Echo server¶

The emulated controller used by the tests, the examples' dry runs and offline development. How to run it: Testing offline.

Reference¶

EchoServer ¶

EchoServer(config_file, delay_ms=4, mode='relative', rsi_file=None, timeout_packets=None, onlysend=None)

Emulates a KUKA RSI controller for offline testing.

Behaves like the robot side of the link

Owns the IPOC clock: it increments IPOC itself every cycle and never adopts a value supplied by the client.
Validates every reply (IPOC echo + SENTYPE) and drops the corrections carried by invalid packets.
Counts late/invalid packets, reports them via DEF_Delay, and "breaks off" RSI once the ETHERNET Timeout budget is exceeded.

Initialise the echo server.

Parameters:

Name	Type	Description	Default
`config_file`	`str`	Path to RSI EthernetConfig.xml.	required
`delay_ms`	`int`	Interpolation cycle in milliseconds (4 or 12 on a real controller). Doubles as the IPOC increment per cycle.	`4`
`mode`	`str`	Correction mode ("relative" or "absolute").	`'relative'`
`rsi_file`	`str`	Optional path to a .rsi / .rsi.xml signal-flow file. Its ETHERNET object's Timeout parameter is used as the faulty-packet budget.	`None`
`timeout_packets`	`int`	Explicit faulty-packet budget; overrides rsi_file.	`None`
`onlysend`	`bool`	ONLYSEND mode - stream data, expect no replies. Default: taken from the config's ONLYSEND setting.	`None`

receive_and_process ¶

receive_and_process()

Reads one incoming UDP datagram (if any) and hands it to process_reply().

process_reply ¶

process_reply(xml_string)

Parse, validate and (only if valid) apply one reply.

A reply is rejected when

it cannot be parsed as XML,
the Type attribute does not match the configured SENTYPE,
its IPOC is not the exact value we last transmitted.

Rejected packets increment the faulty counter and their corrections and state updates are discarded in full.

Parameters:

Name	Type	Description	Default
`xml_string`	`str`	Raw XML from the client.	required

Returns:

Type	Description
`bool`	True if the packet was accepted and applied, False otherwise.

generate_message ¶

generate_message()

Creates a reply XML message based on current state. Format matches KUKA RSI's expected response structure. Iterates over all state variables from the config's send_variables.

send_once ¶

send_once()

Transmits one packet and advances the IPOC clock by one cycle.

Returns:

Type	Description
`str`	The XML that was transmitted.

send_message ¶

send_message()

Main loop to receive input, update state, and send reply. Runs in a background thread until stopped.

start ¶

start()

Starts the echo server loop in a background thread.

stop ¶

stop()

Stops the echo server and cleans up the socket.