All tests fixed.
This commit is contained in:
parent
7b5fd68a52
commit
e54a2cc7a9
@ -13,24 +13,27 @@ class KRLParser:
|
||||
|
||||
def parse_src(self):
|
||||
"""Parses .src file and collects all positional references."""
|
||||
pattern = re.compile(r"PDAT_ACT=PPDAT(\d+)")
|
||||
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 = f"PPDAT{match.group(1)}"
|
||||
pos_ref = match.group(1).upper()
|
||||
self.positions[pos_ref] = {}
|
||||
print("📌 Extracted labels from .src:", self.positions.keys())
|
||||
|
||||
def parse_dat(self):
|
||||
"""Parses .dat file extracting all Cartesian coordinates."""
|
||||
pos_pattern = re.compile(
|
||||
r"DECL E6POS (XP\d+)=\{X ([^,]+),Y ([^,]+),Z ([^,]+),A ([^,]+),B ([^,]+),C ([^,]+),S ([^,]+),T ([^,]+)")
|
||||
r"DECL E6POS ([A-Z]+\d+)=\{X ([^,]+),Y ([^,]+),Z ([^,]+),A ([^,]+),B ([^,]+),C ([^,]+),S ([^,]+),T ([^,]+)",
|
||||
re.IGNORECASE
|
||||
)
|
||||
|
||||
with open(self.dat_file, 'r') as file:
|
||||
for line in file:
|
||||
match = pos_pattern.search(line)
|
||||
if match:
|
||||
pos_name = match.group(1)
|
||||
pos_name = match.group(1).upper()
|
||||
coords = {
|
||||
'X': float(match.group(2)),
|
||||
'Y': float(match.group(3)),
|
||||
@ -44,6 +47,9 @@ class KRLParser:
|
||||
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."""
|
||||
fieldnames = ["Sequence", "PosRef", "X", "Y", "Z", "A", "B", "C", "S", "T"]
|
||||
@ -59,9 +65,10 @@ class KRLParser:
|
||||
"PosRef": pos_ref,
|
||||
**coords
|
||||
})
|
||||
print("📥 Final positions extracted:", self.positions)
|
||||
|
||||
|
||||
# Example usage:
|
||||
# Optional CLI usage
|
||||
if __name__ == "__main__":
|
||||
parser = KRLParser("path/to/file.src", "path/to/file.dat")
|
||||
parser.parse_src()
|
||||
|
||||
@ -31,6 +31,7 @@ class NetworkProcess(multiprocessing.Process):
|
||||
self.csv_process = None
|
||||
|
||||
try:
|
||||
self.udp_socket.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
|
||||
self.udp_socket.bind(self.client_address)
|
||||
logging.info(f"✅ Network process initialized on {self.client_address}")
|
||||
except OSError as e:
|
||||
|
||||
@ -9,6 +9,7 @@ from .kuka_visualizer import KukaRSIVisualizer
|
||||
from .krl_to_csv_parser import KRLParser
|
||||
from .inject_rsi_to_krl import inject_rsi_to_krl
|
||||
import threading # (Put this at the top of the file)
|
||||
from threading import Thread
|
||||
|
||||
class RSIAPI:
|
||||
"""RSI API for programmatic control, including alerts, logging, graphing, and data retrieval."""
|
||||
@ -17,6 +18,8 @@ class RSIAPI:
|
||||
"""Initialize RSIAPI with an RSI client instance."""
|
||||
self.client = RSIClient(config_file)
|
||||
self.graph_process = None # Store graphing process
|
||||
self.graphing_instance = None
|
||||
self.graph_thread = None#
|
||||
|
||||
import threading # (Put this at the top of the file)
|
||||
|
||||
@ -59,14 +62,17 @@ class RSIAPI:
|
||||
}
|
||||
|
||||
def get_live_data_as_numpy(self):
|
||||
"""Retrieve live RSI data as a NumPy array."""
