&ACCESS RVP
&REL 1
DEF RSIPI_Minimal()
  ; =========================================================================
  ; RSIPI Minimal Test Program
  ; =========================================================================
  ; Bare-bones RSI check with NO dependency on the Technology package:
  ;   - no $TECH.C[] / $TECH.T[] variables
  ;   - no digital I/O, no $SEN_PREA
  ;
  ; It only verifies that:
  ;   1. The RSI context (RSIPI_Full.rsi) loads        -> RSI_CREATE
  ;   2. RSI activates and the UDP link comes up       -> RSI_ON
  ;   3. Corrections streamed from Python are applied  -> RSI_MOVECORR
  ;
  ; Use this first if RSIPI_Test.src reports "variable not defined" on
  ; $TECH lines (Technology package missing/not licensed) or to prove
  ; the network link before running the full test.
  ;
  ; Python side: any correction sender works, e.g.
  ;   examples/example_02_send_cartesian.py
  ; started AFTER RSI_MOVECORR is reached (robot waits, holding position).
  ;
  ; To stop: cancel the program on the pendant, or stop the Python side
  ; and let the ETHERNET object time out (motion stops, RSI reports a
  ; communication error - this is expected and safe).
  ;
  ; See docs/controller-setup.md for installation and troubleshooting.
  ; =========================================================================

  DECL INT ret, CONTID

  INI

  ; BCO run to the current position
  PTP $POS_ACT

  ; -- Load RSI signal flow configuration -----------------------------------
  ; RSIPI_Full.rsi must be in Config\User\Common\SensorInterface
  ret = RSI_CREATE("RSIPI_Full.rsi", CONTID, TRUE)
  IF (ret <> RSIOK) THEN
    MsgNotify("RSI_CREATE failed - check SensorInterface files", "RSIPI_Minimal")
    HALT
  ENDIF

  ; -- Activate RSI ----------------------------------------------------------
  ; RELATIVE corrections in the default #IPO_FAST sensor mode (4ms cycle),
  ; exactly like KUKA's own RSI_Ethernet example (KST RSI 3.3 manual, 8.1.3).
  ; Do not pass #IPO here: in IPO mode corrections only apply to LIN/CIRC
  ; path motions and function generator 1 must be free (manual 4.1, 7.1.4).
  ret = RSI_ON(#RELATIVE)
  IF (ret <> RSIOK) THEN
    MsgNotify("RSI_ON failed - check network config", "RSIPI_Minimal")
    HALT
  ENDIF

  MsgNotify("RSI active - start the Python sender now", "RSIPI_Minimal")

  ; -- Sensor-guided motion --------------------------------------------------
  ; The robot holds position and applies RKorr corrections streamed from
  ; Python. Blocks until the program is cancelled or RSI stops.
  RSI_MOVECORR()

  ; -- Clean up ----------------------------------------------------------------
  ret = RSI_OFF()
  IF (ret <> RSIOK) THEN
    MsgNotify("RSI_OFF warning", "RSIPI_Minimal")
  ENDIF

  ret = RSI_DELETE(CONTID)

  MsgNotify("RSIPI_Minimal complete", "RSIPI_Minimal")

END