Datastore¶
The datastore is a persistent key-value database included on each Robot System. All programs can use the following function blocks for CRUD (Create, Read, Update, Delete) operations. See also Datastore for more information about the datastore.
Entries at the Datastore are identified by a combination of group and id. Both together uniquely identify a single entry. Group and id are subject to the following naming regulations:
- The group must not must not contain spaces.
- The group must not start or end with
/. - The id must not be empty.
- The id must not contain spaces.
- The id must not start or end with
/.
When attemped to create a Datastore entry breaking the naming regulations an INVALID_ID_OR_GROUP exception is raised.
Function Blocks¶
Datastore - Counter¶
Increases the value of a datastore integer item and saves it back to the datastore. If the item does not exist yet it will be created with 0.
| Name | Data type | Description | |
|---|---|---|---|
| Inputs | Datastore ID: Group | String | The identifying group of the datastore item. |
| Datastore ID: ID | String | The identifying id of the datastore item within the group. | |
| Increment | Integer | The increment to increase the integer value. | |
| Outputs | Incremented Value | Integer | The incremented resulting integer value. |
| Exceptions | CAST_ERROR | - | The exception is raised, if the datastore value can not be casted to an integer value, e.g. because it is a different datatype. |
| ACCESS_ERROR | - | The exception is raised, if the datastore can not be accessed. | |
| INVALID_ID_OR_GROUP | - | The exception is raised, if the id or group parameter of the Datastore ID is invalid. |
Datastore - Check - Boolean¶
Checks whether multiple datastore boolean items are in a desired state.
| Name | Data type | Description | |
|---|---|---|---|
| Inputs | Boolean Datastore States | List of Datastore Entries | List of Boolean Datastore entries, each consisting of a Datastore ID and Value, which are checked all at once. |
| Datastore ID: Group | String | The identifying group of the datastore item. | |
| Datastore ID: ID | String | The identifying id of the datastore item within the group. | |
| Datastore Value | Boolean | The desired boolean value of the datastore item. | |
| Outputs | Result | Boolean | Returns true, if all requested entries are in the desired state. Returns false otherwise. |
| Exceptions | ID_NOT_FOUND | - | The exception is raised, if any of the stated datastore entries can not be found. |
| ACCESS_ERROR | - | The exception is raised, if the datastore can not be accessed. |
Datastore - Delete All Items¶
Deletes all datastore items.
| Name | Data type | Description | |
|---|---|---|---|
| Inputs | - | ||
| Outputs | - | ||
| Exceptions | ACCESS_ERROR | - | The exception is raised, if the datastore can not be accessed. |
Datastore - Delete Group¶
Deletes all items of a datastore group.
| Name | Data type | Description | |
|---|---|---|---|
| Inputs | Namespace | String | The name of a datastore group whose members will be deleted. |
| Outputs | - | ||
| Exceptions | NAMESPACE_NOT_FOUND | - | The exception is raised, if the group does not exist on the datastore. |
| ACCESS_ERROR | - | The exception is raised, if the datastore can not be accessed. |
Datastore - Delete Item¶
Deletes a datastore item.
| Name | Data type | Description | |
|---|---|---|---|
| Inputs | Datastore ID: Group | String | The identifying group of the datastore item. |
| Datastore ID: ID | String | The identifying id of the datastore item within the group. | |
| Outputs | - | ||
| Exceptions | ID_NOT_FOUND | - | The exception is raised, if the item does not exist on the datastore. |
| ACCESS_ERROR | - | The exception is raised, if the datastore can not be accessed. |
Datastore - Log All Items¶
Logs all items of the datastore in the ROS log.
| Name | Data type | Description | |
|---|---|---|---|
| Inputs | - | ||
| Outputs | - | ||
| Exceptions | ACCESS_ERROR | - | The exception is raised, if the datastore can not be accessed. |
Datastore - Get Value - Boolean¶
Returns the boolean value of a datastore item.
| Name | Data type | Description | |
|---|---|---|---|
| Inputs | Datastore ID: Group | String | The identifying group of the datastore item. |
| Datastore ID: ID | String | The identifying id of the datastore item within the group. | |
| Outputs | Value | Boolean | The boolean value of the datastore item. |
| Exceptions | ID_NOT_FOUND | - | The exception is raised, if the item does not exist on the datastore. |
| CAST_ERROR | - | The exception is raised, if the datastore value can not be casted to a boolean value, e.g. because it is a different datatype. | |
| ACCESS_ERROR | - | The exception is raised, if the datastore can not be accessed. |
Datastore - Get Value - Float¶
Returns the float value of a datastore item.
