WIP: Update to the merge of vulp into upkie

WORKSPACE

@@ -10,15 +10,11 @@ add_default_repositories()
 load("@upkie//tools/workspace:default.bzl", add_upkie_repositories = "add_default_repositories")
 add_upkie_repositories()
 
-# @vulp was added by add_default_repositories
-load("@vulp//tools/workspace:default.bzl", add_vulp_repositories = "add_default_repositories")
-add_vulp_repositories()
-
-# @palimpsest was added by add_vulp_repositories
+# @palimpsest was added by add_upkie_repositories
 load("@palimpsest//tools/workspace:default.bzl", add_palimpsest_repositories = "add_default_repositories")
 add_palimpsest_repositories()
 
-# @pi3hat was added by add_vulp_repositories
+# @pi3hat was added by add_upkie_repositories
 load("@pi3hat//tools/workspace:default.bzl", add_pi3hat_repositories = "add_default_repositories")
 add_pi3hat_repositories()
 

spines/BUILD

@@ -11,14 +11,13 @@ cc_binary(
         "@upkie_description",
     ],
     deps = [
-        "@upkie//upkie/config:layout",
-        "@upkie//upkie/observers",
-        "@upkie//upkie/utils:datetime_now_string",
-        "@upkie//upkie:version",
-        "@vulp//vulp/actuation:bullet_interface",
-        "@vulp//vulp/observation",
-        "@vulp//vulp/observation/sources",
-        "@vulp//vulp/spine",
+        "@upkie//upkie/cpp/actuation:bullet_interface",
+        "@upkie//upkie/cpp/config:layout",
+        "@upkie//upkie/cpp/observers",
+        "@upkie//upkie/cpp/sensors",
+        "@upkie//upkie/cpp/spine",
+        "@upkie//upkie/cpp/utils:datetime_now_string",
+        "@upkie//upkie/cpp:version",
     ],
 )
 
@@ -28,13 +27,12 @@ cc_binary(
         "mock_spine.cpp",
     ],
     deps = [
-        "@upkie//upkie/config:layout",
-        "@upkie//upkie/observers",
-        "@upkie//upkie:version",
-        "@vulp//vulp/actuation:mock_interface",
-        "@vulp//vulp/observation",
-        "@vulp//vulp/observation/sources",
-        "@vulp//vulp/spine",
+        "@upkie//upkie/cpp/actuation:mock_interface",
+        "@upkie//upkie/cpp/config:layout",
+        "@upkie//upkie/cpp/observers",
+        "@upkie//upkie/cpp/sensors",
+        "@upkie//upkie/cpp/spine",
+        "@upkie//upkie/cpp:version",
     ] + select({
         "//:pi64_config": [
             "@org_llvm_libcxx//:libcxx",
@@ -50,15 +48,15 @@ cc_binary(
         "pi3hat_spine.cpp",
     ],
     deps = [
-        "@upkie//upkie/config:layout",
-        "@upkie//upkie/observers",
-        "@upkie//upkie/utils:datetime_now_string",
-        "@upkie//upkie:version",
-        "@vulp//vulp/observation",
-        "@vulp//vulp/observation/sources",
-        "@vulp//vulp/spine",
+        "@upkie//upkie/cpp/config:layout",
+        "@upkie//upkie/cpp/observation",
+        "@upkie//upkie/cpp/observation/sources",
+        "@upkie//upkie/cpp/observers",
+        "@upkie//upkie/cpp/spine",
+        "@upkie//upkie/cpp/utils:datetime_now_string",
+        "@upkie//upkie/cpp:version",
     ] + select({
-        "//:pi64_config": ["@vulp//vulp/actuation:pi3hat_interface"],
+        "//:pi64_config": ["@upkie//upkie/cpp/actuation:pi3hat_interface"],
         "//conditions:default": [],
     }),
     target_compatible_with = select({

