The variable naming follows KUKA convention (robot's perspective) where
send_variables = what the robot sends us (RIst, RSol) and
receive_variables = what the robot receives from us (RKorr, DiO).
All APIs were using them backwards — writing corrections to
send_variables and building response XML from them, meaning the robot
never received actual corrections.
- network_handler: parse incoming XML into send_variables, build
response XML from receive_variables, use local dict snapshots
to avoid per-key Manager IPC within the 4ms cycle
- motion_api: check receive_variables for RKorr/AKorr
- tools_api: write user corrections to receive_variables
- monitoring_api: read robot state from send_variables
- io_api: read digital inputs from send_variables
- krl_api: read Tech.T params from send_variables
- rsi_cli/rsi_graphing: add --config arg, remove hardcoded paths
- main.py: test runner with all examples and multiprocessing guard
Major refactoring to improve code quality, maintainability, and API organization
for publication-quality research software.
Phase 1 - Code Quality Foundation:
- Add comprehensive type hints across all core modules (500+ annotations)
- Create custom exception hierarchy with 20+ specialized exceptions
- Replace all print() statements with proper logging (debug, info, warning, error, critical)
- Enhance all docstrings with Args/Returns/Raises sections
- Improve error handling with exception chaining
Modified core modules:
- rsi_client.py: State machine with typed exceptions, full type hints
- network_handler.py: CSV logging and UDP communication with typed interfaces
- config_parser.py: XML parsing with proper exception handling
- safety_manager.py: Safety validation with typed limits
- __init__.py: Clean exports for all public APIs
Phase 5 - Namespaced API Architecture:
- Restructure RSIAPI as orchestrator providing 9 specialized namespaces
- Create clean separation of concerns with dedicated API classes
New namespace APIs:
- motion_api.py: Motion control (Cartesian, joints, trajectories)
- io_api.py: Digital I/O control
- krl_api.py: KRL program manipulation utilities
- safety_api.py: Safety management and limits
- monitoring_api.py: Live data access and monitoring
- logging_api.py: CSV data logging
- diagnostics_api.py: Network diagnostics (Phase 2 placeholder)
- viz_api.py: Static and live visualization
- tools_api.py: Utilities, debugging, inspection
Breaking Changes:
- No backward compatibility - clean slate API design
- Old: api.start_rsi() → New: api.start()
- Old: api.update_cartesian(...) → New: api.motion.update_cartesian(...)
- See migration guide in PHASE_5_SUMMARY.md
Benefits:
- Organized and discoverable API structure
- Scalable architecture for future enhancements
- Type-safe with full IDE autocomplete support
- Easier testing and maintenance
- Professional industry-standard design pattern
Files changed: 6 modified, 9 new (net -37 lines, improved organization)
