Linking Parameters Explained

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Inside the linking.json you can create multiple "Groups", a group contains a "Name" and information about the action like: "links" and/or "setParameters". With the "systemMode" you can specify for which Application mode this group should be active. If you want to disable or enable groups from the linking.json, you can use the "Enable": function.

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#Version

You can apply a version to your linking.json with "Version":, check out linking.schema.json how to to set up your versioning.

#Group

You can create your own "Group":, to assign a link or set a parameter.

#Name

Each group contains a "Name": in here you can specify a name to your liking.

#SystemMode

Inside the config.json you can define the Application Mode, per mode, different links can be created in the linking.json. For each group the "systemMode": can be defined (All, Production or Simulation) with the "systemMode", you can specify in which Application Mode the group is active:

Application Mode SystemMode
Production All or Production
Simulation All or Simulation

#Enable

With the "Enable": flag you can enable or disable the current group, this is done by defining a True, or False statement.

#SetParameters

SetParameters are used to change the the "Value": of the specified "Path":.

Parameter Description
"Value": Here you can specify any type of Value that you want to assign to the Path.
"Force": Here you can specify if you want to Force the value, to the Path, This can either be True or False.
"Path": Here you can specify the Path, to which the Value is written. (path example: root/.../...)
"Index": Here you can specify the Index expressed as number, index 0 is equal to the the first element in a array[0].
"Length": Here you can specify the Length of elements expressed as a number. Example: If the "Index": 1, with "Length": 2, you will write only Index 1 and 2 to the Destination.

Example: In case the software requires a physical hardware input like a E-stop if the application is in simulation mode. You can override these E-stop values by defining a setParameter for the specific estop_button path. A open E-stop, gives a false statement, that is why, the assigned value is true, and forced to true, else after deploying the linking.json, the estop_button turns to false because of the not connected hardware.


   "Name": "Simulation",
      "SystemMode": "Simulation",
      "SetParameters":
        {
          "Path": "root/Logic/:busToState/estop_buttons_channel1",
          "Value": [
            true,
            true,
            true,
            true,
            true,
            true,
            true,
            true
          ],
          "Force": true
        }

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#Links

"Links": are used to link the source to a destination, or an destination to a source, it is not possible to link multiple destinations to a source. But it is possible to link an source to multiple destinations.

In the "Source": and "Destination":: you fill in your preferred path (root/.../...). To the Source you can specify information like: "Gain":, "Offset":, "Index": , "Length": and for the Destination only a "Index": and "Length".

Parameter Description
"Source": Here you can specify the Path of the Source that you want to link to the Destination.
"Destination": Here you can specify the path of the destination.
"Gain": Here you can specify the Gain which is multiplied with Source, to get a new Destination value.
"Offset": Here you can specify the Offset applied to the Destination.
"Index": Here you can specify the Index expressed as number, index 0 is equal to the the first element in a array[0].
"Length": Here you can specify the Length of elements expressed as a number. Example: If the "Index": 1, with "Length": 2, you will write only Index 1 and 2 to the Destination. 

      "Name": "Joystick",
      "SystemMode": "All",
      "Enable": true,
      "Links": [
        {
          "Gain": 1.0,
          "Offset": 0.0,
          "Source": {
            "Path": "root/Joystick1/axes",
            "Index": 4,
            "Length": 1
          },
          "Destination": {
            "Path": "root/Control/hostInJointVelocity",
            "Index": 0
          }
        }
      ]

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