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Current working version (for the most part)

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Adam 2025-03-14 22:35:09 +00:00
parent a8010a3dc8
commit 4c399a0be7
19 changed files with 1819 additions and 0 deletions
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74
RSI Config Files/Changing Values/valuetests.rsi Normal file
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<?xml version="1.0" encoding="utf-8"?>
<rSIModel dslVersion="1.0.0.0" name="" xmlns="http://schemas.microsoft.com/dsltools/RSIVisual">
<rSIObjects>
<rSIElement name="ETHERNET1" objType="ETHERNET" objTypeID="64" maxInputs="64" maxOutputs="64">
<rSIInPorts>
<rSIInPort name="In1" mandatory="false">
<source>
<rSIOutPortMoniker name="//SEN_PINT1/Out1" />
</source>
</rSIInPort>
<rSIInPort name="In2" mandatory="false" />
<rSIInPort name="In3" mandatory="false" />
<rSIInPort name="In4" mandatory="false" />
<rSIInPort name="In5" mandatory="false" />
<rSIInPort name="In6" mandatory="false" />
</rSIInPorts>
<rSIOutPorts>
<rSIOutPort name="Out1" />
<rSIOutPort name="Out2" />
<rSIOutPort name="Out3" />
<rSIOutPort name="Out4" />
</rSIOutPorts>
<rSIParameters>
<rSIParameter name="ConfigFile" value="ValueTests.xml" paramType="System.FileName" minVal="-2147483648" maxVal="2147483647" isEnum="false" isRuntime="false" index="1" />
<rSIParameter name="Timeout" value="100" paramType="System.Int32" minVal="0" maxVal="2147483647" isEnum="false" index="1" />
<rSIParameter name="Flag" value="-1" paramType="System.Int32" minVal="-1" maxVal="999" isEnum="false" index="4" />
<rSIParameter name="Precision" value="1" paramType="System.Int32" minVal="1" maxVal="32" isEnum="false" index="8" />
</rSIParameters>
</rSIElement>
<rSIElement name="SEN_PINT1" objType="SEN_PINT" objTypeID="57" maxInputs="0" maxOutputs="0">
<rSIOutPorts>
<rSIOutPort name="Out1" signalType="Int" />
</rSIOutPorts>
<rSIParameters>
<rSIParameter name="Index" value="1" paramType="System.Int32" minVal="1" maxVal="20" isEnum="false" index="1" />
</rSIParameters>
</rSIElement>
<rSIElement name="MONITOR1" objType="MONITOR" objTypeID="55" maxInputs="24" maxOutputs="0">
<rSIInPorts>
<rSIInPort name="In1">
<source>
<rSIOutPortMoniker name="//SEN_PINT1/Out1" />
</source>
</rSIInPort>
<rSIInPort name="In2" mandatory="false">
<source>
<rSIOutPortMoniker name="//ETHERNET1/Out1" />
</source>
</rSIInPort>
<rSIInPort name="In3" mandatory="false" />
<rSIInPort name="In4" mandatory="false" />
</rSIInPorts>
<rSIParameters>
<rSIParameter name="Refresh" value="1" paramType="System.Int32" minVal="1" maxVal="2147483647" isEnum="false" index="1" />
<rSIParameter name="Timeout" value="50" paramType="System.Int32" minVal="0" maxVal="2147483647" isEnum="false" index="2" />
<rSIParameter name="ReqTimeZero" value="1" paramType="System.Int32" minVal="-2147483648" maxVal="2147483647" isEnum="false" index="3" />
<rSIParameter name="IP" value="192.168.0.1" paramType="System.IP" minVal="-2147483648" maxVal="2147483647" isEnum="false" isRuntime="false" index="1" />
<rSIParameter name="Channel" value="1" paramType="System.Int32" minVal="1" maxVal="8" isEnum="false" isRuntime="false" index="2" />
</rSIParameters>
</rSIElement>
<rSIElement name="MAP2SEN_PINT1" objType="MAP2SEN_PINT" objTypeID="16" maxInputs="0" maxOutputs="0">
<rSIInPorts>
<rSIInPort name="In1" signalType="Int">
<source>
<rSIOutPortMoniker name="//ETHERNET1/Out1" />
</source>
</rSIInPort>
</rSIInPorts>
<rSIParameters>
<rSIParameter name="Index" value="2" paramType="System.Int32" minVal="1" maxVal="20" isEnum="false" index="1" />
</rSIParameters>
</rSIElement>
</rSIObjects>
</rSIModel>

