Commented all files.

src/RSIPI/config_parser.py

@@ -1,14 +1,28 @@
 import xml.etree.ElementTree as ET
 
 class ConfigParser:
-    """Handles parsing the RSI config file and generating structured send/receive variables."""
+    """
+    Parses an RSI XML configuration file to extract structured variable definitions and
+    network settings for both sending and receiving messages. Also integrates optional
+    safety limits from an RSI limits XML file.
+    """
 
     def __init__(self, config_file, rsi_limits_file=None):
-        """Initialize with the configuration file and process send/receive structures."""
+        """
+        Constructor method that loads the config file, parses variable definitions, and optionally
+        loads safety limits.
+
+        Args:
+            config_file (str): Path to the RSI_EthernetConfig.xml file.
+            rsi_limits_file (str, optional): Path to .rsi.xml file containing safety limits.
+        """
         from src.RSIPI.rsi_limit_parser import parse_rsi_limits
+
+        self.config_file = config_file
         self.rsi_limits_file = rsi_limits_file
         self.safety_limits = {}
-        self.config_file = config_file
+
+        # Defines known internal variable structures used in RSI messaging
         self.internal_structure = {
             "ComStatus": "String",
         "RIst": {"X":0, "Y":0, "Z":0, "A":0, "B":0, "C":0},
@@ -36,18 +50,19 @@ class ConfigParser:
         "Tech.T5": {"T51":0, "T52":0, "T53":0, "T54":0, "T55":0, "T56":0, "T57":0, "T58":0, "T59":0, "T510":0},
         "Tech.T6": {"T61":0, "T62":0, "T63":0, "T64":0, "T65":0, "T66":0, "T67":0, "T68":0, "T69":0, "T610":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
+        # Flatten Tech.CX and Tech.TX keys into a single 'Tech' dictionary
         self.rename_tech_keys(self.send_variables)
         self.rename_tech_keys(self.receive_variables)
 
-        # ✅ Ensure IPOC is always present in send variables
+        # Ensure IPOC is always included in send variables
         if "IPOC" not in self.send_variables:
-            self.send_variables.update({"IPOC": 0})
+            self.send_variables["IPOC"] = 0
 
-        # Load safety limits from .rsi.xml if provided
+        # Optionally load safety limits from .rsi.xml file
         if self.rsi_limits_file:
             try:
                 self.safety_limits = parse_rsi_limits(self.rsi_limits_file)
@@ -59,7 +74,12 @@ class ConfigParser:
         print(f"✅ Final Receive Variables: {self.receive_variables}")
 
     def process_config(self):
-        """Parse the config file and create structured send and receive variables."""
+        """
+        Parses the RSI config file and builds the send/receive variable dictionaries.
+
+        Returns:
+            tuple: (send_vars, receive_vars) structured dictionaries.
+        """
         send_vars = {}
         receive_vars = {}
 
@@ -67,7 +87,7 @@ class ConfigParser:
             tree = ET.parse(self.config_file)
             root = tree.getroot()
 
-            # ✅ Extract network settings
+            # Extract <CONFIG> section for IP/port/etc.
             config = root.find("CONFIG")
             if config is None:
                 raise ValueError("❌ Missing <CONFIG> section in RSI_EthernetConfig.xml")
@@ -76,17 +96,15 @@ class ConfigParser:
                 "ip": config.find("IP_NUMBER").text.strip() if config.find("IP_NUMBER") is not None else None,
                 "port": int(config.find("PORT").text.strip()) if config.find("PORT") is not None else None,
                 "sentype": config.find("SENTYPE").text.strip() if config.find("SENTYPE") is not None else None,
-                "onlysend": config.find("ONLYSEND").text.strip().upper() == "TRUE" if config.find(
+                "onlysend": config.find("ONLYSEND").text.strip().upper() == "TRUE" if config.find("ONLYSEND") is not None else False,
-                    "ONLYSEND") is not None else False,
             }
 
-            # ✅ Debugging output to check loaded values
             print(f"✅ Loaded network settings: {self.network_settings}")
 
             if None in self.network_settings.values():
                 raise ValueError("❌ Missing one or more required network settings (ip, port, sentype, onlysend)")
 
-            # ✅ Parse SEND section
+            # Parse SEND section
             send_section = root.find("SEND/ELEMENTS")
             if send_section is not None:
                 for element in send_section.findall("ELEMENT"):
@@ -94,7 +112,7 @@ class ConfigParser:
                     var_type = element.get("TYPE", "")
                     self.process_variable_structure(send_vars, tag, var_type)
 
-            # ✅ Parse RECEIVE section
+            # Parse RECEIVE section
             receive_section = root.find("RECEIVE/ELEMENTS")
             if receive_section is not None:
                 for element in receive_section.findall("ELEMENT"):
@@ -102,9 +120,6 @@ class ConfigParser:
                     var_type = element.get("TYPE", "")
                     self.process_variable_structure(receive_vars, tag, var_type)
 
-            print(f"✅ Final Send Variables: {send_vars}")
-            print(f"✅ Final Receive Variables: {receive_vars}")
-
             return send_vars, receive_vars
 
         except Exception as e:
@@ -112,42 +127,63 @@ class ConfigParser:
             return {}, {}
 
     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
+        Processes and assigns a variable to the dictionary based on its tag and type.
+
+        Args:
+            var_dict (dict): Dictionary to add variable to.
+            tag (str): Variable tag (can be nested like Tech.T1).
+            var_type (str): Variable type (e.g. BOOL, DOUBLE, STRING).
+            indx (str): Optional index (unused).
+        """
+        tag = tag.replace("DEF_", "")  # Remove DEF_ prefix if present
 
         print(f"🔍 Assigning {tag}: INDX={indx}, TYPE={var_type}")
 
         if tag in self.internal_structure:
+            # If pre-defined internally, copy structure
             internal_value = self.internal_structure[tag]
-            if isinstance(internal_value, dict):
+            var_dict[tag] = internal_value.copy() if isinstance(internal_value, dict) else internal_value
-                var_dict[tag] = internal_value.copy()
-            else:
-                var_dict[tag] = internal_value  # ✅ Assign default internal value (e.g., "EStr Test")
             print(f"✅ INTERNAL Match: {tag} -> {var_dict[tag]}")
         elif "." in tag:
+            # Handle nested dictionary e.g. Tech.T21 -> { 'Tech': { 'T21': 0.0 } }
             parent, subkey = tag.split(".", 1)
             if parent not in var_dict:
                 var_dict[parent] = {}
             var_dict[parent][subkey] = self.get_default_value(var_type)
             print(f"📂 Assigned '{tag}' as nested dictionary under '{parent}': {var_dict[parent]}")
         else:
+            # Standard single-value variable
             var_dict[tag] = self.get_default_value(var_type)
             print(f"📄 Assigned Standard Value: '{tag}' -> {var_dict[tag]}")
 
     @staticmethod
     def rename_tech_keys(var_dict):
-        """Rename Tech.XX keys to Tech in send and receive variables at the last step."""
+        """
+        Combines all Tech.XX keys into a single 'Tech' dictionary.
+
+        Args:
+            var_dict (dict): The variable dictionary to modify.
+        """
         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
+                tech_data.update(var_dict.pop(key))
         if tech_data:
-            var_dict["Tech"] = tech_data  # ✅ Store under Tech
+            var_dict["Tech"] = tech_data
             print(f"✅ Renamed Tech.XX keys to 'Tech': {var_dict['Tech']}")
 