| Name | Data type | Description | |
|---|---|---|---|
| Inputs | Datastore ID: Group | String | The identifying group of the datastore item. |
| Datastore ID: ID | String | The identifying id of the datastore item within the group. | |
| Outputs | Value | Float | The float value of the datastore item. |
| Exceptions | ID_NOT_FOUND | - | The exception is raised, if the item does not exist on the datastore. |
| CAST_ERROR | - | The exception is raised, if the datastore value can not be casted to a float value, e.g. because it is a different datatype. | |
| ACCESS_ERROR | - | The exception is raised, if the datastore can not be accessed. |
Datastore - Get Value - Integer¶
Returns the integer value of a datastore item.
| Name | Data type | Description | |
|---|---|---|---|
| Inputs | Datastore ID: Group | String | The identifying group of the datastore item. |
| Datastore ID: ID | String | The identifying id of the datastore item within the group. | |
| Outputs | Value | Integer | The integer value of the datastore item. |
| Exceptions | ID_NOT_FOUND | - | The exception is raised, if the item does not exist on the datastore. |
| CAST_ERROR | - | The exception is raised, if the datastore value can not be casted to an integer value, e.g. because it is a different datatype. | |
| ACCESS_ERROR | - | The exception is raised, if the datastore can not be accessed. |
Datastore - Get Value - Joints¶
Returns the 6 axes joints of a datastore item.
| Name | Data type | Description | |
|---|---|---|---|
| Inputs | Datastore ID: Group | String | The identifying group of the datastore item. |
| Datastore ID: ID | String | The identifying id of the datastore item within the group. | |
| Outputs | Value | Joints | The joint values of the datastore item. |
| Exceptions | ID_NOT_FOUND | - | The exception is raised, if the item does not exist on the datastore. |
| INVALID_JOINTS | - | The exception is raised, if the entry is not a valid joints format for 6 axes. | |
| ACCESS_ERROR | - | The exception is raised, if the datastore can not be accessed. |
Datastore - Get Value - Pose¶
Returns the pose of a datastore item.
| Name | Data type | Description | |
|---|---|---|---|
| Inputs | Datastore ID: Group | String | The identifying group of the datastore item. |
| Datastore ID: ID | String | The identifying id of the datastore item within the group. | |
| Outputs | Value | Pose | The pose of the datastore item. |
| Exceptions | ID_NOT_FOUND | - | The exception is raised, if the item does not exist on the datastore. |
| INVALID_POSE | - | The exception is raised, if the entry is not a valid pose format. | |
| ACCESS_ERROR | - | The exception is raised, if the datastore can not be accessed. |
Datastore - Get Value - String¶
Returns the string value of a datastore item.
| Name | Data type | Description | |
|---|---|---|---|
| Inputs | Datastore ID: Group | String | The identifying group of the datastore item. |
| Datastore ID: ID | String | The identifying id of the datastore item within the group. | |
| Outputs | Value | String | The string value of the datastore item. |
| Exceptions | ID_NOT_FOUND | - | The exception is raised, if the item does not exist on the datastore. |
| ACCESS_ERROR | - | The exception is raised, if the datastore can not be accessed. |
Datastore - Set Value - Boolean¶
Sets the value of a datastore item. If it does not exist yet it will be created.
| Name | Data type | Description | |
|---|---|---|---|
| Inputs | Datastore ID: Group | String | The identifying group of the datastore item. |
| Datastore ID: ID | String | The identifying id of the datastore item within the group. | |
| Value | Boolean | The new boolean value of the datastore item. | |
| Outputs | - | ||
| Exceptions | MISMATCHING_TYPE | - | The exception is raised, if the datatype of the existing entry does not match the new datatype. |
| ACCESS_ERROR | - | The exception is raised, if the datastore can not be accessed. | |
| INVALID_ID_OR_GROUP | - | The exception is raised, if the id or group parameter of the Datastore ID is invalid. |
Datastore - Set Value - Float¶
Sets the value of a datastore item. If it does not exist yet it will be created.
| Name | Data type | Description | |
|---|---|---|---|
| Inputs | Datastore ID: Group | String | The identifying group of the datastore item. |
| Datastore ID: ID | String | The identifying id of the datastore item within the group. | |
| Value | Float | The new float value of the datastore item. | |
| Outputs | - | ||
| Exceptions | MISMATCHING_TYPE | - | The exception is raised, if the datatype of the existing entry does not match the new datatype. |
| ACCESS_ERROR | - | The exception is raised, if the datastore can not be accessed. | |
| INVALID_ID_OR_GROUP | - | The exception is raised, if the id or group parameter of the Datastore ID is invalid. |
Datastore - Set Value - Integer¶
Sets the value of a datastore item. If it does not exist yet it will be created.
| Name | Data type | Description | |
|---|---|---|---|
| Inputs | Datastore ID: Group | String | The identifying group of the datastore item. |
| Datastore ID: ID | String | The identifying id of the datastore item within the group. | |
| Value | Integer | The new integer value of the datastore item. | |
| Outputs | - | ||
| Exceptions | MISMATCHING_TYPE | - | The exception is raised, if the datatype of the existing entry does not match the new datatype. |
| ACCESS_ERROR | - | The exception is raised, if the datastore can not be accessed. | |
| INVALID_ID_OR_GROUP | - | The exception is raised, if the id or group parameter of the Datastore ID is invalid. |
Datastore - Set Value - Joints¶
Sets the value of a datastore item. If it does not exist yet it will be created.
