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# RSI-RI
A Python3 layer to simplify utilising Kuka Robot Sensor Interface version X
Examples
- Connecting
- Variables
- Running
- Changing
- Movement

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RSIRI/__init__.py Normal file
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RSIRI/client.py Normal file
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from multiprocessing import Process, Manager
from time import sleep
from src.RSIRI.log import log_process
from src.RSIRI.server import rsi_process
from src.RSIRI.tools import \
convert_rsi_config_to_dict, \
extract_config_from_rsi_config, \
check_position_values
class RSIClient:
""" RSI Client Object """
def __init__(self, file, cycle_rate=4):
"""RSI Client Object
Object used to provide interface to RSI Variables.
:param file: RSI Config File
:param ip: Local IP address
:param port: Port used in RSI Config file
"""
self.file = file
self.ip, self.port, self.sen_type, self.only_send = extract_config_from_rsi_config(file)
self.manager = Manager()
self.send = self.manager.dict(convert_rsi_config_to_dict(file, "send"))
self.receive = self.manager.dict(convert_rsi_config_to_dict(file, "receive"))
self.status = self.manager.dict({"State": False, "Logging": False, "Error": ""})
self.movement_type = None
self.rsi = Process(target=rsi_process, args=(self.file,
self.receive,
self.send,
self.status))
if cycle_rate == 4:
self.cycle_rate = 0.004
elif cycle_rate == 12:
self.cycle_rate = 0.012
self.log_location = ""
self.logging = False
def set_log_location(self, location):
"""
Args:
location:
Returns:
"""
self.log_location = location
def enable_logging(self):
self.logging = Process(target=log_process, args=(self.send,
self.receive,
self.status,
self.log_location,
self.cycle_rate))
def display_variables(self):
"""
:return:
"""
print("Receive Variables")
for key, value in self.receive.items():
print(key, ' : ', value)
print("Send Variables")
for key, value in self.send.items():
print(key, ' : ', value)
def start(self):
"""
Start RSI Network process
:return:
"""
self.rsi.start()
if self.logging is not False:
self.logging.start()
self.status["State"] = True
# self.rsi.join()
def stop(self):
"""
Stop RSI Network process
:return:
"""
self.status["State"] = False
sleep(1)
self.rsi.terminate()
sleep(1)
self.rsi.kill()
sleep(1)
self.rsi = Process(target=rsi_process, args=(self.file,
self.ip,
self.port,
self.receive,
self.send,
self.status))
def check_receive_value(self, key):
try:
return self.receive[key]
except NameError:
return "Key does not exist"
def check_send_value(self, key):
try:
return self.send[key]
except NameError:
return "Key does not exist"
def update_pendant(self, value):
try:
self.send["EStr"] = value
except ValueError:
return "EStr internal variable not present in config file"
def set_value(self, key, value):
"""
:param key:
:param value:
:return:
"""
try:
self.send[key] = value
except ValueError:
return "{} not present in config file".format(key)
def set_value_attribute(self, key, axis, value):
"""Sets the value of a multi value variable.
