Made cli and api 1:1
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@ -15,6 +15,37 @@ from src.RSIPI.live_plotter import LivePlotter
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from threading import Thread
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import asyncio
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class RSIAPI:
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"""RSI API for programmatic control, including alerts, logging, graphing, and data retrieval."""
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def __init__(self, config_file="RSI_EthernetConfig.xml"):
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"""Initialize RSIAPI with an RSI client instance."""
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self.thread = None
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self.config_file = config_file
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self.client = None # Delay instantiation
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self.graph_process = None # Store graphing process
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self.graphing_instance = None
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self.graph_thread = None#
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self.trajectory_queue = []
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self.live_plotter = None
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self.live_plot_thread = None
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def _ensure_client(self):
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"""Ensure RSIClient is initialised before use."""
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if self.client is None:
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from .rsi_client import RSIClient
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self.client = RSIClient(self.config_file)
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def start_rsi(self):
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self._ensure_client()
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self.thread = threading.Thread(target=self.client.start, daemon=True)
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self.thread.start()
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return "✅ RSI started in background."
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def stop_rsi(self):
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"""Stop the RSI client."""
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self.client.stop()
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return "✅ RSI stopped."
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def generate_report(filename, format_type):
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"""
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@ -62,39 +93,6 @@ def generate_report(filename, format_type):
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return f"✅ Report saved as {output_path}"
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class RSIAPI:
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"""RSI API for programmatic control, including alerts, logging, graphing, and data retrieval."""
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def __init__(self, config_file="RSI_EthernetConfig.xml"):
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"""Initialize RSIAPI with an RSI client instance."""
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self.thread = None
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self.config_file = config_file
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self.client = None # Delay instantiation
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self.graph_process = None # Store graphing process
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self.graphing_instance = None
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self.graph_thread = None#
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self.trajectory_queue = []
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self.live_plotter = None
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self.live_plot_thread = None
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def _ensure_client(self):
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"""Ensure RSIClient is initialised before use."""
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if self.client is None:
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from .rsi_client import RSIClient
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self.client = RSIClient(self.config_file)
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def start_rsi(self):
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self._ensure_client()
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self.thread = threading.Thread(target=self.client.start, daemon=True)
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self.thread.start()
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return "✅ RSI started in background."
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def stop_rsi(self):
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"""Stop the RSI client."""
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self.client.stop()
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return "✅ RSI stopped."
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def update_variable(self, name, value):
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if "." in name:
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parent, child = name.split(".", 1)
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@ -483,12 +481,24 @@ class RSIAPI:
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def update_cartesian(self, **kwargs):
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"""
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Update Cartesian correction values (RKorr).
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Example: update_cartesian(X=10.0, Y=0.0, Z=0.0)
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"""
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self._ensure_client()
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if "RKorr" not in self.client.send_variables:
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print("⚠️ Warning: RKorr not configured in send_variables. Skipping Cartesian update.")
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return
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for axis, value in kwargs.items():
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self.update_variable(f"RKorr.{axis}", float(value))
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def update_joints(self, **kwargs):
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"""
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Update joint correction values (AKorr).
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"""
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self._ensure_client()
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if "AKorr" not in self.client.send_variables:
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print("⚠️ Warning: AKorr not configured in send_variables. Skipping Joint update.")
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return
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for axis, value in kwargs.items():
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self.update_variable(f"AKorr.{axis}", float(value))
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@ -516,3 +526,84 @@ class RSIAPI:
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except KeyboardInterrupt:
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print("\n🛑 Stopped network watch.")
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# --- 🤖 High-level Cartesian and Joint Trajectory Movement ---
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def move_cartesian_trajectory(self, start_pose, end_pose, steps=50, rate=0.012):
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"""
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Generate and execute a Cartesian (TCP) movement between two poses.
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Args:
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start_pose (dict): e.g. {"X":0, "Y":0, "Z":500}
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end_pose (dict): e.g. {"X":100, "Y":0, "Z":500}
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steps (int): Number of interpolation points.
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rate (float): Time between points in seconds.
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"""
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trajectory = self.generate_trajectory(start_pose, end_pose, steps=steps, space="cartesian")
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self.execute_trajectory(trajectory, space="cartesian", rate=rate)
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def move_joint_trajectory(self, start_joints, end_joints, steps=50, rate=0.4):
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"""
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Generate and execute a Joint-space movement between two poses.
