RSI-PI/src/RSIPI/network_handler.py

import multiprocessing
import socket
import time
import csv
import logging
import xml.etree.ElementTree as ET  # ✅ FIX: Import ElementTree
from .xml_handler import XMLGenerator
from .safety_manager import SafetyManager

class NetworkProcess(multiprocessing.Process):
    """Handles UDP communication and optional CSV logging in a separate process."""

    def __init__(self, ip, port, send_variables, receive_variables, stop_event, config_parser):
        super().__init__()
        self.send_variables = send_variables
        self.receive_variables = receive_variables
        self.stop_event = stop_event
        self.config_parser = config_parser
        self.udp_socket = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
        self.safety_manager = SafetyManager(config_parser.safety_limits)

        self.client_address = (ip, port)

        if not self.is_valid_ip(ip):
            logging.warning(f"Invalid IP address '{ip}' detected. Falling back to '0.0.0.0'.")
            print(f"⚠️ Invalid IP '{ip}', falling back to '0.0.0.0'.")
            self.client_address = ('0.0.0.0', port)
        else:
            self.client_address = (ip, port)
        self.logging_active = multiprocessing.Value('b', False)  # Shared flag for logging
        self.log_filename = multiprocessing.Array('c', 256)  # Shared memory for filename
        self.csv_process = None

        try:
            self.udp_socket.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
            self.udp_socket.bind(self.client_address)
            logging.info(f"✅ Network process initialized on {self.client_address}")
        except OSError as e:
            logging.error(f"❌ Failed to bind to {self.client_address}: {e}")
            raise

        self.controller_ip_and_port = None

    @staticmethod
    def is_valid_ip(ip):
        """Check if an IP address is valid and can be bound on this machine."""
        try:
            socket.inet_aton(ip)  # Validate format
            with socket.socket(socket.AF_INET, socket.SOCK_DGRAM) as s:
                s.bind((ip, 0))  # Try binding
            return True
        except (socket.error, OSError):
            return False


    def run(self):
        """Start the network loop."""
        print("[DEBUG] Network process started.")
        while not self.stop_event.is_set():
            try:
                self.udp_socket.settimeout(5)
                data_received, self.controller_ip_and_port = self.udp_socket.recvfrom(1024)
                print("Receive: ", data_received)
                message = data_received.decode()
                self.process_received_data(message)
                print("Network :", self.send_variables)
                send_xml = XMLGenerator.generate_send_xml(self.send_variables, self.config_parser.network_settings)
                print("Send:", send_xml)
                self.udp_socket.sendto(send_xml.encode(), self.controller_ip_and_port)

                # ✅ If logging is active, write data to CSV
                if self.logging_active.value:
                    self.log_to_csv()

            except socket.timeout:
                print("[WARNING] No message received within timeout period.")
            except Exception as e:
                print(f"[ERROR] Network process error: {e}")

    def process_received_data(self, xml_string):
        try:
            root = ET.fromstring(xml_string)
            for element in root:
                if element.tag in self.receive_variables:
                    if len(element.attrib) > 0:
                        self.receive_variables[element.tag] = {k: float(v) for k, v in element.attrib.items()}
                    else:
                        self.receive_variables[element.tag] = element.text

                # specifically capture IPOC from received message
                if element.tag == "IPOC":
                    received_ipoc = int(element.text)
                    self.receive_variables["IPOC"] = received_ipoc
                    self.send_variables["IPOC"] = received_ipoc + 4  # Increment by 4 ms
        except Exception as e:
            print(f"[ERROR] Error parsing received message: {e}")

    def log_to_csv(self):
        """Write send/receive variables to the CSV log with safety flags."""
        filename = self.log_filename.value.decode().strip()
        if not filename:
            return

        try:
            with open(filename, mode="a", newline="") as file:
                writer = csv.writer(file)

                # Write header if the file is new
                if file.tell() == 0:
                    headers = ["Timestamp", "IPOC"]
                    headers += [f"Send.{k}" for k in self.send_variables.keys()]
                    headers += [f"Receive.{k}" for k in self.receive_variables.keys()]
                    headers += ["SafetyViolation"]
                    writer.writerow(headers)

                # Gather values
                timestamp = time.strftime("%d-%m-%Y %H:%M:%S")
                ipoc = self.receive_variables.get("IPOC", 0)
                send_data = [self.send_variables.get(k, "") for k in self.send_variables.keys()]
                receive_data = [self.receive_variables.get(k, "") for k in self.receive_variables.keys()]

                # 🔴 Check for safety violations
                violation = False
                for var in self.send_variables:
                    value = self.send_variables[var]
                    # Check structured variables
                    if isinstance(value, dict):
                        for subkey, subval in value.items():
                            path = f"{var}.{subkey}"
                            try:
                                self.safety_manager.validate(path, subval)
                            except Exception as e:
                                violation = str(e)
                                break
                    else:
                        try:
                            self.safety_manager.validate(var, value)
                        except Exception as e:
                            violation = str(e)
                            break

                writer.writerow([timestamp, ipoc] + send_data + receive_data + [violation or "False"])

        except Exception as e:
            print(f"[ERROR] Failed to log data to CSV: {e}")

    def start_logging(self, filename):
        """Start logging RSI data to CSV."""
        self.logging_active.value = True
        self.log_filename.value = filename.encode()
        print(f"✅ CSV Logging started: {filename}")

    def stop_logging(self):
        """Stop logging RSI data."""
        self.logging_active.value = False
        print("🛑 CSV Logging stopped.")

    def is_logging_active(self):
        """Return logging status."""
        return self.logging_active.value