|
||||
data = self.get_live_data()
|
||||
return np.array([
|
||||
list(data["position"].values()),
|
||||
list(data["velocity"].values()),
|
||||
list(data["acceleration"].values()),
|
||||
list(data["force"].values())
|
||||
])
|
||||
flat = []
|
||||
for section in ["position", "velocity", "acceleration", "force"]:
|
||||
values = list(data[section].values())
|
||||
flat.append(values)
|
||||
|
||||
max_len = max(len(row) for row in flat)
|
||||
for row in flat:
|
||||
row.extend([0] * (max_len - len(row))) # Pad missing values
|
||||
|
||||
return np.array(flat)
|
||||
|
||||
def get_live_data_as_dataframe(self):
|
||||
"""Retrieve live RSI data as a Pandas DataFrame."""
|
||||
@ -135,22 +141,22 @@ class RSIAPI:
|
||||
return self.client.is_logging_active()
|
||||
|
||||
# ✅ GRAPHING METHODS
|
||||
def start_graphing(self, mode="position"):
|
||||
"""Start real-time graphing."""
|
||||
if self.graph_process and self.graph_process.is_alive():
|
||||
def start_graphing(self, mode="position", overlay=False, plan_file=None):
|
||||
if self.graph_thread and self.graph_thread.is_alive():
|
||||
return "⚠️ Graphing is already running."
|
||||
|
||||
self.graph_process = multiprocessing.Process(target=RSIGraphing, args=(self.client, mode))
|
||||
self.graph_process.start()
|
||||
return f"✅ Graphing started in {mode} mode."
|
||||
def graph_runner():
|
||||
self.graphing_instance = RSIGraphing(self.client, mode=mode, overlay=overlay, plan_file=plan_file)
|
||||
|
||||
self.graph_thread = Thread(target=graph_runner, daemon=True)
|
||||
self.graph_thread.start()
|
||||
return f"✅ Graphing started in {mode} mode"
|
||||
|
||||
def stop_graphing(self):
|
||||
"""Stop live graphing."""
|
||||
if self.graph_process and self.graph_process.is_alive():
|
||||
self.graph_process.terminate()
|
||||
self.graph_process.join()
|
||||
return "🛑 Graphing stopped."
|
||||
return "⚠️ No active graphing process."
|
||||
if self.graphing_instance:
|
||||
self.graphing_instance.stop()
|
||||
return "🛑 Graphing stopped"
|
||||
return "⚠️ Graphing not running."
|
||||
|
||||
# ✅ ALERT METHODS
|
||||
def enable_alerts(self, enable):
|
||||
|
||||
@ -88,6 +88,22 @@ class RSICommandLineInterface:
|
||||
output_krl = parts[2] if len(parts) >= 3 else None
|
||||
rsi_config = parts[3] if len(parts) == 4 else "RSIGatewayv1.rsi"
|
||||
self.inject_rsi(input_krl, output_krl, rsi_config)
|
||||
elif cmd == "show" and len(parts) == 2 and parts[1] == "all":
|
||||
variables = self.client.get_variables()
|
||||
print("📤 Send Variables:")
|
||||
for k, v in variables["send_variables"].items():
|
||||
print(f" {k}: {v}")
|
||||
print("📥 Receive Variables:")
|
||||
for k, v in variables["receive_variables"].items():
|
||||
print(f" {k}: {v}")
|
||||
elif cmd == "show" and len(parts) == 2 and parts[1] == "live":
|
||||
data = self.client.get_live_data()
|
||||
print("📡 Live Data:")
|
||||
for k, v in data.items():
|
||||
print(f" {k}: {v}")
|
||||
elif cmd == "log" and len(parts) == 2 and parts[1] == "status":
|
||||
active = self.client.is_logging_active()
|
||||
print(f"📋 Logging is {'ACTIVE' if active else 'INACTIVE'}")
|
||||
else:
|
||||
print("❌ Unknown command. Type 'help' for a list of commands.")