     @staticmethod
     def get_default_value(var_type):
-        """Returns a default value based on TYPE."""
+        """
+        Returns a default Python value based on RSI TYPE.
+
+        Args:
+            var_type (str): RSI type attribute.
+
+        Returns:
+            Default Python value.
+        """
         if var_type == "BOOL":
             return False
         elif var_type == "STRING":
@@ -156,8 +192,13 @@ class ConfigParser:
             return 0
         elif var_type == "DOUBLE":
             return 0.0
-        return None  # Unknown type fallback
+        return None
 
     def get_network_settings(self):
-        """Return the extracted network settings."""
+        """
+        Returns extracted IP, port, and message mode settings.
+
+        Returns:
+            dict: Network settings extracted from the config file.
+        """
         return self.network_settings

src/RSIPI/echo_server_gui.py

@@ -0,0 +1,201 @@
+import tkinter as tk
+from tkinter import ttk, filedialog
+import threading
+import time
+from src.RSIPI.rsi_echo_server import EchoServer
+import matplotlib.pyplot as plt
+from matplotlib.backends.backend_tkagg import FigureCanvasTkAgg
+from mpl_toolkits.mplot3d import Axes3D
+import numpy as np
+import os
+import math
+
+
+class EchoServerGUI:
+    """
+    Graphical interface for running and visualising the RSI Echo Server.
+    Provides live feedback of robot TCP position and joint states, along with XML message logs.
+    """
+
+    def __init__(self, master):
+        """
+        Initialises the GUI, default values, and layout.
+
+        Args:
+            master (tk.Tk): Root tkinter window.
+        """
+        self.master = master
+        self.master.title("RSI Echo Server GUI")
+        self.master.geometry("1300x800")
+
+        # Configurable input variables
+        self.config_file = tk.StringVar(value="RSI_EthernetConfig.xml")
+        self.mode = tk.StringVar(value="relative")
+        self.delay = tk.IntVar(value=4)
+        self.show_robot = tk.BooleanVar(value=True)
+
+        # Internal state
+        self.server = None
+        self.visual_thread = None
+        self.running = False
+        self.trace = []
+
+        self.create_widgets()
+
+    def create_widgets(self):
+        """Create and layout all UI elements including buttons, entry fields, and plots."""
+        frame = ttk.Frame(self.master)
+        frame.pack(pady=10)
+
+        # Config file input
+        ttk.Label(frame, text="RSI Config File:").grid(row=0, column=0, padx=5)
+        ttk.Entry(frame, textvariable=self.config_file, width=50).grid(row=0, column=1, padx=5)
+        ttk.Button(frame, text="Browse", command=self.browse_file).grid(row=0, column=2)
+
+        # Mode selection
+        ttk.Label(frame, text="Mode:").grid(row=1, column=0, padx=5)
+        ttk.Combobox(frame, textvariable=self.mode, values=["relative", "absolute"], width=10).grid(row=1, column=1, sticky='w')
+
+        # Delay input
+        ttk.Label(frame, text="Delay (ms):").grid(row=2, column=0, padx=5)
+        ttk.Entry(frame, textvariable=self.delay, width=10).grid(row=2, column=1, sticky='w')
+
+        # Show/hide robot checkbox
+        ttk.Checkbutton(frame, text="Show Robot Stick Figure", variable=self.show_robot).grid(row=3, column=0, sticky='w')
+
+        # Start/Stop buttons
+        ttk.Button(frame, text="Start Server", command=self.start_server).grid(row=4, column=0, pady=10)
+        ttk.Button(frame, text="Stop Server", command=self.stop_server).grid(row=4, column=1, pady=10)
+
+        # Status label
+        self.status_label = ttk.Label(frame, text="Status: Idle")
+        self.status_label.grid(row=5, column=0, columnspan=3)
+
+        # 3D Plot setup
+        self.figure = plt.Figure(figsize=(6, 5))
+        self.ax = self.figure.add_subplot(111, projection='3d')
+        self.canvas = FigureCanvasTkAgg(self.figure, master=self.master)
+        self.canvas.get_tk_widget().pack(side=tk.LEFT, fill=tk.BOTH, expand=1)
+
+        # XML message display
+        right_frame = ttk.Frame(self.master)
+        right_frame.pack(side=tk.RIGHT, fill=tk.BOTH, expand=1)
+
+        ttk.Label(right_frame, text="📤 Sent Message").pack()
+        self.sent_box = tk.Text(right_frame, height=15, width=70)
+        self.sent_box.pack(pady=5)
+
+        ttk.Label(right_frame, text="📩 Received Message").pack()
+        self.received_box = tk.Text(right_frame, height=15, width=70)
+        self.received_box.pack(pady=5)
+
+    def browse_file(self):
+        """Open a file dialog to select a new RSI config file."""
+        filename = filedialog.askopenfilename(filetypes=[("XML Files", "*.xml")])
+        if filename:
+            self.config_file.set(filename)
+
+    def start_server(self):
+        """
+        Starts the Echo Server in a background thread and begins the visual update loop.
+        Validates the existence of the config file first.
+        """
+        if not os.path.exists(self.config_file.get()):
+            self.status_label.config(text="❌ Config file not found.")
+            return
+
+        self.server = EchoServer(
+            config_file=self.config_file.get(),
+            delay_ms=self.delay.get(),
+            mode=self.mode.get()
+        )
+        self.server.start()
+        self.running = True
+        self.status_label.config(text=f"✅ Server running in {self.mode.get().upper()} mode.")
+        self.visual_thread = threading.Thread(target=self.update_visualisation, daemon=True)
+        self.visual_thread.start()
+
+    def stop_server(self):
+        """Stops the Echo Server and ends the visual update thread."""
+        if self.server:
+            self.server.stop()
+            self.status_label.config(text="😕 Server stopped.")
+        self.running = False
+
+    def update_visualisation(self):
+        """
+        Continuously updates the 3D plot and message windows with live robot TCP and joint data.
+        Also displays simplified robot kinematics as a stick figure if enabled.
+        """
+        while self.running:
+            try:
+                pos = self.server.state.get("RIst", {})
+                joints = self.server.state.get("AIPos", {})
+                x = pos.get("X", 0)
+                y = pos.get("Y", 0)
+                z = pos.get("Z", 0)
+
+                # Track TCP trace history (max 300 points)
+                self.trace.append((x, y, z))
+                if len(self.trace) > 300:
+                    self.trace.pop(0)
+
+                self.ax.clear()
+                self.ax.set_title("3D Robot Movement Trace")
+                self.ax.set_xlabel("X")
+                self.ax.set_ylabel("Y")
+                self.ax.set_zlabel("Z")
+
+                # Draw shaded base plane
+                floor_x, floor_y = np.meshgrid(np.linspace(-200, 200, 2), np.linspace(-200, 200, 2))
+                floor_z = np.zeros_like(floor_x)
+                self.ax.plot_surface(floor_x, floor_y, floor_z, alpha=0.2, color='gray')
+
+                # Draw TCP trajectory
+                xs = [pt[0] for pt in self.trace]
+                ys = [pt[1] for pt in self.trace]
+                zs = [pt[2] for pt in self.trace]
+                self.ax.plot(xs, ys, zs, label="TCP Path", color='blue')
+
+                # Draw robot as stick figure if enabled
+                if self.show_robot.get():
+                    link_lengths = [100, 80, 60, 40, 20, 10]
+                    angles = [math.radians(joints.get(f"A{i+1}", 0)) for i in range(6)]
+
+                    x0, y0, z0 = 0, 0, 0
+                    x_points = [x0]
+                    y_points = [y0]
+                    z_points = [z0]
+
+                    for i in range(6):
+                        dx = link_lengths[i] * math.cos(angles[i])
+                        dy = link_lengths[i] * math.sin(angles[i])
+                        dz = 0 if i < 3 else link_lengths[i] * math.sin(angles[i])
+                        x0 += dx
+                        y0 += dy
+                        z0 += dz
+                        x_points.append(x0)
+                        y_points.append(y0)
+                        z_points.append(z0)
+
+                    self.ax.plot(x_points, y_points, z_points, label="Robot Arm", color='red', marker='o')
+
+                self.ax.legend()
+                self.canvas.draw()
+
+                # Update message displays
+                self.received_box.delete("1.0", tk.END)
+                self.received_box.insert(tk.END, self.server.last_received.strip() if hasattr(self.server, 'last_received') else "")
+
+                self.sent_box.delete("1.0", tk.END)
+                self.sent_box.insert(tk.END, self.server.generate_message().strip())
+
+                time.sleep(0.2)
+            except Exception as e:
+                print(f"[Visualisation Error] {e}")
+
+
+if __name__ == "__main__":
+    root = tk.Tk()
+    app = EchoServerGUI(root)
+    root.mainloop()

