116 lines
3.1 KiB
Python
116 lines
3.1 KiB
Python
"""
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Basic I/O Handshake Example
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Demonstrates simple bidirectional signaling between Python and KRL using
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digital I/O channels. Works with templates/krl/basic_handshake.src
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Flow:
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1. KRL signals "ready" on output 1
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2. Python waits for signal
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3. Python performs processing
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4. Python signals "complete" on input 1
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5. KRL continues
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Usage:
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python 01_basic_handshake.py --config RSI_EthernetConfig.xml
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"""
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import argparse
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import time
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import logging
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from RSIPI import RSIAPI
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# Configure logging
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logging.basicConfig(
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level=logging.INFO,
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format='%(asctime)s - %(levelname)s - %(message)s'
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)
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def basic_handshake_example(config_file: str) -> None:
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"""
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Execute basic I/O handshake with KRL program.
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Args:
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config_file: Path to RSI configuration XML file
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"""
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# Initialize API
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api = RSIAPI(config_file)
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try:
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# Start RSI communication
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logging.info("Starting RSI communication...")
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api.start()
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logging.info("✅ RSI started successfully")
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# Wait for KRL to signal ready (digital output 1)
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logging.info("Waiting for KRL ready signal...")
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if api.krl.wait_for_signal(1, timeout=30.0):
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logging.info("✅ KRL signaled ready!")
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# Simulate Python processing (e.g., data analysis, sensor reading)
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logging.info("Performing Python-side processing...")
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time.sleep(2.0) # Simulated processing time
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# Optional: Do actual work here
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# process_sensor_data()
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# calculate_corrections()
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# update_database()
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logging.info("✅ Processing complete")
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# Signal completion back to KRL (digital input 1)
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api.krl.signal_complete(1)
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logging.info("✅ Signaled KRL to continue")
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# KRL will now proceed with its motion program
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logging.info("KRL is now free to continue motion")
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else:
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logging.error("❌ Timeout waiting for KRL ready signal")
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logging.error("Check that KRL program is running and I/O is configured correctly")
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except KeyboardInterrupt:
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logging.warning("\n⚠️ Interrupted by user")
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except Exception as e:
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logging.error(f"❌ Error during handshake: {e}")
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finally:
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# Clean shutdown
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logging.info("Stopping RSI communication...")
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api.stop()
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logging.info("✅ API stopped successfully")
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def main():
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"""Main entry point."""
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parser = argparse.ArgumentParser(description='Basic I/O Handshake Example')
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parser.add_argument(
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'--config',
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type=str,
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default='RSI_EthernetConfig.xml',
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help='Path to RSI configuration file'
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)
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args = parser.parse_args()
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logging.info("=" * 60)
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logging.info("RSIPI - Basic I/O Handshake Example")
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logging.info("=" * 60)
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logging.info(f"Config: {args.config}")
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logging.info("=" * 60)
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basic_handshake_example(args.config)
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logging.info("=" * 60)
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logging.info("Example complete!")
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logging.info("=" * 60)
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if __name__ == '__main__':
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from multiprocessing import freeze_support
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freeze_support()
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main()
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