vulp.spine Namespace Reference

Inter-process communication protocol with the spine. More...

Namespaces
	exceptions
	request
	spine_interface

Classes
class	AgentInterface
	Memory map to shared memory. More...
class	Spine
	Loop transmitting actions to the actuation and observations to the agent. More...
class	StateMachine
	Spine state machine. More...

Enumerations
enum class	Request : uint32_t {   kNone = 0 , kObservation = 1 , kAction = 2 , kStart = 3 ,   kStop = 4 , kError = 5 }
enum class	State : uint32_t {   kSendStops = 0 , kReset = 1 , kIdle = 2 , kObserve = 3 ,   kAct = 4 , kShutdown = 5 , kOver = 6 }
	States of the state machine. More...
enum class	Event : uint32_t { kCycleBeginning = 0 , kCycleEnd = 1 , kInterrupt = 2 }
	Events that may trigger transitions between states. More...

Functions
void	allocate_file (int file_descriptor, int bytes)
	Allocate file with some error handling. More...
constexpr const char *	state_name (const State &state) noexcept
	Name of a state. More...

Variables
constexpr size_t	kMebibytes = 1 << 20
constexpr unsigned	kNbStopCycles = 5
	When sending stop cycles, send at least that many. More...

Detailed Description

Inter-process communication protocol with the spine.

Design notes: one alternative was a proper FSM with a clear distinction between states (what the spine is doing) and transitions (agent requests, spine replies, etc.). This could have allowed more granularity, such as the spine doing nothing (instead of sending stops) when it is idle, however at the cost of more complexity. We choose to go for the simpler (riskier) version where both agent and spine directly manipulate the agenda.

Enumeration Type Documentation

Event

enum vulp::spine::Event : uint32_t

strong

Events that may trigger transitions between states.

Enumerator
kCycleBeginning
kCycleEnd
kInterrupt

Definition at line 25 of file StateMachine.h.

Request

enum vulp::spine::Request : uint32_t

strong

Enumerator
kNone
kObservation
kAction
kStart
kStop
kError

Definition at line 10 of file Request.h.

State

enum vulp::spine::State : uint32_t

strong

States of the state machine.

Enumerator
kSendStops
kReset
kIdle
kObserve
kAct
kShutdown
kOver

Definition at line 14 of file StateMachine.h.

Function Documentation

allocate_file()

void vulp::spine::allocate_file	(	int	file_descriptor,
		int	bytes
	)

Allocate file with some error handling.

Parameters

[in]	file_descriptor	File descriptor.
[in]	bytes	Number of bytes to allocate.

Definition at line 16 of file AgentInterface.cpp.

state_name()

constexpr const char* vulp::spine::state_name ( const State &  state )

constexprnoexcept

Name of a state.

Parameters

[in]

state

State to name.

Definition at line 35 of file StateMachine.h.

Variable Documentation

kMebibytes

constexpr size_t vulp::spine.kMebibytes = 1 << 20

constexpr

Definition at line 27 of file Spine.h.

kNbStopCycles

constexpr unsigned vulp::spine.kNbStopCycles = 5

constexpr

When sending stop cycles, send at least that many.

Definition at line 11 of file StateMachine.h.