vehicle needs to process the transport order - usually
+ * each containing a point and the path leading to it.
+ * </li>
+ * <li>
+ * As the vehicle processes the transport order, the client subsequently calls
+ * {@link #allocate(org.opentcs.components.kernel.Scheduler.Client, java.util.Set) allocate()} for
+ * resources needed next (for reaching the next point on the route).
+ * The <code>Scheduler</code> asynchronously calls back either
+ * {@link Client#allocationSuccessful(java.util.Set)} or
+ * {@link Client#allocationFailed(java.util.Set)}, informing the client about the result.
+ * Upon allocating the resources for the client, it also implicitly removes them from the head of
+ * the client's claim sequence.
+ * </li>
+ * <li>
+ * As the vehicle passes points (and paths) on the route, the client calls
+ * {@link #free(org.opentcs.components.kernel.Scheduler.Client, java.util.Set) free()} for resources
+ * it does not need any more, allowing these resources to be allocated by other clients.
+ * </li>
+ * </ol>
+ * <p>
+ * At the end of this process, the client's claim sequence is empty, and only the most recently
+ * allocated resources are still assigned to it, reflecting the vehicle's current position.
+ * (If the vehicle has disappeared from the driving course after processing the transport order, the
+ * client would call {@link #freeAll(org.opentcs.components.kernel.Scheduler.Client) freeAll()} to
+ * inform the <code>Scheduler</code> about this.)
+ * </p>
+ */
+public interface Scheduler
+    extends
+      Lifecycle {
+
+  /**
+   * The key of a path property defining the direction in which a vehicle is entering a block when
+   * it's taking the path.
+   */
+  String PROPKEY_BLOCK_ENTRY_DIRECTION = "tcs:blockEntryDirection";
+
+  /**
+   * Sets/Updates the resource claim for a vehicle.
+   * <p>
+   * <em>Claimed</em> resources are resources that a vehicle will eventually require for executing
+   * its movements in the future, but for which it does not request allocation, yet.
+   * Claiming resources provides information to the scheduler about future allocations <em>and their
+   * intended order</em>, allowing the scheduler to consider these information for its resource
+   * planning.
+   * </p>
+   * <p>
+   * Resources can be claimed by multiple vehicles at the same time.
+   * This is different from allocations:
+   * Only a single vehicle can allocate a resource at the same time.
+   * </p>
+   * <p>
+   * This method is supposed to be called only from the kernel executor thread.
+   * </p>
+   *
+   * @param client The client claiming the resources.
+   * @param resourceSequence The sequence of resources claimed. May be empty to clear the client's
+   * claim.
+   */
+  void claim(
+      @Nonnull
+      Client client,
+      @Nonnull
+      List<Set<TCSResource<?>>> resourceSequence
+  );
+
+  /**
+   * Requests allocation of the given resources.
+   * The client will be informed via a callback to
+   * {@link Client#allocationSuccessful(java.util.Set)} or
+   * {@link Client#allocationFailed(java.util.Set)} whether the allocation was successful or not.
+   * <ul>
+   * <li>
+   * Clients may only allocate resources in the order they have previously
+   * {@link #claim(org.opentcs.components.kernel.Scheduler.Client, java.util.List) claim()}ed them.
+   * </li>
+   * <li>
+   * Upon allocation, the scheduler will implicitly remove the set of allocated resources from (the
+   * head of) the client's claim sequence.
+   * </li>
+   * <li>
+   * As a result, a client may only allocate the set of resources at the head of its claim sequence.
+   * </li>
+   * </ul>
+   * <p>
+   * This method is supposed to be called only from the kernel executor thread.
+   * </p>
+   *
+   * @param client The client requesting the resources.
+   * @param resources The resources to be allocated.
+   * @throws IllegalArgumentException If the set of resources to be allocated is not equal to the
+   * <em>next</em> set in the sequence of currently claimed resources, or if the client has already
+   * requested resources that have not yet been granted.
+   * @see #claim(org.opentcs.components.kernel.Scheduler.Client, java.util.List)
+   */
+  void allocate(
+      @Nonnull
+      Client client,
+      @Nonnull
+      Set<TCSResource<?>> resources
+  )
+      throws IllegalArgumentException;
+
+  /**
+   * Checks if the resulting system state is safe if the given set of resources
+   * would be allocated by the given client <em>immediately</em>.
+   * <p>
+   * This method is supposed to be called only from the kernel executor thread.
+   * </p>
+   *
+   * @param client The client requesting the resources.
+   * @param resources The requested resources.
+   * @return {@code true} if the given resources are safe to be allocated by the given client,
+   * otherwise {@code false}.
+   */
+  boolean mayAllocateNow(
+      @Nonnull
+      Client client,
+      @Nonnull
+      Set<TCSResource<?>> resources
+  );
+
+  /**
+   * Informs the scheduler that a set of resources are to be allocated for the given client
+   * <em>immediately</em>.
+   * <p>
+   * Note the following:
+   * </p>
+   * <ul>
+   * <li>
+   * This method should only be called in urgent/emergency cases, for instance if a vehicle has been
+   * moved to a different point manually, which has to be reflected by resource allocation in the
+   * scheduler.
+   * </li>
+   * <li>
+   * Unlike
+   * {@link #allocate(org.opentcs.components.kernel.Scheduler.Client, java.util.Set) allocate()},
+   * this method does not block, i.e. the operation happens synchronously.
+   * </li>
+   * <li>
+   * This method does <em>not</em> implicitly deallocate or unclaim any other resources for the
+   * client.
+   * </li>
+   * </ul>
+   * <p>
+   * This method is supposed to be called only from the kernel executor thread.
+   * </p>
+   *
+   * @param client The client requesting the resources.
+   * @param resources The resources requested.
+   * @throws ResourceAllocationException If it's impossible to allocate the given set of resources
+   * for the given client.
+   */
+  void allocateNow(
+      @Nonnull
+      Client client,
+      @Nonnull
+      Set<TCSResource<?>> resources
+  )
+      throws ResourceAllocationException;
+
+  /**
+   * Releases a set of resources allocated by a client.
+   * <p>
+   * This method is supposed to be called only from the kernel executor thread.
+   * </p>
+   *
+   * @param client The client releasing the resources.
+   * @param resources The resources released. Any resources in the given set not allocated by the
+   * given client are ignored.
+   */
+  void free(
+      @Nonnull
+      Client client,
+      @Nonnull
+      Set<TCSResource<?>> resources
+  );
+
+  /**
+   * Releases all resources allocated by the given client.
+   * <p>
+   * This method is supposed to be called only from the kernel executor thread.
+   * </p>
+   *
+   * @param client The client.
+   */
+  void freeAll(
+      @Nonnull
+      Client client
+  );
+
+  /**
+   * Releases all pending resource allocations for the given client.
+   * <p>
+   * This method is supposed to be called only from the kernel executor thread.
+   * </p>
+   *
+   * @param client The client.
+   */
+  void clearPendingAllocations(
+      @Nonnull
+      Client client
+  );
+
+  /**
+   * Explicitly triggers a rescheduling run during which the scheduler tries to allocate resources
+   * for all waiting clients.
+   * <p>
+   * This method is supposed to be called only from the kernel executor thread.
+   * </p>
+   */
+  void reschedule();
+
+  /**
+   * Returns all resource allocations as a map of client IDs to resources.
+   * <p>
+   * This method is supposed to be called only from the kernel executor thread.
+   * </p>
+   *
+   * @return All resource allocations as a map of client IDs to resources.
+   */
+  @Nonnull
+  Map<String, Set<TCSResource<?>>> getAllocations();
+
+  /**
+   * Informs the scheduler that a set of resources was successfully prepared in order of allocating
+   * them to a client.
+   * <p>
+   * This method is supposed to be called only from the kernel executor thread.
+   * </p>
+   *
+   * @param module The module a preparation was necessary for.
+   * @param client The client that requested the preparation/allocation.
+   * @param resources The resources that are now prepared for the client.
+   */
+  void preparationSuccessful(
+      @Nonnull
+      Module module,
+      @Nonnull
+      Client client,
+      @Nonnull
+      Set<TCSResource<?>> resources
+  );
+
+  /**
+   * Defines callback methods for clients of the resource scheduler.
+   */
+  interface Client {
+
+    /**
+     * Returns an ID string for this client.
+     * The returned string should be unique among all clients in the system.
+     *
+     * @return An unique ID string for this client.
+     */
+    @Nonnull
+    String getId();
+
+    /**
+     * Returns a reference to the {@link Vehicle} that this client is related to.
+     *
+     * @return A reference to the {@link Vehicle} that this client is related to or {@code null}, if
+     * this client is not related to any {@link Vehicle}.
+     */
+    @Nullable
+    TCSObjectReference<Vehicle> getRelatedVehicle();
+
+    /**
+     * Called when resources have been reserved for this client.
+     *
+     * @param resources The resources reserved.
+     * @return <code>true</code> if, and only if, this client accepts the resources allocated. A
+     * return value of <code>false</code> indicates this client does not need the given resources
+     * (any more), freeing them implicitly, but not restoring any previous claim.
+     */
+    boolean allocationSuccessful(
+        @Nonnull
+        Set<TCSResource<?>> resources
+    );
+
+    /**
+     * Called if it was impossible to allocate a requested set of resources for this client.
+     *
+     * @param resources The resources which could not be reserved.
+     */
+    void allocationFailed(
+        @Nonnull
+        Set<TCSResource<?>> resources
+    );
+  }
+
+  /**
+   * A scheduler module.
+   */
+  interface Module
+      extends
+        Lifecycle {
+
+    /**
+     * Informs this module about a client's current allocation state.
+     *
+     * @param client The client.
+     * @param alloc The client's currently allocated resources.
+     * @param remainingClaim The client's remaining claim.
+     */
+    void setAllocationState(
+        @Nonnull
+        Client client,
+        @Nonnull
+        Set<TCSResource<?>> alloc,
+        @Nonnull
+        List<Set<TCSResource<?>>> remainingClaim
+    );
+
+    /**
+     * Checks if the resulting system state is safe if the given set of resources
+     * would be allocated by the given resource user.
+     *
+     * @param client The <code>ResourceUser</code> requesting resources set.
+     * @param resources The requested resources.
+     * @return <code>true</code> if this module thinks the given resources may be allocated for the
+     * given client.
+     */
+    boolean mayAllocate(
+        @Nonnull
+        Client client,
+        @Nonnull
+        Set<TCSResource<?>> resources
+    );
+
+    /**
+     * Lets this module prepare the given resources so they can be allocated to a client.
+     *
+     * @param client The client the resources are being prepared for.
+     * @param resources The resources to be prepared.
+     */
+    void prepareAllocation(
+        @Nonnull
+        Client client,
+        @Nonnull
+        Set<TCSResource<?>> resources
+    );
+
+    /**
+     * Checks if this module is done preparing the given resources for a client.
+     *
+     * @param client The client the resources are being prepared for.
+     * @param resources The resources to be checked.
+     * @return <code>true</code> if the resoruces are prepared for a client.
+     */
+    boolean hasPreparedAllocation(
+        @Nonnull
+        Client client,
+        @Nonnull
+        Set<TCSResource<?>> resources
+    );
+
+    /**
+     * Informs this module about resources being fully released by a client.
+     *
+     * @param client The client releasing the resources.
+     * @param resources The resources being released.
+     */
+    void allocationReleased(
+        @Nonnull
+        Client client,
+        @Nonnull
+        Set<TCSResource<?>> resources
+    );
+  }
+}

