diff --git a/.github/workflows/build-test.yml b/.github/workflows/build-test.yml index c7da57f..9b36f30 100644 --- a/.github/workflows/build-test.yml +++ b/.github/workflows/build-test.yml @@ -1,6 +1,5 @@ name: Build test application on: - pull_request: push: jobs: @@ -13,10 +12,11 @@ jobs: strategy: matrix: target: [DISCO_H747I] - profile: [debug, release] + profile: [debug] tests: [ - tests-simple-test-always-succeed, - tests-simple-test-ptr-test, + tests-bike-computer-sensor-device, + tests-bike-computer-speedometer, + tests-bike-computer-bike-system, ] diff --git a/.gitignore b/.gitignore index 9e90278..ab749f6 100644 --- a/.gitignore +++ b/.gitignore @@ -4,3 +4,5 @@ projectfiles *.py* BUILD mbed-os +DISCO_h747i +advdembsof_library diff --git a/DISCO_H747I.lib b/DISCO_H747I.lib new file mode 100644 index 0000000..02ddf99 --- /dev/null +++ b/DISCO_H747I.lib @@ -0,0 +1 @@ +https://github.com/SergeAyer/DISCO_H747I/#2b367efbbf0d66205403647c0d0227808d0529ed diff --git a/README.md b/README.md index c8e088d..9fbad2c 100644 --- a/README.md +++ b/README.md @@ -5,4 +5,81 @@ AdvEmbSoft/HESSO-Master/2024 # BikeComputer This is a project done in the course of AdvEmbSoft during the master's degree. It contains a program for spinning bikes. +# Configuration +## Libraries +Add disco libraries : +```terminal +mbed add https://github.com/SergeAyer/DISCO_H747I.git +``` +Add sensor libraries : + +```terminal +mbed add https://github.com/SergeAyer/advdembsof_library.git +``` + +Test sensor libraries : +```terminal +mbed test -m DISCO_H747I -t GCC_ARM -n advdembsof_library-tests-sensors-hdc1000 --compile --run +``` + +## Run static scheduling +On `.mbedignore` put at the end of the file +``` +static_scheduling_with_event/* +``` + +On main.cpp include `"static_scheduling/bike_system.hpp"` and use : +```cpp +static_scheduling::BikeSystem bikeSystem; +bikeSystem.start(); +``` + +## Run static scheduling with event queue +On `.mbedignore` put at the end of the file : +``` +static_scheduling_with_event/* +``` + +On main.cpp include `"static_scheduling/bike_system.hpp"` and use : +```cpp +static_scheduling::BikeSystem bikeSystem; +bikeSystem.startWithEventQueue(); +``` + +## Run static scheduling with event scheduling +On `.mbedignore` put at the end of the file +``` +static_scheduling/* +``` + +On main.cpp include `"static_scheduling_with_event/bike_system.hpp"` and use : +```cpp +static_scheduling_with_event::BikeSystem bikeSystem; +bikeSystem.start(); +``` + +# Some questions +## Question 1 +`If you print CPU statistics at the end of every major cycle (in the super-loop), what CPU usage do you observe? How can you explain the observed CPU uptime?` + +We observe a 100% usage because on each CPU cycle it compare if time is done. + +## Question 2 +`If you run the program after the change from busy wait to sleep calls, what CPU usage do you observe? How can you explain the observed CPU uptime?` + +We can observe only a usage of 75% because the CPU is more on Idle with Thread sleep. + +## Question 3 +`If you run the static_scheduling_with_event program, what CPU usage do you observe? How can you explain the observed CPU uptime?` + +We observe a light usage of 1% of CPU. The CPU is now sleeping all the time and doing small task only on event. + +## Question 4 +`When you run multiple tests for computing the response time of the reset event, what do you observe? Is there an improvement as compared to the static_scheduling::BikeSystem implementation?` + +` - If you do not press long enough on the push button, the event may be missed and no reset happens.` + +`Based on the program itself and on the task scheduling, explain these two behaviors. Explain also why such behaviors may be problematic.