4a9fc50ff3
4 Commits
| Author | SHA1 | Message | Date | |
|---|---|---|---|---|
| 4a9fc50ff3 | refactor: revamp core API, network handler, XML processing, and examples | |||
| fbd8dfacdc |
Fix send/receive variable inversion and network loop performance
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 |
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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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| 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) |