opentcs-api-base/src/main/java/org/opentcs/components/kernel/TransportOrderCleanupApproval.java

@@ -0,0 +1,15 @@
+// SPDX-FileCopyrightText: The openTCS Authors
+// SPDX-License-Identifier: MIT
+package org.opentcs.components.kernel;
+
+import java.util.function.Predicate;
+import org.opentcs.data.order.TransportOrder;
+
+/**
+ * Implementations of this interface check whether a transport order may be removed.
+ */
+public interface TransportOrderCleanupApproval
+    extends
+      Predicate<TransportOrder> {
+
+}

opentcs-api-base/src/main/java/org/opentcs/components/kernel/dipatching/TransportOrderAssignmentException.java

@@ -0,0 +1,89 @@
+// SPDX-FileCopyrightText: The openTCS Authors
+// SPDX-License-Identifier: MIT
+package org.opentcs.components.kernel.dipatching;
+
+import static java.util.Objects.requireNonNull;
+import static org.opentcs.util.Assertions.checkArgument;
+
+import jakarta.annotation.Nonnull;
+import jakarta.annotation.Nullable;
+import org.opentcs.access.KernelRuntimeException;
+import org.opentcs.data.TCSObjectReference;
+import org.opentcs.data.model.Vehicle;
+import org.opentcs.data.order.TransportOrder;
+
+/**
+ * Thrown when a {@link TransportOrder} could not be assigned to a {@link Vehicle}.
+ */
+public class TransportOrderAssignmentException
+    extends
+      KernelRuntimeException {
+
+  private final TCSObjectReference<TransportOrder> transportOrder;
+  private final TCSObjectReference<Vehicle> vehicle;
+  private final TransportOrderAssignmentVeto transportOrderAssignmentVeto;
+
+  /**
+   * Creates a new instance.
+   *
+   * @param transportOrder The transport order.
+   * @param vehicle The vehicle.
+   * @param transportOrderAssignmentVeto The reason why the transport order could not be assigned
+   * to the vehicle.
+   */
+  public TransportOrderAssignmentException(
+      @Nonnull
+      TCSObjectReference<TransportOrder> transportOrder,
+      @Nullable
+      TCSObjectReference<Vehicle> vehicle,
+      @Nonnull
+      TransportOrderAssignmentVeto transportOrderAssignmentVeto
+  ) {
+    super(
+        "Could not assign transport order '" + transportOrder.getName() + "' to vehicle '"
+            + (vehicle != null ? vehicle.getName() : "null") + "': "
+            + transportOrderAssignmentVeto.name()
+    );
+    // This exception is reasonable only for actual assignment vetos.
+    checkArgument(
+        transportOrderAssignmentVeto != TransportOrderAssignmentVeto.NO_VETO,
+        "Invalid assignment veto for exception: " + transportOrderAssignmentVeto
+    );
+    this.transportOrder = requireNonNull(transportOrder, "transportOrder");
+    this.vehicle = vehicle;
+    this.transportOrderAssignmentVeto = requireNonNull(
+        transportOrderAssignmentVeto,
+        "transportOrderAssignmentVeto"
+    );
+  }
+
+  /**
+   * Returns the transport order.
+   *
+   * @return The transport order.
+   */
+  @Nonnull
+  public TCSObjectReference<TransportOrder> getTransportOrder() {
+    return transportOrder;
+  }
+
+  /**
+   * Returns the vehicle.
+   *
+   * @return The vehicle.
+   */
+  @Nullable
+  public TCSObjectReference<Vehicle> getVehicle() {
+    return vehicle;
+  }
+
+  /**
+   * Returns the reason why a transport order assignment was not possible.
+   *
+   * @return The reason why a transport order assignment was not possible.
+   */
+  @Nonnull
+  public TransportOrderAssignmentVeto getTransportOrderAssignmentVeto() {
+    return transportOrderAssignmentVeto;
+  }
+}

opentcs-api-base/src/main/java/org/opentcs/components/kernel/dipatching/TransportOrderAssignmentVeto.java