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Args:
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start_joints (dict): e.g. {"A1":0, "A2":0, "A3":0, ...}
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end_joints (dict): e.g. {"A1":90, "A2":0, "A3":0, ...}
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steps (int): Number of interpolation points.
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rate (float): Time between points in seconds.
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"""
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trajectory = self.generate_trajectory(start_joints, end_joints, steps=steps, space="joint")
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self.execute_trajectory(trajectory, space="joint", rate=rate)
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def queue_cartesian_trajectory(self, start_pose, end_pose, steps=50, rate=0.012):
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"""
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Generate and queue a Cartesian movement (no execution).
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"""
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if not isinstance(start_pose, dict) or not isinstance(end_pose, dict):
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raise ValueError("❌ start_pose and end_pose must be dictionaries (e.g., {'X': 0, 'Y': 0, 'Z': 500})")
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if steps <= 0:
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raise ValueError("❌ Steps must be greater than zero.")
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if rate <= 0:
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raise ValueError("❌ Rate must be greater than zero.")
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trajectory = self.generate_trajectory(start_pose, end_pose, steps=steps, space="cartesian")
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self.queue_trajectory(trajectory, "cartesian", rate)
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def queue_joint_trajectory(self, start_joints, end_joints, steps=50, rate=0.4):
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"""
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Generate and queue a Joint-space movement (no execution).
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"""
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if not isinstance(start_joints, dict) or not isinstance(end_joints, dict):
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raise ValueError("❌ start_joints and end_joints must be dictionaries (e.g., {'A1': 0, 'A2': 0})")
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if steps <= 0:
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raise ValueError("❌ Steps must be greater than zero.")
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if rate <= 0:
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raise ValueError("❌ Rate must be greater than zero.")
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trajectory = self.generate_trajectory(start_joints, end_joints, steps=steps, space="joint")
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self.queue_trajectory(trajectory, "joint", rate)
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# --- 🛡️ Safety Management ---
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def safety_stop(self):
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"""Trigger emergency stop."""
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self._ensure_client()
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self.client.safety_manager.emergency_stop()
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def safety_reset(self):
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"""Reset emergency stop."""
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self._ensure_client()
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self.client.safety_manager.reset_stop()
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def safety_status(self):
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"""Return detailed safety status."""
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self._ensure_client()
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sm = self.client.safety_manager
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return {
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"emergency_stop": sm.is_stopped(),
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"safety_override": self.is_safety_overridden(),
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"limits": sm.get_limits(),
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}
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def safety_set_limit(self, variable, lower, upper):
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"""Set new safety limit bounds for a specific variable."""
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self._ensure_client()
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self.client.safety_manager.set_limit(variable, float(lower), float(upper))
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@ -44,7 +44,8 @@ class RSICommandLineInterface:
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group = parts[0]
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self.client.show_variables(group)
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elif cmd == "ipoc":
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self.client.get_ipoc()
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ipoc = self.client.get_ipoc()
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print(f"🛰 Current IPOC: {ipoc}")
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elif cmd == "watch":
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duration = float(parts[0]) if parts else None
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self.client.watch_network(duration=duration)
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@ -279,7 +280,7 @@ class RSICommandLineInterface:
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if format_type not in ["csv", "json", "pdf"]:
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print("❌ Invalid format. Use 'csv', 'json', or 'pdf'.")
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return
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generate_report(filename, format_type)
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self.client.generate_report(filename, format_type)
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print(f"✅ Report generated: {filename}.{format_type}")
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@ -323,15 +324,15 @@ Available Commands:
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set_alert_threshold <deviation|force> <value>
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""")
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def visualize(self, csv_file, export=False):
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def visualise(self, csv_file, export=False):
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try:
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visualizer = Kukarsivisualiser(csv_file)
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visualizer.plot_trajectory()
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visualizer.plot_joint_positions()
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visualizer.plot_force_trends()
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visualiser = KukaRSIVisualiser(csv_file)
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visualiser.plot_trajectory()
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visualiser.plot_joint_positions()
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visualiser.plot_force_trends()
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if export:
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visualizer.export_graphs()
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visualiser.export_graphs()
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print(f"✅ Visualisations exported for '{csv_file}'")
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except Exception as e:
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print(f"❌ Failed to visualize '{csv_file}': {e}")
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