rapyuta.io allows you to create a dynamic configuration that holds the parameter files into a tree-like hierarchical structure called a configuration hierarchy. These configuration parameters are applied to the robots to achive the desired behavior for the robot. Perform the following procedure to create a dynamic configuration.
You can add only one attribute node but multiple base configuration files from the root node.
The configuration parameter hierarchy is created. You can apply the configurations to a device now. For more information, see Applying Dynamic Configurations
There are a set of rules that you must adhere to when writing a configuration parameters file. They are:
A space character always follows a colon (:) and a hyphen (-). For instance,
# Invalid parameters
a:b
list:
-a
-b
# Valid parameters
a: b
list:
- a
- b
Start your configuration parameters file with maps.
# Invalid parameter file example
abc # string
# Invalid parameter file example
[a, b] # list
# Valid parameter file example
a:
b: c
d: e
f:
- g
- h
If you add a new item to a default list parameter, it is appended to the list.
# base parameters file
list:
- a
- b
# extending parameters file
list:
- c
# merged resultant file
list:
- a
- b
- c
If you modify a default parameter’s value, the new value overrides the old value.
# base parameters file
a: b
# overriding parameters file
a: e
# merged resultant file
a: e
Rapyuta.io allows you to add the configuration parameters at every value node including the root node. When you hover and click the value node to add a configuration file, you get an option to choose to write the configuration parameter in YAML format or upload the configurations directly from your local machine.
In the following procedure, the configuraion parameter for a RGV robot is written in YAML format.
Log on to rapyuta.io console and on the left navigation bar, click CONFIGURATIONS > ADD NEW CONFIGURATION.
In the Add new configuration pop-up window, type a name for the configuration and click Confirm. For this example, type the name as config_1. The new configuration name is added to the Configuration Name list. To configure the root node (configuration name), click Config_1 from the list.
Hover over Config_1 and add an attribute as country.
Hover over Config_1 and click Add file. By default, the file type is selected as YAML.Type the file name as RGV_config and click Confirm.
In the File Contents area , type the RGV robot parameter values, as displayed in the following figure and click Save.
Ensure you read the rules for writing/editing configuration parameters files.
Hover over the country attribute to view options to add new value nodes.
Click Add country value. Give it a name, for example, USA. Click CONFIRM. Similarly, add another country value and give it the name Japan.
Suppose that the manufacturer Tesla has signed the contract deal
to manufacture the RGVs in the USA region. You can add Tesla to
the existing list of allowed_manufacturers. You will have to
define RGV_Config.yaml under the USA value, which will extend the
list of base parameters. The resultant file after merging the
base parameters in config_1/RGV_config.yaml and the newly added parameters in
USA/RGV_config.yaml will include tesla in addition to those already present.
Suppose that the regulation in Japan requires you to limit the
maximum velocity of a RGV from 5m/s to 3m/s. You can override
the max_velocity of the RGV by assigning a new value to it. You
will have to define sample.yaml file under the Japan value,
which will include the max_velocity parameter, but with its default
overridden. The final parameters file is a result of merging the base parameters (config_1/RGV_config.yaml) and the overridden parameters (Japan/RGV_config.yaml).
A binary file can be of any format, for example, .png, .json, .txt, .jpg etc. rapyuta.io allows you to upload the configuration file as a binary file. You can upload the configuration file if the configuration file cannot be written in YAML format, for example a map image.
In the following example, a configuration hirarchy is created with the binary configuration files.
Log on to rapyuta.io console and on the left navigation bar, click CONFIGURATIONS > ADD NEW CONFIGURATION.
In the Add new configuration pop-up window, type a name for the configuration and click Confirm. For this example, type the name as config_2. The new configuration name is added to the Configuration Name list. To configure the root node (configuration name), click Config_2 from the list.
Hover over Config_2 and add an attribute as country.
Hover over Config_2 and click Add file.
Upload a base map image as the binary file from your local machine and click Confirm. If no configuration binary file is added at the file node, the configuration of base map image is applied to the device.
Hover over the root node again to view options to add a new attribute node.
Click Add attribute. Give it a name, say, country. Click CONFIRM.
Hover over the country attribute to view options to add new value nodes.
Click Add country value. Give it a name, for example, USA. Click CONFIRM. Similarly, add another country value and give it the name Japan.
10. For the attribute value USA, add the binary configuration file from your local machine and click Confirm.(For this example the map image is warehouse_map ). Similarly you can upload a binary parameter file for the attribute value japan.
The binary configuration parameter values are saved. The configuration will be applied to the devices after you apply the configuration. For more information, see Apply configuration parameters.