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    Class ConfigurationDatabase

    Main class for configuration management.

    Inheritance
    System.Object
    NamedObject
    SDKBase
    SDKControllerBoundBase
    ConfigurationDatabase
    Implements
    System.IComparable
    INamedObject
    System.IDisposable
    IMastershipResource
    Inherited Members
    SDKControllerBoundBase.Controller
    SDKBase.Dispose()
    SDKBase.Dispose(Boolean)
    NamedObject.Equals(String)
    NamedObject.Equals(NamedObject)
    NamedObject.Equals(Object)
    NamedObject.CompareTo(String)
    NamedObject.CompareTo(NamedObject)
    NamedObject.CompareTo(Object)
    NamedObject.GetHashCode()
    NamedObject.ToString()
    NamedObject.Name
    Namespace: ABB.Robotics.Controllers.ConfigurationDomain
    Assembly: ABB.Robotics.Controllers.PC.dll
    Syntax
    public class ConfigurationDatabase : SDKControllerBoundBase, IComparable, INamedObject, IDisposable, IMastershipResource

    Properties

    Domains

    Gets all domains as a collection.

    Declaration
    public DomainCollection Domains { get; }
    Property Value
    Type Description
    DomainCollection

    ExternalIO

    Gets the external IO configuration domain.

    Declaration
    public Domain ExternalIO { get; }
    Property Value
    Type Description
    Domain

    IsMaster

    Get the current mastership state.

    Declaration
    public bool IsMaster { get; }
    Property Value
    Type Description
    System.Boolean

    IsRobotWare7

    Declaration
    public bool IsRobotWare7 { get; }
    Property Value
    Type Description
    System.Boolean

    ManMachineCommunication

    Gets Man Machine Communication domain.

    Declaration
    public Domain ManMachineCommunication { get; }
    Property Value
    Type Description
    Domain

    MotionControl

    Gets MotionController configuration domain.

    Declaration
    public Domain MotionControl { get; }
    Property Value
    Type Description
    Domain

    Process

    Gets the process configuration domain.

    Declaration
    public Domain Process { get; }
    Property Value
    Type Description
    Domain

    SerialIO

    Gets the Serial IO configuration domain.

    Declaration
    public Domain SerialIO { get; }
    Property Value
    Type Description
    Domain

    System

    Gets the system configuration domain.

    Declaration
    public Domain System { get; }
    Property Value
    Type Description
    Domain

    Methods

    Accept(IMetadataVisitor)

    Accepts a visitor object.

    Declaration
    public void Accept(IMetadataVisitor visitor)
    Parameters
    Type Name Description
    IMetadataVisitor visitor

    Visitor object.

    Load(String)

    Loads a configuration file into the database. Uses LoadMode.Add.

    Declaration
    public void Load(string path)
    Parameters
    Type Name Description
    System.String path

    The path. (On the controller).

    Load(String, LoadMode)

    Loads a configuration file into the database.

    Declaration
    public void Load(string path, LoadMode mode)
    Parameters
    Type Name Description
    System.String path

    The path. (On the controller).

    LoadMode mode

    The load mode.

    Read(String[])

    Reads the value localized by the path.

    Declaration
    public string Read(params string[] path)
    Parameters
    Type Name Description
    System.String[] path

    The path.

    Returns
    Type Description
    System.String

    The value as a string.

    Examples

    The first example reads the unitmap value for signal TestDI. The variables in the path are the same as the ones in the configuration files (in this case eio.cfg). The second example reads the value of cal_offset for rob1_1 (moc.cfg).

    using ABB.Robotics;
    using ABB.Robotics.Controllers;
    using ABB.Robotics.Controllers.ConfigurationDomain;
    ...
    Controller controller = new Controller();
    ConfigurationDatabase cfg = controller.Configuration;
    
    string[] path = { "EIO", "EIO_SIGNAL", "TestDI", "UnitMap" };
    string data = cfg.Read(path);
    
    string[] path = { "MOC", "MOTOR_CALIB", "rob1_1", "cal_offset" };
    string data = cfg.Read(path);

    Write(String, Boolean, String[])

    Writes a value to the path.

    Declaration
    public void Write(string value, bool log, params string[] path)
    Parameters
    Type Name Description
    System.String value

    The value.

    System.Boolean log

    Log changes to the controller event log. Supported from RW 6.06.

    System.String[] path

    The path.

    Examples

    This example sets the unitmap of signal "TestDI" to 17.

    using ABB.Robotics;
    using ABB.Robotics.Controllers;
    using ABB.Robotics.Controllers.ConfigurationDomain;
    ...
    try
    {
        Controller controller = new Controller();
        Mastership master;
        ConfigurationDatabase cfg = controller.Configuration;               
    
        using (master = Controllers.Mastership.Request(controller.Configuration))
        {
            string[] path = { "EIO", "EIO_SIGNAL", "TestDI", "UnitMap" };
            cfg.Write("17", path);
        } 
     }
     catch (System.InvalidOperationException ex)
     {
         MessageBox.Show("Mastership is held by another client.");
     }
     catch (System.Exception ex)
     {
        // TODO: Add error handling
     }
     finally
     {
         //must release mastership in case an error occurred when Write was executed
         if (master != null)
         {
             master.Dispose();
             master = null;
         }
     }
    }

    Write(String, String[])

    Writes a value to the path.

    Declaration
    public void Write(string value, params string[] path)
    Parameters
    Type Name Description
    System.String value

    The value.

    System.String[] path

    The path.

    Events

    MastershipChanged

    This event is raised when mastership is changed.

    Declaration
    public event EventHandler<MastershipChangedEventArgs> MastershipChanged
    Event Type
    Type Description
    System.EventHandler<MastershipChangedEventArgs>

    Explicit Interface Implementations

    IMastershipResource.Ensure()

    Call this method to ensure the mastership of the resource.

    Declaration
    void IMastershipResource.Ensure()

    IMastershipResource.Release()

    Call this method to release the mastership of the resource.

    Declaration
    void IMastershipResource.Release()

    IMastershipResource.Request()

    Call this method to request the mastership of the resource.

    Declaration
    void IMastershipResource.Request()

    Implements

    System.IComparable
    INamedObject
    System.IDisposable
    IMastershipResource
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