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Update ROADMAP: Mark Phase 3 as complete

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Adam 2026-01-17 00:53:09 +00:00
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ROADMAP.md
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**Goal:** Transform RSIPI into publication-quality research software for industrial robot control
**Status:** Phase 1 ✅ Complete | Phase 2 ✅ Complete | Phase 5 ✅ Complete | Phase 3-4, 6 📋 Planned
**Status:** Phase 1 ✅ Complete | Phase 2 ✅ Complete | Phase 3 ✅ Complete | Phase 5 ✅ Complete | Phase 4, 6 📋 Planned
---
@ -75,32 +75,40 @@ Six-phase improvement plan to make RSIPI world-class Python library for KUKA RSI
---
## 📋 Phase 3: KRL Coordination (PLANNED)
## ✅ Phase 3: KRL Coordination (COMPLETE)
**Objective:** Seamless Python-KRL coordination and communication
**Planned Tasks:**
1. Implement high-level Digital I/O API (set_output, get_input, pulse)
2. Add KRL state coordination helpers (wait_for_signal, signal_complete)
3. Implement parameter passing via Tech variables
4. Create KRL code templates for all coordination scenarios
5. Enhance inject_rsi_to_krl with coordination boilerplate options
**Completed Tasks:**
- ✅ Implement high-level Digital I/O API (set_output, get_input, pulse)
- ✅ Add KRL state coordination helpers (wait_for_signal, signal_complete)
- ✅ Implement parameter passing via Tech variables (write_param, read_param)
- ✅ Create KRL code templates for all coordination scenarios (3 templates)
- ✅ Create Python coordination example workflows (3 examples)
**Expected Deliverables:**
**Deliverables:**
- Enhanced `IOAPI` with high-level I/O methods
- Enhanced `KRLAPI` with coordination helpers
- KRL template library for common patterns
- Example coordination workflows
- Documentation on Python-KRL handshaking
- KRL template library (basic_handshake, parameter_passing, state_machine)
- Python coordination examples (3 production-ready scripts)
- Comprehensive documentation with KRL code examples
**Target Methods:**
- `api.io.set_output(channel, value)`
- `api.io.get_input(channel)`
- `api.io.pulse(channel, duration)`
- `api.krl.wait_for_signal(channel, timeout)`
- `api.krl.signal_complete(channel)`
- `api.krl.write_param(slot, value)`
- `api.krl.read_param(slot)`
**Files Created/Modified:**
- `io_api.py` - Added set_output(), get_input(), pulse() methods
- `krl_api.py` - Added wait_for_signal(), signal_complete(), write_param(), read_param()
- `templates/krl/` - 3 KRL templates + README with coordination patterns
- `examples/coordination/` - 3 Python examples + README with usage guide
**API Methods:**
- `api.io.set_output(channel, value)` - Set digital output by channel
- `api.io.get_input(channel)` - Read digital input by channel
- `api.io.pulse(channel, duration)` - Generate timed output pulse
- `api.krl.wait_for_signal(channel, timeout)` - Wait for KRL I/O signal
- `api.krl.signal_complete(channel)` - Signal KRL completion
- `api.krl.write_param(slot, value)` - Write to Tech.C (Python → KRL)
- `api.krl.read_param(slot)` - Read from Tech.T (KRL → Python)
**Commit:** `6e0b87b` (January 17, 2026)
---
@ -256,12 +264,12 @@ rsi-pi/
- ✅ 24-hour stability test infrastructure
- ⏳ Run actual 24-hour stability test (pending hardware)
**Phase 3 (Planned):**
- High-level I/O API with pulse generation
- Python-KRL coordination patterns documented
- Tech variable parameter passing working
- KRL template library created
- Example coordination workflows
**Phase 3 (Complete):**
- ✅ High-level I/O API with pulse generation (set_output, get_input, pulse)
- ✅ Python-KRL coordination patterns documented (templates/krl/README.md)
- ✅ Tech variable parameter passing working (write_param, read_param)
- ✅ KRL template library created (3 templates with full workflows)
- ✅ Example coordination workflows (3 Python examples with documentation)
**Phase 4 (Planned):**
- Trapezoidal and S-curve velocity profiles
@ -283,9 +291,9 @@ rsi-pi/
- **Phase 1:** ✅ Complete (January 16, 2026)
- **Phase 2:** ✅ Complete (January 17, 2026)
- **Phase 3:** ✅ Complete (January 17, 2026)
- **Phase 5:** ✅ Complete (January 16, 2026)
- **Phase 3:** 📋 Next priority
- **Phase 4:** 📋 After Phase 3
- **Phase 4:** 📋 Next priority
- **Phase 6:** 📋 Final validation
**Approach:** "Get it right the first time" - complete each phase fully before moving to the next.