Spine.h

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// SPDX-License-Identifier: Apache-2.0
// Copyright 2022 Stéphane Caron
 
#pragma once
 
#include <mpacklog/Logger.h>
 
#include <algorithm>
#include <future>
#include <map>
#include <memory>
#include <string>
#include <vector>
 
#include "vulp/actuation/Interface.h"
#include "vulp/observation/ObserverPipeline.h"
#include "vulp/observation/observe_servos.h"
#include "vulp/observation/observe_time.h"
#include "vulp/spine/AgentInterface.h"
#include "vulp/spine/StateMachine.h"
#include "vulp/utils/SynchronousClock.h"
#include "vulp/utils/handle_interrupts.h"
#include "vulp/utils/realtime.h"
 
namespace vulp::spine {
 
constexpr size_t kMebibytes = 1 << 20;
 
class Spine {
 public:
  struct Parameters {
    int cpu = -1;
 
    unsigned frequency = 1000u;
 
    std::string log_path = "/dev/null";
 
    std::string shm_name = "/vulp";
 
    size_t shm_size = 1 * kMebibytes;
  };
 
  Spine(const Parameters& params, actuation::Interface& interface,
        observation::ObserverPipeline& observers);
 
  void reset(const palimpsest::Dictionary& config);
 
  void run();
 
  void cycle();
 
  void simulate(unsigned nb_substeps);
 
 private:
  void begin_cycle();
 
  void cycle_actuation();
 
  void end_cycle();
 
  void log_working_dict();
 
 protected:
  const unsigned frequency_;
 
  actuation::Interface& actuation_;
 
  AgentInterface agent_interface_;
 
  std::future<actuation::moteus::Output> actuation_output_;
 
  std::vector<actuation::moteus::ServoReply> latest_replies_;
 
  palimpsest::Dictionary working_dict_;
 
  observation::ObserverPipeline observer_pipeline_;
 
  mpacklog::Logger logger_;
 
  std::vector<char> ipc_buffer_;
 
  const bool& caught_interrupt_;
 
  StateMachine state_machine_;
 
  State state_cycle_beginning_;
 
  State state_cycle_end_;
};
 
}  // namespace vulp::spine