126
RSI Config Files/Changing Values/valuetests.rsi.diagram Normal file
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<?xml version="1.0" encoding="utf-8"?>
<rSIObjectDiagram dslVersion="1.0.0.0" absoluteBounds="0, 0, 11.75, 8.5" name="~vs4ECB">
<rSIModelMoniker name="/" />
<nestedChildShapes>
<rSIElementShape Id="d24d6168-548d-40fe-8886-d7add9c40ad9" absoluteBounds="4.5, 1.375, 1.5, 2.4750000029802322" fillColor="BlanchedAlmond">
<rSIElementMoniker name="//ETHERNET1" />
<relativeChildShapes>
<rSIInPortShape Id="10322ca8-1db1-4696-9211-fb0b8d4f6cc3" absoluteBounds="4.0999999940395355, 1.625, 0.40000000596046448, 0.075000002980232239" fillColor="White">
<rSIInPortMoniker name="//ETHERNET1/In1" />
<relativeChildShapes />
</rSIInPortShape>
<rSIOutPortShape Id="e6cb448d-e8e3-443c-aa3f-a9a2d963425e" absoluteBounds="6, 1.625, 0.40000000596046448, 0.075000002980232239" fillColor="White">
<rSIOutPortMoniker name="//ETHERNET1/Out1" />
<relativeChildShapes />
</rSIOutPortShape>
<rSIInPortShape Id="5e336ab7-3cf1-4295-94f3-5320b40eb7f8" absoluteBounds="4.0999999940395355, 2.025, 0.40000000596046448, 0.075000002980232239" fillColor="White">
<rSIInPortMoniker name="//ETHERNET1/In2" />
<relativeChildShapes />
</rSIInPortShape>
<rSIInPortShape Id="52324873-ee12-4c40-96e7-21c797642dba" absoluteBounds="4.0999999940395355, 2.425, 0.40000000596046448, 0.075000002980232239" fillColor="White">
<rSIInPortMoniker name="//ETHERNET1/In3" />
<relativeChildShapes />
</rSIInPortShape>
<rSIInPortShape Id="c862bc14-a9ca-4c24-b8ba-5116371ea990" absoluteBounds="4.0999999940395355, 2.825, 0.40000000596046448, 0.075000002980232239" fillColor="White">
<rSIInPortMoniker name="//ETHERNET1/In4" />
<relativeChildShapes />
</rSIInPortShape>
<rSIInPortShape Id="dc58c689-5c46-451c-8b46-e85b8d177323" absoluteBounds="4.0999999940395355, 3.225, 0.40000000596046448, 0.075000002980232239" fillColor="White">
<rSIInPortMoniker name="//ETHERNET1/In5" />
<relativeChildShapes />
</rSIInPortShape>
<rSIInPortShape Id="035226f1-d3c5-4ab3-9c85-7f011e93ec2f" absoluteBounds="4.0999999940395355, 3.625, 0.40000000596046448, 0.075000002980232239" fillColor="White">
<rSIInPortMoniker name="//ETHERNET1/In6" />
<relativeChildShapes />
</rSIInPortShape>
<rSIOutPortShape Id="3e675302-6423-482a-864d-12537e65856e" absoluteBounds="6, 2.025, 0.40000000596046448, 0.075000002980232239" fillColor="White">
<rSIOutPortMoniker name="//ETHERNET1/Out2" />
<relativeChildShapes />
</rSIOutPortShape>
<rSIOutPortShape Id="b3fe9d46-caf8-40d5-8808-dd64a8430e02" absoluteBounds="6, 2.425, 0.40000000596046448, 0.075000002980232239" fillColor="White">
<rSIOutPortMoniker name="//ETHERNET1/Out3" />
<relativeChildShapes />
</rSIOutPortShape>
<rSIOutPortShape Id="03109992-9849-4a50-8385-459943a32e7c" absoluteBounds="6, 2.825, 0.40000000596046448, 0.075000002980232239" fillColor="White">
<rSIOutPortMoniker name="//ETHERNET1/Out4" />
<relativeChildShapes />
</rSIOutPortShape>
</relativeChildShapes>
<nestedChildShapes>
<elementListCompartment Id="9309591d-f633-4377-858e-139a1167db53" absoluteBounds="4.515, 1.8849999999999998, 1.4700000000000002, 1.0185953776041665" name="RSIParameters" titleTextColor="Black" itemTextColor="Black" />
</nestedChildShapes>
</rSIElementShape>
<rSIElementShape Id="07a691f1-b008-4931-be43-b42b7c6265b2" absoluteBounds="1.75, 1.375, 1.5, 1.0516910807291668" fillColor="BlanchedAlmond">
<rSIElementMoniker name="//SEN_PINT1" />
<relativeChildShapes>
<rSIOutPortShape Id="21053b50-ae72-4932-9819-9b554efd1940" absoluteBounds="3.25, 1.625, 0.40000000596046448, 0.075000002980232239" fillColor="White">
<rSIOutPortMoniker name="//SEN_PINT1/Out1" />
<relativeChildShapes />
</rSIOutPortShape>
</relativeChildShapes>
<nestedChildShapes>
<elementListCompartment Id="3b9d9de9-8211-49da-9562-04b8e58e501e" absoluteBounds="1.765, 1.885, 1.4700000000000002, 0.44169108072916663" name="RSIParameters" titleTextColor="Black" itemTextColor="Black" />
</nestedChildShapes>
</rSIElementShape>
<rSISignalConnector edgePoints="[(4.09999999403954 : 1.66250000149012); (3.65000000596046 : 1.66250000149012)]" fixedFrom="Caller" fixedTo="Caller" TargetRelationshipDomainClassId="e3f2b7da-330d-4daf-bd29-4d4ed734c0af">
<nodes>
<rSIInPortShapeMoniker Id="10322ca8-1db1-4696-9211-fb0b8d4f6cc3" />
<rSIOutPortShapeMoniker Id="21053b50-ae72-4932-9819-9b554efd1940" />
</nodes>
</rSISignalConnector>
<rSIElementShape Id="c4408def-18d5-46e9-92f8-c175a9ee846c" absoluteBounds="10, 1.375, 1.5, 1.8208968098958334" fillColor="BlanchedAlmond">
<rSIElementMoniker name="//MONITOR1" />
<relativeChildShapes>
<rSIInPortShape Id="a53bc87a-b027-4e6d-b956-df454a5eb797" absoluteBounds="9.5999999940395355, 1.625, 0.40000000596046448, 0.075000002980232239" fillColor="BlanchedAlmond">
<rSIInPortMoniker name="//MONITOR1/In1" />
<relativeChildShapes />
</rSIInPortShape>
<rSIInPortShape Id="14678744-e7e1-424c-8561-64a189f31973" absoluteBounds="9.5999999940395355, 2.025, 0.40000000596046448, 0.075000002980232239" fillColor="White">
<rSIInPortMoniker name="//MONITOR1/In2" />
<relativeChildShapes />
</rSIInPortShape>
<rSIInPortShape Id="c11ab0a3-6afa-46ca-b2ca-89864393c61e" absoluteBounds="9.5999999940395355, 2.425, 0.40000000596046448, 0.075000002980232239" fillColor="White">
<rSIInPortMoniker name="//MONITOR1/In3" />
<relativeChildShapes />
</rSIInPortShape>
<rSIInPortShape Id="ab2c525b-93e9-4d70-8a08-c1b434c20aef" absoluteBounds="9.5999999940395355, 2.825, 0.40000000596046448, 0.075000002980232239" fillColor="White">
<rSIInPortMoniker name="//MONITOR1/In4" />
<relativeChildShapes />
</rSIInPortShape>
</relativeChildShapes>
<nestedChildShapes>
<elementListCompartment Id="87fdf3a8-3ad3-4bc0-ac47-cdb071275348" absoluteBounds="10.015, 1.8849999999999998, 1.4700000000000002, 1.2108968098958333" name="RSIParameters" titleTextColor="Black" itemTextColor="Black" />
</nestedChildShapes>
</rSIElementShape>
<rSISignalConnector edgePoints="[(9.59999999403954 : 1.66250000149012); (9.33333333333333 : 1.66250000149012 : JumpStart); (9.16666666666667 : 1.66250000149012 : JumpEnd); (9 : 1.66250000149012); (9 : 1.125); (6.8583333392938 : 1.125 : JumpStart); (6.69166667262713 : 1.125 : JumpEnd); (3.45000000298023 : 1.125); (3.45000000298023 : 1.625)]" manuallyRouted="true" fixedFrom="Caller" fixedTo="Caller" TargetRelationshipDomainClassId="e3f2b7da-330d-4daf-bd29-4d4ed734c0af">
<nodes>
<rSIInPortShapeMoniker Id="a53bc87a-b027-4e6d-b956-df454a5eb797" />
<rSIOutPortShapeMoniker Id="21053b50-ae72-4932-9819-9b554efd1940" />
</nodes>
</rSISignalConnector>
<rSIElementShape Id="d3b36c75-40c9-4a7c-9b60-10c712d4516c" absoluteBounds="7.25, 1.375, 1.5, 1.0516910807291668" fillColor="BlanchedAlmond">
<rSIElementMoniker name="//MAP2SEN_PINT1" />
<relativeChildShapes>
<rSIInPortShape Id="9eff4bc9-92c0-43ac-8a99-1d8bf16fdf3c" absoluteBounds="6.8499999940395355, 1.625, 0.40000000596046448, 0.075000002980232239" fillColor="BlanchedAlmond">
<rSIInPortMoniker name="//MAP2SEN_PINT1/In1" />
<relativeChildShapes />
</rSIInPortShape>
</relativeChildShapes>
<nestedChildShapes>
<elementListCompartment Id="70dfc15f-b0e1-4090-ab94-fd3efdc1c9c2" absoluteBounds="7.265, 1.885, 1.4700000000000002, 0.44169108072916663" name="RSIParameters" titleTextColor="Black" itemTextColor="Black" />
</nestedChildShapes>
</rSIElementShape>
<rSISignalConnector edgePoints="[(6.84999999403954 : 1.66250000149012); (6.40000000596046 : 1.66250000149012)]" fixedFrom="Caller" fixedTo="Caller" TargetRelationshipDomainClassId="e3f2b7da-330d-4daf-bd29-4d4ed734c0af">
<nodes>
<rSIInPortShapeMoniker Id="9eff4bc9-92c0-43ac-8a99-1d8bf16fdf3c" />
<rSIOutPortShapeMoniker Id="e6cb448d-e8e3-443c-aa3f-a9a2d963425e" />
</nodes>
</rSISignalConnector>
<rSISignalConnector edgePoints="[(9.59999999403954 : 2.06250000149012); (9.25 : 2.06250000149012); (9.25 : 0.875); (6.77500000596046 : 0.875); (6.77500000596046 : 1.66250000149012); (6.40000000596046 : 1.66250000149012)]" fixedFrom="Caller" fixedTo="Caller" TargetRelationshipDomainClassId="e3f2b7da-330d-4daf-bd29-4d4ed734c0af">
<nodes>
<rSIInPortShapeMoniker Id="14678744-e7e1-424c-8561-64a189f31973" />
<rSIOutPortShapeMoniker Id="e6cb448d-e8e3-443c-aa3f-a9a2d963425e" />
</nodes>
</rSISignalConnector>
</nestedChildShapes>
</rSIObjectDiagram>

40
RSI Config Files/Changing Values/valuetests.rsi.xml Normal file
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<?xml version="1.0" encoding="UTF-8" standalone="yes"?>
<RSIObjects xsi:noNamespaceSchemaLocation="/Roboter/Config/System/Common/Schemes/RSIContext.xsd" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
<RSIObject ObjType="ETHERNET" ObjTypeID="64" ObjID="ETHERNET1">
<Inputs>
<Input InIdx="1" OutObjID="SEN_PINT1" OutIdx="1" />
</Inputs>
<Parameters>
<Parameter Name="ConfigFile" ParamID="1" ParamValue="ValueTests.xml" IsRuntime="false" />
<Parameter Name="Timeout" ParamID="1" ParamValue="100" />
<Parameter Name="Flag" ParamID="4" ParamValue="-1" />
<Parameter Name="Precision" ParamID="8" ParamValue="1" />
</Parameters>
</RSIObject>
<RSIObject ObjType="SEN_PINT" ObjTypeID="57" ObjID="SEN_PINT1">
<Parameters>
<Parameter Name="Index" ParamID="1" ParamValue="1" />
</Parameters>
</RSIObject>
<RSIObject ObjType="MONITOR" ObjTypeID="55" ObjID="MONITOR1">
<Inputs>
<Input InIdx="1" OutObjID="SEN_PINT1" OutIdx="1" />
<Input InIdx="2" OutObjID="ETHERNET1" OutIdx="1" />
</Inputs>
<Parameters>
<Parameter Name="Refresh" ParamID="1" ParamValue="1" />
<Parameter Name="Timeout" ParamID="2" ParamValue="50" />
<Parameter Name="ReqTimeZero" ParamID="3" ParamValue="1" />
<Parameter Name="IP" ParamID="1" ParamValue="192.168.0.1" IsRuntime="false" />
<Parameter Name="Channel" ParamID="2" ParamValue="1" IsRuntime="false" />
</Parameters>
</RSIObject>
<RSIObject ObjType="MAP2SEN_PINT" ObjTypeID="16" ObjID="MAP2SEN_PINT1">
<Inputs>
<Input InIdx="1" OutObjID="ETHERNET1" OutIdx="1" />
</Inputs>
<Parameters>
<Parameter Name="Index" ParamID="1" ParamValue="2" />
</Parameters>
</RSIObject>
</RSIObjects>

18
RSI Config Files/Changing Values/valuetests.xml Normal file
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<ROOT>
<CONFIG>
<IP_NUMBER>10.10.10.10</IP_NUMBER>
<PORT>64000</PORT>
<SENTYPE>ImFree</SENTYPE>
<ONLYSEND>FALSE</ONLYSEND>
</CONFIG>
<SEND>
<ELEMENTS>
<ELEMENT TAG="SenPintIn" TYPE="LONG" INDX="1" />
</ELEMENTS>
</SEND>
<RECEIVE>
<ELEMENTS>
<ELEMENT TAG="SenPintOut" TYPE="LONG" INDX="1" HOLDON="1" />
</ELEMENTS>
</RECEIVE>
</ROOT>