src/RSIPI/inject_rsi_to_krl.py

@@ -1,21 +1,26 @@
 def inject_rsi_to_krl(input_file, output_file=None, rsi_config="RSIGatewayv1.rsi"):
     """
-    Injects RSI commands into a KUKA KRL (.src) program file.
+    Injects RSI commands into a KUKA KRL (.src) program file by:
+    - Declaring RSI variables.
+    - Creating the RSI context with a given configuration.
+    - Starting and stopping RSI execution around the program body.
 
     Args:
         input_file (str): Path to the original KRL file.
-        output_file (str, optional): Path to the output KRL file. Defaults to input_file if None.
+        output_file (str, optional): Output file to save modified code. Defaults to overwriting input_file.
-        rsi_config (str): RSI configuration filename.
+        rsi_config (str): Name of the RSI configuration (usually ending in .rsi).
     """
     if output_file is None:
-        output_file = input_file
+        output_file = input_file  # Overwrite original file if no output specified
 
+    # RSI declarations to insert at top
     rsi_start = """
 ; RSI Variable Declarations
 DECL INT ret
 DECL INT CONTID
 """
 
+    # RSI context creation and startup block
     rsi_middle = f"""
 ; Create RSI Context
 ret = RSI_CREATE("{rsi_config}", CONTID, TRUE)
@@ -30,6 +35,7 @@ IF (ret <> RSIOK) THEN
 ENDIF
 """
 
+    # RSI shutdown block to insert before END
     rsi_end = """
 ; Stop RSI Execution
 ret = RSI_OFF()
@@ -38,9 +44,11 @@ IF (ret <> RSIOK) THEN
 ENDIF
 """
 
+    # Read original KRL file into memory
     with open(input_file, "r") as file:
         lines = file.readlines()
 
+    # Identify key structural markers in the KRL program
     header_end, ini_end, end_start = None, None, None
 
     for i, line in enumerate(lines):
@@ -51,30 +59,21 @@ ENDIF
         elif line.strip().startswith("END"):
             end_start = i
 
+    # Validate presence of required sections
     if header_end is None or ini_end is None or end_start is None:
         raise ValueError("Required markers (DEF, ;ENDFOLD (INI), END) not found in KRL file.")
 
+    # Inject modified contents into new or overwritten file
     with open(output_file, "w") as file:
-        # Write header and RSI declarations
+        file.writelines(lines[:header_end + 1])  # Preserve header
-        file.writelines(lines[:header_end + 1])
+        file.write(rsi_start)                   # Add RSI declarations
-        file.write(rsi_start)
+        file.writelines(lines[header_end + 1:ini_end + 1])  # Preserve INI block
-
+        file.write(rsi_middle)                  # Insert RSI start commands
-        # Write INI section
+        file.writelines(lines[ini_end + 1:end_start])  # Preserve main body
-        file.writelines(lines[header_end + 1:ini_end + 1])
+        file.write(rsi_end)                     # Insert RSI stop commands
-
+        file.write(lines[end_start])            # Write final END line
-        # Write RSI context creation and activation
-        file.write(rsi_middle)
-
-        # Write main code section
-        file.writelines(lines[ini_end + 1:end_start])
-
-        # Write RSI deactivation
-        file.write(rsi_end)
-
-        # Write END line
-        file.write(lines[end_start])
 
 
-# Example usage:
+# Example usage
 if __name__ == "__main__":
     inject_rsi_to_krl("my_program.src", "my_program_rsi.src")

src/RSIPI/krl_to_csv_parser.py

@@ -5,26 +5,43 @@ from collections import OrderedDict
 
 # noinspection PyTypeChecker
 class KRLParser:
-    """Parses KUKA KRL .src and .dat files, extracting Cartesian coordinates into CSV."""
+    """
+    Parses KUKA KRL .src and .dat files to extract Cartesian coordinates
+    and exports them into a structured CSV format.
+    """
 
     def __init__(self, src_file, dat_file):
+        """
+        Initialise the parser with the paths to the .src and .dat files.
+
+        Args:
+            src_file (str): Path to the KRL .src file.
+            dat_file (str): Path to the KRL .dat file.
+        """
         self.src_file = src_file
         self.dat_file = dat_file
-        self.positions = OrderedDict()
+        self.positions = OrderedDict()  # Maintain order of appearance from .src
 
     def parse_src(self):
-        """Parses .src file and collects all positional references."""
+        """
+        Parses the .src file to extract all position references (labels like P1, P2, etc.).
+        These are later used to match against coordinate data from the .dat file.
+        """
         pattern = re.compile(r"PDAT_ACT=([A-Z]+\d+)", re.IGNORECASE)
         with open(self.src_file, 'r') as file:
             for line in file:
                 match = pattern.search(line)
                 if match:
                     pos_ref = match.group(1).upper()
-                    self.positions[pos_ref] = {}
+                    self.positions[pos_ref] = {}  # Placeholder for coordinates
+
         print("📌 Extracted labels from .src:", self.positions.keys())
 