:param key:
:param axis:
:param value:
:return:
"""
try:
send_value = self.send
values = send_value[key]
values[axis] = str(value)
send_value[key] = values
self.send = send_value
return "OK"
except ValueError:
return "{} is not present in config file".format(key)
def set_axis(self, axis, value):
"""
:param axis:
:param value:
:return:
"""
try:
self.set_value_attribute("RKorr", axis, value)
except NameError:
return "RKorr is not present in config file"
def set_joint(self, joint, value):
"""
:param joint:
:param value:
:return:
"""
try:
self.set_value_attribute("AKorr", joint, value)
except NameError:
return "AKorr is not present in config file"
def check_send_values(self, key):
"""
:param key:
:return:
"""
return self.send[key]
def check_receive_values(self, key):
"""
:param key:
:return:
"""
return self.receive[key]
def test(self, key, value):
"""
:param key:
:param value:
:return:
"""
try:
self.send[key] = value
except ValueError:
return "{} not present in config file".format(key)
def move_basic_ptp(self, coord, rate):
"""
:param coord:
:param rate:
:return:
"""
values = {"X": coord[0], "Y": coord[1], "Z": coord[2], "A": coord[3], "B": coord[4], "C": coord[5]}
send_values = self.check_send_values("RKorr")
rec_values = self.check_receive_values("RIst")
self.send["RKorr"] = check_position_values(values, send_values, rec_values, rate)
def move_joints(self, a1, a2, a3, a4, a5, a6, rate):
"""
:param a1:
:param a2:
:param a3:
:param a4:
:param a5:
:param a6:
:param rate:
:return:
"""
values = {"A1": a1, "A2": a2, "A3": a3, "A4": a4, "A5": a5, "A6": a6}
send_values = self.check_send_values("RKorr")
rec_values = self.check_receive_values("RIst")
self.send["AKorr"] = check_position_values(values, send_values, rec_values, rate)
if __name__ == '__main__':
pass

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RSIRI/echo_server.py Normal file
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import logging
from time import sleep
from src.RSI-RI.network import Network
from src.RSI-RI.tools import \
get_ipoc, \
update_ipoc, \
convert_xml_string_to_dict, \
convert_config_to_xml_string, \
convert_rsi_config_to_dict, \
extract_config_from_rsi_config, \
add_ipoc
# Log file location
# Define the log format
log_format = '[%(asctime)s] %(levelname)-8s %(name)-12s %(funcName)20s() %(lineno)s %(message)s'
# Define basic configuration
logging.basicConfig(level=logging.DEBUG, format=log_format, handlers=[logging.StreamHandler()])
logger = logging.getLogger(__name__)
class RSIEchoServer:
def __init__(self, config_file, cycle_rate):
self.network = Network("", int(extract_config_from_rsi_config(config_file)[1]), True)
# RSI Variables
self.send_string = convert_config_to_xml_string(config_file, "receive")
self.send_values = convert_rsi_config_to_dict(config_file, "receive")
self.receive_string = convert_config_to_xml_string(config_file, "send")
self.receive_values = convert_rsi_config_to_dict(config_file, "send")
# Status (State": "Inactive", "Status": "", "Config": "")
self.status = {"State": False, "Error": ""}
self.ipoc = 0
self.cycle_rate = cycle_rate
self.send_string = add_ipoc(self.send_string)
def run(self):
""" Operates RSI communication loop.
Main method that runs a continuous loop polling the network socket,
polling client pipe, processing data _working sending a reply
"""
while True:
self.send_data()
logger.debug("Echo Send: {}".format(self.send_string))
try:
self.receive_data()
self.send_string = update_ipoc(self.send_string, self.ipoc)
self.process_data()
logger.debug("Echo receive: {}".format(self.receive_string))
except(TimeoutError, ConnectionResetError):
pass
def send_data(self):
# self.send_values.update(convert_xml_string_to_dict(self.send_string))
self.network.send(self.send_string)
sleep(self.cycle_rate / 1000)
def receive_data(self):
""" Get RSI data from robot _working process.
Polls network socket _working then updates RSIValues.values
Gets IPOC from message _working updates self.ipoc
"""
# Polls network, returns a string of XML
self.receive_string = self.network.receive()
# Get IPOC
self.ipoc = int(get_ipoc(self.receive_string)) + self.cycle_rate
# Convert XML string into Dict
self.receive_values.update(convert_xml_string_to_dict(self.receive_string))
def process_data(self):
pass
if __name__ == '__main__':
pass

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from time import sleep