201
RSI Config Files/RSI Network/RSI_Ethernet.rsi Normal file
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<?xml version="1.0" encoding="utf-8"?>
<rSIModel dslVersion="1.0.0.0" name="" xmlns="http://schemas.microsoft.com/dsltools/RSIVisual">
<rSIObjects>
<rSIElement name="DIGIN1" objType="DIGIN" objTypeID="29" maxInputs="0" maxOutputs="0">
<rSIOutPorts>
<rSIOutPort name="Out1" signalType="Int" />
</rSIOutPorts>
<rSIParameters>
<rSIParameter name="Index" value="1" paramType="System.Int32" minVal="1" maxVal="4096" isEnum="false" index="1" />
<rSIParameter name="DataSize" value="Byte" paramType="KUKA.RSIVisual.RSI_DataSize" minVal="-2147483648" maxVal="2147483647" isEnum="true" index="2" />
</rSIParameters>
</rSIElement>
<rSIElement name="DIGOUT1" objType="DIGOUT" objTypeID="43" maxInputs="0" maxOutputs="0">
<rSIOutPorts>
<rSIOutPort name="Out1" signalType="Int" />
</rSIOutPorts>
<rSIParameters>
<rSIParameter name="Index" value="1" paramType="System.Int32" minVal="1" maxVal="4096" isEnum="false" index="1" />
<rSIParameter name="DataSize" value="Bit" paramType="KUKA.RSIVisual.RSI_DataSize" minVal="-2147483648" maxVal="2147483647" isEnum="true" index="2" />
</rSIParameters>
</rSIElement>
<rSIElement name="DIGOUT2" objType="DIGOUT" objTypeID="43" maxInputs="0" maxOutputs="0">
<rSIOutPorts>
<rSIOutPort name="Out1" signalType="Int" />
</rSIOutPorts>
<rSIParameters>
<rSIParameter name="Index" value="2" paramType="System.Int32" minVal="1" maxVal="4096" isEnum="false" index="1" />
<rSIParameter name="DataSize" value="Bit" paramType="KUKA.RSIVisual.RSI_DataSize" minVal="-2147483648" maxVal="2147483647" isEnum="true" index="2" />
</rSIParameters>
</rSIElement>
<rSIElement name="DIGOUT3" objType="DIGOUT" objTypeID="43" maxInputs="0" maxOutputs="0">
<rSIOutPorts>
<rSIOutPort name="Out1" signalType="Int" />
</rSIOutPorts>
<rSIParameters>
<rSIParameter name="Index" value="3" paramType="System.Int32" minVal="1" maxVal="4096" isEnum="false" index="1" />
<rSIParameter name="DataSize" value="Bit" paramType="KUKA.RSIVisual.RSI_DataSize" minVal="-2147483648" maxVal="2147483647" isEnum="true" index="2" />
</rSIParameters>
</rSIElement>
<rSIElement name="SOURCE1" objType="SOURCE" objTypeID="45" maxInputs="0" maxOutputs="0">
<rSIOutPorts>
<rSIOutPort name="Out1" />
</rSIOutPorts>
<rSIParameters>
<rSIParameter name="Type" value="Sin" paramType="KUKA.RSIVisual.RSI_SourceType" minVal="-2147483648" maxVal="2147483647" isEnum="true" index="1" />
<rSIParameter name="Offset" value="0" paramType="System.Double" minVal="-2147483648" maxVal="2147483647" isEnum="false" index="2" />
<rSIParameter name="Amplitude" value="50" paramType="System.Double" minVal="-2147483648" maxVal="2147483647" isEnum="false" index="3" />
<rSIParameter name="Period" value="5" paramType="System.Double" minVal="-2147483648" maxVal="2147483647" isEnum="false" index="4" />
</rSIParameters>
</rSIElement>
<rSIElement name="POSCORR1" objType="POSCORR" objTypeID="27" maxInputs="0" maxOutputs="0">
<rSIInPorts>
<rSIInPort name="CorrX" mandatory="false">
<source>
<rSIOutPortMoniker name="//ETHERNET1/Out1" />
</source>
</rSIInPort>
<rSIInPort name="CorrY" mandatory="false">
<source>
<rSIOutPortMoniker name="//ETHERNET1/Out2" />
</source>
</rSIInPort>
<rSIInPort name="CorrZ" mandatory="false">
<source>
<rSIOutPortMoniker name="//ETHERNET1/Out3" />
</source>
</rSIInPort>
<rSIInPort name="CorrA" mandatory="false">
<source>
<rSIOutPortMoniker name="//ETHERNET1/Out4" />
</source>
</rSIInPort>
<rSIInPort name="CorrB" mandatory="false">
<source>
<rSIOutPortMoniker name="//ETHERNET1/Out5" />
</source>
</rSIInPort>
<rSIInPort name="CorrC" mandatory="false">
<source>
<rSIOutPortMoniker name="//ETHERNET1/Out6" />
</source>
</rSIInPort>
</rSIInPorts>
<rSIOutPorts>
<rSIOutPort name="Stat" signalType="Int" />
<rSIOutPort name="X" />
<rSIOutPort name="Y" />
<rSIOutPort name="Z" />
<rSIOutPort name="A" />
<rSIOutPort name="B" />
<rSIOutPort name="C" />
</rSIOutPorts>
<rSIParameters>
<rSIParameter name="LowerLimX" value="-50" paramType="System.Double" minVal="-2147483648" maxVal="2147483647" isEnum="false" index="1" />
<rSIParameter name="LowerLimY" value="-50" paramType="System.Double" minVal="-2147483648" maxVal="2147483647" isEnum="false" index="2" />
<rSIParameter name="LowerLimZ" value="-50" paramType="System.Double" minVal="-2147483648" maxVal="2147483647" isEnum="false" index="3" />
<rSIParameter name="UpperLimX" value="50" paramType="System.Double" minVal="-2147483648" maxVal="2147483647" isEnum="false" index="4" />
<rSIParameter name="UpperLimY" value="50" paramType="System.Double" minVal="-2147483648" maxVal="2147483647" isEnum="false" index="5" />
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<relativeChildShapes />
</rSIOutPortShape>
</relativeChildShapes>
<nestedChildShapes>
<elementListCompartment Id="9e68dec1-35e2-4827-8a77-1b00acf56e99" absoluteBounds="3.89, 1.01, 1.4700000000000002, 1.0185953776041665" name="RSIParameters" titleTextColor="Black" itemTextColor="Black" />
</nestedChildShapes>
</rSIElementShape>
<rSISignalConnector edgePoints="[(3.47499999403954 : 0.787500001490116); (2.40000000596046 : 0.787500001490116)]" fixedFrom="Caller" fixedTo="Caller" TargetRelationshipDomainClassId="e3f2b7da-330d-4daf-bd29-4d4ed734c0af">
<nodes>
<rSIInPortShapeMoniker Id="ac2744ae-aed2-4e75-a1bf-b67db46828e7" />
<rSIOutPortShapeMoniker Id="474557ab-5f7d-4a14-b0ad-c75560df9f4a" />
</nodes>
</rSISignalConnector>
<rSISignalConnector edgePoints="[(3.47499999403954 : 1.18750000149012); (2.63645832737287 : 1.18750000149012); (2.63645832737287 : 2.16250000149012); (2.40000000596046 : 2.16250000149012)]" manuallyRouted="true" fixedFrom="Caller" fixedTo="Caller" TargetRelationshipDomainClassId="e3f2b7da-330d-4daf-bd29-4d4ed734c0af">
<nodes>
<rSIInPortShapeMoniker Id="4b4769d8-5d49-4354-94a8-60636ba6c231" />
<rSIOutPortShapeMoniker Id="8fa2fef2-6101-4922-822b-b6563509ad17" />
</nodes>
</rSISignalConnector>
<rSISignalConnector edgePoints="[(3.47499999403954 : 1.58750000149012); (2.7510416607062 : 1.58750000149012); (2.7510416607062 : 3.41250000149012); (2.40000000596046 : 3.41250000149012)]" manuallyRouted="true" fixedFrom="Caller" fixedTo="Caller" TargetRelationshipDomainClassId="e3f2b7da-330d-4daf-bd29-4d4ed734c0af">
<nodes>
<rSIInPortShapeMoniker Id="2c77593c-dc69-464e-96f9-6bca9c5bc821" />
<rSIOutPortShapeMoniker Id="312b81f3-be26-4fb6-8fee-cdc6b01ddc3b" />
</nodes>
</rSISignalConnector>
<rSISignalConnector edgePoints="[(3.47499999403954 : 1.98750000149012); (2.86562499403954 : 1.98750000149012); (2.86562499403954 : 4.66250000149012); (2.40000000596046 : 4.66250000149012)]" manuallyRouted="true" fixedFrom="Caller" fixedTo="Caller" TargetRelationshipDomainClassId="e3f2b7da-330d-4daf-bd29-4d4ed734c0af">
<nodes>
<rSIInPortShapeMoniker Id="f4ee1154-9f4a-4d80-ae5a-3ba17aeb8d4c" />
<rSIOutPortShapeMoniker Id="f1e5908a-b1f7-41e7-80fd-cc2e6aaa9f22" />
</nodes>
</rSISignalConnector>
<rSISignalConnector edgePoints="[(3.47499999403954 : 2.38750000149012); (3.01145832737287 : 2.38750000149012); (3.01145832737287 : 6.03750000149012); (2.40000000596046 : 6.03750000149012)]" manuallyRouted="true" fixedFrom="Caller" fixedTo="Caller" TargetRelationshipDomainClassId="e3f2b7da-330d-4daf-bd29-4d4ed734c0af">
<nodes>
<rSIInPortShapeMoniker Id="56f5f47d-66ba-46d3-8fe0-21fbe373e7a5" />
<rSIOutPortShapeMoniker Id="a6685103-4bbb-466a-9ec5-c74f0b2c1e2a" />
</nodes>
</rSISignalConnector>
<rSISignalConnector edgePoints="[(7.22499999403954 : 0.787500001490116); (5.77500000596046 : 0.787500001490116)]" fixedFrom="Caller" fixedTo="Caller" TargetRelationshipDomainClassId="e3f2b7da-330d-4daf-bd29-4d4ed734c0af">
<nodes>
<rSIInPortShapeMoniker Id="1de90138-4698-4dcf-ae5d-8bfd44634aa1" />
<rSIOutPortShapeMoniker Id="adc62a2b-f7c0-41e6-bf88-9887991ca59d" />
</nodes>
</rSISignalConnector>
<rSISignalConnector edgePoints="[(7.22499999403954 : 1.18750000149012); (6.90208332737287 : 1.18750000149012 : JumpStart); (6.73541666070621 : 1.18750000149012 : JumpEnd); (5.77500000596046 : 1.18750000149012)]" fixedFrom="Caller" fixedTo="Caller" TargetRelationshipDomainClassId="e3f2b7da-330d-4daf-bd29-4d4ed734c0af">
<nodes>
<rSIInPortShapeMoniker Id="9329fc48-c453-4b2a-8566-b43b44a85176" />
<rSIOutPortShapeMoniker Id="875aaeb0-b602-46d7-a101-60f35a6c7169" />
</nodes>
</rSISignalConnector>
<rSISignalConnector edgePoints="[(7.22499999403954 : 1.58750000149012); (6.90208332737287 : 1.58750000149012 : JumpStart); (6.73541666070621 : 1.58750000149012 : JumpEnd); (6.7197916607062 : 1.58750000149012 : JumpStart); (6.55312499403954 : 1.58750000149012 : JumpEnd); (5.77500000596046 : 1.58750000149012)]" fixedFrom="Caller" fixedTo="Caller" TargetRelationshipDomainClassId="e3f2b7da-330d-4daf-bd29-4d4ed734c0af">
<nodes>
<rSIInPortShapeMoniker Id="61bf0fe8-2ce8-4fdc-a229-c4930e86f858" />
<rSIOutPortShapeMoniker Id="5f2a1bb6-fc66-403e-9a06-c43d89c69d4f" />
</nodes>
</rSISignalConnector>
<rSISignalConnector edgePoints="[(7.22499999403954 : 1.98750000149012); (6.90208332737287 : 1.98750000149012 : JumpStart); (6.73541666070621 : 1.98750000149012 : JumpEnd); (6.7197916607062 : 1.98750000149012 : JumpStart); (6.55312499403954 : 1.98750000149012 : JumpEnd); (6.55312499403953 : 1.98750000149012 : JumpStart); (6.38645832737287 : 1.98750000149012 : JumpEnd); (5.77500000596046 : 1.98750000149012)]" fixedFrom="Caller" fixedTo="Caller" TargetRelationshipDomainClassId="e3f2b7da-330d-4daf-bd29-4d4ed734c0af">
<nodes>
<rSIInPortShapeMoniker Id="ed64210b-8a9c-4ff9-a138-37c8ac8f3ff9" />
<rSIOutPortShapeMoniker Id="ce7a4976-8bec-4a72-b34e-4ea3036ce377" />
</nodes>
</rSISignalConnector>
<rSISignalConnector edgePoints="[(7.22499999403954 : 2.38750000149012); (6.90208332737287 : 2.38750000149012 : JumpStart); (6.73541666070621 : 2.38750000149012 : JumpEnd); (6.7197916607062 : 2.38750000149012 : JumpStart); (6.55312499403954 : 2.38750000149012 : JumpEnd); (6.55312499403953 : 2.38750000149012 : JumpStart); (6.38645832737287 : 2.38750000149012 : JumpEnd); (5.77500000596046 : 2.38750000149012)]" fixedFrom="Caller" fixedTo="Caller" TargetRelationshipDomainClassId="e3f2b7da-330d-4daf-bd29-4d4ed734c0af">
<nodes>
<rSIInPortShapeMoniker Id="d7a2b3a8-dcaa-4d99-9619-0f251d894e23" />
<rSIOutPortShapeMoniker Id="e74ddd91-20ff-40aa-b484-83c35d98943d" />
</nodes>
</rSISignalConnector>
<rSISignalConnector edgePoints="[(7.22499999403954 : 2.78750000149012); (6.90208332737287 : 2.78750000149012 : JumpStart); (6.73541666070621 : 2.78750000149012 : JumpEnd); (6.7197916607062 : 2.78750000149012 : JumpStart); (6.55312499403954 : 2.78750000149012 : JumpEnd); (6.55312499403953 : 2.78750000149012 : JumpStart); (6.38645832737287 : 2.78750000149012 : JumpEnd); (5.77500000596046 : 2.78750000149012)]" fixedFrom="Caller" fixedTo="Caller" TargetRelationshipDomainClassId="e3f2b7da-330d-4daf-bd29-4d4ed734c0af">
<nodes>
<rSIInPortShapeMoniker Id="10f03176-0037-4a78-aa82-800f285b30e3" />
<rSIOutPortShapeMoniker Id="582de37e-8ef3-4894-af46-79c49125ae3d" />
</nodes>
</rSISignalConnector>
<rSISignalConnector edgePoints="[(7.22499999403954 : 7.41250000149012); (6.1416666607062 : 7.41250000149012); (6.1416666607062 : 3.58750000149012); (5.77500000596046 : 3.58750000149012)]" manuallyRouted="true" fixedFrom="Caller" fixedTo="Caller" TargetRelationshipDomainClassId="e3f2b7da-330d-4daf-bd29-4d4ed734c0af">
<nodes>
<rSIInPortShapeMoniker Id="cde453ce-be8d-44b8-a671-c14010ed25c6" />
<rSIOutPortShapeMoniker Id="d6d6c32e-5b84-407b-8b34-dbd08ff78623" />
</nodes>
</rSISignalConnector>
<rSISignalConnector edgePoints="[(7.22499999403954 : 3.91250000149012); (6.81874999403954 : 3.91250000149012); (6.81874999403954 : 0.787500001490116); (5.77500000596046 : 0.787500001490116)]" manuallyRouted="true" fixedFrom="Caller" fixedTo="Caller" TargetRelationshipDomainClassId="e3f2b7da-330d-4daf-bd29-4d4ed734c0af">
<nodes>
<rSIInPortShapeMoniker Id="b9db9b1d-979e-461a-bf53-f41ec267c0c8" />
<rSIOutPortShapeMoniker Id="adc62a2b-f7c0-41e6-bf88-9887991ca59d" />
</nodes>
</rSISignalConnector>
<rSISignalConnector edgePoints="[(7.22499999403954 : 5.03750000149012); (6.63645832737287 : 5.03750000149012); (6.63645832737287 : 1.18750000149012); (5.77500000596046 : 1.18750000149012)]" manuallyRouted="true" fixedFrom="Caller" fixedTo="Caller" TargetRelationshipDomainClassId="e3f2b7da-330d-4daf-bd29-4d4ed734c0af">
<nodes>
<rSIInPortShapeMoniker Id="aef6ce81-606b-4cda-9f28-3aa6ba3b1b84" />
<rSIOutPortShapeMoniker Id="875aaeb0-b602-46d7-a101-60f35a6c7169" />
</nodes>
</rSISignalConnector>
<rSISignalConnector edgePoints="[(7.22499999403954 : 6.16250000149012); (6.4697916607062 : 6.16250000149012); (6.4697916607062 : 1.58750000149012); (5.77500000596046 : 1.58750000149012)]" manuallyRouted="true" fixedFrom="Caller" fixedTo="Caller" TargetRelationshipDomainClassId="e3f2b7da-330d-4daf-bd29-4d4ed734c0af">
<nodes>
<rSIInPortShapeMoniker Id="7f989a9f-1089-415d-95c0-fb368c29ae62" />
<rSIOutPortShapeMoniker Id="5f2a1bb6-fc66-403e-9a06-c43d89c69d4f" />
</nodes>
</rSISignalConnector>
</nestedChildShapes>
</rSIObjectDiagram>