spines/bullet_spine.cpp

@@ -1,14 +1,14 @@
 // SPDX-License-Identifier: Apache-2.0
 
-#include <vulp/actuation/BulletInterface.h>
-#include <vulp/observation/ObserverPipeline.h>
-#include <vulp/observation/sources/CpuTemperature.h>
-
-#ifndef __APPLE__
-#include <vulp/observation/sources/Joystick.h>
-#endif
-
-#include <vulp/spine/Spine.h>
+#include <upkie/actuation/BulletInterface.h>
+#include <upkie/cpp/config/layout.h>
+#include <upkie/cpp/observers/FloorContact.h>
+#include <upkie/cpp/observers/WheelOdometry.h>
+#include <upkie/cpp/utils/datetime_now_string.h>
+#include <upkie/cpp/version.h>
+#include <upkie/observers/ObserverPipeline.h>
+#include <upkie/sensors/CpuTemperature.h>
+#include <upkie/spine/Spine.h>
 
 #include <algorithm>
 #include <cstdlib>
@@ -20,27 +20,24 @@
 #include <string>
 #include <vector>
 
-#include "upkie/config/layout.h"
-#include "upkie/observers/FloorContact.h"
-#include "upkie/observers/WheelOdometry.h"
-#include "upkie/utils/datetime_now_string.h"
-#include "upkie/version.h"
+#ifndef __APPLE__
+#include <upkie/cpp/sensors/Joystick.h>
+#endif
 
 namespace spines::bullet {
 
 using palimpsest::Dictionary;
-using upkie::observers::FloorContact;
-using upkie::observers::WheelOdometry;
-using vulp::actuation::BulletInterface;
-using vulp::observation::ObserverPipeline;
-using vulp::observation::sources::CpuTemperature;
+using upkie::BulletInterface;
+using upkie::FloorContact;
+using upkie::WheelOdometry;
+using upkie::observers::ObserverPipeline;
+using upkie::sensors::CpuTemperature;
+using upkie::spine::Spine;
 
 #ifndef __APPLE__
-using vulp::observation::sources::Joystick;
+using upkie::sensors::Joystick;
 #endif
 
-using vulp::spine::Spine;
-
 //! Command-line arguments for the Bullet spine.
 class CommandLineArguments {
  public:
@@ -130,7 +127,7 @@ class CommandLineArguments {
   unsigned nb_substeps = 0u;
 
   //! Name for the shared memory file
-  std::string shm_name = "/vulp";
+  std::string shm_name = "/upkie";
 
   //! Show Bullet GUI
   bool show = false;
@@ -198,8 +195,8 @@ int main(const char* argv0, const CommandLineArguments& args) {
   // Observation: Floor contact
   FloorContact::Parameters floor_contact_params;
   floor_contact_params.dt = 1.0 / args.spine_frequency;
-  floor_contact_params.upper_leg_joints = upkie::config::upper_leg_joints();
-  floor_contact_params.wheels = upkie::config::wheel_joints();
+  floor_contact_params.upper_leg_joints = upkie::upper_leg_joints();
+  floor_contact_params.wheels = upkie::wheel_joints();
   auto floor_contact = std::make_shared<FloorContact>(floor_contact_params);
   observation.append_observer(floor_contact);
 
@@ -213,7 +210,7 @@ int main(const char* argv0, const CommandLineArguments& args) {
   // a "b3AlignedObjectArray reserve out-of-memory" error below.
 
   // Simulator
-  const auto servo_layout = upkie::config::servo_layout();
+  const auto servo_layout = upkie::servo_layout();
   const double base_altitude = args.space ? 0.0 : 0.6;  // [m]
   BulletInterface::Parameters bullet_params(Dictionary{});
   bullet_params.argv0 = argv0;
@@ -229,7 +226,7 @@ int main(const char* argv0, const CommandLineArguments& args) {
   // Spine
   Spine::Parameters spine_params;
   spine_params.frequency = args.spine_frequency;
-  const auto now = upkie::utils::datetime_now_string();
+  const auto now = upkie::datetime_now_string();
   spine_params.log_path = args.log_dir + "/" + now + "_bullet_spine.mpack";
   spine_params.shm_name = args.shm_name;
   spdlog::info("Spine data logged to {}", spine_params.log_path);