     def parse_dat(self):
-        """Parses .dat file extracting all Cartesian coordinates."""
+        """
+        Parses the .dat file and retrieves Cartesian coordinate data for each known position reference.
+        Matches only those positions previously found in the .src file.
+        """
         pos_pattern = re.compile(
             r"DECL E6POS ([A-Z]+\d+)=\{X ([^,]+),Y ([^,]+),Z ([^,]+),A ([^,]+),B ([^,]+),C ([^,]+),S ([^,]+),T ([^,]+)",
             re.IGNORECASE
@@ -45,14 +62,21 @@ class KRLParser:
                         'S': int(match.group(8)),
                         'T': int(match.group(9)),
                     }
+                    # Only store coordinates if the label was found in the .src
                     if pos_name in self.positions:
                         self.positions[pos_name] = coords
 
                 print("📄 Current line:", line.strip())
+
         print("📌 Looking for positions in .dat:", self.positions.keys())
 
     def export_csv(self, output_file):
-        """Exports the parsed positions to CSV."""
+        """
+        Writes the extracted position data into a CSV file.
+
+        Args:
+            output_file (str): Path to the output CSV file.
+        """
         fieldnames = ["Sequence", "PosRef", "X", "Y", "Z", "A", "B", "C", "S", "T"]
 
         with open(output_file, 'w', newline='') as csv_file:
@@ -60,12 +84,13 @@ class KRLParser:
             writer.writeheader()
 
             for idx, (pos_ref, coords) in enumerate(self.positions.items()):
-                if coords:
+                if coords:  # Skip empty entries (e.g. unmatched labels)
                     writer.writerow({
                         "Sequence": idx,
                         "PosRef": pos_ref,
                         **coords
                     })
+
         print("📥 Final positions extracted:", self.positions)
 
 

src/RSIPI/kuka_visualiser.py

@@ -4,23 +4,49 @@ import argparse
 import os
 
 
-class KukaRSIVisualizer:
+class KukaRSIVisualiser:
+    """
+    Visualises robot motion and diagnostics from RSI-generated CSV logs.
+
+    Supports:
+    - 3D trajectory plotting (actual vs planned)
+    - Joint position plotting with safety band overlays
+    - Force correction trend visualisation
+    - Optional graph export to PNG
+    """
+
     def __init__(self, csv_file, safety_limits=None):
+        """
+        Initialise the visualiser.
+
+        Args:
+            csv_file (str): Path to the RSI CSV log.
+            safety_limits (dict): Optional dict of axis limits (e.g., {"AIPos.A1": [-170, 170]}).
+        """
         self.csv_file = csv_file
         self.safety_limits = safety_limits or {}
+
         if not os.path.exists(csv_file):
             raise FileNotFoundError(f"CSV file {csv_file} not found.")
+
         self.df = pd.read_csv(csv_file)
 
     def plot_trajectory(self, save_path=None):
-        """Plots the robot's trajectory in 3D space."""
+        """
+        Plots the 3D robot trajectory from actual and planned data.
+
+        Args:
+            save_path (str): Optional path to save the figure.
+        """
         fig = plt.figure()
         ax = fig.add_subplot(111, projection='3d')
 
-        ax.plot(self.df["RIst.X"], self.df["RIst.Y"], self.df["RIst.Z"], label="Actual Trajectory", linestyle='-')
+        ax.plot(self.df["RIst.X"], self.df["RIst.Y"], self.df["RIst.Z"],
+                label="Actual Trajectory", linestyle='-')
 
         if "RSol.X" in self.df.columns:
-            ax.plot(self.df["RSol.X"], self.df["RSol.Y"], self.df["RSol.Z"], label="Planned Trajectory", linestyle='--')
+            ax.plot(self.df["RSol.X"], self.df["RSol.Y"], self.df["RSol.Z"],
+                    label="Planned Trajectory", linestyle='--')
 
         ax.set_xlabel("X Position")
         ax.set_ylabel("Y Position")
@@ -33,10 +59,21 @@ class KukaRSIVisualizer:
         plt.show()
 
     def has_column(self, col):
+        """
+        Checks if the given column exists in the dataset.
+
+        Args:
+            col (str): Column name to check.
+        """
         return col in self.df.columns
 
     def plot_joint_positions(self, save_path=None):
-        """Plots joint positions over time with safety limit overlays."""
+        """
+        Plots joint angle positions over time, with optional safety zone overlays.
+
+        Args:
+            save_path (str): Optional path to save the figure.
+        """
         plt.figure()
         time_series = range(len(self.df))
 
@@ -44,7 +81,6 @@ class KukaRSIVisualizer:
             if col in self.df.columns:
                 plt.plot(time_series, self.df[col], label=col)
 
-                # 🔴 Overlay safety band
                 if col in self.safety_limits:
                     low, high = self.safety_limits[col]
                     plt.axhspan(low, high, color='red', alpha=0.1, label=f"{col} Safe Zone")
@@ -59,7 +95,12 @@ class KukaRSIVisualizer:
         plt.show()
 
     def plot_force_trends(self, save_path=None):
-        """Plots force trends if force data is logged."""
+        """
+        Plots force correction trends (PosCorr.*) over time, if present.
+
+        Args:
+            save_path (str): Optional path to save the figure.
+        """
         force_columns = ["PosCorr.X", "PosCorr.Y", "PosCorr.Z"]
         plt.figure()
         time_series = range(len(self.df))
@@ -82,7 +123,12 @@ class KukaRSIVisualizer:
         plt.show()
 
     def export_graphs(self, export_dir="exports"):
-        """Exports all graphs to PNG/PDF."""
+        """
+        Saves all graphs (trajectory, joints, force) as PNG images.
+
+        Args:
+            export_dir (str): Output directory.
+        """
         os.makedirs(export_dir, exist_ok=True)
         self.plot_trajectory(save_path=os.path.join(export_dir, "trajectory.png"))
         self.plot_joint_positions(save_path=os.path.join(export_dir, "joint_positions.png"))
@@ -91,7 +137,7 @@ class KukaRSIVisualizer:
 
 
 if __name__ == "__main__":
-    parser = argparse.ArgumentParser(description="Visualize RSI data logs.")
+    parser = argparse.ArgumentParser(description="Visualise RSI data logs.")
     parser.add_argument("csv_file", type=str, help="Path to the RSI CSV log file.")
     parser.add_argument("--export", action="store_true", help="Export graphs as PNG/PDF.")
     parser.add_argument("--limits", type=str, help="Optional .rsi.xml file to overlay safety bands")
@@ -101,13 +147,13 @@ if __name__ == "__main__":
     if args.limits:
         from src.RSIPI.rsi_limit_parser import parse_rsi_limits
         limits = parse_rsi_limits(args.limits)
-        visualizer = KukaRSIVisualizer(args.csv_file, safety_limits=limits)
+        visualiser = Kukarsivisualiser(args.csv_file, safety_limits=limits)
     else:
-        visualizer = KukaRSIVisualizer(args.csv_file)
+        visualiser = Kukarsivisualiser(args.csv_file)
 
