11d658730c
7 Commits
| Author | SHA1 | Message | Date | |
|---|---|---|---|---|
| cc19e102e8 |
Phase 4: Advanced Motion Control - Complete Implementation
Implements professional-grade trajectory planning and execution capabilities
for industrial robotics applications. Adds velocity profiling, geometric
motion primitives, path blending, and coordinate frame transformations.
Features Added:
- Velocity profiling (trapezoidal and S-curve profiles)
- Geometric motion primitives (arc, circle, spiral)
- Path blending with cubic Hermite spline interpolation
- Coordinate transformations (BASE/WORLD/TOOL/WORK frames)
New API Methods (MotionAPI):
- generate_velocity_profile(trajectory, max_velocity, max_acceleration, profile)
- generate_arc(center, radius, start_angle, end_angle, steps, plane)
- generate_circle(center, radius, steps, plane)
- generate_spiral(center, start_radius, end_radius, pitch, revolutions, steps, plane, axis)
- blend_trajectories(traj1, traj2, blend_radius, blend_steps)
- transform_coordinates(pose, from_frame, to_frame, frame_offset)
Helper Functions:
- _calculate_distance() - Euclidean distance between waypoints
- _trapezoidal_profile() - Bang-bang velocity control
- _s_curve_profile() - Jerk-limited smooth profiles
- _find_blend_point() - Locate blend zone boundaries
- _cubic_blend() - Cubic Hermite spline interpolation
Examples Created (examples/advanced_motion/):
- 01_velocity_profiles.py (234 lines) - Trapezoidal vs S-curve profiling
- 02_geometric_primitives.py (225 lines) - Arc, circle, spiral patterns
- 03_path_blending.py (253 lines) - Smooth trajectory transitions
- 04_coordinate_transforms.py (284 lines) - Frame transformations
- 05_combined_motion.py (336 lines) - Complete production application
- README.md (584 lines) - Comprehensive documentation
Documentation:
- PHASE_4_SUMMARY.md - Detailed implementation documentation
- Updated ROADMAP.md to mark Phase 4 complete
- Comprehensive API documentation in examples/advanced_motion/README.md
Files Modified:
- src/RSIPI/motion_api.py (~550 lines added)
- ROADMAP.md (updated Phase 4 status)
Files Created:
- PHASE_4_SUMMARY.md
- examples/advanced_motion/ (6 new files, 1,916 total lines)
Statistics:
- New API methods: 5 public methods + 4 helper functions
- Example code: ~1,332 lines
- Documentation: ~584 lines
- Total additions: ~2,466 lines
Production Applications:
- Drilling and milling (expanding/contracting spirals)
- Assembly (circular insertion, smooth approaches)
- Inspection (spiral scanning, circular features)
- Welding/coating (continuous beads, smooth transitions)
- Pick and place (optimized cycles, blended paths)
Phase 4 Status: ✅ COMPLETE
Date: January 17, 2026
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| 6e0b87b945 |
Implement Phase 3: KRL Coordination
Complete implementation of Python-KRL coordination features for seamless bidirectional communication between RSIPI and KUKA KRL programs. ## IOAPI Enhancements Added high-level I/O control methods for convenient digital I/O manipulation: - **set_output(channel, value, group='Digout')** - Set digital output by channel number - **get_input(channel, group='Digin')** - Read digital input by channel number - **pulse(channel, duration=0.1, group='Digout')** - Generate timed pulse on output Benefits: - Simpler channel-based addressing (channel 1 instead of 'Digout.o1') - Automatic channel name formatting - Built-in pulse generation for pneumatic actuators and signaling - Consistent error handling ## KRLAPI Enhancements Added coordination helper methods for Python-KRL synchronization: - **wait_for_signal(channel, timeout=5.0)** - Block until KRL sets I/O signal - **signal_complete(channel)** - Signal KRL that Python operation is complete - **write_param(slot, value)** - Write to Tech.C variables (Python → KRL) - **read_param(slot)** - Read from Tech.T variables (KRL → Python) Features: - Configurable timeouts with proper error handling - Flexible slot addressing (11, 'C11', 'c11' all work) - Slot validation (enforces 11-199 range) - Comprehensive logging for debugging - Clear docstrings with KRL code examples ## KRL Template Library Created comprehensive KRL templates demonstrating coordination patterns: **templates/krl/basic_handshake.src** - Simple I/O handshaking (KRL signals → Python waits → Python signals back) - Timeout handling and error recovery - Complete Python code examples in comments **templates/krl/parameter_passing.src** - Bidirectional Tech variable communication - KRL writes position to Tech.T, Python reads - Python calculates target, writes to Tech.C, KRL reads - Demonstrates full parameter exchange workflow **templates/krl/state_machine.src** - Multi-state coordination workflow - States: IDLE, CALIBRATING, READY, EXECUTING, COMPLETE, ERROR - Combines I/O signals and