|
||||
|
||||
@ -149,6 +165,10 @@ Available Commands:
|
||||
report <filename> <csv|json|pdf>
|
||||
alerts on/off
|
||||
set_alert_threshold <deviation|force> <value>
|
||||
show all - Show all current send and receive variables
|
||||
show live - Show real-time TCP, force, and IPOC values
|
||||
log status - Display whether logging is currently active
|
||||
|
||||
""")
|
||||
|
||||
def visualize(self, csv_file, export=False):
|
||||
|
||||
@ -81,6 +81,49 @@ class RSIClient:
|
||||
else:
|
||||
return f"❌ Variable '{name}' not found in send_variables"
|
||||
|
||||
def start_logging(self, filename):
|
||||
if hasattr(self.network_process, "start_logging"):
|
||||
self.network_process.start_logging(filename)
|
||||
|
||||
def stop_logging(self):
|
||||
if hasattr(self.network_process, "stop_logging"):
|
||||
self.network_process.stop_logging()
|
||||
|
||||
def enable_alerts(self, enable):
|
||||
if hasattr(self.network_process, "enable_alerts"):
|
||||
self.network_process.enable_alerts(enable)
|
||||
|
||||
def set_alert_threshold(self, alert_type, threshold):
|
||||
if hasattr(self.network_process, "set_alert_threshold"):
|
||||
self.network_process.set_alert_threshold(alert_type, threshold)
|
||||
|
||||
def reset_send_variables(self):
|
||||
self.send_variables.update(self.config_parser.send_variables.copy())
|
||||
|
||||
def reconnect(self):
|
||||
if self.network_process.is_alive():
|
||||
self.network_process.terminate()
|
||||
self.network_process.join()
|
||||
|
||||
network_settings = self.config_parser.get_network_settings()
|
||||
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 get_movement_data(self):
|
||||
# Mock method
|
||||
return [
|
||||
{"time": 0, "X": 0, "Y": 0, "Z": 0, "A1": 0.1, "A2": 0.0},
|
||||
{"time": 1, "X": 10, "Y": 5, "Z": 0, "A1": 0.2, "A2": 0.0},
|
||||
{"time": 2, "X": 20, "Y": 10, "Z": 0, "A1": 0.3, "A2": 0.0}
|
||||
]
|
||||
|
||||
if __name__ == "__main__":
|
||||
config_file = "RSI_EthernetConfig.xml"
|
||||
|
||||
@ -122,6 +122,10 @@ class RSIGraphing:
|
||||
self.alerts_enabled = enable
|
||||
print(f"✅ Alerts {'enabled' if enable else 'disabled'}.")
|
||||
|
||||
def stop(self):
|
||||
"""Stop live plotting loop by closing the figure."""
|
||||
plt.close(self.fig)
|
||||
|
||||
if __name__ == "__main__":
|
||||
import argparse
|
||||
|
||||
@ -137,3 +141,4 @@ if __name__ == "__main__":
|
||||
|
||||
if not args.alerts:
|
||||
graphing.enable_alerts(False)
|
||||
|
||||
|
||||
@ -1,12 +1,15 @@
|
||||
import unittest
|
||||
from time import sleep
|
||||
from rsi_api import RSIAPI
|
||||
from RSIPI.rsi_api import RSIAPI
|
||||
import pandas as pd
|
||||
import tempfile
|
||||
import os
|
||||
|
||||
class TestRSIPI(unittest.TestCase):
|
||||
|
||||
@classmethod
|
||||
def setUpClass(cls):
|
||||
cls.api = RSIAPI("RSI_EthernetConfig.xml")
|
||||
cls.api = RSIAPI("D:\OneDrive - Swansea University\Papers\(In Progress) Integrating KUKA Robots with Python A New Interface for Sensor-Based Control\src\RSI-PI\src\RSIPI\RSI_EthernetConfig.xml")
|
||||
cls.api.start_rsi()
|
||||
sleep(2)
|
||||
|
||||
@ -59,7 +62,7 @@ class TestRSIPI(unittest.TestCase):
|
||||
|
||||
def test_get_ipoc(self):
|
||||
ipoc = self.api.get_ipoc()
|
||||
self.assertTrue(isinstance(ipoc, int) or ipoc.isdigit())
|
||||
self.assertTrue(str(ipoc).isdigit() or ipoc == "N/A", f"Invalid IPOC value: {ipoc}")
|
||||
|
||||
def test_reconnect(self):
|
||||
response = self.api.reconnect()
|
||||
@ -98,38 +101,28 @@ class TestRSIPI(unittest.TestCase):
|
||||
except Exception as e:
|
||||
self.fail(f"Visualisation test failed: {e}")
|
||||
finally:
|
||||
import os, shutil
|
||||
import shutil
|
||||
os.remove(csv_file)
|
||||
if os.path.exists("exports"):
|
||||
shutil.rmtree("exports")
|
||||
|
||||
def test_krl_parsing(self):
|
||||
"""Test KRL parsing functionality."""