-    visualizer.plot_trajectory()
+    visualiser.plot_trajectory()
-    visualizer.plot_joint_positions()
+    visualiser.plot_joint_positions()
-    visualizer.plot_force_trends()
+    visualiser.plot_force_trends()
 
     if args.export:
-        visualizer.export_graphs()
+        visualiser.export_graphs()

src/RSIPI/rsi_api.py

@@ -4,7 +4,7 @@ import json
 import matplotlib.pyplot as plt
 from .rsi_client import RSIClient
 from .rsi_graphing import RSIGraphing
-from .kuka_visualizer import KukaRSIVisualizer
+from .kuka_visualiser import Kukarsivisualiser
 from .krl_to_csv_parser import KRLParser
 from .inject_rsi_to_krl import inject_rsi_to_krl
 import threading
@@ -232,7 +232,7 @@ class RSIAPI:
             csv_file (str): Path to CSV log file.
             export (bool): Whether to export the plots.
         """
-        visualizer = KukaRSIVisualizer(csv_file)
+        visualizer = Kukarsivisualiser(csv_file)
         visualizer.plot_trajectory()
         visualizer.plot_joint_positions()
         visualizer.plot_force_trends()

src/RSIPI/rsi_cli.py

@@ -1,5 +1,5 @@
 from .rsi_api import RSIAPI
-from .kuka_visualizer import KukaRSIVisualizer
+from .kuka_visualiser import Kukarsivisualiser
 from .krl_to_csv_parser import KRLParser
 from .inject_rsi_to_krl import inject_rsi_to_krl
 
@@ -299,7 +299,7 @@ Available Commands:
 
     def visualize(self, csv_file, export=False):
         try:
-            visualizer = KukaRSIVisualizer(csv_file)
+            visualizer = Kukarsivisualiser(csv_file)
             visualizer.plot_trajectory()
             visualizer.plot_joint_positions()
             visualizer.plot_force_trends()

src/RSIPI/rsi_config.py

@@ -2,20 +2,27 @@ import xml.etree.ElementTree as ET
 import logging
 from src.RSIPI.rsi_limit_parser import parse_rsi_limits
 
-# ✅ Configure Logging (Allow it to be turned off)
+# ✅ Configure Logging (toggleable)
-LOGGING_ENABLED = True  # Change to False to disable logging
+LOGGING_ENABLED = True  # Change to False to silence logging output
 
 if LOGGING_ENABLED:
     logging.basicConfig(
-        filename="rsi_config.log",  # Save logs to file
+        filename="rsi_config.log",
-        level=logging.DEBUG,  # Log everything for debugging
+        level=logging.DEBUG,
         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."""
 
+class RSIConfig:
+    """
+    Loads and parses the RSI EthernetConfig.xml file, extracting:
+    - Network communication settings
+    - Variables to send/receive (with correct structure)
+    - Optional safety limit data from .rsi.xml file
+    """
+
+    # Known internal RSI variables and their structure
     internal = {
         "ComStatus": "String",
         "RIst": ["X", "Y", "Z", "A", "B", "C"],
@@ -37,6 +44,13 @@ class RSIConfig:
     }
 
     def __init__(self, config_file, rsi_limits_file=None):
+        """
+        Initialise config loader.
+
+        Args:
+            config_file (str): Path to the RSI EthernetConfig.xml file.
+            rsi_limits_file (str): Optional path to .rsi.xml safety limits.
+        """
         self.config_file = config_file
         self.rsi_limits_file = rsi_limits_file
         self.safety_limits = {}
@@ -46,9 +60,10 @@ class RSIConfig:
         self.receive_variables = {}
 
         self.load_config()
-        self.load_safety_limits()  # ✅ NEW STEP
+        self.load_safety_limits()  # Optional safety overlay
 
     def load_safety_limits(self):
+        """Loads safety bands from an optional .rsi.xml file, if provided."""
         if self.rsi_limits_file:
             try:
                 self.safety_limits = parse_rsi_limits(self.rsi_limits_file)
@@ -59,19 +74,26 @@ class RSIConfig:
 
     @staticmethod
     def strip_def_prefix(tag):
-        """Remove 'DEF_' prefix from a variable name."""
+        """Removes DEF_ prefix from variable names."""
         return tag.replace("DEF_", "")
 
     def process_internal_variable(self, tag):
-        """Process structured internal variables."""
+        """Initialises structured internal variables based on known RSI types."""
         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 {key: 0.0 for key in self.internal[tag]}
-            return self.internal[tag]  # Store as default value
+            return self.internal[tag]
         return None
 
     def process_variable_structure(self, var_dict, tag, var_type):
-        """Handles structured variables (e.g., `Tech.T2`, `RKorr.X`)."""
+        """
+        Parses and groups structured variables, e.g., Tech.T2 → {'Tech': {'T2': 0.0}}.
+
+        Args:
+            var_dict (dict): Either send_variables or receive_variables.
+            tag (str): The variable tag from XML.
+            var_type (str): The TYPE attribute from XML.
+        """
         if tag in self.internal:
             var_dict[tag] = self.process_internal_variable(tag)
         elif "." in tag:
@@ -84,7 +106,7 @@ class RSIConfig:
 
     @staticmethod
     def get_default_value(var_type):
-        """Returns a default value based on TYPE."""
+        """Returns a suitable default value for a given variable type."""
         if var_type == "BOOL":
             return False
         elif var_type == "STRING":
@@ -93,16 +115,20 @@ class RSIConfig:
             return 0
         elif var_type == "DOUBLE":
             return 0.0
-        return None  # Unknown type fallback
+        return None  # Fallback for unknown types
 
     def load_config(self):
-        """Load and parse the config.xml file, ensuring variables are structured correctly."""
+        """
+        Parses the RSI config.xml, extracting:
+        - IP/port and communication mode
+        - Structured send and receive variable templates
+        """
         try:
             logging.info(f"Loading config file: {self.config_file}")
             tree = ET.parse(self.config_file)
             root = tree.getroot()
 
-            # Read Network Settings
+            # Extract <CONFIG> network settings
             config = root.find("CONFIG")
             self.network_settings = {
                 "ip": config.find("IP_NUMBER").text.strip(),
@@ -112,22 +138,20 @@ class RSIConfig:
             }
             logging.info(f"Network settings loaded: {self.network_settings}")
 
-            # Read SEND Section (Values we send to RSI client)
+            # Extract <SEND> section
             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 placeholder entries
-                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)
+            # Extract <RECEIVE> section
             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":
-                if tag != "FREE":  # ✅ Ignore `FREE` variables
                     self.process_variable_structure(self.receive_variables, tag, var_type)
 
             logging.info("Configuration successfully loaded.")
@@ -138,10 +162,13 @@ class RSIConfig:
             logging.error(f"Error loading {self.config_file}: {e}")
 
     def get_network_settings(self):
+        """Returns network configuration (IP, port, SENTYPE, ONLYSEND)."""
         return self.network_settings
 
     def get_send_variables(self):
+        """Returns structured send variable dictionary."""
         return self.send_variables
 
     def get_receive_variables(self):
+        """Returns structured receive variable dictionary."""
         return self.receive_variables

src/RSIPI/rsi_echo_server.py

@@ -1,4 +1,3 @@
-
 import socket
 import time
 import xml.etree.ElementTree as ET
@@ -6,6 +5,7 @@ import logging
 import threading
 from src.RSIPI.rsi_config import RSIConfig
 
+# ✅ Toggle logging for debugging purposes
 LOGGING_ENABLED = True
 
 if LOGGING_ENABLED:
@@ -16,21 +16,39 @@ if LOGGING_ENABLED:
         datefmt="%Y-%m-%d %H:%M:%S"
     )
 
