VehicleInterface

ABC VehicleInterface class

VehicleInterface

 VehicleInterface (truck:tspace.config.vehicles.Truck,
                   driver:tspace.config.drivers.Driver,
                   can_server:tspace.config.messengers.CANMessenger,
                   resume:bool=False,
                   data_dir:Optional[pathlib.Path]=None,
                   flash_count:int=0, episode_count:int=0,
                   vcu_calib_table_row_start:int=0, torque_table_default:O
                   ptional[pandas.core.frame.DataFrame]=None, torque_table
                   _live:Optional[pandas.core.frame.DataFrame]=None,
                   epi_countdown_time:float=3.0, lock_watchdog:<built-
                   infunctionallocate_lock>=<unlocked _thread.lock object
                   at 0x7f845e29d600>, capture_failure_count:int=0,
                   flash_failure_count:int=0,
                   logger:Optional[logging.Logger]=None,
                   dict_logger:Optional[dict]=None)

*VehicleInterface is an ABC. It’s a Producer(get vehicle status), a Consumer(flasher) and a Filter(generate observation data)

Args:

truck: [`Truck`](https://Binjian.github.io/tspace/03.config.vehicles.html#truck) object
driver: [`Driver`](https://Binjian.github.io/tspace/03.config.drivers.html#driver) object
can_server: `CANMessenger` object
resume: resume from last table
data_dir: data directory
flash_count: flash count
episode_count: episode count
vcu_calib_table_row_start: vcu calibration table row start
torque_table_default: default torque table
torque_table_live: live torque table
epi_countdown_time: episode countdown time
lock_watchdog: lock for the following two watchdog variables
capture_failure_count: count of caputure failure
flash_failure_count: count of flash failure
logger: logger
dict_logger: dict logger*

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VehicleInterface.init_vehicle

 VehicleInterface.init_vehicle ()

initialize vehicle interface. Flashing the vehicle with initial/default table.

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VehicleInterface.flash_vehicle

 VehicleInterface.flash_vehicle (torque_table:pandas.core.frame.DataFrame)

Abstract method to flash the vehicle. Implemented by the concrete class Kvaser and Cloud.

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VehicleInterface.hmi_control

 VehicleInterface.hmi_control
                               (hmi_pipeline:tspace.dataflow.pipeline.queu
                               e.Pipeline[str], observe_pipeline:tspace.da
                               taflow.pipeline.queue.Pipeline[pandas.core.
                               frame.DataFrame],
                               start_event:threading.Event,
                               stop_event:threading.Event,
                               interrupt_event:threading.Event,
                               countdown_event:threading.Event,
                               exit_event:threading.Event,
                               flash_event:threading.Event)

HMI control logics by incoming events

	Type	Details
hmi_pipeline	Pipeline	input HMI pipeline
observe_pipeline	Pipeline	observation pipeline
start_event	Event	input event start
stop_event	Event	input event stop
interrupt_event	Event	input event interrupt
countdown_event	Event	input event countdown
exit_event	Event	input event exit
flash_event	Event	input event flash
Returns	None

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VehicleInterface.filter

 VehicleInterface.filter (in_pipeline:tspace.dataflow.pipeline.deque.Pipel
                          ineDQ[typing.Union[dict[str,str],dict[str,dict[s
                          tr,list[typing.Union[str,list[list[str]]]]]]]], 
                          out_pipeline:tspace.dataflow.pipeline.queue.Pipe
                          line[pandas.core.frame.DataFrame],
                          start_event:Optional[threading.Event],
                          stop_event:Optional[threading.Event],
                          interrupt_event:Optional[threading.Event],
                          flash_event:Optional[threading.Event],
                          exit_event:Optional[threading.Event])

*Produce data into the pipeline

main entry to the capture thread sub-thread method*

	Type	Details
in_pipeline	PipelineDQ
out_pipeline	Pipeline
start_event	Optional
stop_event	Optional
interrupt_event	Optional	input event
flash_event	Optional
exit_event	Optional
Returns	None

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VehicleInterface.init_internal_pipelines

 VehicleInterface.init_internal_pipelines ()

