# RSIPI – Robot Sensor Interface Python Integration

RSIPI (Robot Sensor Interface Python Integration) is a comprehensive Python package designed to simplify and enhance the integration and control of KUKA robots using the Robot Sensor Interface (RSI). It provides intuitive APIs, real-time data visualisation, dynamic control capabilities, and easy logging, suitable for research, development, and deployment of advanced robotics applications.

## 🚀 Features

- **Real-Time Control:** Seamless communication with KUKA RSI.
- **Dynamic Variable Updates:** Update robot parameters dynamically during runtime.
- **CSV Logging:** Record all robot interactions and sensor data for easy analysis.
- **Live Graphing:** Real-time visualisation of position, velocity, acceleration, and force.
- **Command-Line Interface (CLI):** User-friendly terminal-based robot interaction.
- **Python API:** Easily integrate RSIPI into custom Python applications.

## 📂 Project Structure

```
RSI-PI/
├── src/
│   └── RSIPI/
│       ├── rsi_api.py
│       ├── rsi_client.py
│       ├── network_process.py
│       ├── config_parser.py
│       ├── xml_handler.py
│       ├── rsi_config.py
│       ├── cli.py
│       ├── graphing.py
│       └── test_rsipi.py
├── RSI_EthernetConfig.xml
├── setup.py
└── README.md
```

## ⚙️ Installation

To install RSIPI, clone the repository and use `pip`:

```bash
git clone <your-repo-url>
cd RSI-PI
pip install .
```

## ▶️ Getting Started

**Quick example:**

```python
from RSIPI import RSIAPI
from time import sleep

# Initialise RSIAPI
api = RSIAPI("RSI_EthernetConfig.xml")

# Start RSI communication
api.start_rsi()

# Dynamically update a variable
api.update_variable("EStr", "RSIPI Test")

# Log data to CSV
api.start_logging("robot_data.csv")

sleep(10)

# Stop logging and RSI communication
api.stop_logging()
api.stop_rsi()
```

## 💻 Command-Line Interface

Start the CLI for interactive robot control:

```bash
python src/RSIPI/cli.py
```

Example CLI commands:

- `start`: Start RSI communication
- `set EStr HelloWorld`: Update variable
- `log start data.csv`: Start logging
- `graph start position`: Start live graphing
- `stop`: Stop RSI communication

## 📊 Graphing and Visualisation

RSIPI supports real-time plotting and analysis:

```python
api.start_graphing(mode="position")  # Real-time position graph
```

## 🧪 Running Tests

Tests are provided to verify all functionalities:

```bash
python -m unittest discover -s src/RSIPI -p "test_*.py"
```

## 📝 Citation

If you use RSIPI in your research, please cite it:

```
@misc{YourName2025RSIPI,
  author = {Your Name},
  title = {RSIPI: Robot Sensor Interface Python Integration},
  year = {2025},
  publisher = {GitHub},
  journal = {GitHub repository},
  url = {https://github.com/yourusername/RSIPI},
}
```

## 📚 License

RSIPI is released under the [MIT License](LICENSE).