Tech variables - Error handling and timeout mechanisms - Demonstrates complex production-ready pattern **templates/krl/README.md** - Comprehensive coordination patterns documentation - Tech variable mapping conventions (C vs T variables) - I/O signal mapping standards - Timing best practices - Troubleshooting guide ## Python Coordination Examples Created production-ready Python examples demonstrating all coordination methods: **examples/coordination/01_basic_handshake.py** - Simple I/O handshake demonstration - Matches basic_handshake.src template - Command-line interface with argparse - Comprehensive logging and error handling **examples/coordination/02_parameter_passing.py** - Parameter exchange workflow - Reads position from KRL (Tech.T) - Calculates target position - Writes target to KRL (Tech.C) - Matches parameter_passing.src template **examples/coordination/03_state_machine.py** - Complex multi-state coordination - State monitoring loop with enum - Calibration routine with offset calculation - Error detection and signaling - Matches state_machine.src template **examples/coordination/README.md** - Complete usage instructions - Configuration requirements - Troubleshooting section - Customization examples - Advanced usage patterns ## Modified Files src/RSIPI/io_api.py: - Added time import - Implemented set_output() method - Implemented get_input() method with navigation of receive_variables - Implemented pulse() method with blocking time.sleep() - Comprehensive docstrings with examples src/RSIPI/krl_api.py: - Added time import - Implemented wait_for_signal() with configurable polling - Implemented signal_complete() method - Implemented write_param() with slot normalization and validation - Implemented read_param() with slot normalization and validation - KRL code examples in all docstrings ## New Directories templates/krl/ - 3 KRL program templates - Comprehensive README with patterns and conventions examples/coordination/ - 3 Python example scripts - Complete usage documentation ## Design Decisions **I/O Channel Numbering**: 1-based to match KUKA conventions **Tech Variable Slots**: Validated 11-199 range (KUKA reserves 1-10) **Blocking Operations**: wait_for_signal() and pulse() block with configurable timeouts **Error Handling**: Proper exceptions with clear messages **Logging**: Debug/Info/Warning levels for all operations **Documentation**: Every method includes KRL code examples ## Phase 3 Status: ✅ COMPLETE All planned features implemented: - ✅ High-level Digital I/O API - ✅ KRL state coordination helpers - ✅ Parameter passing via Tech variables - ✅ KRL code templates - ✅ Python coordination examples - ✅ Comprehensive documentation Next: Phase 4 (Advanced Motion Control) |
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| bb65500082 |
Complete Phase 2: Auto-reconnection and stability testing
Implement automatic connection recovery and long-duration testing infrastructure to complete Phase 2 (Network Reliability) of the RSIPI improvement roadmap. New Features: - Auto-reconnection manager with configurable retry strategies - IMMEDIATE: Reconnect without delay - LINEAR_BACKOFF: Incremental retry delays - EXPONENTIAL_BACKOFF: Exponential retry delays - Background watchdog monitoring (checks every 2 seconds) - Reconnection statistics tracking (attempts, failures, timestamps) - Optional callbacks for reconnection events (success/failure) - 24-hour stability test script with comprehensive reporting - Configurable test duration and sample intervals - Real-time health monitoring and progress logging - Detailed JSON reports with timing and network statistics - Human-readable summary with health percentage Modified Files: - src/RSIPI/rsi_client.py - Added auto-reconnect integration with enable_auto_reconnect parameter - Start/stop auto-reconnect monitor in lifecycle methods - Clear metrics on reconnection to reset statistics New Files: - src/RSIPI/auto_reconnect.py (241 lines) - AutoReconnectManager class with background monitoring thread - ReconnectStrategy enum for retry behavior configuration - Watchdog timeout detection and automatic recovery - Reconnection verification with health checks - tests/stability_test.py (365 lines) - StabilityTest class for long-duration testing - Command-line interface with argparse - Automatic log file generation with timestamps - Sample collection with configurable intervals - Statistical analysis and reporting - Graceful interruption handling (KeyboardInterrupt) Phase 2 Status: ✅ COMPLETE - ✅ Timing instrumentation (commit |
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| 6e8ea2e43f |
Implement Phase 2: Network Reliability and Diagnostics
Major improvements to network monitoring, timing instrumentation, and
diagnostic capabilities for production-grade RSI communication.
