From 858f9f57aff2a129a25ccd964b0d2b87d2f9d2cd Mon Sep 17 00:00:00 2001
From: Adam <adam@ineedroot.com>
Date: Wed, 26 Mar 2025 21:24:55 +0000
Subject: [PATCH] Added rsi injection code.

---
 src/RSIPI/inject_rsi_to_krl.py | 80 ++++++++++++++++++++++++++++++++++
 1 file changed, 80 insertions(+)
 create mode 100644 src/RSIPI/inject_rsi_to_krl.py

diff --git a/src/RSIPI/inject_rsi_to_krl.py b/src/RSIPI/inject_rsi_to_krl.py
new file mode 100644
index 0000000..f436f48
--- /dev/null
+++ b/src/RSIPI/inject_rsi_to_krl.py
@@ -0,0 +1,80 @@
+def inject_rsi_to_krl(input_file, output_file=None, rsi_config="RSIGatewayv1.rsi"):
+    """
+    Injects RSI commands into a KUKA KRL (.src) program file.
+
+    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.
+        rsi_config (str): RSI configuration filename.
+    """
+    if output_file is None:
+        output_file = input_file
+
+    rsi_start = """
+; RSI Variable Declarations
+DECL INT ret
+DECL INT CONTID
+"""
+
+    rsi_middle = f"""
+; Create RSI Context
+ret = RSI_CREATE("{rsi_config}", CONTID, TRUE)
+IF (ret <> RSIOK) THEN
+    HALT
+ENDIF
+
+; Start RSI Execution
+ret = RSI_ON(#RELATIVE)
+IF (ret <> RSIOK) THEN
+    HALT
+ENDIF
+"""
+
+    rsi_end = """
+; Stop RSI Execution
+ret = RSI_OFF()
+IF (ret <> RSIOK) THEN
+    HALT
+ENDIF
+"""
+
+    with open(input_file, "r") as file:
+        lines = file.readlines()
+
+    header_end, ini_end, end_start = None, None, None
+
+    for i, line in enumerate(lines):
+        if line.strip().startswith("DEF"):
+            header_end = i
+        elif line.strip().startswith(";ENDFOLD (INI)"):
+            ini_end = i
+        elif line.strip().startswith("END"):
+            end_start = i
+
+    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.")
+
+    with open(output_file, "w") as file:
+        # Write header and RSI declarations
+        file.writelines(lines[:header_end + 1])
+        file.write(rsi_start)
+
+        # Write INI section
+        file.writelines(lines[header_end + 1:ini_end + 1])
+
+        # 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:
+if __name__ == "__main__":
+    inject_rsi_to_krl("my_program.src", "my_program_rsi.src")
\ No newline at end of file