Adam
50e6df9719
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)
106 lines
2.3 KiB
Python
106 lines
2.3 KiB
Python
"""
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RSIPI - Robot Sensor Interface Python Integration
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A lightweight Python library for real-time control of KUKA industrial robots
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via the RSI 3.3 protocol. Provides high-level namespaced API for motion control,
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I/O, logging, visualization, and KRL program manipulation.
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Example:
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>>> from RSIPI import RSIAPI
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>>> api = RSIAPI('RSI_EthernetConfig.xml')
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>>> api.start()
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>>> api.motion.update_cartesian(X=10, Y=5, Z=0)
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>>> api.stop()
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"""
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__version__ = "2.0.0"
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__author__ = "RSIPI Development Team"
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# Main API
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from .rsi_api import RSIAPI
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# Namespace APIs (for type hints and advanced use)
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from .motion_api import MotionAPI
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from .io_api import IOAPI
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from .krl_api import KRLAPI
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from .safety_api import SafetyAPI
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from .monitoring_api import MonitoringAPI
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from .logging_api import LoggingAPI
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from .diagnostics_api import DiagnosticsAPI
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from .viz_api import VizAPI
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from .tools_api import ToolsAPI
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# Core client (for advanced use)
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from .rsi_client import RSIClient, ClientState
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# Exceptions
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from .exceptions import (
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RSIError,
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RSINetworkError,
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RSIConnectionError,
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RSITimeoutError,
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RSIPacketError,
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RSISafetyError,
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RSISafetyViolation,
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RSIEmergencyStop,
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RSILimitExceeded,
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RSIConfigError,
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RSIConfigParseError,
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RSIMissingConfigError,
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RSIStateError,
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RSIInvalidTransition,
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RSIClientNotReady,
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RSIDataError,
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RSILoggingError,
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RSIVariableError,
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RSIMotionError,
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RSITrajectoryError,
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RSIKinematicsError,
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)
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__all__ = [
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# Main API (primary entry point)
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"RSIAPI",
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# Namespace APIs
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"MotionAPI",
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"IOAPI",
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"KRLAPI",
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"SafetyAPI",
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"MonitoringAPI",
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"LoggingAPI",
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"DiagnosticsAPI",
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"VizAPI",
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"ToolsAPI",
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# Core
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"RSIClient",
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"ClientState",
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# Exceptions
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"RSIError",
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"RSINetworkError",
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"RSIConnectionError",
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"RSITimeoutError",
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"RSIPacketError",
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"RSISafetyError",
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"RSISafetyViolation",
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"RSIEmergencyStop",
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"RSILimitExceeded",
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"RSIConfigError",
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"RSIConfigParseError",
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"RSIMissingConfigError",
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"RSIStateError",
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"RSIInvalidTransition",
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"RSIClientNotReady",
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"RSIDataError",
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"RSILoggingError",
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"RSIVariableError",
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"RSIMotionError",
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"RSITrajectoryError",
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"RSIKinematicsError",
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# Version
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"__version__",
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]
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