| Name | Data type | Description | |
|---|---|---|---|
| Inputs | Datastore ID: Group | String | The identifying group of the datastore item. |
| Datastore ID: ID | String | The identifying id of the datastore item within the group. | |
| Value | Joints | The new joint values with 6 axes of the datastore item. | |
| Outputs | - | ||
| Exceptions | MISMATCHING_TYPE | - | The exception is raised, if the datatype of the existing entry does not match the new datatype. |
| ACCESS_ERROR | - | The exception is raised, if the datastore can not be accessed. | |
| INVALID_ID_OR_GROUP | - | The exception is raised, if the id or group parameter of the Datastore ID is invalid. |
Datastore - Set Value - Pose¶
Sets the value of a datastore item. If it does not exist yet it will be created.
| Name | Data type | Description | |
|---|---|---|---|
| Inputs | Datastore ID: Group | String | The identifying group of the datastore item. |
| Datastore ID: ID | String | The identifying id of the datastore item within the group. | |
| Value | Pose | The new pose value of the datastore item. | |
| Outputs | - | ||
| Exceptions | MISMATCHING_TYPE | - | The exception is raised, if the datatype of the existing entry does not match the new datatype. |
| ACCESS_ERROR | - | The exception is raised, if the datastore can not be accessed. | |
| INVALID_ID_OR_GROUP | - | The exception is raised, if the id or group parameter of the Datastore ID is invalid. |
Datastore - Set Value - String¶
Set the value of a datastore item. If it does not exist yet it will be created.
| Name | Data type | Description | |
|---|---|---|---|
| Inputs | Datastore ID: Group | String | The identifying group of the datastore item. |
| Datastore ID: ID | String | The identifying id of the datastore item within the group. | |
| Value | String | The new string value of the datastore item. | |
| Outputs | - | ||
| Exceptions | MISMATCHING_TYPE | - | The exception is raised, if the datatype of the existing entry does not match the new datatype. |
| ACCESS_ERROR | - | The exception is raised, if the datastore can not be accessed. | |
| INVALID_ID_OR_GROUP | - | The exception is raised, if the id or group parameter of the Datastore ID is invalid. |
Datastore - Set Type¶
Sets the datatype of an existing datastore item.
| Name | Data type | Description | |
|---|---|---|---|
| Inputs | Datastore ID: Group | String | The identifying group of the datastore item. |
| Datastore ID: ID | String | The identifying id of the datastore item within the group. | |
| Type | - | The new type of the datastore item. Possible values are string, int, float and boolean. | |
| Outputs | - | ||
| Exceptions | ID_NOT_FOUND | - | The exception is raised, if the item does not exist on the datastore. |
| ACCESS_ERROR | - | The exception is raised, if the datastore can not be accessed. |
Datastore - Set Display Title¶
Sets the display title of an existing datastore item.
| Name | Data type | Description | |
|---|---|---|---|
| Inputs | Datastore ID: Group | String | The identifying group of the datastore item. |
| Datastore ID: ID | String | The identifying id of the datastore item within the group. | |
| Display Title | String | The new display title of the datastore item. | |
| Outputs | - | ||
| Exceptions | ID_NOT_FOUND | - | The exception is raised, if the item does not exist on the datastore. |
| ACCESS_ERROR | - | The exception is raised, if the datastore can not be accessed. |
Datastore - Set Operator Lock¶
Set the operator_can_edit option of an existing datastore item.
| Name | Data type | Description | |
|---|---|---|---|
| Inputs | Datastore ID: Group | String | The identifying group of the datastore item. |
| Datastore ID: ID | String | The identifying id of the datastore item within the group. | |
| Operator Can Edit | Boolean | The operator can /can not edit the datastore entry in the KPI panel of the dashboard in the Operator Cockpit. | |
| Outputs | - | ||
| Exceptions | ID_NOT_FOUND | - | The exception is raised, if the item does not exist on the datastore. |
| ACCESS_ERROR | - | The exception is raised, if the datastore can not be accessed. |
Datastore - Change Group¶
Changes the group of an existing datastore item.
| Name | Data type | Description | |
|---|---|---|---|
| Inputs | Datastore ID: Group | String | The identifying group of the datastore item. |
| Datastore ID: ID | String | The identifying id of the datastore item within the group. | |
| New Group | String | The new group for this datastore item. | |
| Outputs | - | ||
| Exceptions | ID_NOT_FOUND | - | The exception is raised, if the item does not exist on the datastore. |
| ACCESS_ERROR | - | The exception is raised, if the datastore can not be accessed. | |
| INVALID_ID_OR_GROUP | - | The exception is raised, if the new group parameter is invalid. |