` + +We notice, that we miss such less event when is event driven (or not at all). But with a static scheduling the response time is still long because the reset task is call with a certain period. \ No newline at end of file diff --git a/TESTS/bike-computer/bike-system/main.cpp b/TESTS/bike-computer/bike-system/main.cpp new file mode 100644 index 0000000..2665b18 --- /dev/null +++ b/TESTS/bike-computer/bike-system/main.cpp @@ -0,0 +1,159 @@ +// 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 main.cpp + * @author Serge Ayer + * + * @brief Bike computer test suite: scheduling + * + * @date 2023-08-26 + * @version 0.1.0 + ***************************************************************************/ + +#include + +#include "static_scheduling/bike_system.hpp" +#include "static_scheduling_with_event/bike_system.hpp" + +#include "greentea-client/test_env.h" +#include "mbed.h" +#include "task_logger.hpp" +#include "unity/unity.h" +#include "utest/utest.h" + +using namespace utest::v1; + +// test_bike_system handler function +static void test_bike_system() { + // create the BikeSystem instance + static_scheduling::BikeSystem bikeSystem; + + // run the bike system in a separate thread + Thread thread; + thread.start(callback(&bikeSystem, &static_scheduling::BikeSystem::start)); + + // let the bike system run for 20 secs + ThisThread::sleep_for(20s); + + // stop the bike system + bikeSystem.stop(); + + // check whether scheduling was correct + // Order is kGearTaskIndex, kSpeedTaskIndex, kTemperatureTaskIndex, + // kResetTaskIndex, kDisplayTask1Index, kDisplayTask2Index + constexpr std::chrono::microseconds taskComputationTimes[] = { + 100000us, 200000us, 100000us, 100000us, 200000us, 100000us}; + constexpr std::chrono::microseconds taskPeriods[] = { + 800000us, 400000us, 1600000us, 800000us, 1600000us, 1600000us}; + + // allow for 2 msecs offset + uint64_t deltaUs = 2000; + for (uint8_t taskIndex = 0; taskIndex < advembsof::TaskLogger::kNbrOfTasks; + taskIndex++) { + TEST_ASSERT_UINT64_WITHIN( + deltaUs, + taskPeriods[taskIndex].count(), + bikeSystem.getTaskLogger().getPeriod(taskIndex).count()); + TEST_ASSERT_UINT64_WITHIN( + deltaUs, + taskComputationTimes[taskIndex].count(), + bikeSystem.getTaskLogger().getComputationTime(taskIndex).count()); + } +} + +// test_bike_system_event_queue handler function +static void test_bike_system_event_queue() { + // create the BikeSystem instance + static_scheduling::BikeSystem bikeSystem; + + // run the bike system in a separate thread + Thread thread; + thread.start(callback(&bikeSystem, &static_scheduling::BikeSystem::startWithEventQueue)); + + // let the bike system run for 20 secs + ThisThread::sleep_for(20s); + + // stop the bike system + bikeSystem.stop(); + + // check whether scheduling was correct + // Order is kGearTaskIndex, kSpeedTaskIndex, kTemperatureTaskIndex, + // kResetTaskIndex, kDisplayTask1Index, kDisplayTask2Index + // When we use the event queue, we do not check the computation time + constexpr std::chrono::microseconds taskPeriods[] = { + 800000us, 400000us, 1600000us, 800000us, 1600000us, 1600000us}; + + // allow for 2 msecs offset (with EventQueue) + uint64_t deltaUs = 2000; + for (uint8_t taskIndex = 0; taskIndex < advembsof::TaskLogger::kNbrOfTasks; + taskIndex++) { + TEST_ASSERT_UINT64_WITHIN( + deltaUs, + taskPeriods[taskIndex].count(), + bikeSystem.getTaskLogger().getPeriod(taskIndex).count()); + } +} + +// test_bike_system_with_event handler function +static void test_bike_system_with_event() { + // create the BikeSystem instance + static_scheduling_with_event::BikeSystem bikeSystem; + + // run the bike system in a separate thread + Thread thread; + thread.start(callback(&bikeSystem, &static_scheduling_with_event::BikeSystem::start)); + + // let the bike system run for 20 secs + ThisThread::sleep_for(20s); + + // stop the bike system + bikeSystem.stop(); + + // check