@@ -0,0 +1,59 @@
+// SPDX-FileCopyrightText: The openTCS Authors
+// SPDX-License-Identifier: MIT
+package org.opentcs.components.kernel.dipatching;
+
+import org.opentcs.data.model.Vehicle;
+import org.opentcs.data.order.OrderSequence;
+import org.opentcs.data.order.TransportOrder;
+
+/**
+ * Defines reasons for a transport order assignment not being possible.
+ */
+public enum TransportOrderAssignmentVeto {
+
+  /**
+   * There is no reason that prevents the transport order assignment.
+   */
+  NO_VETO,
+  /**
+   * The transport order's {@link TransportOrder.State} is invalid (e.g. because it's not in state
+   * {@link TransportOrder.State#DISPATCHABLE}).
+   */
+  TRANSPORT_ORDER_STATE_INVALID,
+  /**
+   * The transport order is part of an {@link OrderSequence}.
+   */
+  TRANSPORT_ORDER_PART_OF_ORDER_SEQUENCE,
+  /**
+   * The transport order has its intended vehicle not set.
+   */
+  TRANSPORT_ORDER_INTENDED_VEHICLE_NOT_SET,
+  /**
+   * The {@link Vehicle.ProcState} of the vehicle to assign the transport order to is invalid (e.g.
+   * because it's not {@link Vehicle.ProcState#IDLE}).
+   */
+  VEHICLE_PROCESSING_STATE_INVALID,
+  /**
+   * The {@link Vehicle.State} of the vehicle to assign the transport order to is invalid (e.g.
+   * because it's neither {@link Vehicle.State#IDLE} nor {@link Vehicle.State#CHARGING}).
+   */
+  VEHICLE_STATE_INVALID,
+  /**
+   * The {@link Vehicle.IntegrationLevel} of the vehicle to assign the transport order to is invalid
+   * (e.g. because it's not {@link Vehicle.IntegrationLevel#TO_BE_UTILIZED}).
+   */
+  VEHICLE_INTEGRATION_LEVEL_INVALID,
+  /**
+   * The current position of the vehicle to assign the transport order to is unknown.
+   */
+  VEHICLE_CURRENT_POSITION_UNKNOWN,
+  /**
+   * The vehicle to assign the transport order to is processing an {@link OrderSequence}.
+   */
+  VEHICLE_PROCESSING_ORDER_SEQUENCE,
+  /**
+   * A generic (dispatcher implementation-specific) reason that prevents the transport order
+   * assignment.
+   */
+  GENERIC_VETO;
+}

opentcs-api-base/src/main/java/org/opentcs/components/kernel/package-info.java

@@ -0,0 +1,6 @@
+// SPDX-FileCopyrightText: The openTCS Authors
+// SPDX-License-Identifier: MIT
+/**
+ * Interfaces for pluggable strategies and other components for a kernel application.
+ */
+package org.opentcs.components.kernel;

opentcs-api-base/src/main/java/org/opentcs/components/kernel/routing/Edge.java

@@ -0,0 +1,88 @@
+// SPDX-FileCopyrightText: The openTCS Authors
+// SPDX-License-Identifier: MIT
+package org.opentcs.components.kernel.routing;
+
+import static java.util.Objects.requireNonNull;
+
+import jakarta.annotation.Nonnull;
+import org.opentcs.data.model.Path;
+
+/**
+ * A wrapper for {@link Path}s that can be used to build routing graphs.
+ */
+public class Edge {
+
+  /**
+   * The path in the model that is traversed on this edge.
+   */
+  private final Path path;
+  /**
+   * Whether the path is travelled in reverse direction.
+   */
+  private final boolean travellingReverse;
+
+  /**
+   * Creates a new instance.
+   *
+   * @param modelPath The path in the model that is traversed on this edge.
+   * @param travellingReverse Whether the path is travelled in reverse direction.
+   */
+  public Edge(
+      @Nonnull
+      Path modelPath,
+      boolean travellingReverse
+  ) {
+    this.path = requireNonNull(modelPath, "modelPath");
+    this.travellingReverse = travellingReverse;
+  }
+
+  /**
+   * Returns the path in the model that is traversed on this edge.
+   *
+   * @return The path in the model that is traversed on this edge.
+   */
+  public Path getPath() {
+    return path;
+  }
+
+  /**
+   * Indicates whether the path is travelled in reverse direction.
+   *
+   * @return Whether the path is travelled in reverse direction.
+   */
+  public boolean isTravellingReverse() {
+    return travellingReverse;
+  }
+
+  /**
+   * Returns the source vertex of this edge.
+   *
+   * @return The source vertex of this edge.
+   */
+  public String getSourceVertex() {
+    return isTravellingReverse()
+        ? path.getDestinationPoint().getName()
+        : path.getSourcePoint().getName();
+  }
+
+  /**
+   * Returns the target vertex of this edge.
+   *
+   * @return The target vertex of this edge.
+   */
+  public String getTargetVertex() {
+    return isTravellingReverse()
+        ? path.getSourcePoint().getName()
+        : path.getDestinationPoint().getName();
+  }
+
+  @Override
+  public String toString() {
+    return "Edge{"
+        + "path=" + path + ", "
+        + "travellingReverse=" + travellingReverse + ", "
+        + "sourceVertex=" + getSourceVertex() + ", "
+        + "targetVertex=" + getTargetVertex()
+        + '}';
+  }
+}

opentcs-api-base/src/main/java/org/opentcs/components/kernel/routing/EdgeEvaluator.java

@@ -0,0 +1,49 @@
+// SPDX-FileCopyrightText: The openTCS Authors
+// SPDX-License-Identifier: MIT
+package org.opentcs.components.kernel.routing;
+
+import jakarta.annotation.Nonnull;
+import org.opentcs.data.model.Vehicle;
+
+/**
+ * Computes the weight of edges in the routing graph.
+ */
+public interface EdgeEvaluator {
+
+  /**
+   * Called when/before computation of a routing graph starts.
+   *
+   * @param vehicle The vehicle for which the routing graph is computed.
+   */
+  void onGraphComputationStart(
+      @Nonnull
+      Vehicle vehicle
+  );
+
+  /**
+   * Called when/after a computation of a routing graph is done.
+   *
+   * @param vehicle The vehicle for which the routing graph is computed.
+   */
+  void onGraphComputationEnd(
+      @Nonnull
+      Vehicle vehicle
+  );
+
+  /**
+   * Computes the weight of an edge in the routing graph.
+   *
+   * @param edge The edge.
+   * @param vehicle The vehicle for which to compute the edge's weight.
+   * @return The computed weight of the given edge.
+   * A value of {@code Double.POSITIVE_INFINITY} indicates that the edge is to be excluded from
+   * routing.
+   * Note that negative weights might not be handled well by the respective routing algorithm used.
+   */
+  double computeWeight(
+      @Nonnull
+      Edge edge,
+      @Nonnull
+      Vehicle vehicle
+  );
+}

opentcs-api-base/src/main/java/org/opentcs/components/kernel/routing/GroupMapper.java