103
RSI Config Files/RSI Network/RSI_Ethernet.rsi.xml Normal file
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@ -0,0 +1,103 @@
<?xml version="1.0" encoding="UTF-8" standalone="yes"?>
<RSIObjects xsi:noNamespaceSchemaLocation="/Roboter/Config/System/Common/Schemes/RSIContext.xsd" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
<RSIObject ObjType="DIGIN" ObjTypeID="29" ObjID="DIGIN1">
<Parameters>
<Parameter Name="Index" ParamID="1" ParamValue="1" />
<Parameter Name="DataSize" ParamID="2" ParamValue="2" />
</Parameters>
</RSIObject>
<RSIObject ObjType="DIGOUT" ObjTypeID="43" ObjID="DIGOUT1">
<Parameters>
<Parameter Name="Index" ParamID="1" ParamValue="1" />
<Parameter Name="DataSize" ParamID="2" ParamValue="0" />
</Parameters>
</RSIObject>
<RSIObject ObjType="DIGOUT" ObjTypeID="43" ObjID="DIGOUT2">
<Parameters>
<Parameter Name="Index" ParamID="1" ParamValue="2" />
<Parameter Name="DataSize" ParamID="2" ParamValue="0" />
</Parameters>
</RSIObject>
<RSIObject ObjType="DIGOUT" ObjTypeID="43" ObjID="DIGOUT3">
<Parameters>
<Parameter Name="Index" ParamID="1" ParamValue="3" />
<Parameter Name="DataSize" ParamID="2" ParamValue="0" />
</Parameters>
</RSIObject>
<RSIObject ObjType="SOURCE" ObjTypeID="45" ObjID="SOURCE1">
<Parameters>
<Parameter Name="Type" ParamID="1" ParamValue="1" />
<Parameter Name="Offset" ParamID="2" ParamValue="0" />
<Parameter Name="Amplitude" ParamID="3" ParamValue="50" />
<Parameter Name="Period" ParamID="4" ParamValue="5" />
</Parameters>
</RSIObject>
<RSIObject ObjType="POSCORR" ObjTypeID="27" ObjID="POSCORR1">
<Inputs>
<Input InIdx="1" OutObjID="ETHERNET1" OutIdx="1" />
<Input InIdx="2" OutObjID="ETHERNET1" OutIdx="2" />
<Input InIdx="3" OutObjID="ETHERNET1" OutIdx="3" />
<Input InIdx="4" OutObjID="ETHERNET1" OutIdx="4" />
<Input InIdx="5" OutObjID="ETHERNET1" OutIdx="5" />
<Input InIdx="6" OutObjID="ETHERNET1" OutIdx="6" />
</Inputs>
<Parameters>
<Parameter Name="LowerLimX" ParamID="1" ParamValue="-50" />
<Parameter Name="LowerLimY" ParamID="2" ParamValue="-50" />
<Parameter Name="LowerLimZ" ParamID="3" ParamValue="-50" />
<Parameter Name="UpperLimX" ParamID="4" ParamValue="50" />
<Parameter Name="UpperLimY" ParamID="5" ParamValue="50" />
<Parameter Name="UpperLimZ" ParamID="6" ParamValue="50" />
<Parameter Name="MaxRotAngle" ParamID="7" ParamValue="50" />
<Parameter Name="RefCorrSys" ParamID="1" ParamValue="1" IsRuntime="false" />
</Parameters>
</RSIObject>
<RSIObject ObjType="MAP2DIGOUT" ObjTypeID="14" ObjID="MAP2DIGOUT1">
<Inputs>
<Input InIdx="1" OutObjID="ETHERNET1" OutIdx="8" />
</Inputs>
<Parameters>
<Parameter Name="Index" ParamID="1" ParamValue="20" />
<Parameter Name="DataSize" ParamID="2" ParamValue="2" />
</Parameters>
</RSIObject>
<RSIObject ObjType="MAP2SEN_PREA" ObjTypeID="17" ObjID="MAP2SEN_PREA1">
<Inputs>
<Input InIdx="1" OutObjID="ETHERNET1" OutIdx="1" />
</Inputs>
<Parameters>
<Parameter Name="Index" ParamID="1" ParamValue="1" />
</Parameters>
</RSIObject>
<RSIObject ObjType="MAP2SEN_PREA" ObjTypeID="17" ObjID="MAP2SEN_PREA2">
<Inputs>
<Input InIdx="1" OutObjID="ETHERNET1" OutIdx="2" />
</Inputs>
<Parameters>
<Parameter Name="Index" ParamID="1" ParamValue="2" />
</Parameters>
</RSIObject>
<RSIObject ObjType="MAP2SEN_PREA" ObjTypeID="17" ObjID="MAP2SEN_PREA3">
<Inputs>
<Input InIdx="1" OutObjID="ETHERNET1" OutIdx="3" />
</Inputs>
<Parameters>
<Parameter Name="Index" ParamID="1" ParamValue="3" />
</Parameters>
</RSIObject>
<RSIObject ObjType="ETHERNET" ObjTypeID="64" ObjID="ETHERNET1">
<Inputs>
<Input InIdx="1" OutObjID="DIGIN1" OutIdx="1" />
<Input InIdx="2" OutObjID="DIGOUT1" OutIdx="1" />
<Input InIdx="3" OutObjID="DIGOUT2" OutIdx="1" />
<Input InIdx="4" OutObjID="DIGOUT3" OutIdx="1" />
<Input InIdx="5" OutObjID="SOURCE1" OutIdx="1" />
</Inputs>
<Parameters>
<Parameter Name="ConfigFile" ParamID="1" ParamValue="RSI_EthernetConfig.xml" IsRuntime="false" />
<Parameter Name="Timeout" ParamID="1" ParamValue="100" />
<Parameter Name="Flag" ParamID="4" ParamValue="1" />
<Parameter Name="Precision" ParamID="8" ParamValue="1" />
</Parameters>
</RSIObject>
</RSIObjects>