spines/mock_spine.cpp

@@ -1,11 +1,15 @@
 // SPDX-License-Identifier: Apache-2.0
 
-#include <vulp/actuation/MockInterface.h>
-#include <vulp/observation/ObserverPipeline.h>
-#include <vulp/observation/sources/CpuTemperature.h>
-#include <vulp/observation/sources/Joystick.h>
-#include <vulp/spine/Spine.h>
-#include <vulp/utils/realtime.h>
+#include <upkie/cpp/actuation/MockInterface.h>
+#include <upkie/cpp/config/layout.h>
+#include <upkie/cpp/observers/FloorContact.h>
+#include <upkie/cpp/observers/ObserverPipeline.h>
+#include <upkie/cpp/observers/WheelOdometry.h>
+#include <upkie/cpp/sensors/CpuTemperature.h>
+#include <upkie/cpp/sensors/Joystick.h>
+#include <upkie/cpp/spine/Spine.h>
+#include <upkie/cpp/utils/realtime.h>
+#include <upkie/cpp/version.h>
 
 #include <algorithm>
 #include <future>
@@ -16,21 +20,16 @@
 #include <string>
 #include <vector>
 
-#include "upkie/config/layout.h"
-#include "upkie/observers/FloorContact.h"
-#include "upkie/observers/WheelOdometry.h"
-#include "upkie/version.h"
-
 namespace spines::mock {
 
 using palimpsest::Dictionary;
-using upkie::observers::FloorContact;
-using upkie::observers::WheelOdometry;
-using vulp::actuation::MockInterface;
-using vulp::observation::ObserverPipeline;
-using vulp::observation::sources::CpuTemperature;
-using vulp::observation::sources::Joystick;
-using vulp::spine::Spine;
+using upkie::CpuTemperature;
+using upkie::FloorContact;
+using upkie::Joystick;
+using upkie::MockInterface;
+using upkie::ObserverPipeline;
+using upkie::Spine;
+using upkie::WheelOdometry;
 
 //! Command-line arguments for the mock spine.
 class CommandLineArguments {
@@ -96,7 +95,7 @@ class CommandLineArguments {
 };
 
 int main(const CommandLineArguments& args) {
-  if (!vulp::utils::lock_memory()) {
+  if (!upkie::lock_memory()) {
     spdlog::error("could not lock process memory to RAM");
     return -4;
   }
@@ -117,8 +116,8 @@ int main(const CommandLineArguments& args) {
   // Observation: Floor contact
   FloorContact::Parameters floor_contact_params;
   floor_contact_params.dt = 1.0 / args.spine_frequency;
-  floor_contact_params.upper_leg_joints = upkie::config::upper_leg_joints();
-  floor_contact_params.wheels = upkie::config::wheel_joints();
+  floor_contact_params.upper_leg_joints = upkie::upper_leg_joints();
+  floor_contact_params.wheels = upkie::wheel_joints();
   auto floor_contact = std::make_shared<FloorContact>(floor_contact_params);
   observation.append_observer(floor_contact);
 
@@ -129,7 +128,7 @@ int main(const CommandLineArguments& args) {
   observation.append_observer(odometry);
 
   // Mock actuators
-  const auto servo_layout = upkie::config::servo_layout();
+  const auto servo_layout = upkie::servo_layout();
   const double dt = 1.0 / args.spine_frequency;
   MockInterface actuation(servo_layout, dt);
 

spines/pi3hat_spine.cpp

@@ -1,12 +1,17 @@
 // SPDX-License-Identifier: Apache-2.0
 
 #include <unistd.h>
-#include <vulp/actuation/Pi3HatInterface.h>
-#include <vulp/observation/ObserverPipeline.h>
-#include <vulp/observation/sources/CpuTemperature.h>
-#include <vulp/observation/sources/Joystick.h>
-#include <vulp/spine/Spine.h>
-#include <vulp/utils/realtime.h>
+#include <upkie/cpp/actuation/Pi3HatInterface.h>
+#include <upkie/cpp/config/layout.h>
+#include <upkie/cpp/observers/FloorContact.h>
+#include <upkie/cpp/observers/ObserverPipeline.h>
+#include <upkie/cpp/observers/WheelOdometry.h>
+#include <upkie/cpp/sensors/CpuTemperature.h>
+#include <upkie/cpp/sensors/Joystick.h>
+#include <upkie/cpp/spine/Spine.h>
+#include <upkie/cpp/utils/datetime_now_string.h>
+#include <upkie/cpp/utils/realtime.h>
+#include <upkie/cpp/version.h>
 
