# Variable Manager

## Managing COBOTTA internal variables with a manager

The standard COBOTTA Python control library provides access to COBOTTA internal variables. Python can read and write their values.

## COBOTTA Variable Manager

Methods such as `client.move("P110")` already support references to internal variables, but COBOTTA itself remains responsible for managing those variables. The manager is designed to make coordinates easier to use as local objects, for example `move(var.P110)`, and to simplify batch exchange of internal variable values with COBOTTA.

## Using the coordinate manager without attaching to a COBOTTA instance
```python
from cobotta2 import Config, CobottaCtrl, RobotVarManager
from x_logger import XLogger

Config.load_yaml("config_cobotta1.yaml")
logger = XLogger(log_level="info", logger_name=Config.CLIENT_LOGGER_NAME)
client = CobottaCtrl(cobotta_ip=Config.COBOTTA_IP, logger=logger)
var = RobotVarManager()

client.turn_on_motor()
client.take_arm()

client.move("P110")

# Assign a value to an internal variable
var.P10 = [0, 0, 0, 0, 0, 0]
var["P11"] = client.get_current_position()
var.P12 = [0, 0, 0, 0, 0, 0]

print(var.P10)
print(var["P11"])
print(var["P12"])

client.move(var.P10)
client.move(var.P11)
client.move(var.P12)
```

```python
var = CobottaVarManager()
# Set internal variables P10–P20 to [0,0,0,0,0,0]
var.set_vars("P", 10, 20, [0,0,0,0,0,0])
```

```python
var = CobottaVarManager()
# Assign a value to internal variable P10
var.set_var("P", 10,[0,0,0,0,0,0])
```

### Saving internal variable values to a file

```python
var = CobottaVarManager()
var.P11 = client.get_current_position()
var.save('save_name.json')
```

### Loading values from a file into internal variables

```python
var = CobottaVarManager()
var.load('save_name.json')
print(var.P10)
```

### Reading COBOTTA values into the variable manager

```python
var = CobottaVarManager()
var.attach_robot(client)  # Attach the COBOTTA instance

# Read P10–P20 from the robot instance
var.read_vars_from_robot("P", 10, 20)
```

```python
var = CobottaVarManager()
var.attach_robot(client)  # Attach the COBOTTA instance

# Read P10–P20 from the robot instance
var.read_var_from_robot("P", 10)
```

```python
var = CobottaVarManager()
var.attach_robot(client)  # Attach the COBOTTA instance

# Read P10 from the robot instance
var.read_var_from_robot("P10")
```

### Writing internal variable values to COBOTTA

```python
from cobotta2 import CobottaVarmanager
var = CobottaVarManager(cobotta)

# Modify internal variables
var.P10 = [0,0,0,0,0,0]
var.P11 = [0,0,0,0,0,0]

# Write internal variables P10–P20 to the robot instance
var.write_vars_to_cobotta("P", 10, 20)
```

```python
from cobotta2 import CobottaVarmanager

var = CobottaVarManager(cobotta)

# Modify internal variables
var.P10 = [0, 0, 0, 0, 0, 0]

# Write internal variable P10 to the robot instance
var.write_var_to_robot("P", 10)
```

```python
from cobotta2 import CobottaVarmanager

var = CobottaVarManager(cobotta)

# Modify internal variables
var.P10 = [0, 0, 0, 0, 0, 0]

# Write internal variable P10 to the robot instance
var.write_var_to_robot("P10")
```

```python
from cobotta2 import CobottaVarmanager

var = CobottaVarManager(cobotta)

var.load('save_name.json')

# Write all managed internal variables to the robot instance
var.write_all_to_robot()
```

## Controlling COBOTTA with CobottaCtrl alone

```python
from cobotta2 import Config, CobottaCtrl
from x_logger import XLogger

async def main():
    Config.load_yaml("config_cobotta1.yaml")
    logger = XLogger(log_level="info", logger_name=Config.CLIENT_LOGGER_NAME)
    client = CobottaCtrl(cobotta_ip=Config.COBOTTA_IP, logger=logger)

    result = client.current_position()
    print(result)

    client.disconnect()

if __name__ == "__main__":
    main()

```


### Using the coordinate manager without attaching to a COBOTTA instance

```python
from cobotta2 import Config, CobottaCtrl, RobotVarManager
from x_logger import XLogger

Config.load_yaml("config_cobotta1.yaml")
logger = XLogger(log_level="info", logger_name=Config.CLIENT_LOGGER_NAME)
client = CobottaCtrl(cobotta_ip=Config.COBOTTA_IP, logger=logger)
var = RobotVarManager()

client.turn_on_motor()
client.take_arm()

client.move("P110")

# Assign a value to an internal variable
var.P10 = [0, 0, 0, 0, 0, 0]
var["P11"] = client.get_current_position()
var.P12 = [0, 0, 0, 0, 0, 0]

print(var.P10)
print(var["P11"])
print(var["P12"])

client.move(var.P10)
client.move(var.P11)
client.move(var.P12)
```

```python
var = CobottaVarManager()
# Set internal variables P10–P20 to [0,0,0,0,0,0]
var.set_vars("P", 10, 20, [0,0,0,0,0,0])
```

```python
var = CobottaVarManager()
# Assign a value to internal variable P10
var.set_var("P", 10,[0,0,0,0,0,0])
```

### Saving internal variable values to a file

```python
var = CobottaVarManager()
var.P11 = client.get_current_position()
var.save('save_name.json')
```

### Loading values from a file into internal variables

```python
var = CobottaVarManager()
var.load('save_name.json')
print(var.P10)
```

### Reading COBOTTA values into the variable manager

```python
var = CobottaVarManager()
var.attach_robot(client)  # Attach the COBOTTA instance

# Read P10–P20 from the robot instance
var.read_vars_from_robot("P", 10, 20)
```

```python
var = CobottaVarManager()
var.attach_robot(client)  # Attach the COBOTTA instance

# Read P10–P20 from the robot instance
var.read_var_from_robot("P", 10)
```

```python
var = CobottaVarManager()
var.attach_robot(client)  # Attach the COBOTTA instance

# Read P10 from the robot instance
var.read_var_from_robot("P10")
```

### Writing internal variable values to COBOTTA

```python
from cobotta2 import CobottaVarmanager
var = CobottaVarManager(cobotta)

# Modify internal variables
var.P10 = [0,0,0,0,0,0]
var.P11 = [0,0,0,0,0,0]

# Write internal variables P10–P20 to the robot instance
var.write_vars_to_cobotta("P", 10, 20)
```

```python
from cobotta2 import CobottaVarmanager

var = CobottaVarManager(cobotta)

# Modify internal variables
var.P10 = [0, 0, 0, 0, 0, 0]

# Write internal variable P10 to the robot instance
var.write_var_to_robot("P", 10)
```

```python
from cobotta2 import CobottaVarmanager

var = CobottaVarManager(cobotta)

# Modify internal variables
var.P10 = [0, 0, 0, 0, 0, 0]

# Write internal variable P10 to the robot instance
var.write_var_to_robot("P10")
```

```python
from cobotta2 import CobottaVarmanager

var = CobottaVarManager(cobotta)

var.load('save_name.json')

# Write all managed internal variables to the robot instance
var.write_all_to_robot()
```

---
## Author
- Kengo NAKADA