from client import RSIClient
from echo_server import RSIEchoServer
if __name__ == '__main__':
config_file = "../../resources/Example Files/ConfigFiles/rsi examples/RSI_EthernetConfig.xml"
# Create RSI Client
client = RSIClient(config_file)
# Start Server
client.start()
# Show variables created from config file
client.display_variables()
# Set cartesian correction
client.set_axis("X", 0.1)
# Set joint correction
client.set_joint("A1", 0.1)
# Move axis specific distance
# TODO if this works, turn into a procedure
target = 3
rate = 0.1
client.set_axis("X", rate)
current = 0
while current < target:
sleep(client.cycle_rate)
current += rate
client.set_axis("X", 0)
# Send message to Teach Pendent
client.update_pendant("This is a message that will be shown on the pendant")
# Set individual value
client.set_value("EStr", "This is a test message")
# Stop server
client.stop()
# Log session
client.enable_logging()
# Run echo server
config_file = "RSI_EthernetConfig.xml"
# Create RSI Client
client = RSIEchoServer(config_file, 4)
client.state = True
client.run()

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RSIRI/log.py Normal file
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import csv
from time import sleep
def log_process(send, receive, status, location, rate):
location = "{}/log.csv".format(location)
output_file = open(location, "w+")
file_writer = csv.writer(output_file, lineterminator='\n')
file_writer.writerow(create_log(send, receive, "header"))
status["Logging"] = "Logging active"
while status["State"] is True:
file_writer.writerow(create_log(send, receive, "row"))
sleep(rate)
else:
status["Logging"] = "Logging complete"
def open_csv(file_name):
with open(file_name) as csv_file:
reader = csv.reader(csv_file)
next(reader)
data = [row for row in reader]
return data
def create_log(send, receive, entry_type):
row = []
for direction in (send, receive):
for item, value in direction.items():
if item == "IPOC":
if entry_type == "row":
row.insert(0, value)
elif entry_type == "header":
row.insert(0, item)
else:
if type(value) is dict:
for items, values in value.items():
if entry_type == "row":
row.append(values)
elif entry_type == "header":
row.append("{}.{}".format(item, items))
else:
if entry_type == "row":
row.append(value)
elif entry_type == "header":
row.append(item)
return row

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import logging
from socket import socket, AF_INET, SOCK_DGRAM, SOL_SOCKET, SO_RCVBUF
from src.RSIRI.tools import change_config_port
class Network:
"""Network class for RSI networking.
Keyword arguments:
client_ip - IP address of the local network socket (default None)
client_port - Port of the local network socket (default None)
"""
def __init__(self, client_ip, client_port, echo=False):
self.client_address = (client_ip, change_config_port(client_port) if echo is True else client_port)
self.udp_socket = socket(AF_INET, SOCK_DGRAM)
self.udp_socket.bind(self.client_address)
self.udp_socket.setsockopt(SOL_SOCKET, SO_RCVBUF, 1)
self.controller_ip = ("127.0.0.1", client_port)
logging.debug("Network Socket Established")
def receive(self):
"""Polls network, returns output an XML string."""
data, self.controller_ip = self.udp_socket.recvfrom(400)
return data
def send(self, message):
"""Send message to controller IP.
Keyword arguments:
message - binary message (default binary)
"""
self.udp_socket.sendto(bytes(message, "utf8"), self.controller_ip)
if __name__ == '__main__':
pass

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import PyKDL
def vec(vals):
return PyKDL.Vector(vals[0], vals[1], vals[2])
joints = [{'segment': 'link1', 'joint': 'joint_a1', 'RotAxis': vec([0, 0, -1]), 'origin': vec([0, 0, 0.4])},
{'segment': 'link2', 'joint': 'joint_a2', 'RotAxis': vec([0, 1, 0]), 'origin': vec([0.025, 0, 0])},
{'segment': 'link3', 'joint': 'joint_a3', 'RotAxis': vec([0, 1, 0]), 'origin': vec([0.455, 0, 0])},
{'segment': 'link4', 'joint': 'joint_a4', 'RotAxis': vec([-1, 0, 0]), 'origin': vec([0, 0, 0.035])},
{'segment': 'link5', 'joint': 'joint_a5', 'RotAxis': vec([0, 1, 0]), 'origin': vec([0.42, 0, 0])},
{'segment': 'link6', 'joint': 'joint_a6', 'RotAxis': vec([-1, 0, 0]), 'origin': vec([0.08, 0, 0])}]
def jntarray(q):
qjnt = PyKDL.JntArray(6)
for i in range(6):
qjnt[i] = q[i]
return qjnt