@@ -0,0 +1,14 @@
+// SPDX-FileCopyrightText: The openTCS Authors
+// SPDX-License-Identifier: MIT
+package org.opentcs.components.kernel.routing;
+
+import java.util.function.Function;
+import org.opentcs.data.model.Vehicle;
+
+/**
+ * Determines the routing group for a {@link Vehicle} instance.
+ */
+public interface GroupMapper
+    extends
+      Function<Vehicle, String> {
+}

opentcs-api-base/src/main/java/org/opentcs/components/kernel/services/DispatcherService.java

@@ -0,0 +1,123 @@
+// SPDX-FileCopyrightText: The openTCS Authors
+// SPDX-License-Identifier: MIT
+package org.opentcs.components.kernel.services;
+
+import jakarta.annotation.Nonnull;
+import org.opentcs.access.KernelRuntimeException;
+import org.opentcs.components.kernel.Dispatcher;
+import org.opentcs.components.kernel.dipatching.TransportOrderAssignmentException;
+import org.opentcs.data.ObjectUnknownException;
+import org.opentcs.data.TCSObjectReference;
+import org.opentcs.data.model.Vehicle;
+import org.opentcs.data.order.ReroutingType;
+import org.opentcs.data.order.TransportOrder;
+import org.opentcs.data.order.TransportOrder.State;
+
+/**
+ * Provides methods concerning the {@link Dispatcher}.
+ */
+public interface DispatcherService {
+
+  /**
+   * Explicitly trigger the dispatching process.
+   * <p>
+   * If called within the kernel application, this method is supposed to be called only on the
+   * kernel executor thread.
+   * </p>
+   *
+   * @throws KernelRuntimeException In case there is an exception executing this method.
+   */
+  void dispatch()
+      throws KernelRuntimeException;
+
+  /**
+   * Withdraw any order that a vehicle might be processing.
+   * <p>
+   * If called within the kernel application, this method is supposed to be called only on the
+   * kernel executor thread.
+   * </p>
+   *
+   * @param ref A reference to the vehicle to be modified.
+   * @param immediateAbort If {@code false}, this method once will initiate the withdrawal, leaving
+   * the transport order assigned to the vehicle until it has finished the movements that it has
+   * already been ordered to execute. The transport order's state will change to
+   * {@link State#WITHDRAWN}. If {@code true}, the dispatcher will withdraw the order from the
+   * vehicle without further waiting.
+   * @throws ObjectUnknownException If the referenced vehicle does not exist.
+   * @throws KernelRuntimeException In case there is an exception executing this method.
+   */
+  void withdrawByVehicle(TCSObjectReference<Vehicle> ref, boolean immediateAbort)
+      throws ObjectUnknownException,
+        KernelRuntimeException;
+
+  /**
+   * Withdraw the referenced order.
+   * <p>
+   * If called within the kernel application, this method is supposed to be called only on the
+   * kernel executor thread.
+   * </p>
+   *
+   * @param ref A reference to the transport order to be withdrawn.
+   * @param immediateAbort If {@code false}, this method once will initiate the withdrawal, leaving
+   * the transport order assigned to the vehicle until it has finished the movements that it has
+   * already been ordered to execute. The transport order's state will change to
+   * {@link State#WITHDRAWN}. If {@code true}, the dispatcher will withdraw the order from the
+   * vehicle without further waiting.
+   * @throws ObjectUnknownException If the referenced transport order does not exist.
+   * @throws KernelRuntimeException In case there is an exception executing this method.
+   */
+  void withdrawByTransportOrder(TCSObjectReference<TransportOrder> ref, boolean immediateAbort)
+      throws ObjectUnknownException,
+        KernelRuntimeException;
+
+  /**
+   * Explicitly trigger a rerouting for the given vehicles.
+   * <p>
+   * If called within the kernel application, this method is supposed to be called only on the
+   * kernel executor thread.
+   * </p>
+   *
+   * @param ref The vehicle to be rerouted.
+   * @param reroutingType The type of the requested rerouting.
+   */
+  void reroute(
+      @Nonnull
+      TCSObjectReference<Vehicle> ref,
+      @Nonnull
+      ReroutingType reroutingType
+  )
+      throws ObjectUnknownException,
+        KernelRuntimeException;
+
+  /**
+   * Explicitly trigger a rerouting for all vehicles.
+   * <p>
+   * If called within the kernel application, this method is supposed to be called only on the
+   * kernel executor thread.
+   * </p>
+   *
+   * @param reroutingType The type of rerouting.
+   */
+  void rerouteAll(
+      @Nonnull
+      ReroutingType reroutingType
+  );
+
+  /**
+   * Assign the referenced transport order (to its intended vehicle) <em>now</em>.
+   * <p>
+   * If called within the kernel application, this method is supposed to be called only on the
+   * kernel executor thread.
+   * </p>
+   *
+   * @param ref The transport order to be assigned.
+   * @throws ObjectUnknownException If the referenced transport order does not exist.
+   * @throws TransportOrderAssignmentException If the given transport order could not be assigned
+   * to its intended vehicle.
+   * @throws KernelRuntimeException In case there is an exception executing this method.
+   */
+  void assignNow(TCSObjectReference<TransportOrder> ref)
+      throws ObjectUnknownException,
+        TransportOrderAssignmentException,
+        KernelRuntimeException;
+}

opentcs-api-base/src/main/java/org/opentcs/components/kernel/services/InternalPeripheralJobService.java

@@ -0,0 +1,29 @@
+// SPDX-FileCopyrightText: The openTCS Authors
+// SPDX-License-Identifier: MIT
+package org.opentcs.components.kernel.services;
+
+import org.opentcs.data.ObjectUnknownException;
+import org.opentcs.data.TCSObjectReference;
+import org.opentcs.data.peripherals.PeripheralJob;
+
+/**
+ * Declares the methods the peripheral job service must provide which are not accessible to remote
+ * peers.
+ */
+public interface InternalPeripheralJobService
+    extends
+      PeripheralJobService {
+
+  /**
+   * Updates a peripheral job's state.
+   * Note that peripheral job states are intended to be manipulated by the peripheral job
+   * dispatcher only.
+   * Calling this method from any other parts of the kernel may result in undefined behaviour.
+   *
+   * @param ref A reference to the peripheral job to be modified.
+   * @param state The peripheral job's new state.
+   * @throws ObjectUnknownException If the referenced peripheral job does not exist.
+   */
+  void updatePeripheralJobState(TCSObjectReference<PeripheralJob> ref, PeripheralJob.State state)
+      throws ObjectUnknownException;
+}

opentcs-api-base/src/main/java/org/opentcs/components/kernel/services/InternalPeripheralService.java