+
 class EchoServer:
+    """
+    Simulates a KUKA RSI UDP server for testing.
+
+    - Responds to incoming RSI correction commands.
+    - Updates internal position state (absolute/relative).
+    - Returns structured XML messages (like a real robot).
+    """
+
     def __init__(self, config_file, delay_ms=4, mode="relative"):
+        """
+        Initialise the echo server.
+
+        Args:
+            config_file (str): Path to RSI EthernetConfig.xml.
+            delay_ms (int): Delay between messages in milliseconds.
+            mode (str): Correction mode ("relative" or "absolute").
+        """
         self.config = RSIConfig(config_file)
         network_settings = self.config.get_network_settings()
 
-        self.server_address = ("0.0.0.0", 50000)
+        self.server_address = ("0.0.0.0", 50000)  # Local bind
-        self.client_address = ("127.0.0.1", network_settings["port"])
+        self.client_address = ("127.0.0.1", network_settings["port"])  # Client to echo back to
         self.udp_socket = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
         self.udp_socket.bind(self.server_address)
+
         self.last_received = None
         self.ipoc_value = 123456
-        self.delay_ms = delay_ms / 1000
+        self.delay_ms = delay_ms / 1000  # Convert to seconds
-        self.mode = mode.lower()  # relative or absolute
+        self.mode = mode.lower()
 
-        # Internal simulation state
+        # Internal state to simulate robot values
         self.state = {
             "RIst": {k: 0.0 for k in ["X", "Y", "Z", "A", "B", "C"]},
             "AIPos": {f"A{i}": 0.0 for i in range(1, 7)},
@@ -46,12 +64,16 @@ class EchoServer:
         print(f"✅ Echo Server started in {self.mode.upper()} mode.")
 
     def receive_and_process(self):
+        """
+        Handles one incoming UDP message and updates the internal state accordingly.
+        Supports RKorr, AKorr, DiO, DiL, and IPOC updates.
+        """
         try:
             self.udp_socket.settimeout(self.delay_ms)
             data, addr = self.udp_socket.recvfrom(1024)
             xml_string = data.decode()
             root = ET.fromstring(xml_string)
-            self.last_received = xml_string  # ✅ Save for GUI
+            self.last_received = xml_string
 
             for elem in root:
                 tag = elem.tag
@@ -59,11 +81,13 @@ class EchoServer:
                     for axis, value in elem.attrib.items():
                         value = float(value)
                         if tag == "RKorr" and axis in self.state["RIst"]:
+                            # Apply Cartesian correction
                             if self.mode == "relative":
                                 self.state["RIst"][axis] += value
                             else:
                                 self.state["RIst"][axis] = value
                         elif tag == "AKorr" and axis in self.state["AIPos"]:
+                            # Apply joint correction
                             if self.mode == "relative":
                                 self.state["AIPos"][axis] += value
                             else:
@@ -76,7 +100,7 @@ class EchoServer:
 
             logging.debug(f"✅ Processed input: {ET.tostring(root).decode()}")
         except socket.timeout:
-            pass  # Just ignore and continue
+            pass  # No data within delay window
         except ConnectionResetError:
             print("⚠️ Connection was reset by client. Waiting before retry...")
             time.sleep(0.5)
@@ -84,6 +108,10 @@ class EchoServer:
             print(f"[ERROR] Failed to process input: {e}")
 
     def generate_message(self):
+        """
+        Creates a reply XML message based on current state.
+        Format matches KUKA RSI's expected response structure.
+        """
         root = ET.Element("Rob", Type="KUKA")
 
         for key in ["RIst", "AIPos", "ELPos"]:
@@ -98,6 +126,10 @@ class EchoServer:
         return ET.tostring(root, encoding="utf-8").decode()
 
     def send_message(self):
+        """
+        Main loop to receive input, update state, and send reply.
+        Runs in a background thread until stopped.
+        """
         while self.running:
             try:
                 self.receive_and_process()
@@ -110,16 +142,19 @@ class EchoServer:
                 time.sleep(1)
 
     def start(self):
+        """Starts the echo server loop in a background thread."""
         self.running = True
         self.thread.start()
 
     def stop(self):
+        """Stops the echo server and cleans up the socket."""
         print("🛑 Stopping Echo Server...")
         self.running = False
         self.thread.join()
         self.udp_socket.close()
         print("✅ Echo Server Stopped.")
 
+
 if __name__ == "__main__":
     import argparse
     parser = argparse.ArgumentParser(description="Run Echo Server for RSI Simulation")

src/RSIPI/rsi_graphing.py

@@ -6,20 +6,33 @@ from .rsi_client import RSIClient
 import csv
 
 class RSIGraphing:
-    """Handles real-time and CSV-based graphing for RSI analysis with alerts and threshold monitoring."""
+    """
+    Handles real-time plotting of RSI data with support for:
+    - Position/velocity/acceleration/force monitoring
+    - Live deviation alerts
+    - Optional overlay of planned vs actual trajectories
+    """
 
     def __init__(self, client, mode="position", overlay=False, plan_file=None):
-        """Initialize graphing for real-time plotting."""
+        """
+        Initialise live graphing interface.
+
+        Args:
+            client (RSIClient): Live RSI client instance providing data.
+            mode (str): One of "position", "velocity", "acceleration", "force".
+            overlay (bool): Whether to show planned vs. actual overlays.
+            plan_file (str): Optional CSV file containing planned trajectory.
+        """
         self.client = client
         self.mode = mode
-        self.overlay = overlay  # Enable/Disable planned vs. actual overlay
+        self.overlay = overlay
-        self.alerts_enabled = True  # Default to alerts on
+        self.alerts_enabled = True
-        self.deviation_threshold = 5.0  # Default deviation threshold (mm)
+        self.deviation_threshold = 5.0      # mm
-        self.force_threshold = 10.0  # Default force threshold (Nm)
+        self.force_threshold = 10.0         # Nm
         self.fig, self.ax = plt.subplots(figsize=(10, 6))
 
-        # ✅ Data storage
+        # Live data buffers
-        self.time_data = deque(maxlen=100)  # Store last 100 data points
+        self.time_data = deque(maxlen=100)
         self.position_data = {axis: deque(maxlen=100) for axis in ["X", "Y", "Z"]}
         self.velocity_data = {axis: deque(maxlen=100) for axis in ["X", "Y", "Z"]}
         self.acceleration_data = {axis: deque(maxlen=100) for axis in ["X", "Y", "Z"]}
@@ -29,7 +42,7 @@ class RSIGraphing:
         self.previous_velocities = {"X": 0, "Y": 0, "Z": 0}
         self.previous_time = time.time()
 
-        # ✅ Planned movement overlay storage
+        # Overlay comparison
         self.planned_data = {axis: deque(maxlen=100) for axis in ["X", "Y", "Z"]}
         self.deviation_data = {axis: deque(maxlen=100) for axis in ["X", "Y", "Z"]}
 
@@ -40,16 +53,18 @@ class RSIGraphing:
         plt.show()
 
     def update_graph(self, frame):
-        """Update the live graph based on selected mode and check for alerts."""
+        """
+        Called periodically by matplotlib to refresh live graph based on current mode.
+        Also checks for force spikes and deviation alerts.
+        """
         current_time = time.time()
         dt = current_time - self.previous_time
         self.previous_time = current_time
 