q_lower = jntarray([-2.96705972839, -3.31612557879, -2.09439510239, -3.22885911619, -2.09439510239, -6.10865238198])
q_upper = jntarray([2.96705972839, 0.785398163397, 2.72271363311, 3.22885911619, 2.09439510239, 6.10865238198])
def make_segment(joint):
jt = PyKDL.Joint(joint['joint'], joint['origin'], joint['RotAxis'], PyKDL.Joint.RotAxis)
seg = PyKDL.Segment(joint['segment'], jt, PyKDL.Frame(joint['origin']))
return seg
chain = PyKDL.Chain()
for joint in joints:
chain.addSegment(make_segment(joint))
fk_kdl = PyKDL.ChainFkSolverPos_recursive(chain)
ik_v_kdl = PyKDL.ChainIkSolverVel_pinv(chain)
ik_p_kdl = PyKDL.ChainIkSolverPos_NR_JL(chain, q_lower, q_upper, fk_kdl, ik_v_kdl)
def fk(q):
frame = PyKDL.Frame()
fk_kdl.JntToCart(q, frame)
return frame
def ik(frame, q_guess):
q_res = PyKDL.JntArray(6)
ik_p_kdl.CartToJnt(q_guess, frame, q_res)
return q_res
if __name__ == '__main__':
q = jntarray([0.1, 0.0, 0.0, 0.0, 0.0, 0.0])
frame = fk(q)
q_guess = jntarray([0.0, 0.0, 0.0, 0.0, 0.0, 0.0])
print(ik(frame, q_guess))

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import logging
from src.RSIRI.network import Network
from src.RSIRI.tools import \
get_ipoc, \
update_ipoc, \
convert_xml_string_to_dict, \
merge_dict_with_xml_string, \
convert_config_to_xml_string, \
extract_config_from_rsi_config
# Log file location
# Define the log format
log_format = '[%(asctime)s] %(levelname)-8s %(name)-12s %(funcName)20s() %(lineno)s %(message)s'
# Define basic configuration
logging.basicConfig(level=logging.DEBUG, format=log_format, handlers=[logging.StreamHandler()])
logger = logging.getLogger(__name__)
def rsi_process(file, send, receive, status):
"""Process containing the RSI networking functions
This process operates the networking side of the RSI RI Functions.
:param file: RSI config file
:param send: Variable containing Manager.Dict variable with RSI values
:param receive: Variable containing Manager.Dict variable with RSI values
:param status: Variable containing Manager.Dict variable with RSI status values
:return:
"""
rsi_server = RSIServer(file, receive, send, status)
rsi_server.state = True
rsi_server.run()
class RSIServer:
def __init__(self, config_file, receive, send, status):
""" RSI Communication Object.
Main Object for operating an RSI connection.
Keyword arguments:
config_file - *.rsi.xml config file (default None)
client_ip - IP address of the local network socket (default None)
client_port - Port of the local network socket (default None)
"""
# Network connection Object
self.network = Network("", int(extract_config_from_rsi_config(config_file)[1]))
# RSI Variables
self.send_string = convert_config_to_xml_string(config_file, "send")
self.send_values = receive
self.receive_string = convert_config_to_xml_string(config_file, "receive")
self.receive_values = send
# Status (State": "Inactive", "Status": "", "Config": "")
self.status = status
self.ipoc = 0
def stop(self):
"""
:return:
"""
self.network.udp_socket.close()
def run(self):
""" Operates RSI communication loop.
Main method that runs a continuous loop polling the network socket,
polling client pipe, processing data _working sending a reply
"""
logger.debug("RSI Server Waiting")
while True:
self.get_robot_data()
self.send_reply()
else:
self.stop()
def get_robot_data(self):
""" Get RSI data from robot _working process.
Polls network socket _working then updates RSIValues.values
Gets IPOC from message _working updates self.ipoc
"""
# Polls network, returns a string of XML
self.receive_string = self.network.receive()
# Get IPOC
self.ipoc = get_ipoc(self.receive_string)
# Convert XML string into Dict
self.receive_values.update(convert_xml_string_to_dict(self.receive_string))
def send_reply(self):
""" Send RSI Message.
Updates IPOC of message _working sends the RSIValues Object .xml values
"""
new_string = merge_dict_with_xml_string(self.send_values, self.send_string)
new_string = update_ipoc(new_string, self.ipoc)
self.send_string = new_string
self.network.send(self.send_string)
if __name__ == '__main__':
pass

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RSIRI/tools.py Normal file
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from lxml import etree
def convert_rsi_config_to_dict(rsi_file, direction):
return convert_xml_string_to_dict(convert_config_to_xml_string(rsi_file, direction))
def convert_xml_string_to_dict(xml):
""" Convert RSI XML string to dict variables.
