ADD speedometer and gear class
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fastium
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b9fda1aefe
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125
common/speedometer.cpp
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125
common/speedometer.cpp
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// Copyright 2022 Haute école d'ingénierie et d'architecture de Fribourg
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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/****************************************************************************
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* @file speedometer_device.cpp
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* @author Serge Ayer <serge.ayer@hefr.ch>
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*
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* @brief WheelCounterDevice implementation (static scheduling)
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*
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* @date 2023-08-20
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* @version 1.0.0
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***************************************************************************/
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#include "speedometer.hpp"
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#include <chrono>
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#include <ratio>
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// from disco_h747i/wrappers
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#include "joystick.hpp"
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#include "mbed_trace.h"
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#if MBED_CONF_MBED_TRACE_ENABLE
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#define TRACE_GROUP "Speedometer"
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#endif // MBED_CONF_MBED_TRACE_ENABLE
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namespace bike_computer {
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Speedometer::Speedometer(Timer& timer) : _timer(timer) {
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// update _lastTime
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_lastTime = _timer.elapsed_time();
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}
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void Speedometer::setCurrentRotationTime(
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const std::chrono::milliseconds& currentRotationTime) {
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if (_pedalRotationTime != currentRotationTime) {
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// compute distance before changing the rotation time
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computeDistance();
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// change pedal rotation time
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_pedalRotationTime = currentRotationTime;
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// compute speed with the new pedal rotation time
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computeSpeed();
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}
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}
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void Speedometer::setGearSize(uint8_t gearSize) {
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if (_gearSize != gearSize) {
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// compute distance before chaning the gear size
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computeDistance();
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// change gear size
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_gearSize = gearSize;
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// compute speed with the new gear size
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computeSpeed();
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}
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}
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float Speedometer::getCurrentSpeed() const { return _currentSpeed; }
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float Speedometer::getDistance() {
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// make sure to update the distance traveled
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computeDistance();
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return _totalDistance;
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}
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void Speedometer::reset() {
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// TODO : done
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this->_totalDistanceMutex.lock();
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this->_totalDistance = 0.0f;
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this->_totalDistanceMutex.unlock();
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}
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#if defined(MBED_TEST_MODE)
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uint8_t Speedometer::getGearSize() const { return _gearSize; }
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float Speedometer::getWheelCircumference() const { return kWheelCircumference; }
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float Speedometer::getTraySize() const { return kTraySize; }
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std::chrono::milliseconds Speedometer::getCurrentPedalRotationTime() const {
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return _pedalRotationTime;
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}
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#endif // defined(MBED_TEST_MODE)
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void Speedometer::computeSpeed() {
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// For computing the speed given a rear gear (braquet), one must divide the size of
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// the tray (plateau) by the size of the rear gear (pignon arrière), and then multiply
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// the result by the circumference of the wheel. Example: tray = 50, rear gear = 15.
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// Distance run with one pedal turn (wheel circumference = 2.10 m) = 50/15 * 2.1 m
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// = 6.99m If you ride at 80 pedal turns / min, you run a distance of 6.99 * 80 / min
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// ~= 560 m / min = 33.6 km/h
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// TODO
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}
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void Speedometer::computeDistance() {
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// For computing the speed given a rear gear (braquet), one must divide the size of
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// the tray (plateau) by the size of the rear gear (pignon arrière), and then multiply
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// the result by the circumference of the wheel. Example: tray = 50, rear gear = 15.
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// Distance run with one pedal turn (wheel circumference = 2.10 m) = 50/15 * 2.1 m
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// = 6.99m If you ride at 80 pedal turns / min, you run a distance of 6.99 * 80 / min
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// ~= 560 m / min = 33.6 km/h. We then multiply the speed by the time for getting the
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// distance traveled.
