From 346fdc8c558df340220e1dd88cabfc553a3d2790 Mon Sep 17 00:00:00 2001
From: Adam <adam@ineedroot.com>
Date: Wed, 26 Mar 2025 20:42:26 +0000
Subject: [PATCH] Incorperated rsi visualiser code.

---
 src/RSIPI/__init__.py   |  0
 src/RSIPI/cli.py        | 17 +++++++++++++++++
 src/RSIPI/rsi_api.py    | 17 +++++++++++++++++
 src/RSIPI/test_rsipi.py | 18 ++++++++++++++++++
 4 files changed, 52 insertions(+)
 create mode 100644 src/RSIPI/__init__.py

diff --git a/src/RSIPI/__init__.py b/src/RSIPI/__init__.py
new file mode 100644
index 0000000..e69de29
diff --git a/src/RSIPI/cli.py b/src/RSIPI/cli.py
index fb52af4..843047d 100644
--- a/src/RSIPI/cli.py
+++ b/src/RSIPI/cli.py
@@ -1,4 +1,5 @@
 from .rsi_client import RSIClient
+from .kuka_visualizer import KukaRSIVisualizer
 
 class RSICommandLineInterface:
     """Command-Line Interface for controlling RSI Client."""
@@ -73,6 +74,10 @@ class RSICommandLineInterface:
             self.running = False
         elif cmd == "help":
             self.show_help()
+        elif cmd == "visualize" and len(parts) >= 2:
+            csv_file = parts[1]
+            export = ("export" in parts)
+            self.visualize(csv_file, export)
         else:
             print("❌ Unknown command. Type 'help' for a list of commands.")
 
@@ -136,6 +141,18 @@ Available Commands:
   set_alert_threshold <deviation|force> <value>
         """)
 
+    def visualize(self, csv_file, export=False):
+        try:
+            visualizer = KukaRSIVisualizer(csv_file)
+            visualizer.plot_trajectory()
+            visualizer.plot_joint_positions()
+            visualizer.plot_force_trends()
+
+            if export:
+                visualizer.export_graphs()
+                print(f"✅ Visualisations exported for '{csv_file}'")
+        except Exception as e:
+            print(f"❌ Failed to visualize '{csv_file}': {e}")
 
 if __name__ == "__main__":
     config_file = "RSI_EthernetConfig.xml"
diff --git a/src/RSIPI/rsi_api.py b/src/RSIPI/rsi_api.py
index 64cb006..6a9c71c 100644
--- a/src/RSIPI/rsi_api.py
+++ b/src/RSIPI/rsi_api.py
@@ -5,6 +5,7 @@ import json
 import matplotlib.pyplot as plt
 from .rsi_client import RSIClient
 from .graphing import RSIGraphing
+from .kuka_visualizer import KukaRSIVisualizer
 
 class RSIAPI:
     """RSI API for programmatic control, including alerts, logging, graphing, and data retrieval."""
@@ -196,3 +197,19 @@ class RSIAPI:
             plt.savefig(f"{filename}.pdf")
 
         return f"✅ Report saved as {filename}.{format_type}"
+
+    def visualize_csv_log(self, csv_file, export=False):
+        """
+        Visualize CSV log file directly via RSIAPI.
+
+        Args:
+            csv_file (str): Path to CSV log file.
+            export (bool): Whether to export the plots.
+        """
+        visualizer = KukaRSIVisualizer(csv_file)
+        visualizer.plot_trajectory()
+        visualizer.plot_joint_positions()
+        visualizer.plot_force_trends()
+
+        if export:
+            visualizer.export_graphs()
\ No newline at end of file
diff --git a/src/RSIPI/test_rsipi.py b/src/RSIPI/test_rsipi.py
index 878e311..81e7df7 100644
--- a/src/RSIPI/test_rsipi.py
+++ b/src/RSIPI/test_rsipi.py
@@ -85,5 +85,23 @@ class TestRSIPI(unittest.TestCase):
         response_threshold = self.api.set_alert_threshold("deviation", 3.5)
         self.assertIn("✅ Deviation alert threshold set to 3.5", response_threshold)
 
+    def test_visualization_methods(self):
+        csv_file = "test_log.csv"
+        # Create a dummy CSV file for testing
+        pd.DataFrame({
+            "RIst.X": [0, 1, 2], "RIst.Y": [0, 1, 2], "RIst.Z": [0, 1, 2],
+            "AIPos.A1": [10, 20, 30], "PosCorr.X": [0.1, 0.2, 0.3]
+        }).to_csv(csv_file, index=False)
+
+        try:
+            self.api.visualize_csv_log(csv_file, export=True)
+        except Exception as e:
+            self.fail(f"Visualisation test failed: {e}")
+        finally:
+            import os, shutil
+            os.remove(csv_file)
+            if os.path.exists("exports"):
+                shutil.rmtree("exports")
+
 if __name__ == '__main__':
     unittest.main()
\ No newline at end of file