42
RSI Config Files/RSI Network/RSI_EthernetConfig.xml Normal file
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<ROOT>
<CONFIG>
<IP_NUMBER>10.10.10.10</IP_NUMBER> <!-- IP-number of the external socket -->
<PORT>64000</PORT> <!-- Port-number of the external socket -->
<SENTYPE>ImFree</SENTYPE> <!-- The name of your system send in <Sen Type="" > -->
<ONLYSEND>FALSE</ONLYSEND> <!-- TRUE means the client don't expect answers. Do not send anything to robot -->
</CONFIG>
<!-- RSI Data: TYPE= "BOOL", "STRING", "LONG", "DOUBLE" -->
<!-- INDX= "INTERNAL" switch on internal read values. Needed by DEF_... -->
<!-- INDX= "nmb" Input/Output index of RSI-Object / Maximum of RSI Channels: 64 -->
<!-- HOLDON="1", set this output index of RSI Object to the last value -->
<!-- DEF_Delay count the late packages and send it back to server -->
<!-- DEF_Tech: .T = advance .C = main run / .T1 advance set function generator 1 -->
<SEND>
<ELEMENTS>
<ELEMENT TAG="DEF_RIst" TYPE="DOUBLE" INDX="INTERNAL" />
<ELEMENT TAG="DEF_RSol" TYPE="DOUBLE" INDX="INTERNAL" />
<ELEMENT TAG="DEF_Delay" TYPE="LONG" INDX="INTERNAL" />
<ELEMENT TAG="DEF_Tech.C1" TYPE="DOUBLE" INDX="INTERNAL" />
<ELEMENT TAG="DiL" TYPE="LONG" INDX="1" />
<ELEMENT TAG="Digout.o1" TYPE="BOOL" INDX="2" />
<ELEMENT TAG="Digout.o2" TYPE="BOOL" INDX="3" />
<ELEMENT TAG="Digout.o3" TYPE="BOOL" INDX="4" />
<ELEMENT TAG="Source1" TYPE="DOUBLE" INDX="5" />
</ELEMENTS>
</SEND>
<RECEIVE>
<ELEMENTS>
<ELEMENT TAG="DEF_EStr" TYPE="STRING" INDX="INTERNAL" />
<ELEMENT TAG="DEF_Tech.T2" TYPE="DOUBLE" INDX="INTERNAL" HOLDON="0" />
<ELEMENT TAG="RKorr.X" TYPE="DOUBLE" INDX="1" HOLDON="1" />
<ELEMENT TAG="RKorr.Y" TYPE="DOUBLE" INDX="2" HOLDON="1" />
<ELEMENT TAG="RKorr.Z" TYPE="DOUBLE" INDX="3" HOLDON="1" />
<ELEMENT TAG="RKorr.A" TYPE="DOUBLE" INDX="4" HOLDON="1" />
<ELEMENT TAG="RKorr.B" TYPE="DOUBLE" INDX="5" HOLDON="1" />
<ELEMENT TAG="RKorr.C" TYPE="DOUBLE" INDX="6" HOLDON="1" />
<ELEMENT TAG="FREE" TYPE="LONG" INDX="7" HOLDON="1" />
<ELEMENT TAG="DiO" TYPE="LONG" INDX="8" HOLDON="1" />
</ELEMENTS>
</RECEIVE>
</ROOT>

53
src/RSIPI/cli.py Normal file
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@ -0,0 +1,53 @@
import sys
import time
from src.RSIPI.rsi_api import RSIAPI
class RSICommandLineInterface:
"""Command-Line Interface for controlling RSI Client."""
def __init__(self, config_file):
"""Initialize CLI with an RSI API instance."""
self.api = RSIAPI(config_file)
self.running = True
def run(self):
"""Starts the CLI interaction loop."""
print("✅ RSI Command-Line Interface Started. Type 'help' for commands.")
while self.running:
command = input("RSI> ").strip().lower()
self.process_command(command)
def process_command(self, command):
"""Processes user input commands."""
parts = command.split()
if not parts:
return
cmd = parts[0]
if cmd == "start":
self.api.start()
elif cmd == "stop":
self.api.stop()
elif cmd == "exit":
self.api.stop()
self.running = False
elif cmd == "help":
self.show_help()
else:
print("❌ Unknown command. Type 'help' for a list of commands.")
def show_help(self):
"""Displays the list of available commands."""
print("""
Available Commands:
start - Start the RSI client in the background
stop - Stop the RSI client
exit - Stop RSI and exit CLI
help - Show this command list
""")
if __name__ == "__main__":
config_file = "RSI_EthernetConfig.xml"
cli = RSICommandLineInterface(config_file)
cli.run()