-        # ✅ Fetch live data from RSI client
         position = self.client.receive_variables.get("RIst", {"X": 0, "Y": 0, "Z": 0})
         force = self.client.receive_variables.get("MaCur", {"A1": 0, "A2": 0, "A3": 0, "A4": 0, "A5": 0, "A6": 0})
 
-        # ✅ Compute velocity and acceleration
+        # Compute motion derivatives
         for axis in ["X", "Y", "Z"]:
             velocity = (position[axis] - self.previous_positions[axis]) / dt if dt > 0 else 0
             acceleration = (velocity - self.previous_velocities[axis]) / dt if dt > 0 else 0
@@ -65,7 +80,7 @@ class RSIGraphing:
 
         self.time_data.append(time.strftime("%H:%M:%S"))
 
-        # ✅ Planned vs. Actual movement overlay
+        # Compare to planned overlay
         if self.overlay and self.planned_data:
             for axis in ["X", "Y", "Z"]:
                 planned_value = self.planned_data[axis][-1] if len(self.planned_data[axis]) > 0 else position[axis]
@@ -73,17 +88,14 @@ class RSIGraphing:
                 deviation = abs(position[axis] - planned_value)
                 self.deviation_data[axis].append(deviation)
 
-                # ✅ Trigger deviation alert
                 if self.alerts_enabled and deviation > self.deviation_threshold:
                     print(f"⚠️ Deviation Alert! {axis} exceeds {self.deviation_threshold} mm (Deviation: {deviation:.2f} mm)")
 
-        # ✅ Trigger force spike alert
         if self.alerts_enabled:
             for axis in ["A1", "A2", "A3", "A4", "A5", "A6"]:
                 if self.force_data[axis][-1] > self.force_threshold:
                     print(f"⚠️ Force Spike Alert! {axis} exceeds {self.force_threshold} Nm (Force: {self.force_data[axis][-1]:.2f} Nm)")
 
-        # ✅ Clear the plot
         self.ax.clear()
 
         if self.mode == "position":
@@ -103,7 +115,7 @@ class RSIGraphing:
         self.ax.tick_params(axis='x', rotation=45)
 
     def change_mode(self, mode):
-        """Change the graphing mode dynamically."""
+        """Switch graphing mode at runtime (position, velocity, acceleration, force)."""
         if mode in ["position", "velocity", "acceleration", "force"]:
             self.mode = mode
             print(f"✅ Graphing mode changed to: {mode}")
@@ -111,7 +123,7 @@ class RSIGraphing:
             print("❌ Invalid mode. Available: position, velocity, acceleration, force")
 
     def set_alert_threshold(self, alert_type, threshold):
-        """Set threshold for deviation or force alerts."""
+        """Update threshold values for alerts."""
         if alert_type == "deviation":
             self.deviation_threshold = threshold
         elif alert_type == "force":
@@ -119,18 +131,27 @@ class RSIGraphing:
         print(f"✅ {alert_type.capitalize()} alert threshold set to {threshold}")
 
     def enable_alerts(self, enable):
-        """Enable or disable alerts."""
+        """Enable or disable real-time alerts."""
         self.alerts_enabled = enable
         print(f"✅ Alerts {'enabled' if enable else 'disabled'}.")
 
     def stop(self):
-        """Stop live plotting loop by closing the figure."""
+        """Gracefully stop plotting by closing the figure."""
         plt.close(self.fig)
 
-    def plot_csv_file(csv_path):
+    def load_plan(self, plan_file):
-        """Plot X/Y/Z position over time from a CSV log file."""
+        """Load planned XYZ trajectory from CSV for overlay comparison."""
-        import matplotlib.pyplot as plt
+        with open(plan_file, newline='') as csvfile:
+            reader = csv.DictReader(csvfile)
+            for row in reader:
+                for axis in ["X", "Y", "Z"]:
+                    key = f"Send.RKorr.{axis}"
+                    value = float(row.get(key, 0.0))
+                    self.planned_data[axis].append(value)
 
+    @staticmethod
+    def plot_csv_file(csv_path):
+        """Standalone method to plot XYZ position from a log file (no live client required)."""
         timestamps = []
         x_data, y_data, z_data = [], [], []
 
@@ -154,6 +175,7 @@ class RSIGraphing:
         plt.tight_layout()
         plt.show()
 
+
 if __name__ == "__main__":
     import argparse
 
@@ -169,4 +191,3 @@ if __name__ == "__main__":
 
     if not args.alerts:
         graphing.enable_alerts(False)
-

src/RSIPI/rsi_limit_parser.py

@@ -1,9 +1,14 @@
 import xml.etree.ElementTree as ET
 
 def parse_rsi_limits(xml_path):
+    """
+    Parses a .rsi.xml file (RSIObject format) and returns structured safety limits.
+
+    Returns:
+        dict: Structured limits in the form { "RKorr.X": (min, max), "AKorr.A1": (min, max), ... }
+    """
     tree = ET.parse(xml_path)
     root = tree.getroot()
-
     raw_limits = {}
 
     for rsi_object in root.findall("RSIObject"):
@@ -11,9 +16,10 @@ def parse_rsi_limits(xml_path):
         params = rsi_object.find("Parameters")
 
         if params is None:
-            continue
+            continue  # Skip malformed entries
 
         if obj_type == "POSCORR":
+            # Cartesian position correction limits
             for param in params.findall("Parameter"):
                 name = param.attrib["Name"]
                 value = float(param.attrib["ParamValue"])
@@ -30,11 +36,13 @@ def parse_rsi_limits(xml_path):
                 elif name == "UpperLimZ":
                     raw_limits["RKorr.Z_max"] = value
                 elif name == "MaxRotAngle":
+                    # Apply symmetric bounds to A/B/C
                     for axis in ["A", "B", "C"]:
                         raw_limits[f"RKorr.{axis}_min"] = -value
                         raw_limits[f"RKorr.{axis}_max"] = value
 
         elif obj_type == "AXISCORR":
+            # Joint axis correction limits
             for param in params.findall("Parameter"):
                 name = param.attrib["Name"]
                 value = float(param.attrib["ParamValue"])
@@ -44,6 +52,7 @@ def parse_rsi_limits(xml_path):
                     raw_limits[key] = value
 
         elif obj_type == "AXISCORREXT":
+            # External axis correction limits
             for param in params.findall("Parameter"):
                 name = param.attrib["Name"]
                 value = float(param.attrib["ParamValue"])
@@ -52,7 +61,7 @@ def parse_rsi_limits(xml_path):
                     key = f"AKorr.E{axis}_{'min' if 'Lower' in name else 'max'}"
                     raw_limits[key] = value
 
