Fixed warnings

src/RSIPI/config_parser.py

@@ -134,7 +134,8 @@ class ConfigParser:
             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):
+    @staticmethod
+    def rename_tech_keys(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()):
@@ -144,7 +145,8 @@ class ConfigParser:
             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):
+    @staticmethod
+    def get_default_value(var_type):
         """Returns a default value based on TYPE."""
         if var_type == "BOOL":
             return False

src/RSIPI/krl_to_csv_parser.py

@@ -3,6 +3,7 @@ import re
 from collections import OrderedDict
 
 
+# noinspection PyTypeChecker
 class KRLParser:
     """Parses KUKA KRL .src and .dat files, extracting Cartesian coordinates into CSV."""
 

src/RSIPI/kuka_visualizer.py

@@ -32,6 +32,9 @@ class KukaRSIVisualizer:
             plt.savefig(save_path)
         plt.show()
 
+    def has_column(self, col):
+        return col in self.df.columns
+
     def plot_joint_positions(self, save_path=None):
         """Plots joint positions over time with safety limit overlays."""
         plt.figure()

src/RSIPI/network_handler.py

@@ -41,7 +41,8 @@ class NetworkProcess(multiprocessing.Process):
 
         self.controller_ip_and_port = None
 
-    def is_valid_ip(self, ip):
+    @staticmethod
+    def is_valid_ip(ip):
         """Check if an IP address is valid and can be bound on this machine."""
         try:
             socket.inet_aton(ip)  # Validate format

src/RSIPI/rsi_api.py

@@ -240,7 +240,8 @@ class RSIAPI:
         if export:
             visualizer.export_graphs()
 
-    def parse_krl_to_csv(self, src_file, dat_file, output_file):
+    @staticmethod
+    def parse_krl_to_csv(src_file, dat_file, output_file):
         """
         Parses KRL files (.src, .dat) and exports coordinates to CSV.
 
@@ -258,7 +259,8 @@ class RSIAPI:
         except Exception as e:
             return f"❌ Error parsing KRL files: {e}"
 
-    def inject_rsi(self, input_krl, output_krl=None, rsi_config="RSIGatewayv1.rsi"):
+    @staticmethod
+    def inject_rsi(input_krl, output_krl=None, rsi_config="RSIGatewayv1.rsi"):
         """
         Inject RSI commands into a KRL (.src) program file.
 
@@ -274,7 +276,8 @@ class RSIAPI:
         except Exception as e:
             return f"❌ RSI injection failed: {e}"
 
-    def generate_trajectory(self, start, end, steps=100, space="cartesian"):
+    @staticmethod
+    def generate_trajectory(start, end, steps=100, space="cartesian"):
         """Generates a linear trajectory (Cartesian or Joint)."""
         return generate_trajectory(start, end, steps, space)
 

src/RSIPI/rsi_config.py

@@ -57,7 +57,8 @@ class RSIConfig:
                 logging.warning(f"⚠️ Failed to load RSI safety limits: {e}")
                 self.safety_limits = {}
 
-    def strip_def_prefix(self, tag):
+    @staticmethod
+    def strip_def_prefix(tag):
         """Remove 'DEF_' prefix from a variable name."""
         return tag.replace("DEF_", "")
 
@@ -81,7 +82,8 @@ class RSIConfig:
         else:
             var_dict[tag] = self.get_default_value(var_type)
 
-    def get_default_value(self, var_type):
+    @staticmethod
+    def get_default_value(var_type):
         """Returns a default value based on TYPE."""
         if var_type == "BOOL":
             return False

src/RSIPI/safety_manager.py

@@ -22,14 +22,14 @@ class SafetyManager:
         Raises ValueError if out of allowed bounds.
         """
         if self.e_stop:
-            raise RuntimeError(f"SafetyManager: E-STOP active, motion blocked for {path}.")
+            logging.warning(f"SafetyManager: {path} update blocked (E-STOP active)")
+            raise RuntimeError(f"SafetyManager: E-STOP active. Motion blocked for {path}.")
 
         if path in self.limits:
             min_val, max_val = self.limits[path]
             if not (min_val <= value <= max_val):
-                raise ValueError(
-                    f"SafetyManager: {path}={value} is out of bounds ({min_val} to {max_val})"
-                )
+                logging.warning(f"SafetyManager: {path}={value} blocked (out of bounds {min_val} to {max_val})")
+                raise ValueError(f"SafetyManager: {path}={value} is out of bounds ({min_val} to {max_val})")
 
         return value
 
@@ -52,15 +52,3 @@ class SafetyManager:
     def is_stopped(self):
         return self.e_stop
 
-    def validate(self, path: str, value: float) -> float:
-        if self.e_stop:
-            logging.warning(f"Safety violation: {path} update blocked (E-STOP active)")
-            raise RuntimeError(f"E-STOP active. Motion blocked for {path}.")
-
-        if path in self.limits:
-            min_val, max_val = self.limits[path]
-            if not (min_val <= value <= max_val):
-                logging.warning(f"Safety violation: {path}={value} blocked (out of bounds {min_val} to {max_val})")
-                raise ValueError(f"{path}={value} is out of bounds ({min_val} to {max_val})")
-
-        return value