BikeComputer/static_scheduling/bike_system.cpp

// Copyright 2022 Haute école d'ingénierie et d'architecture de Fribourg
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.

/****************************************************************************
 * @file bike_system.cpp
 * @author Serge Ayer <serge.ayer@hefr.ch>
 * @author Rémi Heredero <remi@heredero.ch>
 * @author Yann Sierro <yannsierro.pro@gmail.com>
 *
 * @brief Bike System implementation (static scheduling)
 *
 * @date 2023-11-15
 * @version 1.1.0
 ***************************************************************************/

#include "bike_system.hpp"

#include <chrono>

#include "mbed_trace.h"
#if MBED_CONF_MBED_TRACE_ENABLE
#define TRACE_GROUP "BikeSystem"
#endif  // MBED_CONF_MBED_TRACE_ENABLE

namespace static_scheduling {

static constexpr std::chrono::milliseconds kGearTaskPeriod					 = 800ms;
static constexpr std::chrono::milliseconds kGearTaskDelay 					 = 0ms;
static constexpr std::chrono::milliseconds kGearTaskComputationTime 		 = 100ms;
static constexpr std::chrono::milliseconds kSpeedDistanceTaskPeriod 		 = 400ms;
static constexpr std::chrono::milliseconds kSpeedDistanceTaskDelay 			 = 0ms; // 0 or 100ms
static constexpr std::chrono::milliseconds kSpeedDistanceTaskComputationTime = 200ms;
static constexpr std::chrono::milliseconds kDisplayTask1Period 				 = 1600ms;
static constexpr std::chrono::milliseconds kDisplayTask1Delay 				 = 300ms;
static constexpr std::chrono::milliseconds kDisplayTask1ComputationTime    	 = 200ms;
static constexpr std::chrono::milliseconds kResetTaskPeriod 				 = 800ms;
static constexpr std::chrono::milliseconds kResetTaskDelay 					 = 700ms;
static constexpr std::chrono::milliseconds kResetTaskComputationTime 		 = 100ms;
static constexpr std::chrono::milliseconds kTemperatureTaskPeriod 			 = 1600ms;
static constexpr std::chrono::milliseconds kTemperatureTaskDelay 			 = 1100ms;
static constexpr std::chrono::milliseconds kTemperatureTaskComputationTime	 = 100ms;
static constexpr std::chrono::milliseconds kDisplayTask2Period 				 = 1600ms;
static constexpr std::chrono::milliseconds kDisplayTask2Delay 				 = 1200ms;
static constexpr std::chrono::milliseconds kDisplayTask2ComputationTime   	 = 100ms;

// TODO: implement the constructor

BikeSystem::BikeSystem() :
	_gearDevice(_timer),
    _pedalDevice(_timer),
    _resetDevice(_timer),
	_speedometer(_timer)
{

}

void BikeSystem::start() {
    tr_info("Starting Super-Loop without event handling");

    init();

    // TODO: implement the super-loop based for implementing the appropriate schedule
    // Done
    while (true) {
        auto startTime = _timer.elapsed_time();

        // TODO: implement calls to different tasks based on computed schedule
        // Done
		gearTask();				// 100ms :    0ms ->  100ms
        speedDistanceTask();	// 200ms :  100ms ->  300ms
        displayTask1();			// 200ms :  300ms ->  500ms
        speedDistanceTask();    // 200ms :  500ms ->  700ms
        resetTask();			// 100ms :  700ms ->  800ms
        gearTask();				// 100ms :  800ms ->  900ms
        speedDistanceTask();	// 200ms :  900ms -> 1100ms
        temperatureTask();		// 100ms : 1100ms -> 1200ms
        displayTask2();			// 100ms : 1200ms -> 1300ms
        speedDistanceTask();	// 200ms : 1300ms -> 1500ms
        resetTask();			// 100ms : 1500ms -> 1600ms
        


        // register the time at the end of the cyclic schedule period and print the
        // elapsed time for the period
        std::chrono::microseconds endTime = _timer.elapsed_time();
        const auto cycle =
            std::chrono::duration_cast<std::chrono::milliseconds>(endTime - startTime);
        tr_debug("Repeating cycle time is %" PRIu64 " milliseconds", cycle.count());

        // TODO: implement loop exit when applicable
        // Done
        bool fStop = false;
        core_util_atomic_load(&fStop);
        if (fStop) {
            break;
        }