 #include <algorithm>
 #include <cstdlib>
@@ -19,23 +24,17 @@
 #include <string>
 #include <vector>
 
-#include "upkie/config/layout.h"
-#include "upkie/observers/FloorContact.h"
-#include "upkie/observers/WheelOdometry.h"
-#include "upkie/utils/datetime_now_string.h"
-#include "upkie/version.h"
-
 namespace spines::pi3hat {
 
 using Pi3Hat = ::mjbots::pi3hat::Pi3Hat;
 using palimpsest::Dictionary;
-using upkie::observers::FloorContact;
-using upkie::observers::WheelOdometry;
-using vulp::actuation::Pi3HatInterface;
-using vulp::observation::ObserverPipeline;
-using vulp::observation::sources::CpuTemperature;
-using vulp::observation::sources::Joystick;
-using vulp::spine::Spine;
+using upkie::CpuTemperature;
+using upkie::FloorContact;
+using upkie::Joystick;
+using upkie::ObserverPipeline;
+using upkie::Pi3HatInterface;
+using upkie::Spine;
+using upkie::WheelOdometry;
 
 //! Command-line arguments for the Bullet spine.
 class CommandLineArguments {
@@ -125,7 +124,7 @@ class CommandLineArguments {
   std::string log_dir = "";
 
   //! Name for the shared memory file.
-  std::string shm_name = "/vulp";
+  std::string shm_name = "/upkie";
 
   //! CPUID for the spine thread (-1 to disable realtime).
   int spine_cpu = 1;
@@ -161,7 +160,7 @@ int main(const CommandLineArguments& args) {
     spdlog::error("Calibration needed: did you run `upkie_tool rezero`?");
     return -3;
   }
-  if (!vulp::utils::lock_memory()) {
+  if (!upkie::lock_memory()) {
     spdlog::error("Could not lock process memory to RAM");
     return -4;
   }
@@ -190,8 +189,8 @@ int main(const CommandLineArguments& args) {
   // Observation: Floor contact
   FloorContact::Parameters floor_contact_params;
   floor_contact_params.dt = 1.0 / args.spine_frequency;
-  floor_contact_params.upper_leg_joints = upkie::config::upper_leg_joints();
-  floor_contact_params.wheels = upkie::config::wheel_joints();
+  floor_contact_params.upper_leg_joints = upkie::upper_leg_joints();
+  floor_contact_params.wheels = upkie::wheel_joints();
   auto floor_contact = std::make_shared<FloorContact>(floor_contact_params);
   observation.append_observer(floor_contact);
 
@@ -210,14 +209,19 @@ int main(const CommandLineArguments& args) {
     pi3hat_config.mounting_deg.yaw = 0.;
 
     // pi3hat interface
-    const auto servo_layout = upkie::config::servo_layout();
+    const auto servo_layout = upkie::servo_layout();
     Pi3HatInterface interface(servo_layout, args.can_cpu, pi3hat_config);
 
     // Spine
     Spine::Parameters spine_params;
     spine_params.cpu = args.spine_cpu;
     spine_params.frequency = args.spine_frequency;
+<<<<<<< HEAD
     spine_params.log_path = get_log_path(args.log_dir);
+=======
+    const auto now = upkie::datetime_now_string();
+    spine_params.log_path = args.log_dir + "/" + now + "_pi3hat_spine.mpack";
+>>>>>>> 10824f1 (WIP: Update to the merge of vulp into upkie)
     spdlog::info("Spine data logged to {}", spine_params.log_path);
     Spine spine(spine_params, interface, observation);
     spine.run();

tools/workspace/upkie/repository.bzl

@@ -11,6 +11,6 @@ def upkie_repository():
     git_repository(
         name = "upkie",
         remote = "https://github.com/upkie/upkie.git",
-        commit = "d6b91e4bcacc60e814637e9a59faba1a0e092eb3",
-        shallow_since = "1711032853 +0100",
+        commit = "b086cbf733167fee7b090e86b9c706c3fa35525f",
+        shallow_since = "1720024110 +0200",
     )