@@ -0,0 +1,71 @@
+// SPDX-FileCopyrightText: The openTCS Authors
+// SPDX-License-Identifier: MIT
+package org.opentcs.components.kernel.services;
+
+import org.opentcs.data.ObjectUnknownException;
+import org.opentcs.data.TCSObjectReference;
+import org.opentcs.data.model.Location;
+import org.opentcs.data.model.PeripheralInformation;
+import org.opentcs.data.model.TCSResourceReference;
+import org.opentcs.data.peripherals.PeripheralJob;
+
+/**
+ * Declares the methods the peripheral service must provide which are not accessible to remote
+ * peers.
+ */
+public interface InternalPeripheralService
+    extends
+      PeripheralService {
+
+  /**
+   * Updates a peripheral's processing state.
+   *
+   * @param ref A reference to the location to be modified.
+   * @param state The peripheral's new processing state.
+   * @throws ObjectUnknownException If the referenced location does not exist.
+   */
+  void updatePeripheralProcState(
+      TCSResourceReference<Location> ref,
+      PeripheralInformation.ProcState state
+  )
+      throws ObjectUnknownException;
+
+  /**
+   * Updates a peripheral's reservation token.
+   *
+   * @param ref A reference to the location to be modified.
+   * @param reservationToken The peripheral's new reservation token.
+   * @throws ObjectUnknownException If the referenced location does not exist.
+   */
+  void updatePeripheralReservationToken(
+      TCSResourceReference<Location> ref,
+      String reservationToken
+  )
+      throws ObjectUnknownException;
+
+  /**
+   * Updates a peripheral's state.
+   *
+   * @param ref A reference to the location to be modified.
+   * @param state The peripheral's new state.
+   * @throws ObjectUnknownException If the referenced location does not exist.
+   */
+  void updatePeripheralState(
+      TCSResourceReference<Location> ref,
+      PeripheralInformation.State state
+  )
+      throws ObjectUnknownException;
+
+  /**
+   * Updates a peripheral's current peripheral job.
+   *
+   * @param ref A reference to the location to be modified.
+   * @param peripheralJob A reference to the peripheral job the peripheral device processes.
+   * @throws ObjectUnknownException If the referenced location does not exist.
+   */
+  void updatePeripheralJob(
+      TCSResourceReference<Location> ref,
+      TCSObjectReference<PeripheralJob> peripheralJob
+  )
+      throws ObjectUnknownException;
+}

opentcs-api-base/src/main/java/org/opentcs/components/kernel/services/InternalPlantModelService.java

@@ -0,0 +1,47 @@
+// SPDX-FileCopyrightText: The openTCS Authors
+// SPDX-License-Identifier: MIT
+package org.opentcs.components.kernel.services;
+
+import java.util.Set;
+import org.opentcs.data.ObjectUnknownException;
+import org.opentcs.data.model.TCSResource;
+import org.opentcs.data.model.TCSResourceReference;
+
+/**
+ * Declares the methods the plant model service must provide which are not accessible to remote
+ * peers.
+ */
+public interface InternalPlantModelService
+    extends
+      PlantModelService {
+
+  /**
+   * Expands a set of resources <em>A</em> to a set of resources <em>B</em>.
+   * <em>B</em> contains the resources in <em>A</em> with blocks expanded to their actual members.
+   * The given set is not modified.
+   *
+   * @param resources The set of resources to be expanded.
+   * @return The given set with resources expanded.
+   * @throws ObjectUnknownException If any of the referenced objects does not exist.
+   */
+  Set<TCSResource<?>> expandResources(Set<TCSResourceReference<?>> resources)
+      throws ObjectUnknownException;
+
+  /**
+   * Loads the saved model into the kernel.
+   * If there is no saved model, a new empty model will be loaded.
+   *
+   * @throws IllegalStateException If the model cannot be loaded.
+   */
+  void loadPlantModel()
+      throws IllegalStateException;
+
+  /**
+   * Saves the current model under the given name.
+   * If there is a saved model, it will be overwritten.
+   *
+   * @throws IllegalStateException If the model could not be persisted for some reason.
+   */
+  void savePlantModel()
+      throws IllegalStateException;
+}

opentcs-api-base/src/main/java/org/opentcs/components/kernel/services/InternalQueryService.java

@@ -0,0 +1,38 @@
+// SPDX-FileCopyrightText: The openTCS Authors
+// SPDX-License-Identifier: MIT
+package org.opentcs.components.kernel.services;
+
+import jakarta.annotation.Nonnull;
+import org.opentcs.components.kernel.Query;
+import org.opentcs.components.kernel.QueryResponder;
+
+/**
+ * Declares query-related methods not accessible to remote peers.
+ */
+public interface InternalQueryService
+    extends
+      QueryService {
+
+  /**
+   * Registers the given responder for handling queries of the given type.
+   *
+   * @param clazz The query type.
+   * @param responder The responder to handle the queries.
+   */
+  void registerResponder(
+      @Nonnull
+      Class<? extends Query<?>> clazz,
+      @Nonnull
+      QueryResponder responder
+  );
+
+  /**
+   * Unregisters the responder for the given type.
+   *
+   * @param clazz The query type.
+   */
+  void unregisterResponder(
+      @Nonnull
+      Class<? extends Query<?>> clazz
+  );
+}

opentcs-api-base/src/main/java/org/opentcs/components/kernel/services/InternalTransportOrderService.java