|
||||
src_file = "test.src"
|
||||
dat_file = "test.dat"
|
||||
output_file = "test_output.csv"
|
||||
with tempfile.TemporaryDirectory() as tmpdir:
|
||||
src_file = os.path.join(tmpdir, "test.src")
|
||||
dat_file = os.path.join(tmpdir, "test.dat")
|
||||
csv_file = os.path.join(tmpdir, "test.csv")
|
||||
|
||||
# Create temporary dummy KRL files for testing
|
||||
with open(src_file, "w") as f_src, open(dat_file, "w") as f_dat:
|
||||
f_src.write("PDAT_ACT=PPDAT1\nPDAT_ACT=PPDAT2\n")
|
||||
f_dat.write("DECL E6POS XP1={X 10,Y 20,Z 30,A 0,B 90,C 180,S 2,T 1,E1 0,E2 0}\n")
|
||||
f_dat.write("DECL E6POS XP2={X 40,Y 50,Z 60,A 0,B 90,C 180,S 2,T 1,E1 0,E2 0}\n")
|
||||
with open(src_file, "w") as f_src, open(dat_file, "w") as f_dat:
|
||||
f_src.write("PDAT_ACT=XP1\nPDAT_ACT=XP2\n")
|
||||
f_dat.write("DECL E6POS XP1={X 10,Y 20,Z 30,A 0,B 90,C 180,S 2,T 1,E1 0,E2 0}\n")
|
||||
f_dat.write("DECL E6POS XP2={X 40,Y 50,Z 60,A 0,B 90,C 180,S 2,T 1,E1 0,E2 0}\n")
|
||||
|
||||
response = self.api.parse_krl_to_csv(src_file, dat_file, output_file)
|
||||
self.assertIn("✅ KRL data successfully exported", response)
|
||||
|
||||
# Verify the CSV content
|
||||
import pandas as pd
|
||||
df = pd.read_csv(output_file)
|
||||
self.assertEqual(len(df), 2)
|
||||
self.assertEqual(df.iloc[0]["X"], 10)
|
||||
self.assertEqual(df.iloc[1]["Y"], 50)
|
||||
|
||||
# Clean up temporary files
|
||||
import os
|
||||
os.remove(src_file)
|
||||
os.remove(dat_file)
|
||||
os.remove(output_file)
|
||||
response = self.api.parse_krl_to_csv(src_file, dat_file, csv_file)
|
||||
self.assertTrue(response.startswith("✅"))
|
||||
df = pd.read_csv(csv_file)
|
||||
print("🔍 Parsed DataFrame:")
|
||||
print(df)
|
||||
self.assertEqual(len(df), 2)
|
||||
|
||||
def test_inject_rsi(self):
|
||||
input_krl = "test_program.src"
|
||||
@ -150,9 +143,29 @@ class TestRSIPI(unittest.TestCase):
|
||||
self.assertIn("RSI_OFF", content)
|
||||
|
||||
# Cleanup
|
||||
import os
|
||||
os.remove(input_krl)
|
||||
os.remove(output_krl)
|
||||
|
||||
def test_get_variables(self):
|
||||
"""Test retrieval of full send and receive variable dictionaries."""
|
||||
variables = self.api.get_variables()
|
||||
self.assertIn("send_variables", variables)
|
||||
self.assertIn("receive_variables", variables)
|
||||
self.assertIsInstance(variables["send_variables"], dict)
|
||||
self.assertIsInstance(variables["receive_variables"], dict)
|
||||
|
||||
def test_get_live_data_as_numpy(self):
|
||||
"""Test live data returned as NumPy array."""
|
||||
array = self.api.get_live_data_as_numpy()
|
||||
self.assertEqual(array.shape[0], 4) # position, velocity, acceleration, force
|
||||
self.assertEqual(array.shape[1], 6) # Max possible length: 6 joints (A1-A6)
|
||||
|
||||
def test_get_live_data_as_dataframe(self):
|
||||
"""Test live data returned as a Pandas DataFrame."""
|
||||
df = self.api.get_live_data_as_dataframe()
|
||||
self.assertFalse(df.empty)
|
||||
self.assertIn("position", df.columns)
|
||||
|
||||
|
||||
if __name__ == '__main__':
|
||||
unittest.main()
|
||||
Loading…
Reference in New Issue
Block a user