138
src/RSIPI/config_parser.py Normal file
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import xml.etree.ElementTree as ET
import logging
class ConfigParser:
"""Handles parsing the RSI config file and generating structured send/receive variables."""
def __init__(self, config_file):
"""Initialize with the configuration file and process send/receive structures."""
self.config_file = config_file
self.internal_structure = {
"ComStatus": "String",
"RIst": {"X": 0, "Y": 0, "Z": 0, "A": 0, "B": 0, "C": 0},
"RSol": {"X": 0, "Y": 0, "Z": 0, "A": 0, "B": 0, "C": 0},
"ASPos": {"A1": 0, "A2": 0, "A3": 0, "A4": 0, "A5": 0, "A6": 0},
"ELPos": {"E1": 0, "E2": 0, "E3": 0, "E4": 0, "E5": 0, "E6": 0},
"ESPos": {"E1": 0, "E2": 0, "E3": 0, "E4": 0, "E5": 0, "E6": 0},
"MaCur": {"A1": 0, "A2": 0, "A3": 0, "A4": 0, "A5": 0, "A6": 0},
"MECur": {"E1": 0, "E2": 0, "E3": 0, "E4": 0, "E5": 0, "E6": 0},
"IPOC": 0,
"BMode": "Status",
"IPOSTAT": "",
"Delay": {"D": 0},
"EStr": "EStr Test",
"Tech.T2": {"T21": 0, "T22": 0, "T23": 0, "T24": 0, "T25": 0, "T26": 0, "T27": 0, "T28": 0, "T29": 0, "T210": 0},
"RKorr": {"X": 0, "Y": 0, "Z": 0, "A": 0, "B": 0, "C": 0}
}
self.network_settings = {}
self.receive_variables,self.send_variables = self.process_config()
# ✅ Rename Tech.XX keys to Tech in send and receive variables at the last step
self.rename_tech_keys(self.send_variables)
self.rename_tech_keys(self.receive_variables)
# ✅ Ensure IPOC is always present in send variables
if "IPOC" not in self.send_variables:
self.send_variables.update({"IPOC": 0})
print(f"✅ Final Send Variables: {self.send_variables}")
print(f"✅ Final Receive Variables: {self.receive_variables}")
def process_config(self):
"""Parse the config file and create structured send and receive variables."""
send_vars = {}
receive_vars = {}
try:
tree = ET.parse(self.config_file)
root = tree.getroot()
# ✅ Extract network settings
config = root.find("CONFIG")
self.network_settings = {
"ip": config.find("IP_NUMBER").text.strip(),
"port": int(config.find("PORT").text.strip()),
"sentype": config.find("SENTYPE").text.strip(),
"onlysend": config.find("ONLYSEND").text.strip().upper() == "TRUE",
}
# ✅ Parse SEND section (values received from RSI)
send_section = root.find("SEND/ELEMENTS")
for element in send_section.findall("ELEMENT"):
tag = element.get("TAG").replace("DEF_", "")
indx = element.get("INDX", "")
var_type = element.get("TYPE", "")
print(f"🔍 Processing SEND: {tag} | INDX: {indx} | TYPE: {var_type}")
if tag != "FREE":
self.process_variable_structure(send_vars, tag, var_type, indx)
# ✅ Parse RECEIVE section (values sent to RSI)
receive_section = root.find("RECEIVE/ELEMENTS")
for element in receive_section.findall("ELEMENT"):
tag = element.get("TAG").replace("DEF_", "")
indx = element.get("INDX", "")
var_type = element.get("TYPE", "")
print(f"🔍 Processing RECEIVE: {tag} | INDX: {indx} | TYPE: {var_type}")
if tag != "FREE":
self.process_variable_structure(receive_vars, tag, var_type, indx)
logging.info("✅ Config processed successfully.")
except Exception as e:
logging.error(f"❌ Error processing config file: {e}")
# ✅ Ensure IPOC is always in send variables
if "IPOC" not in send_vars:
send_vars["IPOC"] = 0
print(f"✅ Processed Send Variables: {send_vars}")
print(f"✅ Processed Receive Variables: {receive_vars}")
return send_vars, receive_vars
def process_variable_structure(self, var_dict, tag, var_type, indx=""):
"""Handles structured and simple variables based on internal structure and TYPE attribute."""
tag = tag.replace("DEF_", "") # ✅ Strip "DEF_" prefix
print(f"🔍 Assigning {tag}: INDX={indx}, TYPE={var_type}")
if indx == "INTERNAL":
if tag in self.internal_structure:
internal_value = self.internal_structure[tag]
var_dict[tag] = internal_value.copy() if isinstance(internal_value, dict) else internal_value
print(f"✅ INTERNAL Match: {tag} -> {var_dict[tag]}")
else:
print(f"❌ INTERNAL variable '{tag}' not found in internal dictionary.")
elif "." in tag: # ✅ Handle elements in the format XXX.ZZ
parent, subkey = tag.split(".", 1)
if parent not in var_dict:
var_dict[parent] = {} # ✅ Create parent dictionary if not exists
var_dict[parent][subkey] = self.get_default_value(var_type)
print(f"📂 Assigned '{tag}' as nested dictionary under '{parent}': {var_dict[parent]}")
else:
var_dict[tag] = self.get_default_value(var_type)
print(f"📄 Assigned Standard Value: '{tag}' -> {var_dict[tag]}")
def rename_tech_keys(self, var_dict):
"""Rename Tech.XX keys to Tech in send and receive variables at the last step."""
tech_data = {}
for key in list(var_dict.keys()):
if key.startswith("Tech."):
tech_data.update(var_dict.pop(key)) # ✅ Merge all Tech.XX keys into Tech
if tech_data:
var_dict["Tech"] = tech_data # ✅ Store under Tech
print(f"✅ Renamed Tech.XX keys to 'Tech': {var_dict['Tech']}")
def get_default_value(self, var_type):
"""Returns a default value based on TYPE."""
if var_type == "BOOL":
return False
elif var_type == "STRING":
return ""
elif var_type == "LONG":
return 0
elif var_type == "DOUBLE":
return 0.0
return None # Unknown type fallback
def get_network_settings(self):
"""Return the extracted network settings."""
return self.network_settings

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import sys
import os
import socket
import time
import xml.etree.ElementTree as ET
import logging
import threading
sys.path.append(os.path.abspath(os.path.join(os.path.dirname(__file__), "..", "..")))
from src.RSIPI.rsi_config import RSIConfig
# ✅ Configure Logging
LOGGING_ENABLED = True
if LOGGING_ENABLED:
logging.basicConfig(
filename="echo_server.log",
level=logging.DEBUG,
format="%(asctime)s [%(levelname)s] %(message)s",
datefmt="%Y-%m-%d %H:%M:%S"
)
class EchoServer:
"""A UDP echo server that sends test messages to the RSI client and logs received messages."""
def __init__(self, config_file, delay_ms=4):
self.config = RSIConfig(config_file)
network_settings = self.config.get_network_settings()
self.server_address = ("0.0.0.0", 50000)
self.client_address = ("127.0.0.1", network_settings["port"])
self.udp_socket = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
self.udp_socket.bind(self.server_address)
self.ipoc_value = 123456
self.delay_ms = delay_ms / 1000 # Convert milliseconds to seconds
self.send_variables = self.config.get_send_variables()
self.receive_variables = self.config.get_receive_variables()
self.running = True # ✅ Control flag for graceful shutdown
self.thread = threading.Thread(target=self.send_message, daemon=True)
logging.info(f"✅ Echo Server started on {self.server_address}")
logging.info(f"📡 Sending messages to RSI Client on port {network_settings['port']}")
logging.info(f"⏳ Message delay set to {delay_ms}ms")
print("✅ Echo Server Started")
print(f"📡 Sending messages to RSI Client on port {network_settings['port']}")
def generate_message(self):
"""Generate a properly formatted RSI message dynamically based on the config file."""
root = ET.Element("Rob", Type="KUKA") # ✅ Correct root element
for tag, value in self.send_variables.items():
if isinstance(value, dict):
element = ET.SubElement(root, tag.split(".")[0]) # Create main element
for sub_key, sub_value in value.items():
if isinstance(sub_value, bool):
sub_value = int(sub_value) # Convert booleans to 0/1
element.set(sub_key, f"{sub_value:.1f}" if isinstance(sub_value, float) else str(sub_value))
else:
element = ET.SubElement(root, tag)
if isinstance(value, bool):
value = int(value) # Convert booleans to 0/1
element.text = f"{value:.1f}" if isinstance(value, float) else str(value)
ET.SubElement(root, "IPOC").text = str(self.ipoc_value)
message = ET.tostring(root, encoding="utf-8").decode()
logging.debug(f"📤 Sent XML Message:\n{message}")
print(f"📤 Sent XML Message:\n{message}")
return message
def send_message(self):
"""Send messages every 4ms or 12ms without waiting for a response."""
while self.running:
try:
message = self.generate_message()
logging.debug(f"📡 Sending message to RSI client with IPOC={self.ipoc_value}...")
print(f"📡 Sending message to RSI client with IPOC={self.ipoc_value}...")
self.udp_socket.sendto(message.encode(), self.client_address) # ✅ Send without waiting
# ✅ Attempt to receive a response
self.udp_socket.settimeout(self.delay_ms)
try:
response, addr = self.udp_socket.recvfrom(1024)
received_message = response.decode()
logging.debug(f"📩 Received XML Message:\n{received_message}")
print(f"📩 Received XML Message:\n{received_message}")
except socket.timeout:
print("⚠️ No response received before next send cycle.")
time.sleep(self.delay_ms) # ✅ Apply user-defined delay (4ms or 12ms)
self.increment_ipoc() # ✅ Increment IPOC for next message
except ConnectionResetError:
logging.warning("⚠️ RSI Client is not responding. Retrying...")
print("⚠️ RSI Client is not responding. Retrying in 2 seconds...")
time.sleep(2) # ✅ Instead of crashing, wait and retry
except Exception as e:
logging.error(f"❌ Unexpected error: {e}")
print(f"❌ Unexpected error: {e}")
def increment_ipoc(self):
"""Increment the IPOC value by 4 milliseconds for the next message."""
self.ipoc_value += 4
logging.debug(f"🔄 IPOC incremented to {self.ipoc_value}")
print(f"🔄 IPOC incremented to {self.ipoc_value}")
def start(self):
"""Start the Echo Server message loop in a separate thread."""
self.running = True
self.thread.start()
def stop(self):
"""Gracefully stop the Echo Server."""
print("🛑 Stopping Echo Server...")
logging.info("🛑 Stopping Echo Server...")
self.running = False # ✅ Stop the loop
self.thread.join() # ✅ Wait for the thread to finish
self.udp_socket.close() # ✅ Close the socket
logging.info("✅ Echo Server Stopped")
print("✅ Echo Server Stopped")
if __name__ == "__main__":
config_file = "RSI_EthernetConfig.xml"
echo_server = EchoServer(config_file, delay_ms=4)
try:
echo_server.start()
while True:
time.sleep(1) # Keep main thread alive
except KeyboardInterrupt:
echo_server.stop()