@@ -0,0 +1,130 @@
+// SPDX-FileCopyrightText: The openTCS Authors
+// SPDX-License-Identifier: MIT
+package org.opentcs.components.kernel.services;
+
+import java.util.List;
+import org.opentcs.data.ObjectUnknownException;
+import org.opentcs.data.TCSObjectReference;
+import org.opentcs.data.model.Vehicle;
+import org.opentcs.data.order.DriveOrder;
+import org.opentcs.data.order.OrderSequence;
+import org.opentcs.data.order.TransportOrder;
+
+/**
+ * Declares the methods the transport order service must provide which are not accessible to remote
+ * peers.
+ */
+public interface InternalTransportOrderService
+    extends
+      TransportOrderService {
+
+  /**
+   * Sets an order sequence's finished flag.
+   *
+   * @param ref A reference to the order sequence to be modified.
+   * @throws ObjectUnknownException If the referenced transport order is not in this pool.
+   */
+  void markOrderSequenceFinished(TCSObjectReference<OrderSequence> ref)
+      throws ObjectUnknownException;
+
+  /**
+   * Updates an order sequence's finished index.
+   *
+   * @param ref A reference to the order sequence to be modified.
+   * @param index The sequence's new finished index.
+   * @throws ObjectUnknownException If the referenced transport order is not in this pool.
+   */
+  void updateOrderSequenceFinishedIndex(TCSObjectReference<OrderSequence> ref, int index)
+      throws ObjectUnknownException;
+
+  /**
+   * Updates an order sequence's processing vehicle.
+   *
+   * @param seqRef A reference to the order sequence to be modified.
+   * @param vehicleRef A reference to the vehicle processing the order sequence.
+   * @throws ObjectUnknownException If the referenced transport order is not in this pool.
+   */
+  void updateOrderSequenceProcessingVehicle(
+      TCSObjectReference<OrderSequence> seqRef,
+      TCSObjectReference<Vehicle> vehicleRef
+  )
+      throws ObjectUnknownException;
+
+  /**
+   * Updates a transport order's list of drive orders.
+   *
+   * @param ref A reference to the transport order to be modified.
+   * @param driveOrders The drive orders containing the data to be copied into this transport
+   * order's drive orders.
+   * @throws ObjectUnknownException If the referenced transport order does not exist.
+   */
+  void updateTransportOrderDriveOrders(
+      TCSObjectReference<TransportOrder> ref,
+      List<DriveOrder> driveOrders
+  )
+      throws ObjectUnknownException;
+
+  /**
+   * Updates a transport order's current drive order.
+   * Marks the current drive order as finished, adds it to the list of past drive orders and sets
+   * the current drive order to the next one of the list of future drive orders (or {@code null},
+   * if that list is empty).
+   * Also implicitly sets the {@link TransportOrder#getCurrentRouteStepIndex() transport order's
+   * current route step index} to {@link TransportOrder#ROUTE_STEP_INDEX_DEFAULT}.
+   * If the current drive order is {@code null} because all drive orders have been finished
+   * already or none has been started, yet, nothing happens.
+   *
+   * @param ref A reference to the transport order to be modified.
+   * @throws ObjectUnknownException If the referenced transport order is not in this pool.
+   */
+  void updateTransportOrderNextDriveOrder(TCSObjectReference<TransportOrder> ref)
+      throws ObjectUnknownException;
+
+  /**
+   * Updates a transport order's index of the last route step travelled for the currently processed
+   * drive order.
+   *
+   * @param ref A reference to the transport order to be modified.
+   * @param index The new index.
+   * @throws ObjectUnknownException If the referenced transport order does not exist.
+   */
+  void updateTransportOrderCurrentRouteStepIndex(
+      TCSObjectReference<TransportOrder> ref,
+      int index
+  )
+      throws ObjectUnknownException;
+
+  /**
+   * Updates a transport order's processing vehicle.
+   *
+   * @param orderRef A reference to the transport order to be modified.
+   * @param vehicleRef A reference to the vehicle processing the order.
+   * @param driveOrders The drive orders containing the data to be copied into this transport
+   * order's drive orders.
+   * @throws ObjectUnknownException If the referenced transport order does not exist.
+   * @throws IllegalArgumentException If the destinations of the given drive orders do not match
+   * the destinations of the drive orders in this transport order.
+   */
+  void updateTransportOrderProcessingVehicle(
+      TCSObjectReference<TransportOrder> orderRef,
+      TCSObjectReference<Vehicle> vehicleRef,
+      List<DriveOrder> driveOrders
+  )
+      throws ObjectUnknownException,
+        IllegalArgumentException;
+
+  /**
+   * Updates a transport order's state.
+   * Note that transport order states are intended to be manipulated by the dispatcher only.
+   * Calling this method from any other parts of the kernel may result in undefined behaviour.
+   *
+   * @param ref A reference to the transport order to be modified.
+   * @param state The transport order's new state.
+   * @throws ObjectUnknownException If the referenced transport order does not exist.
+   */
+  void updateTransportOrderState(
+      TCSObjectReference<TransportOrder> ref,
+      TransportOrder.State state
+  )
+      throws ObjectUnknownException;
+}

opentcs-api-base/src/main/java/org/opentcs/components/kernel/services/InternalVehicleService.java

