Spine Class Reference

Loop transmitting actions to the actuation and observations to the agent. More...

#include <Spine.h>

Classes
struct	Parameters
	Spine parameters. More...

Public Member Functions
	Spine (const Parameters &params, interfaces::Interface &interface, SensorPipeline &sensors, ObserverPipeline &observers, ControllerPipeline &controllers)
	Initialize spine. More...
void	reset (const palimpsest::Dictionary &config)
	Reset the spine with a new configuration. More...
void	run ()
	Run the spine loop until termination. More...
void	cycle ()
	Spin one cycle of the spine loop.
void	simulate (unsigned nb_substeps)
	Alternative to run where the actuation interface is cycled a fixed number of times, and communication cycles are not frequency-regulated. More...
void	cycle_actuation ()
	Spin one cycle of communications with the actuation interface. More...

Protected Attributes
const unsigned	frequency_
	Frequency of the spine loop in [Hz].
interfaces::Interface &	actuation_
	Interface that communicates with actuators. More...
AgentInterface	agent_interface_
	Shared memory mapping for inter-process communication.
std::future< Output >	actuation_output_
	Future used to wait for moteus replies.
std::vector< ServoReply >	servo_replies_
	Latest servo replies. They are copied and thread-safe.
palimpsest::Dictionary	working_dict_
	All data from observation to action goes to this dictionary.
SensorPipeline	sensors_
	Pipeline of sensors, executed in that order.
ObserverPipeline	observers_
	Pipeline of observers, executed in that order.
mpacklog::Logger	logger_
	Logger for the working_dict_ produced at each cycle.
std::vector< char >	ipc_buffer_
	Buffer used to serialize/deserialize dictionaries in IPC.
const bool &	caught_interrupt_
	Boolean flag that becomes true when an interruption is caught.
StateMachine	state_machine_
	Internal state machine.
State	state_cycle_beginning_
	State after the last Event::kCycleBeginning.
State	state_cycle_end_
	State after the last Event::kCycleEnd.
size_t	rx_count_
	Number of actuation replies received during the latest cycle.
ControllerPipeline	controllers_
	Pipeline of controllers, executed in that order.

Detailed Description

Loop transmitting actions to the actuation and observations to the agent.

The spine acts as the intermediary between the actuation interface (e.g. moteus servos connected to the CAN-FD bus) and an agent communicating over shared memory (the agent interface). It packs observations to the agent from actuation replies and commands to the actuation from agent actions.

The spine processes requests at the beginning and end of each control cycle according to its StateMachine. The overall specification of the state machine is summarized in the following diagram:

See StateMachine for more details.

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The documentation for this class was generated from the following files:

• upkie/cpp/spine/Spine.h
• upkie/cpp/spine/Spine.cpp