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import time
import logging
import pandas as pd
import matplotlib.pyplot as plt
import matplotlib.animation as animation
# ✅ Configure Logging for Graphing Module
LOGGING_ENABLED = True
if LOGGING_ENABLED:
logging.basicConfig(
filename="graphing.log",
level=logging.DEBUG,
format="%(asctime)s [%(levelname)s] %(message)s",
datefmt="%d-%m-%Y %H:%M:%S"
)
class RSIGraphing:
"""Handles real-time and CSV-based graphing for RSI analysis."""
def __init__(self, csv_file=None):
"""Initialize graphing for real-time plotting or CSV replay."""
self.csv_file = csv_file
self.fig, self.ax = plt.subplots(1, 2, figsize=(12, 5)) # ✅ Two subplots: Time-Series & X-Y Trajectory
# ✅ Titles and Labels
self.ax[0].set_title("Real-Time Position Tracking")
self.ax[0].set_xlabel("Time")
self.ax[0].set_ylabel("Position (mm)")
self.ax[1].set_title("2D Trajectory (X-Y)")
self.ax[1].set_xlabel("X Position")
self.ax[1].set_ylabel("Y Position")
# ✅ Data storage for plotting
self.time_data = []
self.x_data, self.y_data, self.z_data = [], [], []
self.actual_x, self.actual_y, self.actual_z = [], [], []
self.trajectory_x, self.trajectory_y = [], []
self.plot_mode = "TCP" # ✅ Toggle between "TCP" and "Joints"
if csv_file:
self.load_csv_log(csv_file)
self.plot_csv_data()
else:
self.ani = animation.FuncAnimation(self.fig, self.update_graph, interval=500, save_count=100)
plt.show()
def update_graph(self, frame):
"""Update the live graph with new position data."""
timestamp = time.strftime("%H:%M:%S")
self.time_data.append(timestamp)
# ✅ Simulated Data for Testing (Replace with real-time data)
self.x_data.append(len(self.time_data) * 10)
self.y_data.append(len(self.time_data) * 5)
self.z_data.append(len(self.time_data) * 2)
self.actual_x.append(len(self.time_data) * 9.8)
self.actual_y.append(len(self.time_data) * 4.9)
self.actual_z.append(len(self.time_data) * 1.8)
# ✅ 2D Trajectory (X-Y)
self.trajectory_x.append(len(self.time_data) * 9.8)
self.trajectory_y.append(len(self.time_data) * 4.9)
# ✅ Clear and replot data
self.ax[0].clear()
self.ax[0].plot(self.time_data, self.x_data, label="Planned X", linestyle="dashed")
self.ax[0].plot(self.time_data, self.y_data, label="Planned Y", linestyle="dashed")
self.ax[0].plot(self.time_data, self.z_data, label="Planned Z", linestyle="dashed")
self.ax[0].plot(self.time_data, self.actual_x, label="Actual X", marker="o")
self.ax[0].plot(self.time_data, self.actual_y, label="Actual Y", marker="o")
self.ax[0].plot(self.time_data, self.actual_z, label="Actual Z", marker="o")
self.ax[0].legend()
self.ax[0].set_title(f"Real-Time {self.plot_mode} Position")
self.ax[0].set_xlabel("Time")
self.ax[0].set_ylabel("Position (mm)")
# ✅ 2D Trajectory (X-Y)
self.ax[1].clear()
self.ax[1].plot(self.trajectory_x, self.trajectory_y, label="Actual Path", marker="o")
self.ax[1].set_title("2D Trajectory (X-Y)")
self.ax[1].set_xlabel("X Position")
self.ax[1].set_ylabel("Y Position")
self.ax[1].legend()
def load_csv_log(self, filename):
"""Load a CSV log and replay motion."""
df = pd.read_csv(filename)
self.time_data = df["Timestamp"].tolist()
self.trajectory_x = df["Receive.RIst.X"].tolist()
self.trajectory_y = df["Receive.RIst.Y"].tolist()
logging.info(f"Loaded CSV log: {filename}")
def plot_csv_data(self):
"""Plot data from a CSV file for post-analysis."""
plt.figure(figsize=(10, 5))
plt.plot(self.trajectory_x, self.trajectory_y, label="Planned Path", linestyle="dashed")
plt.scatter(self.trajectory_x, self.trajectory_y, color='red', label="Actual Path", marker="o")
plt.title("CSV Replay: 2D Trajectory (X-Y)")
plt.xlabel("X Position")
plt.ylabel("Y Position")
plt.legend()
plt.show()
if __name__ == "__main__":
import argparse
parser = argparse.ArgumentParser(description="RSI Graphing Utility")
parser.add_argument("--csv", help="Path to CSV file for replay mode", type=str)
args = parser.parse_args()
if args.csv:
RSIGraphing(csv_file=args.csv)
else:
RSIGraphing() # Run in live mode if no CSV is provided

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from src.RSIPI.rsi_client import RSIClient
import rsi_api
from time import sleep
if __name__ == "__main__":
config_file = "RSI_EthernetConfig.xml" # Ensure this file exists in the working directory
client = RSIClient(config_file)
client.start()
sleep(5)
# client.update_variable("EStr", "Testing 123 Testing")
print("done")

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import multiprocessing
import socket
import time
import logging
from config_parser import ConfigParser
import sys
import os
import socket
import xml.etree.ElementTree as ET
import multiprocessing
from xml_handler import XMLGenerator # ✅ Import XML generator module
from config_parser import ConfigParser # ✅ Import the updated config parser
import multiprocessing
import socket
import logging
from config_parser import ConfigParser
from xml_handler import XMLGenerator
class NetworkProcess(multiprocessing.Process):
"""Handles UDP communication in a separate process."""
def __init__(self, ip, port, send_variables, receive_variables, stop_event, config_parser):
super().__init__()
self.send_variables = send_variables
self.receive_variables = receive_variables
self.stop_event = stop_event
self.config_parser = config_parser
self.udp_socket = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
# ✅ Fallback IP handling
self.client_address = (ip, port)
if not self.is_valid_ip(ip):
logging.warning(f"Invalid IP address '{ip}' detected. Falling back to '0.0.0.0'.")
print(f"⚠️ Invalid IP '{ip}', falling back to '0.0.0.0'.")
self.client_address = ('0.0.0.0', port)
else:
self.client_address = (ip, port)
try:
self.udp_socket.bind(self.client_address)
logging.info(f"✅ Network process initialized on {self.client_address}")
except OSError as e:
logging.error(f"❌ Failed to bind to {self.client_address}: {e}")
raise
self.controller_ip_and_port = None
def is_valid_ip(self, ip):
"""Check if an IP address is valid and can be bound on this machine."""
try:
socket.inet_aton(ip) # Validate format
with socket.socket(socket.AF_INET, socket.SOCK_DGRAM) as s:
s.bind((ip, 0)) # Try binding
return True
except (socket.error, OSError):
return False
def run(self):
"""Start the network loop."""
print("[DEBUG] Network process started.")
while not self.stop_event.is_set():
try:
print("[DEBUG] Waiting for incoming message...")
self.udp_socket.settimeout(5)
data_received, self.controller_ip_and_port = self.udp_socket.recvfrom(1024)
message = data_received.decode()
print(f"[DEBUG] Received message: {message}")
self.process_received_data(message)
# ✅ Generate the send XML using the updated XMLGenerator
send_xml = XMLGenerator.generate_send_xml(self.send_variables, self.config_parser.network_settings)
print(f"[DEBUG] Sending response: {send_xml}")
self.udp_socket.sendto(send_xml.encode(), self.controller_ip_and_port)
except socket.timeout:
print("[WARNING] No message received within timeout period.")
except Exception as e:
print(f"[ERROR] Network process error: {e}")
def stop_network(self):
"""Safely stop the network process."""
if self.udp_socket:
self.udp_socket.close()
print("✅ Network socket closed.")
def process_received_data(self, xml_string):
"""Parse incoming XML and update shared variables."""
try:
root = ET.fromstring(xml_string)
for element in root:
if element.tag in self.receive_variables:
if len(element.attrib) > 0: # ✅ Handle structured data (dictionaries)
self.receive_variables[element.tag] = {k: float(v) for k, v in element.attrib.items()}
else:
self.receive_variables[element.tag] = element.text
print(f"[DEBUG] Updated received variables: {self.receive_variables}")
except Exception as e:
print(f"[ERROR] Error parsing received message: {e}")