@@ -0,0 +1,232 @@
+// SPDX-FileCopyrightText: The openTCS Authors
+// SPDX-License-Identifier: MIT
+package org.opentcs.components.kernel.services;
+
+import static java.util.Objects.requireNonNull;
+
+import java.util.List;
+import java.util.Set;
+import org.opentcs.access.KernelRuntimeException;
+import org.opentcs.data.ObjectUnknownException;
+import org.opentcs.data.TCSObjectReference;
+import org.opentcs.data.model.BoundingBox;
+import org.opentcs.data.model.Point;
+import org.opentcs.data.model.Pose;
+import org.opentcs.data.model.TCSResourceReference;
+import org.opentcs.data.model.Triple;
+import org.opentcs.data.model.Vehicle;
+import org.opentcs.data.order.OrderSequence;
+import org.opentcs.data.order.TransportOrder;
+import org.opentcs.drivers.vehicle.LoadHandlingDevice;
+import org.opentcs.util.annotations.ScheduledApiChange;
+
+/**
+ * Declares the methods the vehicle service must provide which are not accessible to remote peers.
+ */
+public interface InternalVehicleService
+    extends
+      VehicleService {
+
+  /**
+   * Updates a vehicle's energy level.
+   *
+   * @param ref A reference to the vehicle to be modified.
+   * @param energyLevel The vehicle's new energy level.
+   * @throws ObjectUnknownException If the referenced vehicle does not exist.
+   */
+  void updateVehicleEnergyLevel(TCSObjectReference<Vehicle> ref, int energyLevel)
+      throws ObjectUnknownException;
+
+  /**
+   * Updates a vehicle's load handling devices.
+   *
+   * @param ref A reference to the vehicle to be modified.
+   * @param devices The vehicle's new load handling devices.
+   * @throws ObjectUnknownException If the referenced vehicle does not exist.
+   */
+  void updateVehicleLoadHandlingDevices(
+      TCSObjectReference<Vehicle> ref,
+      List<LoadHandlingDevice> devices
+  )
+      throws ObjectUnknownException;
+
+  /**
+   * Updates the point which a vehicle is expected to occupy next.
+   *
+   * @param vehicleRef A reference to the vehicle to be modified.
+   * @param pointRef A reference to the point which the vehicle is expected to occupy next.
+   * @throws ObjectUnknownException If the referenced vehicle does not exist.
+   */
+  void updateVehicleNextPosition(
+      TCSObjectReference<Vehicle> vehicleRef,
+      TCSObjectReference<Point> pointRef
+  )
+      throws ObjectUnknownException;
+
+  /**
+   * Updates a vehicle's order sequence.
+   *
+   * @param vehicleRef A reference to the vehicle to be modified.
+   * @param sequenceRef A reference to the order sequence the vehicle processes.
+   * @throws ObjectUnknownException If the referenced vehicle does not exist.
+   */
+  void updateVehicleOrderSequence(
+      TCSObjectReference<Vehicle> vehicleRef,
+      TCSObjectReference<OrderSequence> sequenceRef
+  )
+      throws ObjectUnknownException;
+
+  /**
+   * Updates the vehicle's current orientation angle (-360..360 degrees, or {@link Double#NaN}, if
+   * the vehicle doesn't provide an angle).
+   *
+   * @param ref A reference to the vehicle to be modified.
+   * @param angle The vehicle's orientation angle.
+   * @throws ObjectUnknownException If the referenced vehicle does not exist.
+   * @deprecated Use {@link #updateVehiclePose(TCSObjectReference,Pose)} instead.
+   */
+  @Deprecated
+  @ScheduledApiChange(when = "7.0", details = "Will be removed.")
+  void updateVehicleOrientationAngle(TCSObjectReference<Vehicle> ref, double angle)
+      throws ObjectUnknownException;
+
+  /**
+   * Places a vehicle on a point.
+   *
+   * @param vehicleRef A reference to the vehicle to be modified.
+   * @param pointRef A reference to the point on which the vehicle is to be placed.
+   * @throws ObjectUnknownException If the referenced vehicle does not exist.
+   */
+  void updateVehiclePosition(
+      TCSObjectReference<Vehicle> vehicleRef,
+      TCSObjectReference<Point> pointRef
+  )
+      throws ObjectUnknownException;
+
+  /**
+   * Updates the vehicle's current precise position in mm.
+   *
+   * @param ref A reference to the vehicle to be modified.
+   * @param position The vehicle's precise position in mm.
+   * @throws ObjectUnknownException If the referenced vehicle does not exist.
+   * @deprecated Use {@link #updateVehiclePose(TCSObjectReference,Pose)} instead.
+   */
+  @Deprecated
+  @ScheduledApiChange(when = "7.0", details = "Will be removed.")
+  void updateVehiclePrecisePosition(TCSObjectReference<Vehicle> ref, Triple position)
+      throws ObjectUnknownException;
+
+  /**
+   * Updates the vehicle's pose.
+   *
+   * @param ref A reference to the vehicle to be modified.
+   * @param pose The vehicle's new pose.
+   * @throws ObjectUnknownException If the referenced vehicle does not exist.
+   */
+  @ScheduledApiChange(when = "7.0", details = "Default implementation will be removed.")
+  default void updateVehiclePose(TCSObjectReference<Vehicle> ref, Pose pose)
+      throws ObjectUnknownException {
+    requireNonNull(ref, "ref");
+    requireNonNull(pose, "pose");
+
+    updateVehiclePrecisePosition(ref, pose.getPosition());
+    updateVehicleOrientationAngle(ref, pose.getOrientationAngle());
+  }
+
+  /**
+   * Updates a vehicle's processing state.
+   *
+   * @param ref A reference to the vehicle to be modified.
+   * @param state The vehicle's new processing state.
+   * @throws ObjectUnknownException If the referenced vehicle does not exist.
+   */
+  void updateVehicleProcState(TCSObjectReference<Vehicle> ref, Vehicle.ProcState state)
+      throws ObjectUnknownException;
+
+  /**
+   * Updates a vehicle's recharge operation.
+   *
+   * @param ref A reference to the vehicle to be modified.
+   * @param rechargeOperation The vehicle's new recharge action.
+   * @throws ObjectUnknownException If the referenced vehicle does not exist.
+   */
+  void updateVehicleRechargeOperation(TCSObjectReference<Vehicle> ref, String rechargeOperation)
+      throws ObjectUnknownException;
+
+  /**
+   * Updates a vehicle's claimed resources.
+   *
+   * @param ref A reference to the vehicle to be modified.
+   * @param resources The new resources.
+   * @throws ObjectUnknownException If the referenced vehicle does not exist.
+   */
+  void updateVehicleClaimedResources(
+      TCSObjectReference<Vehicle> ref,
+      List<Set<TCSResourceReference<?>>> resources
+  )
+      throws ObjectUnknownException;
+
+  /**
+   * Updates a vehicle's allocated resources.
+   *
+   * @param ref A reference to the vehicle to be modified.
+   * @param resources The new resources.
+   * @throws ObjectUnknownException If the referenced vehicle does not exist.
+   */
+  void updateVehicleAllocatedResources(
+      TCSObjectReference<Vehicle> ref,
+      List<Set<TCSResourceReference<?>>> resources
+  )
+      throws ObjectUnknownException;
+
+  /**
+   * Updates a vehicle's state.
+   *
+   * @param ref A reference to the vehicle to be modified.
+   * @param state The vehicle's new state.
+   * @throws ObjectUnknownException If the referenced vehicle does not exist.
+   */
+  void updateVehicleState(TCSObjectReference<Vehicle> ref, Vehicle.State state)
+      throws ObjectUnknownException;
+
+  /**
+   * Updates a vehicle's length.
+   *
+   * @param ref A reference to the vehicle to be modified.
+   * @param length The vehicle's new length.
+   * @throws ObjectUnknownException If the referenced vehicle does not exist.
+   * @deprecated Use {@link #updateVehicleBoundingBox(TCSObjectReference, BoundingBox)} instead.
+   */
+  @Deprecated
+  @ScheduledApiChange(when = "7.0", details = "Will be removed.")
+  void updateVehicleLength(TCSObjectReference<Vehicle> ref, int length)
+      throws ObjectUnknownException;
+
+  /**
+   * Updates the vehicle's bounding box.
+   *
+   * @param ref A reference to the vehicle.
+   * @param boundingBox The vehicle's new bounding box (in mm).
+   * @throws ObjectUnknownException If the referenced vehicle does not exist.
+   * @throws KernelRuntimeException In case there is an exception executing this method.
+   */
+  @ScheduledApiChange(when = "7.0", details = "Default implementation will be removed.")
+  default void updateVehicleBoundingBox(TCSObjectReference<Vehicle> ref, BoundingBox boundingBox)
+      throws ObjectUnknownException,
+        KernelRuntimeException {
+    throw new UnsupportedOperationException("Not yet implemented.");
+  }
+
+  /**
+   * Updates a vehicle's transport order.
+   *
+   * @param vehicleRef A reference to the vehicle to be modified.
+   * @param orderRef A reference to the transport order the vehicle processes.
+   * @throws ObjectUnknownException If the referenced vehicle does not exist.
+   */
+  void updateVehicleTransportOrder(
+      TCSObjectReference<Vehicle> vehicleRef,
+      TCSObjectReference<TransportOrder> orderRef
+  )
+      throws ObjectUnknownException;
+}

opentcs-api-base/src/main/java/org/opentcs/components/kernel/services/NotificationService.java

@@ -0,0 +1,34 @@
+// SPDX-FileCopyrightText: The openTCS Authors
+// SPDX-License-Identifier: MIT
+package org.opentcs.components.kernel.services;
+
+import java.util.List;
+import java.util.function.Predicate;
+import org.opentcs.access.KernelRuntimeException;
+import org.opentcs.data.notification.UserNotification;
+
+/**
+ * Provides methods concerning {@link UserNotification}s.
+ */
+public interface NotificationService {
+
+  /**
+   * Returns a list of user notifications.
+   *
+   * @param predicate A filter predicate that accepts the user notifications to be returned. May be
+   * {@code null} to return all existing user notifications.
+   * @return A list of user notifications, in the order in which they were published.
+   * @throws KernelRuntimeException In case there is an exception executing this method.
+   */
+  List<UserNotification> fetchUserNotifications(Predicate<UserNotification> predicate)
+      throws KernelRuntimeException;
+
+  /**
+   * Publishes a user notification.
+   *
+   * @param notification The notification to be published.
+   * @throws KernelRuntimeException In case there is an exception executing this method.
+   */
+  void publishUserNotification(UserNotification notification)
+      throws KernelRuntimeException;
+}

opentcs-api-base/src/main/java/org/opentcs/components/kernel/services/PeripheralDispatcherService.java