Converts an RSI XML string to RSIValue Object values.
Either takes an XML String or reads from Object.xml value
Keyword arguments:
xml - RSI XML String (default None)
"""
# Convert string to XML object
xml_string = etree.fromstring(xml)
new_values = {}
# Cycle through XML object converting each attribute/value
# to dict _working storing in the shared value variable
for xml_row in xml_string:
if xml_row.text is None:
new_values[xml_row.tag] = {}
for a, v in xml_row.items():
# new_values[xml_row.tag].insert(a, str(v))
new_values[xml_row.tag][a] = str(v)
else:
new_values[xml_row.tag] = xml_row.text
# logging.debug(new_values)
return new_values
def get_ipoc(message):
x = etree.fromstring(message)
ipoc = x[len(x) - 1].text
return ipoc
def add_ipoc(xml_string):
xml = etree.fromstring(xml_string)
ipoc = etree.Element("IPOC")
ipoc.text = "0"
xml.append(ipoc)
return etree.tostring(xml, encoding="unicode")
def update_ipoc(xml_string, ipoc):
""" Updates IPOC of send message. """
xml_val = etree.fromstring(xml_string)
xml_val[len(xml_val) - 1].text = str(ipoc)
send_string = etree.tostring(xml_val, encoding="unicode")
return send_string
def merge_dict_with_xml_string(dict_value, xml_string):
""" Convert to Object variables to RSI XML string. """
xml = etree.fromstring(xml_string)
for xml_row in xml:
# Iterate each item
if xml_row.text is None:
for a, v in xml_row.items():
xml.find(xml_row.tag).attrib[a] = dict_value[xml_row.tag][a]
else:
xml_row.text = dict_value[xml_row.tag]
xml_string = etree.tostring(xml).decode()
return xml_string
def load_xml(file):
""" Load Send XML template _working returns XML root to object """
parser = etree.XMLParser(remove_blank_text=True)
tree = etree.parse(file, parser=parser)
return tree.getroot()
def convert_config_to_xml_string(file, direction):
"""Opens the KUKA RobotSensorInterface XML config file _working creates the XML template
for sending _working receiving messages"""
internal = {
"ComStatus": "String",
"RIst": ["X", "Y", "Z", "A", "B", "C"],
"RSol": ["X", "Y", "Z", "A", "B", "C"],
"AIPos": ["A1", "A2", "A3", "A4", "A5", "A6"],
"ASPos": ["A1", "A2", "A3", "A4", "A5", "A6"],
"ELPos": ["E1", "E2", "E3", "E4", "E5", "E6"],
"ESPos": ["E1", "E2", "E3", "E4", "E5", "E6"],
"MaCur": ["A1", "A2", "A3", "A4", "A5", "A6"],
"MECur": ["E1", "E2", "E3", "E4", "E5", "E6"],
"IPOC": 000000,
"BMode": "Status",
"IPOSTAT": "",
"Delay": ["D"],
"EStr": "EStr Test",
"Tech.C1": ["C11", "C12", "C13", "C14", "C15", "C16", "C17", "C18", "C19", "C110"],
"Tech.C2": ["C21", "C22", "C23", "C24", "C25", "C26", "C27", "C28", "C29", "C210"],
"Tech.C3": ["C31", "C32", "C33", "C34", "C35", "C36", "C37", "C38", "C39", "C310"],
"Tech.C4": ["C41", "C42", "C43", "C44", "C45", "C46", "C47", "C48", "C49", "C410"],
"Tech.C5": ["C51", "C52", "C53", "C54", "C55", "C56", "C57", "C58", "C59", "C510"],
"Tech.C6": ["C61", "C62", "C63", "C64", "C65", "C66", "C67", "C68", "C69", "C610"],
"Tech.T1": ["T11", "T12", "T13", "T14", "T15", "T16", "T17", "T18", "T19", "T110"],
"Tech.T2": ["T21", "T22", "T23", "T24", "T25", "T26", "T27", "T28", "T29", "T210"],
"Tech.T3": ["T31", "T32", "T33", "T34", "T35", "T36", "T37", "T38", "T39", "T310"],
"Tech.T4": ["T41", "T42", "T43", "T44", "T45", "T46", "T47", "T48", "T49", "T410"],
"Tech.T5": ["T51", "T52", "T53", "T54", "T55", "T56", "T57", "T58", "T59", "T510"],
"Tech.T6": ["T61", "T62", "T63", "T64", "T65", "T66", "T67", "T68", "T69", "T610"],
}
# Sets variables for new xml structure
config_root = load_xml(file)
