`base` Module¶

Classes in roboglia can be categorized in two groups in relation to their position to the main robot class:

Downstream classes: are classes that are located between the robot class and the physical devices.
Upstream classes are classes that expose the robot capabilities in a uniform way like ‘joints’, ‘sensors’, ‘moves’, etc.

Downstream

The following classes from base module are provided for representing various structural elements of a robot.

Buses

`BaseBus`	A base abstract class for handling an arbitrary bus.
`FileBus`	A bus that writes to a file with cache provided for testing purposes.
`SharedBus`	Implements a bus that provides a locking mechanism for the access to the underlying hardware, aimed specifically for use in multi-threaded environments where multiple jobs could compete for access to one single bus.
`SharedFileBus`	This is a `FileBus` class that was wrapped for access to a shared resource.

Registers

`BaseRegister`	A minimal representation of a device register.
`BoolRegister`	A register with BOOL representation (true/false).
`RegisterWithConversion`	A register with an external representation that is produced by using a linear transformation.
`RegisterWithDynamicConversion`	A register that, in addition to the conversions provided by `RegisterWithConversion` can use the value provided by another register in the device as a factor adjustment.
`RegisterWithThreshold`	A register with an external representation that is represented by a threshold between negative and positive values.
`RegisterWithMapping`	A register that can specify a 1:1 mapping of internal values to external values.

Devices

A base virtual class for all devices.

Threads and Loops

`BaseThread`	Implements a class that wraps a processing logic that is executed in a separate thread with the ability to pause / resume or fully stop the task.
`BaseLoop`	This is a thread that executes in a separate thread, scheduling a certain atomic work (encapsulated in the atomic method) periodically as prescribed by the frequency parameter.
`BaseSync`	Base processing for a sync loop.
`BaseReadSync`	A SyncLoop that performs a naive read of the registers by sequentially calling the `read` on each of them.
`BaseWriteSync`	A SyncLoop that performs a naive write of the registers by sequentially calling the `read` on each of them.

Middle

`BaseRobot`	A complete representation of a robot.
`JointManager`	Implements the management of the joints by alowing multiple movement streams to submit position commands to the robot.

Upstream

The following classes from base module are provided for helping with the synchronization of devices’ values task.

Joints

`PVL`	A representation of a (position, value, load) command that supports `nan` value components and implements a number of help functions like addition, substraction, negation, equality (with error margin) and representation.
`PVLList`	A class that holds a list of PVL commands and provides a number of extra manipulation functions.
`Joint`	A Joint is a convenient class to represent a positional device.
`JointPV`	A Joint with position and velocity control.
`JointPVL`	A Joint with position, velocity and load control.

Sensors

`Sensor`	A one-value sensor.
`SensorXYZ`	An XYZ sensor.

base Module¶