upkie.spine.spine_interface.SpineInterface Class Reference

Interface to interact with a spine from a Python agent. More...

Public Member Functions
def	__init__ (self, str shm_name="/upkie", int retries=1, bool perf_checks=True)
	Connect to the spine shared memory. More...
def	__del__ (self)
	Close memory mapping. More...
dict	set_action (self, dict action)
	Set action for the spine to process. More...
dict	start (self, dict config)
	Reset the spine to a new configuration. More...
None	stop (self)
	Tell the spine to stop all actuators.

Detailed Description

Interface to interact with a spine from a Python agent.

Constructor & Destructor Documentation

__init__()

def upkie.spine.spine_interface.SpineInterface.__init__	(		self,
		str	shm_name = "/upkie",
		int	retries = 1,
		bool	perf_checks = True
	)

Connect to the spine shared memory.

Parameters

shm_name	Name of the shared memory object.
retries	Number of times to try opening the shared-memory file.
perf_checks	If true, run performance checks after construction.

__del__()

def upkie.spine.spine_interface.SpineInterface.__del__

(

self

)

Close memory mapping.

Note that the spine process will unlink the shared memory object, so we don't unlink it here.

Member Function Documentation

set_action()

dict upkie.spine.spine_interface.SpineInterface.set_action	(		self,
		dict	action
	)

Set action for the spine to process.

Parameters

[in]

action

Action dictionary.

Returns

Observation dictionary.

start()

dict upkie.spine.spine_interface.SpineInterface.start	(		self,
		dict	config
	)

Reset the spine to a new configuration.

Parameters

[in]

config

Configuration dictionary.

Returns

Observation dictionary.

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

• upkie/spine/spine_interface.py