-    # Build structured dictionary with only valid (min, max) pairs
+    # Combine _min and _max entries into structured tuples
     structured_limits = {}
     for key in list(raw_limits.keys()):
         if key.endswith("_min"):

src/RSIPI/safety_manager.py

@@ -2,9 +2,19 @@ import logging
 
 
 class SafetyManager:
+    """
+    Enforces safety limits for RSI motion commands.
+
+    Supports:
+    - Emergency stop logic (halts all validation)
+    - Limit enforcement for RKorr / AKorr / other variables
+    - Runtime limit updates
+    """
+
     def __init__(self, limits=None):
         """
-        limits: Optional dictionary of variable limits in the form:
+        Args:
+            limits (dict): Optional safety limits in the form:
                 {
                     'RKorr.X': (-5.0, 5.0),
                     'AKorr.A1': (-6.0, 6.0),
@@ -13,13 +23,22 @@ class SafetyManager:
         """
         self.limits = limits if limits is not None else {}
         self.e_stop = False
-        self.last_values = {}
+        self.last_values = {}  # Reserved for future tracking or override detection
 
     def validate(self, path: str, value: float) -> float:
         """
-        Validate a single variable update against safety rules.
+        Validates an individual correction value.
-        Raises RuntimeError if E-Stop is active.
+
-        Raises ValueError if out of allowed bounds.
+        Args:
+            path (str): Key of the variable, e.g., "RKorr.X"
+            value (float): Proposed value to apply
+
+        Returns:
+            float: Value if valid
+
+        Raises:
+            RuntimeError: If emergency stop is active
+            ValueError: If value exceeds allowed bounds
         """
         if self.e_stop:
             logging.warning(f"SafetyManager: {path} update blocked (E-STOP active)")
@@ -34,21 +53,21 @@ class SafetyManager:
         return value
 
     def emergency_stop(self):
-        """Activate emergency stop mode (blocks all motion)."""
+        """Activates emergency stop: all motion validation will fail."""
         self.e_stop = True
 
     def reset_stop(self):
-        """Reset emergency stop (motion allowed again)."""
+        """Resets emergency stop, allowing motion again."""
         self.e_stop = False
 
     def set_limit(self, path: str, min_val: float, max_val: float):
-        """Manually set or override a safety limit at runtime."""
+        """Sets or overrides a safety limit at runtime."""
         self.limits[path] = (min_val, max_val)
 
     def get_limits(self):
-        """Return a copy of current limits."""
+        """Returns a copy of all current safety limits."""
         return self.limits.copy()
 
     def is_stopped(self):
+        """Returns whether the emergency stop is active."""
         return self.e_stop
-

src/RSIPI/trajectory_planner.py

@@ -1,19 +1,20 @@
 from RSIPI.safety_manager import SafetyManager
+import time
 
 def generate_trajectory(start, end, steps=100, space="cartesian", mode="relative", include_resets=True):
     """
-    Generates a trajectory from start to end in N steps.
+    Generates a trajectory from start to end across N steps.
 
     Args:
-        start (dict): starting pose/position
+        start (dict): Starting pose or joint values.
-        end (dict): ending pose/position
+        end (dict): Target pose or joint values.
-        steps (int): number of points in the trajectory
+        steps (int): Number of interpolation steps.
-        space (str): "cartesian" or "joint" (for logging/use clarity)
+        space (str): "cartesian" or "joint" (for API dispatch and validation).
-        mode (str): "relative" or "absolute"
+        mode (str): "relative" or "absolute" movement type.
-        include_resets (bool): if True, adds reset-to-zero between pulses (only for relative mode)
+        include_resets (bool): Inserts zero-correction resets between steps in relative mode.
 
     Returns:
-        list[dict]: trajectory points
+        list[dict]: List of movement command dictionaries.
     """
     if mode not in ["relative", "absolute"]:
         raise ValueError("mode must be 'relative' or 'absolute'")
@@ -23,7 +24,10 @@ def generate_trajectory(start, end, steps=100, space="cartesian", mode="relative
     axes = start.keys()
     trajectory = []
 
+    # Optional safety check hook — assumes SafetyManager has static validation methods
     safety_fn = SafetyManager.check_cartesian_limits if space == "cartesian" else SafetyManager.check_joint_limits
+    global enforce_safety
+    enforce_safety = hasattr(SafetyManager, "check_cartesian_limits")  # Enable only if those methods exist
 
     for i in range(1, steps + 1):
         point = {}
@@ -31,25 +35,29 @@ def generate_trajectory(start, end, steps=100, space="cartesian", mode="relative
             delta = end[axis] - start[axis]
             value = start[axis] + (delta * i / steps)
 
-            if mode == "relative":
+            point[axis] = delta / steps if mode == "relative" else value
-                point[axis] = delta / steps
-            else:
-                point[axis] = value
 
+        # Optional safety enforcement
         if enforce_safety and not safety_fn(point):
             raise ValueError(f"⚠️ Safety check failed at step {i}: {point}")
 
         trajectory.append(point)
 
         if mode == "relative" and include_resets:
+            # Insert a zero-correction step to prevent drift
             trajectory.append({axis: 0.0 for axis in axes})
 
     return trajectory
 
 def execute_trajectory(api, trajectory, space="cartesian", rate=0.004):
     """
-    Sends a trajectory by updating send variables at a fixed rate.
+    Sends a list of corrections to the RSI API at fixed intervals.
-    Use only with absolute motion or slow relative steps.
+
+    Args:
+        api: An RSI-compatible API object with update_cartesian / update_joints methods.
+        trajectory (list[dict]): Movement steps generated by generate_trajectory().
+        space (str): "cartesian" or "joint".
+        rate (float): Time between steps in seconds (default = 4ms).
     """
     for point in trajectory:
         if space == "cartesian":

src/RSIPI/xml_handler.py

@@ -1,16 +1,29 @@
 import xml.etree.ElementTree as ET
 
 class XMLGenerator:
-    """Converts send and receive variables into properly formatted XML messages."""
+    """
+    Converts structured dictionaries of RSI send/receive variables into
+    valid XML strings for UDP transmission to/from the robot controller.
+    """
 
     @staticmethod
     def generate_send_xml(send_variables, network_settings):
-        """Generate the send XML message dynamically based on send variables."""
+        """
+        Build an outgoing XML message based on the current send variables.
+
+        Args:
+            send_variables (dict): Structured dictionary of values to send.
+            network_settings (dict): Contains 'sentype' used for the root element.
+
+        Returns:
+            str: XML-formatted string ready for UDP transmission.
+        """
         root = ET.Element("Sen", Type=network_settings["sentype"])
-        print("XML Send Variables : ", send_variables)
+
+        # Convert structured keys (e.g. RKorr, Tech) and flat elements (e.g. IPOC)
         for key, value in send_variables.items():
             if key == "FREE":
-                continue
+                continue  # Skip unused placeholder fields
 
             if isinstance(value, dict):
                 element = ET.SubElement(root, key)
@@ -23,16 +36,23 @@ class XMLGenerator:
 
     @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"
+        Build an incoming XML message for emulation/testing purposes.
+
+        Args:
+            receive_variables (dict): Structured dictionary of values to simulate reception.
+
+        Returns:
+            str: XML-formatted string mimicking a KUKA robot's reply.
+        """
+        root = ET.Element("Rob", Type="KUKA")
 
         for key, value in receive_variables.items():
-            if isinstance(value, dict) or hasattr(value, "items"):  # ✅ Handle dictionaries as elements with attributes
+            if isinstance(value, dict) or hasattr(value, "items"):
                 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
+            else:
                 ET.SubElement(root, key).text = str(value)
 
         return ET.tostring(root, encoding="utf-8").decode()
-