whether scheduling was correct + // Order is kGearTaskIndex, kSpeedTaskIndex, kTemperatureTaskIndex, + // kResetTaskIndex, kDisplayTask1Index, kDisplayTask2Index + // When we use event handling, we do not check the computation time + constexpr std::chrono::microseconds taskPeriods[] = { + 800000us, 400000us, 1600000us, 800000us, 1600000us, 1600000us}; + + // allow for 2 msecs offset (with EventQueue) + uint64_t deltaUs = 2000; + for (uint8_t taskIndex = 0; taskIndex < advembsof::TaskLogger::kNbrOfTasks; + taskIndex++) { + TEST_ASSERT_UINT64_WITHIN( + deltaUs, + taskPeriods[taskIndex].count(), + bikeSystem.getTaskLogger().getPeriod(taskIndex).count()); + } +} + +static utest::v1::status_t greentea_setup(const size_t number_of_cases) { + // Here, we specify the timeout (60s) and the host test (a built-in host test or the + // name of our Python file) + GREENTEA_SETUP(180, "default_auto"); + + return greentea_test_setup_handler(number_of_cases); +} + +// List of test cases in this file +static Case cases[] = { + Case("test bike system", test_bike_system), + Case("test bike system with event queue", test_bike_system_event_queue), + Case("test bike system with event handling", test_bike_system_with_event), +}; + +static Specification specification(greentea_setup, cases); + +int main() { return !Harness::run(specification); } \ No newline at end of file diff --git a/TESTS/bike-computer/sensor-device/main.cpp b/TESTS/bike-computer/sensor-device/main.cpp new file mode 100644 index 0000000..9792526 --- /dev/null +++ b/TESTS/bike-computer/sensor-device/main.cpp @@ -0,0 +1,69 @@ +// 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 main.cpp + * @author Serge Ayer + * + * @brief Bike computer test suite: sensor device + * + * @date 2023-08-26 + * @version 0.1.0 + ***************************************************************************/ + +#include "greentea-client/test_env.h" +#include "hdc1000.hpp" +#include "mbed.h" +#include "sensor_device.hpp" +#include "unity/unity.h" +#include "utest/utest.h" + +using namespace utest::v1; + +// test_hdc1000 test handler function +static control_t test_sensor_device(const size_t call_count) { + // create the SensorDevice instance + bike_computer::SensorDevice sensorDevice; + + bool rc = sensorDevice.init(); + TEST_ASSERT_TRUE(rc); + + float temperature = sensorDevice.readTemperature(); + static constexpr float kTemperatureRange = 20.0f; + static constexpr float kMeanTemperature = 15.0f; + TEST_ASSERT_FLOAT_WITHIN(kTemperatureRange, kMeanTemperature, temperature); + + float humidity = sensorDevice.readHumidity(); + static constexpr float kHumidityRange = 40.0f; + static constexpr float kMeanHumidity = 50.0f; + TEST_ASSERT_FLOAT_WITHIN(kHumidityRange, kMeanHumidity, humidity); + + // execute the test only once and move to the next one, without waiting + return CaseNext; +} + +static utest::v1::status_t greentea_setup(const size_t number_of_cases) { + // Here, we specify the timeout (60s) and the host test (a built-in host test or the + // name of our Python file) + GREENTEA_SETUP(60, "default_auto"); + + return greentea_test_setup_handler(number_of_cases); +} + +// List of test cases in this file +static Case cases[] = {Case("test sensor device", test_sensor_device)}; + +static Specification specification(greentea_setup, cases); + +int main() { return !Harness::run(specification); } \ No newline at end of file diff --git a/TESTS/bike-computer/speedometer/main.cpp b/TESTS/bike-computer/speedometer/main.cpp new file mode 100644 index 0000000..26a2906 --- /dev/null +++ b/TESTS/bike-computer/speedometer/main.cpp @@ -0,0 +1,354 @@ +// 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 main.cpp + * @author Serge Ayer + * + * @brief Bike computer test suite: speedometer device + * + * @date 2023-08-26 + * @version 