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import threading
import time
import inspect
class RSIAPI:
def __init__(self):
"""Initialize RSIAPI with shared send variables."""
self.shared_send_variables = {} # Ensure this is always initialized
self.running = False # RSI status
print(f"✅ RSIAPI instance created from: {inspect.stack()[1].filename}")
print(f"✅ shared_send_variables initialized: {self.shared_send_variables}")
def start_rsi(self):
"""Simulate RSI client startup."""
print("\n🚀 Starting RSI Client...")
self.running = True
self.shared_send_variables["EStr"] = "RSI Started" # Default value
print(f"✅ RSI Running: {self.running}")
print(f"📌 Initial shared_send_variables: {self.shared_send_variables}")
# Run a separate thread to simulate RSI process
rsi_thread = threading.Thread(target=self.rsi_loop, daemon=True)
rsi_thread.start()
def rsi_loop(self):
"""Simulate RSI running in the background."""
while self.running:
print(f"🔄 RSI Loop Running... Current EStr: {self.shared_send_variables.get('EStr', 'N/A')}")
time.sleep(2) # Simulate 2-second update intervals
def update_variable(self, variable, value):
"""Update a variable in shared_send_variables."""
print("\n🔍 Debugging update_variable()")
print(f"🔹 Checking if shared_send_variables exists: {hasattr(self, 'shared_send_variables')}")
if not hasattr(self, "shared_send_variables"):
print("❌ Error: shared_send_variables is missing!")
return
if variable in self.shared_send_variables:
self.shared_send_variables[variable] = value
print(f"✅ Updated {variable} to {value}")
else:
print(f"⚠️ Warning: Variable '{variable}' not found in shared_send_variables.")
print(f"📌 Available variables: {list(self.shared_send_variables.keys())}")
def stop_rsi(self):
"""Stop the RSI process."""
print("\n🛑 Stopping RSI Client...")
self.running = False
self.shared_send_variables["EStr"] = "RSI Stopped"
print(f"✅ RSI Stopped. Final EStr: {self.shared_send_variables['EStr']}")
# ==============================
# ✅ TEST CODE: Start RSI & Change Variables
# ==============================
if __name__ == "__main__":
print("\n🚀 Starting RSIAPI Test...\n")
# Step 1: Create an instance of RSIAPI
api = RSIAPI()
# Step 2: Start RSI
api.start_rsi()
# Step 3: Wait 3 seconds and update `EStr`
time.sleep(3)
print("\n🛠 Updating 'EStr' variable to 'Testing 123'...")
api.update_variable("EStr", "Testing 123")
# Step 4: Wait another 3 seconds and update `EStr` again
time.sleep(3)
print("\n🛠 Updating 'EStr' variable to 'Final Test Value'...")
api.update_variable("EStr", "Final Test Value")
# Step 5: Stop RSI after 5 more seconds

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import logging
import multiprocessing
import time
from src.RSIPI.config_parser import ConfigParser
from src.RSIPI.network_process import NetworkProcess
class RSIClient:
"""Main RSI API class that integrates network, config handling, and message processing."""
def __init__(self, config_file):
"""Initialize the RSI client and set up logging and networking."""
logging.info(f"📂 Loading RSI configuration from {config_file}...")
# Load configuration
self.config_parser = ConfigParser(config_file)
network_settings = self.config_parser.get_network_settings()
self.manager = multiprocessing.Manager()
self.send_variables = self.manager.dict(self.config_parser.send_variables)
self.receive_variables = self.manager.dict(self.config_parser.receive_variables)
self.stop_event = multiprocessing.Event()
logging.info(f"🚀 Starting network process on {network_settings['ip']}:{network_settings['port']}...")
# ✅ Corrected constructor call with all necessary parameters
self.network_process = NetworkProcess(
network_settings["ip"],
network_settings["port"],
self.send_variables,
self.receive_variables,
self.stop_event,
self.config_parser
)
self.network_process.start()
def start(self):
"""Keep the client running and allow periodic debugging."""
logging.info("✅ RSI Client Started")
print("✅ RSI Client Started. Press CTRL+C to stop.")
try:
while not self.stop_event.is_set():
time.sleep(2)
except KeyboardInterrupt:
self.stop()
except Exception as e:
logging.error(f"❌ RSI Client encountered an error: {e}")
print(f"❌ RSI Client encountered an error: {e}")
def stop(self):
"""Stop the network process safely and close resources."""
logging.info("🛑 Stopping RSI Client...")
print("🛑 Stopping RSI Client...")
self.stop_event.set() # ✅ Signal all processes to stop
if self.network_process.is_alive():
self.network_process.terminate()
self.network_process.join()
logging.info("✅ RSI Client Stopped")
print("✅ RSI Client Stopped")
if __name__ == "__main__":
config_file = "RSI_EthernetConfig.xml"
client = RSIClient(config_file)
try:
client.start()
except KeyboardInterrupt:
client.stop()

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import xml.etree.ElementTree as ET
import logging
# ✅ Configure Logging (Allow it to be turned off)
LOGGING_ENABLED = True # Change to False to disable logging
if LOGGING_ENABLED:
logging.basicConfig(
filename="rsi_config.log", # Save logs to file
level=logging.DEBUG, # Log everything for debugging
format="%(asctime)s [%(levelname)s] %(message)s",
datefmt="%Y-%m-%d %H:%M:%S"
)
class RSIConfig:
"""Processes the RSI config.xml file to determine communication parameters."""
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": 0,
"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.T2": ["T21", "T22", "T23", "T24", "T25", "T26", "T27", "T28", "T29", "T210"],
}
def __init__(self, config_file):
self.config_file = config_file
self.network_settings = {}
self.send_variables = {}
self.receive_variables = {}
self.load_config()
def strip_def_prefix(self, tag):
"""Remove 'DEF_' prefix from a variable name."""
return tag.replace("DEF_", "")
def process_internal_variable(self, tag):
"""Process structured internal variables."""
if tag in self.internal:
if isinstance(self.internal[tag], list):
return {key: 0.0 for key in self.internal[tag]} # Store as dict
return self.internal[tag] # Store as default value
return None
def process_variable_structure(self, var_dict, tag, var_type):
"""Handles structured variables (e.g., `Tech.T2`, `RKorr.X`)."""
if tag in self.internal:
var_dict[tag] = self.process_internal_variable(tag)
elif "." in tag:
base, subkey = tag.split(".", 1)
if base not in var_dict:
var_dict[base] = {}
var_dict[base][subkey] = self.get_default_value(var_type)
else:
var_dict[tag] = self.get_default_value(var_type)
def get_default_value(self, var_type):
"""Returns a default value based on TYPE."""
if var_type == "BOOL":
return False
elif var_type == "STRING":
return ""
elif var_type == "LONG":
return 0
elif var_type == "DOUBLE":
return 0.0
return None # Unknown type fallback
def load_config(self):
"""Load and parse the config.xml file, ensuring variables are structured correctly."""
try:
logging.info(f"Loading config file: {self.config_file}")
tree = ET.parse(self.config_file)
root = tree.getroot()
# Read Network Settings
config = root.find("CONFIG")
self.network_settings = {
"ip": config.find("IP_NUMBER").text.strip(),
"port": int(config.find("PORT").text.strip()),
"sentype": config.find("SENTYPE").text.strip(),
"onlysend": config.find("ONLYSEND").text.strip().upper() == "TRUE",
}
logging.info(f"Network settings loaded: {self.network_settings}")
# Read SEND Section (Values we send to RSI client)
send_section = root.find("SEND/ELEMENTS")
for element in send_section.findall("ELEMENT"):
tag = self.strip_def_prefix(element.get("TAG"))
var_type = element.get("TYPE")
if tag != "FREE": # ✅ Ignore `FREE` variables
self.process_variable_structure(self.send_variables, tag, var_type)
# Read RECEIVE Section (Values we receive from RSI client)
receive_section = root.find("RECEIVE/ELEMENTS")
for element in receive_section.findall("ELEMENT"):
tag = self.strip_def_prefix(element.get("TAG"))
var_type = element.get("TYPE")
if tag != "FREE": # ✅ Ignore `FREE` variables
self.process_variable_structure(self.receive_variables, tag, var_type)
logging.info("Configuration successfully loaded.")
logging.debug(f"Send Variables: {self.send_variables}")
logging.debug(f"Receive Variables: {self.receive_variables}")
except Exception as e:
logging.error(f"Error loading {self.config_file}: {e}")
def get_network_settings(self):
return self.network_settings
def get_send_variables(self):
return self.send_variables
def get_receive_variables(self):
return self.receive_variables

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src/RSIPI/xml_handler.py Normal file
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import xml.etree.ElementTree as ET
class XMLGenerator:
"""Converts send and receive variables into properly formatted XML messages."""
@staticmethod
def generate_send_xml(send_variables, network_settings):
"""Generate the send XML message dynamically based on send variables."""
root = ET.Element("Sen", Type=network_settings["sentype"]) # ✅ Root with Type from config
for key, value in send_variables.items():
if isinstance(value, dict): # ✅ Handle dictionaries as elements with attributes
element = ET.SubElement(root, key)
for sub_key, sub_value in value.items():
element.set(sub_key, f"{float(sub_value):.2f}")
else: # ✅ Handle standard elements with text values
ET.SubElement(root, key).text = str(value)
return ET.tostring(root, encoding="utf-8").decode()
@staticmethod
def generate_receive_xml(receive_variables):
"""Generate the receive XML message dynamically based on receive variables."""
root = ET.Element("Rob", Type="KUKA") # ✅ Root with Type="KUKA"
for key, value in receive_variables.items():
if isinstance(value, dict): # ✅ Handle dictionaries as elements with attributes
element = ET.SubElement(root, key)
for sub_key, sub_value in value.items():
element.set(sub_key, f"{float(sub_value):.2f}")
else: # ✅ Handle standard elements with text values
ET.SubElement(root, key).text = str(value)
return ET.tostring(root, encoding="utf-8").decode()

0
src/__init__.py Normal file
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