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)
Adam
6e0b87b945