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.

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.

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.