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// TODO
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}
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} // namespace bike_computer
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91
common/speedometer.hpp
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91
common/speedometer.hpp
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// Copyright 2022 Haute école d'ingénierie et d'architecture de Fribourg
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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/****************************************************************************
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* @file speedometer_device.hpp
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* @author Serge Ayer <serge.ayer@hefr.ch>
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*
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* @brief WheelCounterDevice header file (static scheduling)
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*
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* @date 2023-08-20
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* @version 1.0.0
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***************************************************************************/
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#pragma once
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#include "constants.hpp"
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#include "mbed.h"
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namespace bike_computer {
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class Speedometer {
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public:
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explicit Speedometer(Timer& timer); // NOLINT(runtime/references)
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// method used for setting the current pedal rotation time
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void setCurrentRotationTime(const std::chrono::milliseconds& currentRotationTime);
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// method used for setting/getting the current gear
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void setGearSize(uint8_t gearSize);
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// method called for getting the current speed (expressed in km / h)
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float getCurrentSpeed() const;
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// method called for getting the current traveled distance (expressed in km)
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float getDistance();
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// method called for resetting the traveled distance
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void reset();
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// methods used for tests only
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#if defined(MBED_TEST_MODE)
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uint8_t getGearSize() const;
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float getWheelCircumference() const;
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float getTraySize() const;
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std::chrono::milliseconds getCurrentPedalRotationTime() const;
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void setOnResetCallback(mbed::Callback<void()> cb);
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#endif // defined(MBED_TEST_MODE)
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private:
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// private methods
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void computeSpeed();
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void computeDistance();
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// definition of task period time
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static constexpr std::chrono::milliseconds kTaskPeriod = 400ms;
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// definition of task execution time
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static constexpr std::chrono::microseconds kTaskRunTime = 200000us;
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// constants related to speed computation
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static constexpr float kWheelCircumference = 2.1f;
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static constexpr uint8_t kTraySize = 50;
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std::chrono::microseconds _lastTime = std::chrono::microseconds::zero();
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std::chrono::milliseconds _pedalRotationTime = kInitialPedalRotationTime;
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// data members
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Timer& _timer;
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LowPowerTicker _ticker;
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float _currentSpeed = 0.0f;
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Mutex _totalDistanceMutex;
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float _totalDistance = 0.0f;
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uint8_t _gearSize = 1;
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Thread _thread;
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#if defined(MBED_TEST_MODE)
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mbed::Callback<void()> _cb;
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#endif
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};
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} // namespace bike_computer
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83
static_scheduling/gear_device.cpp
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83
static_scheduling/gear_device.cpp
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// Copyright 2022 Haute école d'ingénierie et d'architecture de Fribourg
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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/****************************************************************************
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* @file gear_device.cpp
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* @author Serge Ayer <serge.ayer@hefr.ch>
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*
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* @brief Gear Device implementation (static scheduling)
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*
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* @date 2023-08-20
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* @version 1.0.0
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***************************************************************************/
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#include "gear_device.hpp"
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// from disco_h747i/wrappers
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#include <chrono>
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#include "joystick.hpp"
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#include "mbed_trace.h"
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#if MBED_CONF_MBED_TRACE_ENABLE
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#define TRACE_GROUP "GearDevice"
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#endif // MBED_CONF_MBED_TRACE_ENABLE
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namespace static_scheduling {
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// definition of task execution time
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static constexpr std::chrono::microseconds kTaskRunTime = 100000us;
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GearDevice::GearDevice(Timer& timer) : _timer(timer) {}
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uint8_t GearDevice::getCurrentGear() {
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std::chrono::microseconds initialTime = _timer.elapsed_time();
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std::chrono::microseconds elapsedTime = std::chrono::microseconds::zero();
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// we bound the change to one increment/decrement per call
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bool hasChanged = false;
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while (elapsedTime < kTaskRunTime) {
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if (!hasChanged) {
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disco::Joystick::State joystickState =
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disco::Joystick::getInstance().getState();
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switch (joystickState) {
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case disco::Joystick::State::UpPressed:
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if (_currentGear < bike_computer::kMaxGear) {
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_currentGear++;
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}
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hasChanged = true;
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break;
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case disco::Joystick::State::DownPressed:
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if (_currentGear > bike_computer::kMinGear) {
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_currentGear--;
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}
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hasChanged = true;
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break;
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default:
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break;
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}
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}
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elapsedTime = _timer.elapsed_time() - initialTime;
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}
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return _currentGear;
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}
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uint8_t GearDevice::getCurrentGearSize() const {
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// simulate task computation by waiting for the required task run time
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// wait_us(kTaskRunTime.count());
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return bike_computer::kMaxGearSize - _currentGear;
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}
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} // namespace static_scheduling
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50
static_scheduling/gear_device.hpp
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50
static_scheduling/gear_device.hpp
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// Copyright 2022 Haute école d'ingénierie et d'architecture de Fribourg
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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/****************************************************************************
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* @file gear_device.hpp
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* @author Serge Ayer <serge.ayer@hefr.ch>
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*
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* @brief Gear Device header file (static scheduling)
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*
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* @date 2023-08-20
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* @version 1.0.0
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***************************************************************************/
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#pragma once
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#include "constants.hpp"
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#include "mbed.h"
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namespace static_scheduling {
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class GearDevice {
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public:
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explicit GearDevice(Timer& timer); // NOLINT(runtime/references)
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// make the class non copyable
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GearDevice(GearDevice&) = delete;
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GearDevice& operator=(GearDevice&) = delete;
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// method called for updating the bike system
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uint8_t getCurrentGear();
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uint8_t getCurrentGearSize() const;
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private:
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// data members
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uint8_t _currentGear = bike_computer::kMinGear;
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Timer& _timer;
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};
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} // namespace static_scheduling
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