Thread and mailbox incorporation #59
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Member
nundinir
commented
Jun 20, 2025
nundinir
commented
- Mailboxes added for easy inter-thread communication and new thread manager class created.
- Modified Nonsingleton logger to support csv logging for each thread.
- Fixed walking simulator, which now successfully operates at it's own frequency without being dependent on main loop
- Plotted assistance calculator output paired with walking simulator ~ currents and torques look reasonable and hit the set points. Any mid-stride peak torque adjustments will be executed in the next stride.
…nd type hints to file. Also changed Mail to a dataclass, added exceptions for edge cases, as well as console logger. Also added threading lock to prevent multiple threads from accessing the addressbook and a barrier to wait for all threads to start at the same time before sending messages. All of this is contained to the Postal_Service.py file
…ke it is sending, receiving messages appropriately.
… began a draft of threading_demo_updated.py to start a ThreadingManager class to initialize, start, stop and coordinate threads
…ogress on ThreadManager class in threading_demo_updated.py
…ng to the GSE and Actuator threads with numerous to-dos to complete
…d HS_time, etc. bugs need fixing in walking_simulator.
…ng with threading_demo. modified walking_sim to update according to internal frequency. needs verification in threading_demo
…g the quit event instead of clearing. verified using threading demo logs that walking sim works as expected!
… being updated mid-stride. also verified that assistance_calculator works with threading demo. commanded torque and current splines look good and hit setpoint
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Things left to investigate before operation:
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…pool and gse_bertec and gse_imu integrated for testing. other to-do's require addressing.
…ys want to have bertec streaming enabled. added flag to toggle walking simulator, just for easy switch into testing mode if bertec not available
…pulled from local -- will need to assess wth is going on
…perly regenerates a spline profile given new parameters. ensured that class is flexible to different timing params
…geReception class. needs testing
…from Actuator thread and appropriately plots them to the rtplot. tbd: centralized logging for logging nexus. may have to be careful about delays in queue communication between left vs right.
… across all classes (GSE_IMU, GSE_BERTEC). Re-added acceptance tresholding for new stride periods (more lenient 0.2 -> 1.0). Tested full on bertec with streaming with Assistance_Calculator.
…ed imu-based gait state estimation, but needed proper offset from TR characterization for right exo.
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