New Features:
- Real-time timing metrics (latency, jitter, cycle time tracking)
- IPOC gap detection and packet loss monitoring
- Watchdog timer for communication loss detection
- Comprehensive network health checks
- Fully functional DiagnosticsAPI namespace
timing_metrics.py (NEW):
- TimingMetrics class tracks cycle times, IPOC gaps, packet loss
- NetworkQualityMonitor calculates health scores
- Watchdog timer detects communication timeouts (>1s)
- Statistical analysis: mean, std dev, min, max, percentiles
- Configurable thresholds for jitter, packet loss, cycle time
network_handler.py:
- Integrated TimingMetrics into NetworkProcess
- Records cycle timing and IPOC for every communication cycle
- Updates shared metrics_dict every 100 cycles (~400ms)
- Detects watchdog timeout on socket timeout
- Zero performance impact on real-time loop
rsi_client.py:
- Created shared metrics_dict using Manager
- Passes metrics_dict to NetworkProcess
- Resets metrics on reconnect()
diagnostics_api.py:
- Fully implemented (no longer placeholder)
- get_stats() - comprehensive diagnostics
- get_timing() - timing-specific metrics
- get_network_quality() - packet loss and IPOC gaps
- is_healthy() - overall health check
- get_warnings() - list of current warnings
- check_watchdog() - watchdog timer status
- format_stats() - human-readable diagnostics output
Example Usage:
>>> api = RSIAPI('RSI_EthernetConfig.xml')
>>> api.start()
>>> # After some communication
>>> stats = api.diagnostics.get_stats()
>>> print(f"Jitter: {stats['jitter']*1000:.2f}ms")
>>> print(f"Packet loss: {stats['packet_loss_rate']:.2f}%")
>>> print(api.diagnostics.format_stats())
Benefits:
- Real-time performance monitoring
- Automatic problem detection (jitter, packet loss, timeout)
- Production-ready diagnostics
- Foundation for 24-hour stability testing
- Publication-quality performance metrics
Phase 2 Progress: 75% complete
Remaining: Auto-reconnection, 24-hour stability test
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| 50e6df9719 |
Implement Phase 1 & Phase 5: Code quality improvements and namespaced API architecture
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) |
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| 7bfe5cccf1 |
Refactor core architecture and add test coverage
- Fix socket lifecycle: create in child process, add cleanup with try/finally - Add ClientState enum with validated state transitions to prevent invalid operations - Decouple CSV logging from network loop using queue-based CSVLogger process - Fix broken imports: change absolute (src.RSIPI.x) to relative (.x) across 7 files - Add missing @staticmethod decorator to generate_report() - Add command queue for inter-process communication (logging control) - Add 34 unit tests for XMLGenerator, SafetyManager, and trajectory_planner - Add pytest configuration to pyproject.toml - Add CLAUDE.md with architecture documentation |
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