adam/RSI-PI
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity
8 Commits 2 Branches 0 Tags 791 KiB
edca436be0
Commit Graph

8 Commits

This Branch
This Branch
All Branches
Author SHA1 Message Date
Adam
edca436be0 Update ROADMAP: Mark Phase 2 as complete 
Phase 2 (Network Reliability) has been completed with all planned features:
- Timing instrumentation and metrics tracking
- Watchdog timer and communication monitoring
- Network quality monitoring (packet loss, IPOC gaps)
- Automatic reconnection with retry strategies
- 24-hour stability test infrastructure

Updated roadmap status, timeline, and success criteria.
 2026-01-17 00:18:21 +00:00
Adam
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 6e8ea2e)
- ✅ Watchdog timer (commit 6e8ea2e)
- ✅ Network quality monitoring (commit 6e8ea2e)
- ✅ DiagnosticsAPI implementation (commit 6e8ea2e)
- ✅ Auto-reconnection with graceful recovery (this commit)
- ✅ 24-hour stability test infrastructure (this commit)

Next: Run stability test, then proceed to Phase 3 (KRL Coordination)
 2026-01-17 00:12:44 +00:00
Adam
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
 2026-01-17 00:05:33 +00:00
Adam
818c39d549 Remove CLAUDE.md from repository 2026-01-16 23:58:51 +00:00
Adam
a9a9f7cd41 Add comprehensive RSIPI improvement roadmap 
Document full 6-phase improvement plan with:
- Phase 1 & 5 complete (code quality + namespaced API)
- Phase 2-4, 6 planned (network reliability, KRL coordination, advanced motion, validation)
- Success criteria for each phase
- Research publication goals
- Timeline and approach
 2026-01-16 23:56:13 +00:00
Adam
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)
 2026-01-16 23:49:45 +00:00
Adam
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
 2026-01-16 20:09:56 +00:00
ohbotno
219ffc531c
Add files via upload 2025-04-27 02:03:42 +01:00