All of API has been tested and is working as expeted. Fixed an error where network was always initiliasing without it being needed.

src/RSIPI/kuka_visualiser.py

@@ -41,7 +41,12 @@ class KukaRSIVisualiser:
         fig = plt.figure()
         ax = fig.add_subplot(111, projection='3d')
 
-        ax.plot(self.df["RIst.X"], self.df["RIst.Y"], self.df["RIst.Z"],
+        def safe_col(name):
+            return name if name in self.df.columns else f"Receive.{name}"
+
+        ax.plot(self.df[safe_col("RIst.X")],
+                self.df[safe_col("RIst.Y")],
+                self.df[safe_col("RIst.Z")],
                 label="Actual Trajectory", linestyle='-')
 
         if "RSol.X" in self.df.columns:

src/RSIPI/main.py

@@ -5,58 +5,12 @@ import time
 import threading
 
 
-def generate_figure_8_z(start_xyz, radius=100, loops=1, steps=100):
+
-    trajectory = []
-    for i in range(steps):
-        t = 2 * math.pi * loops * (i / steps)
-        x = radius * math.sin(t)
-        y = radius * math.sin(t) * math.cos(t)
-        z = radius * math.sin(2 * t) / 2
-        trajectory.append({
-            "X": start_xyz["X"] + x,
-            "Y": start_xyz["Y"] + y,
-            "Z": start_xyz["Z"] + z
-        })
-    return trajectory
 
 
 def main():
     api = RSIAPI("RSI_EthernetConfig.xml")
 
-    print("🛜 Starting RSI client...")
+    print(api.compare_test_runs("25-04-2025_16-33-47.csv", "25-04-2025_20-57-59.csv"))
-    api.start_rsi()
-    time.sleep(2)
-
-    start_xyz = {"X": 500, "Y": 0, "Z": 500}
-    trajectory = api.generate_trajectory(
-        start=start_xyz,
-        end=generate_figure_8_z(start_xyz, radius=100, loops=1, steps=1)[0],  # endpoint unused
-        steps=100,
-        space="cartesian",
-        mode="absolute"
-    )
-    # Overwrite with full 8-curve, skipping internal interpolation
-    trajectory = generate_figure_8_z(start_xyz, radius=100, loops=1, steps=100)
-
-    print(f"✅ Generated figure-8 trajectory with {len(trajectory)} steps.")
-
-    # 🧠 Start live plotting in a thread (in mode 3d)
-    def start_plot():
-        plotter = LivePlotter(api.client, mode="3d", interval=50)
-        plotter.start()
-
-    threading.Thread(target=start_plot, daemon=True).start()
-
-    print("🟢 Executing trajectory...")
-    api.execute_trajectory(trajectory, space="cartesian", rate=0.02)
-
-    time.sleep(len(trajectory) * 0.02 + 2.0)
-    print("✅ Trajectory execution complete.")
-
-    print("🛑 Stopping RSI...")
-    api.stop_rsi()
-    print("✅ RSI client stopped.")
-
-
 if __name__ == "__main__":
     main()

src/RSIPI/rsi_api.py

@@ -21,7 +21,8 @@ class RSIAPI:
     def __init__(self, config_file="RSI_EthernetConfig.xml"):
         """Initialize RSIAPI with an RSI client instance."""
         self.thread = None
-        self.client = RSIClient(config_file)
+        self.config_file = config_file
+        self.client = None  # Delay instantiation
         self.graph_process = None  # Store graphing process
         self.graphing_instance = None
         self.graph_thread = None#
@@ -29,8 +30,14 @@ class RSIAPI:
         self.live_plotter = None
         self.live_plot_thread = None
 
+    def _ensure_client(self):
+        """Ensure RSIClient is initialised before use."""
+        if self.client is None:
+            from .rsi_client import RSIClient
+            self.client = RSIClient(self.config_file)
+
     def start_rsi(self):
-        """Start the RSI client in a background thread."""
+        self._ensure_client()
         self.thread = threading.Thread(target=self.client.start, daemon=True)
         self.thread.start()
         return "✅ RSI started in background."
@@ -275,34 +282,51 @@ class RSIAPI:
             return f"✅ {alert_type.capitalize()} alert threshold set to {value}"
         return "❌ Invalid alert type. Use 'deviation' or 'force'."
 
-    ## TODO Test from here.
-
     def generate_report(self, filename, format_type):
-        """Generate a statistical report from movement data."""
+        """
-        data = self.client.get_movement_data()
+        Generate a statistical report from a CSV log file.
-        df = pd.DataFrame(data)
 
-        report = {
+        Args:
-            "Max Position Deviation": df.iloc[:, 1:].max().to_dict(),
+            filename (str): Path to the CSV file (or base name without .csv).
-            "Mean Position Deviation": df.iloc[:, 1:].mean().to_dict(),
+            format_type (str): 'csv', 'json', or 'pdf'
+        """
+        # Ensure filename ends with .csv
+        if not filename.endswith(".csv"):
+            filename += ".csv"
+
+        if not os.path.exists(filename):
+            raise FileNotFoundError(f"❌ File not found: {filename}")
+
+        df = pd.read_csv(filename)
+
+        # Only keep relevant columns (e.g. actual positions)
+        position_cols = [col for col in df.columns if col.startswith("Receive.RIst.")]
+        if not position_cols:
+            raise ValueError("❌ No 'Receive.RIst' position columns found in CSV.")
+
+        report_data = {
+            "Max Position": df[position_cols].max().to_dict(),
+            "Mean Position": df[position_cols].mean().to_dict(),
         }
 
-        path = f"{filename}.{format_type.lower()}"
+        report_base = filename.replace(".csv", "")
+        output_path = f"{report_base}_report.{format_type.lower()}"
 
         if format_type == "csv":
-            df.to_csv(path, index=False)
+            pd.DataFrame(report_data).T.to_csv(output_path)
         elif format_type == "json":
-            with open(path, "w") as f:
+            with open(output_path, "w") as f:
-                f.write(json.dumps(report))
+                json.dump(report_data, f, indent=4)
         elif format_type == "pdf":
             fig, ax = plt.subplots()
-            df.plot(ax=ax)
+            pd.DataFrame(report_data).T.plot(kind='bar', ax=ax)
-            plt.savefig(path)
+            ax.set_title("RSI Position Report")
+            plt.tight_layout()
+            plt.savefig(output_path)
         else:
-            raise ValueError(f"❌ Unsupported report format: {format_type}")
+            raise ValueError(f"❌ Unsupported format: {format_type}")
-
-        return f"✅ Report saved as {path}"
 
+        return f"✅ Report saved as {output_path}"
 
     @staticmethod
     def visualise_csv_log(csv_file, export=False):
@@ -321,6 +345,7 @@ class RSIAPI:
         if export:
             visualizer.export_graphs()
 
+    ## TODO Need to test parsing krl to csv
     @staticmethod
     def parse_krl_to_csv(src_file, dat_file, output_file):
         """
@@ -340,6 +365,7 @@ class RSIAPI:
         except Exception as e:
             return f"❌ Error parsing KRL files: {e}"
 
+    ## TODO Need to test injecting RSI code.
     @staticmethod
     def inject_rsi(input_krl, output_krl=None, rsi_config="RSIGatewayv1.rsi"):
         """
@@ -357,8 +383,6 @@ class RSIAPI:
         except Exception as e:
             return f"❌ RSI injection failed: {e}"
 
-    ## TODO here
-
     @staticmethod
     def generate_trajectory(start, end, steps=100, space="cartesian", mode="absolute", include_resets=False):
         """Generates a linear trajectory (Cartesian or Joint)."""