How to configure ODS
A basic json
The configuration example uses the following JSON for a simple configuration. This configuration expects at least one Head (3D imager) at port 2.
{
"applications": {
"instances": {
"app0": {
"class": "ods",
"name":"app0",
"ports": [
"port2",
"port6"
],
"state": "CONF"
}
}
}
}
Note
port6 is always part of the “ports” configuration. It refers to the IMU and is needed for the ODS algorithm to work properly.
The configuration example
#############################################
# Copyright 2021-present ifm electronic, gmbh
# SPDX-License-Identifier: Apache-2.0
#############################################
import json
import logging
import pathlib
from jsonschema import exceptions as json_exceptions
from jsonschema import validate
from ifm3dpy.device import Error as ifm3dpy_error
from ifm3dpy.device import O3R
class ODSConfig:
"""Provides functions showcasing how to handle json configuration
of an O3R device, using the ifm3dpy library.
"""
def __init__(self, o3r: O3R) -> None:
self.o3r = o3r
self.schema = o3r.get_schema()
self.logger = logging.getLogger(__name__)
logging.basicConfig(
format="%(asctime)s:%(filename)-10s:%(levelname)-8s:%(message)s",
datefmt="%y-%m-%d %H:%M:%S",
)
self.logger.setLevel(logging.DEBUG)
def validate_json(self, config: json) -> bool:
"""This function can be used to validate
a configuration before setting it.
Note that ifm3dpy.device.O3R.set() will validate the
requested configuration, but using the jsonschema.validate
function will provide a more verbose validation.
:param config: the configuration to validate
:raises ValidationError: if the validation fails
"""
try:
self.logger.info(f"Validating configuration")
validate(config, self.schema)
except json_exceptions.ValidationError as err:
self.logger.exception("Error while validating the json schema")
raise err
except json_exceptions.SchemaError as err:
self.logger.exception("Incorrect json schema")
raise err
def set_config_from_file(self, config_file: pathlib.Path):
"""Configure the device from a configuration file.
The provided configuration is validated using the schema validator.
:param config_file: path to the configuration file
"""
try:
self.logger.info(f"Loading configuration from file {config_file}")
with open(config_file, "r") as f:
config = json.load(f)
# This function will validate the configuration against the schema
# and apply it to the O3R.
self.set_config_from_dict(config)
except OSError as err:
self.logger.exception("Error while reading configuration file")
raise err
def set_config_from_dict(self, config: json):
"""Configure the device provided a configuration dictionary.
The provided configuration is validated using the schema validator.
:param config: dictionary of the desired configuration
:raises ifm3dpy.device.Error: if the configuration fails
"""
try:
self.validate_json(config)
self.logger.info(f"Setting configuration {config}")
self.o3r.set(config)
except ifm3dpy_error as err:
self.logger.exception("Error while configurating device")
raise err
def get(self, config_path=[""]):
"""Get current configuration fragment, provided the expected dictionary.
If nothing is provided, the full configuration will be returned.
Note that this function can be used exactly as the ifm3dpy.device.O3R.get() function
:param config_path: fragment of configuration to retrieve
:return: the configuration
:raises ifm3dpy.device.Error: if the configuration cannot be retrieved
"""
try:
self.logger.info(f"Getting configuration at {config_path}")
return self.o3r.get(config_path)
except ifm3dpy_error as err:
self.logger.exception("Error while getting configuration")
raise err
def main():
"""
Example on how to use the ODSConfig class.
Make sure you configure the IP address for your specific setup.
"""
IP = "192.168.0.69"
o3r = O3R(IP)
ods_config = ODSConfig(o3r=o3r)
#############################################
# Examples on getting configurations snippets
#############################################
ods_config.logger.info(ods_config.get()) # Get the full configuration
ods_config.logger.info(
ods_config.get(
["/device/swVersion/firmware"]
) # Get a subset of the configuration
)
ods_config.logger.info(
ods_config.get(
["/device/swVersion/firmware", "/device/status", "/ports/port0/info"]
) # Get multiple fragments of the configuration
)
try: # This will throw an exception
ods_config.logger.info(ods_config.get(["/device/wrongkey"]))
# Failing silently to continue through the examples
except ifm3dpy_error:
pass
#####################################
# Examples on setting configurations
#####################################
ods_config.set_config_from_dict(
{"device": {"info": {"description": "I will use this O3R to change the world"}}}
)
ods_config.set_config_from_dict( # Set two configuration fragments at the same time
{
"device": {"info": {"name": "my_favorite_o3r"}},
"ports": {"port0": {"info": {"name": "my_favorite_port"}}},
} # Assume port connected in port0
)
try: # This will throw an exception
ods_config.set_config_from_dict({"device": {"info": {"description": 0}}})
# Failing silently to continue through the examples
except json_exceptions.ValidationError:
pass
ods_config.set_config_from_file("configs/ods_one_head_config.json")
try: # This will throw an exception
ods_config.set_config_from_file("non/existent/file.json")
# Failing silently to continue through the examples
except OSError:
pass
ods_config.logger.info("You reached the end of the ODSConfig tutorial!")
if __name__ == "__main__":
main()
Tip
Resetting the application(s) If issues with the receiving of data or changing the configuration occur, an reset of the application(s) could solve these issues.
from ifm3dpy.device import O3R
o3r = O3R()
o3r.reset("/applications")