Variant

The Variants and Variant elements allow a single configuration file to be used in different use-cases.

Note

Variants is used to define the default configuration, which will be applied when using LoadConfiguration without selecting the desired variant.

Example

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<Controller Name="Arcas 5EG-0">
  <Variants>
    <!-- Default variant selection, overruled by arguments in API call -->
    <Variant Name="Simulated" Value="True"/>
  </Variants>

  <Variant Name="Simulated" Value="True">
    <Template Name="PositionControlTemplate" TemplateType="ProcessingBlock">
      <Updatable Name="Updatable">
        <FilePath>PositionControlSimple-windows-x86_64.bin</FilePath>
      </Updatable>
    </Template>
    <Template Name="PlantSecondOrderMechanicalTemplate" TemplateType="ProcessingBlock">
      <Updatable Name="Updatable">
        <FilePath>PlantSecondOrderMechanical-windows-x86_64.bin</FilePath>
      </Updatable>
    </Template>
  </Variant>

  <Variant Name="Simulated" Value="False">
    <Template Name="PositionControlTemplate" TemplateType="ProcessingBlock">
      <Updatable Name="Updatable">
        <FilePath>PositionControlSimple-bb-armv8a_64.bin</FilePath>
      </Updatable>
    </Template>
    <Template Name="PlantSecondOrderMechanicalTemplate" TemplateType="ProcessingBlock">
      <Updatable Name="Updatable">
        <FilePath>PlantSecondOrderMechanical-bb-armv8a_64.bin</FilePath>
      </Updatable>
    </Template>
  </Variant>

  <AxisControl Name="X" Template="LogicalAxisControlStandard3rdOrderTemplate">
    <Variant Name="Simulated" Value="True">
      <ProcessingBlock Name="Plant" Template="PlantSecondOrderMechanicalTemplate" CalculationStart="True">
        <Input Name="Actuator" Source="X/PositionControl/ControlOutput"/>
        <Signal Name="Mass">1.0</Signal>
        <Signal Name="Damping">2.75</Signal>
        <Signal Name="Stiffness">0.25</Signal>
      </ProcessingBlock>
    </Variant>

    <TrajectoryInterpolator>
      <Input Name="DemandPositionOffset" Source="X/PositionControl/DemandPositionOffset"/>
    </TrajectoryInterpolator>

    <CommandQueue>
      <Input Name="IsClosedLoop" Source="X/PositionControl/IsClosedLoop"/>
      <Input Name="InPosition" Source="X/TrajectoryInterpolator/InPosition/Event"/>
      <Input Name="TrajectoryComplete" Source="X/TrajectoryInterpolator/TrajectoryComplete/Event"/>
    </CommandQueue>

    <ProcessingBlock Name="PositionControl" Template="PositionControlTemplate">
      <Input Name="CloseLoopRequest" Source="X/CommandQueue/CloseLoopRequest"/>
      <Input Name="DemandPosition" Source="X/TrajectoryInterpolator/DemandPosition"/>
      <Variant Name="Simulated" Value="True">
        <Input Name="PositionSensor" Source="X/Plant/Position"/>
      </Variant>
    </ProcessingBlock>
  </AxisControl>
</Controller>

XML schema

Complex type BaseVariantType
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<xs:complexType name="BaseVariantType" abstract="true">
  <xs:attribute name="Name" type="xs:string" use="required"/>
  <xs:attribute name="Value" type="xs:string" use="required"/>
</xs:complexType>

Attribute

Description

Name

Defines the name of the variant.

Value

Defines the value of the variant.
complex type DefaultVariantType
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<xs:complexType name="DefaultVariantType">
  <xs:attribute name="Name" type="xs:string" use="required"/>
  <xs:attribute name="Value" type="xs:string" use="required"/>
</xs:complexType>

Attribute

Description

Name

Defines the name of the default variant.

Value

Defines the value of the default variant.
Complex type DefaultVariantsType
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<xs:complexType name="DefaultVariantsType">
  <xs:choice minOccurs="0" maxOccurs="unbounded">
    <xs:element name="Variant" type="DefaultVariantType"/>
  </xs:choice>
</xs:complexType>