new_root_name = None
root_type = None
root_index = None
for i, c in enumerate(config_root):
# Cycle through root of config file to get values
if c.tag == "SEND" and direction == "receive":
root_index = i
root_type = "KUKA"
new_root_name = "Rob"
if c.tag == "RECEIVE" and direction == "send":
root_index = i
for item in config_root[0]:
if item.tag == "SENTYPE":
root_type = item.text
new_root_name = "Sen"
# Create new XML object _working set the root name _working type
new_root = etree.Element(new_root_name, Type=root_type)
new_root_count = -1
temp_multi_value = {}
# Cycle through elements of each item in config_root
for i, item in enumerate(config_root[root_index][0]):
tag = item.values()[0]
# Future use type = item.values()[1]
indx = item.values()[2]
# Internal variable check
if indx == "INTERNAL":
# Strip off the def_
tag = tag[4:]
# Get values out of internal catalogue
values = internal[tag]
# Create elements for tag in new root
new_root.append(etree.Element(str(tag)))
new_root_count += 1
# Checks value type _working set default values
if isinstance(values, list):
for a in values:
new_root[i].set(a, "0")
else:
new_root[i].text = values
elif tag.__contains__("."):
# Finds the suffix _working tag
suffix = tag[tag.find(".") + 1:]
tag = tag[:tag.find(".")]
# if temp value exists
if temp_multi_value.__contains__(tag):
values = temp_multi_value[tag]
values.append(suffix)
temp_multi_value[tag] = values
new_root[new_root_count].set(suffix, "")
else:
# Create the temp value _working add initial value
new_root_count += 1
temp_multi_value = {tag: [suffix]}
new_root.append(etree.Element(str(tag)))
new_root[new_root_count].set(suffix, "")
else:
# Remove any blank lines
if tag.startswith("FREE"):
new_root_count += 1
else:
# Add single value elements
new_root.append(etree.Element(str(tag)))
temp_multi_count = len(new_root)
new_root[temp_multi_count - 1].text = "0"
new_root_count += 1
# If send values add IPOC
if direction == "send":
new_root.append(etree.Element("IPOC"))
new_root[len(new_root) - 1].text = str("0")
return etree.tostring(new_root, pretty_print=True, encoding='unicode')
def change_config_port(file):
return file + 1
def extract_config_from_rsi_config(file):
xml_root = load_xml(file)
ip, port, sen_type, only_send = None, None, None, None
for item in xml_root[0]:
if item.tag == "IP_NUMBER":
ip = item.text
if item.tag == "PORT":
port = item.text
if item.tag == "SENTYPE":
sen_type = item.text
if item.tag == "ONLYSEND":
if item.text == "FALSE":
only_send = False
else:
only_send = True
return str(ip), int(port), str(sen_type), only_send
def extract_hold_values_from_config(file):
xml_root = load_xml(file)
hold = {}
send_index = 0
for index, value in enumerate(xml_root):
if value.tag == "RECEIVE":
send_index = index
for index, item in enumerate(xml_root[send_index][0]):
try:
hold[item.values()[0]] = bool(int(item.values()[3]))
except IndexError:
pass
return hold
def merge_send_receive(send, receive):
for item in receive.keys():
if item in send:
if item == "IPOC":
pass
else:
send[item] = receive[item]
return send
def check_position_values(values, send_values, rec_values, rate):
"""Checks
:param values:
:param send_values:
:param rec_values:
:param rate:
:return:
"""
for key, val in values.items():
if float(rec_values[key]) > val:
send_values[key] = str(rate)
if float(rec_values[key]) < val:
send_values[key] = str(rate * -1)
if float(rec_values[key]) == val:
send_values[key] = 0
return send_values
if __name__ == '__main__':
pass