Abstract method for initializing types of raw_pipeline and hmi_pipeline

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VehicleInterface.ignite

 VehicleInterface.ignite (observe_pipeline:tspace.dataflow.pipeline.queue.
                          Pipeline[pandas.core.frame.DataFrame], flash_pip
                          eline:tspace.dataflow.pipeline.queue.Pipeline[pa
                          ndas.core.frame.DataFrame],
                          start_event:threading.Event,
                          stop_event:threading.Event,
                          interrupt_event:threading.Event,
                          flash_event:threading.Event,
                          exit_event:threading.Event,
                          watchdog_nap_time:float,
                          watchdog_capture_error_upper_bound:int,
                          watchdog_flash_error_upper_bound:int)

*creating the ThreadPool for handing the hmi, data capturing and data processing

main entry to the vehicle thread. will spawn three further threads for - input processing, HMI control and output processing - data into the pipeline - handle the input pipeline - guide observation data into the output pipeline - start/stop/interrupt/countdown/exit event to control the state machine main entry to the capture thread*

	Type	Details
observe_pipeline	Pipeline	observation pipeline
flash_pipeline	Pipeline	flash pipeline
start_event	Event	input event start
stop_event	Event	input event stop
interrupt_event	Event	input event interrupt
flash_event	Event	input event flash
exit_event	Event	input event exit
watchdog_nap_time	float	watch dog nap time in seconds
watchdog_capture_error_upper_bound	int	capture error limit to exit for watch dog
watchdog_flash_error_upper_bound	int	flash error limit to exit for watch dog

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VehicleInterface.produce

 VehicleInterface.produce (raw_pipeline:tspace.dataflow.pipeline.deque.Pip
                           elineDQ[typing.Union[dict[str,str],dict[str,dic
                           t[str,list[typing.Union[str,list[list[str]]]]]]
                           ]], hmi_pipeline:Optional[tspace.dataflow.pipel
                           ine.queue.Pipeline[str]]=None,
                           exit_event:Optional[threading.Event]=None)

*Abstract method for producing data into the pipeline

main entry to the capture thread will spawn three further threads for input processing, HMI control and output processing*

	Type	Default	Details
raw_pipeline	PipelineDQ		input pipeline for the raw data
hmi_pipeline	Optional	None
exit_event	Optional	None	input event exit

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VehicleInterface.watch_dog

 VehicleInterface.watch_dog (countdown_event:threading.Event,
                             exit_event:threading.Event,
                             watchdog_nap_time:float,
                             watchdog_capture_error_upper_bound:int,
                             watchdog_flash_error_upper_bound:int)

watch dog callback for the watch dog thread

	Type	Details
countdown_event	Event	watch dog need to send trigger signal to end count down thread
exit_event	Event	input event
watchdog_nap_time	float	nap time for watch dog
watchdog_capture_error_upper_bound	int	upperbound for capture failure
watchdog_flash_error_upper_bound	int	upperbound for flash failure

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VehicleInterface.countdown

 VehicleInterface.countdown (observe_pipeline:tspace.dataflow.pipeline.que
                             ue.Pipeline[pandas.core.frame.DataFrame],
                             start_event:threading.Event,
                             countdown_event:threading.Event,
                             stop_event:threading.Event,
                             exit_event:threading.Event)

countdown callback for the countdown thread

	Type	Details
observe_pipeline	Pipeline	output pipeline
start_event	Event	output event
countdown_event	Event	input event
stop_event	Event	output event
exit_event	Event	input event

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VehicleInterface.consume

 VehicleInterface.consume (flash_pipeline:tspace.dataflow.pipeline.queue.P
                           ipeline[pandas.core.frame.DataFrame],
                           start_event:Optional[threading.Event]=None,
                           stop_event:Optional[threading.Event]=None,
                           interrupt_event:Optional[threading.Event]=None,
                           exit_event:Optional[threading.Event]=None,
                           flash_event:Optional[threading.Event]=None)

*Consume data from the pipeline

main entry to the flash thread data in pipeline is a tuple of (torque_table, flash_start_row)*

	Type	Default	Details
flash_pipeline	Pipeline		flash pipeline
start_event	Optional	None	input event start
stop_event	Optional	None	input event stop
interrupt_event	Optional	None	input event interrupt
exit_event	Optional	None	input event exit
flash_event	Optional	None	input event flash