@@ -0,0 +1,60 @@
+// SPDX-FileCopyrightText: The openTCS Authors
+// SPDX-License-Identifier: MIT
+package org.opentcs.components.kernel.services;
+
+import org.opentcs.access.KernelRuntimeException;
+import org.opentcs.components.kernel.PeripheralJobDispatcher;
+import org.opentcs.data.ObjectUnknownException;
+import org.opentcs.data.TCSObjectReference;
+import org.opentcs.data.model.Location;
+import org.opentcs.data.model.TCSResourceReference;
+import org.opentcs.data.peripherals.PeripheralJob;
+
+/**
+ * Provides methods concerning the {@link PeripheralJobDispatcher}.
+ */
+public interface PeripheralDispatcherService {
+
+  /**
+   * Explicitly trigger the dispatching process for peripheral jobs.
+   * <p>
+   * If called within the kernel application, this method is supposed to be called only on the
+   * kernel executor thread.
+   * </p>
+   *
+   * @throws KernelRuntimeException In case there is an exception executing this method.
+   */
+  void dispatch()
+      throws KernelRuntimeException;
+
+  /**
+   * Withdraw any job that a peripheral device (represented by the given location) might be
+   * processing.
+   * <p>
+   * If called within the kernel application, this method is supposed to be called only on the
+   * kernel executor thread.
+   * </p>
+   *
+   * @param ref A reference to the location representing the peripheral device.
+   * @throws ObjectUnknownException If the referenced location does not exist.
+   * @throws KernelRuntimeException In case there is an exception executing this method.
+   */
+  void withdrawByLocation(TCSResourceReference<Location> ref)
+      throws ObjectUnknownException,
+        KernelRuntimeException;
+
+  /**
+   * Withdraw the given peripheral job.
+   * <p>
+   * If called within the kernel application, this method is supposed to be called only on the
+   * kernel executor thread.
+   * </p>
+   *
+   * @param ref A reference to the peripheral job to be withdrawn.
+   * @throws ObjectUnknownException If the referenced peripheral job does not exist.
+   * @throws KernelRuntimeException In case there is an exception executing this method.
+   */
+  void withdrawByPeripheralJob(TCSObjectReference<PeripheralJob> ref)
+      throws ObjectUnknownException,
+        KernelRuntimeException;
+}

opentcs-api-base/src/main/java/org/opentcs/components/kernel/services/PeripheralJobService.java

@@ -0,0 +1,34 @@
+// SPDX-FileCopyrightText: The openTCS Authors
+// SPDX-License-Identifier: MIT
+package org.opentcs.components.kernel.services;
+
+import org.opentcs.access.KernelRuntimeException;
+import org.opentcs.access.to.peripherals.PeripheralJobCreationTO;
+import org.opentcs.data.ObjectExistsException;
+import org.opentcs.data.ObjectUnknownException;
+import org.opentcs.data.peripherals.PeripheralJob;
+
+/**
+ * Provides methods concerning {@link PeripheralJob}s.
+ */
+public interface PeripheralJobService
+    extends
+      TCSObjectService {
+
+  /**
+   * Creates a peripheral job.
+   * A new peripheral job is created with a generated unique ID and all other attributes taken from
+   * the given transfer object.
+   * A copy of the newly created transport order is then returned.
+   *
+   * @param to Describes the peripheral job to be created.
+   * @return A copy of the newly created peripheral job.
+   * @throws ObjectUnknownException If any referenced object does not exist.
+   * @throws ObjectExistsException If an object with the same name already exists in the model.
+   * @throws KernelRuntimeException In case there is an exception executing this method.
+   */
+  PeripheralJob createPeripheralJob(PeripheralJobCreationTO to)
+      throws ObjectUnknownException,
+        ObjectExistsException,
+        KernelRuntimeException;
+}

opentcs-api-base/src/main/java/org/opentcs/components/kernel/services/PeripheralService.java

@@ -0,0 +1,100 @@
+// SPDX-FileCopyrightText: The openTCS Authors
+// SPDX-License-Identifier: MIT
+package org.opentcs.components.kernel.services;
+
+import org.opentcs.access.KernelRuntimeException;
+import org.opentcs.data.ObjectUnknownException;
+import org.opentcs.data.model.Location;
+import org.opentcs.data.model.TCSResourceReference;
+import org.opentcs.drivers.peripherals.PeripheralAdapterCommand;
+import org.opentcs.drivers.peripherals.PeripheralCommAdapter;
+import org.opentcs.drivers.peripherals.PeripheralCommAdapterDescription;
+import org.opentcs.drivers.peripherals.PeripheralProcessModel;
+import org.opentcs.drivers.peripherals.management.PeripheralAttachmentInformation;
+
+/**
+ * Provides methods concerning peripheral devices represented by {@link Location}s.
+ */
+public interface PeripheralService
+    extends
+      TCSObjectService {
+
+  /**
+   * Attaches the described comm adapter to the referenced location.
+   *
+   * @param ref A reference to the location.
+   * @param description The description for the comm adapter to be attached.
+   * @throws ObjectUnknownException If the referenced location does not exist.
+   * @throws KernelRuntimeException In case there is an exception executing this method.
+   */
+  void attachCommAdapter(
+      TCSResourceReference<Location> ref,
+      PeripheralCommAdapterDescription description
+  )
+      throws ObjectUnknownException,
+        KernelRuntimeException;
+
+  /**
+   * Disables the comm adapter attached to the referenced location.
+   *
+   * @param ref A reference to the location the comm adapter is attached to.
+   * @throws ObjectUnknownException If the referenced location does not exist.
+   * @throws KernelRuntimeException In case there is an exception executing this method.
+   */
+  void disableCommAdapter(TCSResourceReference<Location> ref)
+      throws ObjectUnknownException,
+        KernelRuntimeException;
+
+  /**
+   * Enables the comm adapter attached to the referenced location.
+   *
+   * @param ref A reference to the location the comm adapter is attached to.
+   * @throws ObjectUnknownException If the referenced location does not exist.
+   * @throws KernelRuntimeException In case there is an exception executing this method.
+   */
+  void enableCommAdapter(TCSResourceReference<Location> ref)
+      throws ObjectUnknownException,
+        KernelRuntimeException;
+
+  /**
+   * Returns attachment information for the referenced location.
+   *
+   * @param ref A reference to the location.
+   * @return The attachment information.
+   * @throws ObjectUnknownException If the referenced location does not exist.
+   * @throws KernelRuntimeException In case there is an exception executing this method.
+   */
+  PeripheralAttachmentInformation fetchAttachmentInformation(TCSResourceReference<Location> ref)
+      throws ObjectUnknownException,
+        KernelRuntimeException;
+
+  /**
+   * Returns the process model for the referenced location.
+   *
+   * @param ref A reference to the location.
+   * @return The process model.
+   * @throws ObjectUnknownException If the referenced location does not exist.
+   * @throws KernelRuntimeException In case there is an exception executing this method.
+   */
+  PeripheralProcessModel fetchProcessModel(TCSResourceReference<Location> ref)
+      throws ObjectUnknownException,
+        KernelRuntimeException;
+
+  /**
+   * Sends a {@link PeripheralAdapterCommand} to the comm adapter attached to the referenced
+   * location.
+   * <p>
+   * If called within the kernel application, this method is supposed to be called only on the
+   * kernel executor thread.
+   * </p>
+   *
+   * @see PeripheralAdapterCommand#execute(PeripheralCommAdapter)
+   * @param ref A reference to the location.
+   * @param command The adapter command to send.
+   * @throws ObjectUnknownException If the referenced location does not exist.
+   * @throws KernelRuntimeException In case there is an exception executing this method.
+   */
+  void sendCommAdapterCommand(TCSResourceReference<Location> ref, PeripheralAdapterCommand command)
+      throws ObjectUnknownException,
+        KernelRuntimeException;
+}