    }
}

void BikeSystem::stop() { core_util_atomic_store_bool(&_stopFlag, true); }

#if defined(MBED_TEST_MODE)
const advembsof::TaskLogger& BikeSystem::getTaskLogger() { return _taskLogger; }
#endif  // defined(MBED_TEST_MODE)

void BikeSystem::init() {
    // start the timer
    _timer.start();

    // initialize the lcd display
    disco::ReturnCode rc = _displayDevice.init();
    if (rc != disco::ReturnCode::Ok) {
        tr_error("Failed to initialized the lcd display: %d", static_cast<int>(rc));
    }

    // initialize the sensor device
    bool present = _sensorDevice.init();
    if (!present) {
        tr_error("Sensor not present or initialization failed");
    }

    // enable/disable task logging
    _taskLogger.enable(true);
}

void BikeSystem::gearTask() {
    // gear task
    auto taskStartTime = _timer.elapsed_time();

    // no need to protect access to data members (single threaded)
    _currentGear     = _gearDevice.getCurrentGear();
    _currentGearSize = _gearDevice.getCurrentGearSize();

    _taskLogger.logPeriodAndExecutionTime(
        _timer, advembsof::TaskLogger::kGearTaskIndex, taskStartTime);
}

void BikeSystem::speedDistanceTask() {
    // speed and distance task
    auto taskStartTime = _timer.elapsed_time();

    const auto pedalRotationTime = _pedalDevice.getCurrentRotationTime();
    _speedometer.setCurrentRotationTime(pedalRotationTime);
    _speedometer.setGearSize(_currentGearSize);
    // no need to protect access to data members (single threaded)
    _currentSpeed    = _speedometer.getCurrentSpeed();
    _traveledDistance = _speedometer.getDistance();

    _taskLogger.logPeriodAndExecutionTime(
        _timer, advembsof::TaskLogger::kSpeedTaskIndex, taskStartTime);
}

void BikeSystem::temperatureTask() {
    auto taskStartTime = _timer.elapsed_time();

    tr_warn("Tick1 %" PRIu64, _timer.elapsed_time().count());

    // no need to protect access to data members (single threaded)
    _currentTemperature = _sensorDevice.readTemperature();

    tr_warn("Tick2 %" PRIu64, _timer.elapsed_time().count());

    // simulate task computation by waiting for the required task computation time

    std::chrono::microseconds elapsedTime = std::chrono::microseconds::zero();
    while (elapsedTime < kTemperatureTaskComputationTime) {
        elapsedTime = _timer.elapsed_time() - taskStartTime;
    }

    _taskLogger.logPeriodAndExecutionTime(
        _timer, advembsof::TaskLogger::kTemperatureTaskIndex, taskStartTime);
}

void BikeSystem::resetTask() {
    auto taskStartTime = _timer.elapsed_time();

    if (_resetDevice.checkReset()) {
        std::chrono::microseconds responseTime =
            _timer.elapsed_time() - _resetDevice.getPressTime();
        tr_info("Reset task: response time is %" PRIu64 " usecs", responseTime.count());
        _speedometer.reset();
    }

    _taskLogger.logPeriodAndExecutionTime(
        _timer, advembsof::TaskLogger::kResetTaskIndex, taskStartTime);
}

void BikeSystem::displayTask1() {
    auto taskStartTime = _timer.elapsed_time();

    _displayDevice.displayGear(_currentGear);
    _displayDevice.displaySpeed(_currentSpeed);
    _displayDevice.displayDistance(_traveledDistance);

    // simulate task computation by waiting for the required task computation time

    std::chrono::microseconds elapsedTime = std::chrono::microseconds::zero();
    while (elapsedTime < kDisplayTask1ComputationTime) {
        elapsedTime = _timer.elapsed_time() - taskStartTime;
    }

    _taskLogger.logPeriodAndExecutionTime(
        _timer, advembsof::TaskLogger::kDisplayTask1Index, taskStartTime);
}

void BikeSystem::displayTask2() {
    auto taskStartTime = _timer.elapsed_time();

    _displayDevice.displayTemperature(_currentTemperature);

    // simulate task computation by waiting for the required task computation time

    std::chrono::microseconds elapsedTime = std::chrono::microseconds::zero();
    while (elapsedTime < kDisplayTask2ComputationTime) {
        elapsedTime = _timer.elapsed_time() - taskStartTime;
    }
    _taskLogger.logPeriodAndExecutionTime(
        _timer, advembsof::TaskLogger::kDisplayTask2Index, taskStartTime);
}

}  // namespace static_scheduling