0.1.0 + ***************************************************************************/ + +#include + +#include "common/constants.hpp" +#include "common/speedometer.hpp" +#include "greentea-client/test_env.h" +#include "mbed.h" +#include "static_scheduling/gear_device.hpp" +#include "unity/unity.h" +#include "utest/utest.h" + +using namespace utest::v1; + +// allow for 0.1 km/h difference +static constexpr float kAllowedSpeedDelta = 0.1f; +// allow for 1m difference +static constexpr float kAllowedDistanceDelta = 1.0f / 1000.0; + +// function called by test handler functions for verifying the current speed +void check_current_speed(const std::chrono::milliseconds& pedalRotationTime, + uint8_t traySize, + uint8_t gearSize, + float wheelCircumference, + float currentSpeed) { + // compute the number of pedal rotation per hour + uint32_t milliSecondsPerHour = 1000 * 3600; + float pedalRotationsPerHour = static_cast(milliSecondsPerHour) / + static_cast(pedalRotationTime.count()); + + // compute the expected speed in km / h + // first compute the distance in meter for each pedal turn + float trayGearRatio = static_cast(traySize) / static_cast(gearSize); + float distancePerPedalTurn = trayGearRatio * wheelCircumference; + float expectedSpeed = (distancePerPedalTurn / 1000.0f) * pedalRotationsPerHour; + + printf(" Expected speed is %f, current speed is %f\n", expectedSpeed, currentSpeed); + TEST_ASSERT_FLOAT_WITHIN(kAllowedSpeedDelta, expectedSpeed, currentSpeed); +} + +// compute the traveled distance for a time interval +float compute_distance(const std::chrono::milliseconds& pedalRotationTime, + uint8_t traySize, + uint8_t gearSize, + float wheelCircumference, + const std::chrono::milliseconds& travelTime) { + // compute the number of pedal rotation during travel time + // both times are expressed in ms + float pedalRotations = static_cast(travelTime.count()) / + static_cast(pedalRotationTime.count()); + + // compute the distance in meter for each pedal turn + float trayGearRatio = static_cast(traySize) / static_cast(gearSize); + float distancePerPedalTurn = trayGearRatio * wheelCircumference; + + // distancePerPedalTurn is expressed in m, divide per 1000 for a distance in km + return (distancePerPedalTurn * pedalRotations) / 1000.0; +} + +// function called by test handler functions for verifying the distance traveled +void check_distance(const std::chrono::milliseconds& pedalRotationTime, + uint8_t traySize, + uint8_t gearSize, + float wheelCircumference, + const std::chrono::milliseconds& travelTime, + float distance) { + // distancePerPedalTurn is expressed in m, divide per 1000 for a distance in km + float expectedDistance = compute_distance( + pedalRotationTime, traySize, gearSize, wheelCircumference, travelTime); + printf(" Expected distance is %f, current distance is %f\n", + expectedDistance, + distance); + TEST_ASSERT_FLOAT_WITHIN(kAllowedDistanceDelta, expectedDistance, distance); +} + +// test the speedometer by modifying the gear +static control_t test_gear_size(const size_t call_count) { + // create a timer + Timer timer; + // start the timer + timer.start(); + + // create a speedometer instance + bike_computer::Speedometer speedometer(timer); + + // get speedometer constant values (for this test) + const auto traySize = speedometer.getTraySize(); + const auto wheelCircumference = speedometer.getWheelCircumference(); + const auto pedalRotationTime = speedometer.getCurrentPedalRotationTime(); + + for (uint8_t gearSize = bike_computer::kMinGearSize; + gearSize <= bike_computer::kMaxGearSize; + gearSize++) { + // set the gear + printf("Testing gear size %d\n", gearSize); + speedometer.setGearSize(gearSize); + + // get the current speed + auto currentSpeed = speedometer.getCurrentSpeed(); + + // check the speed against the expected one + check_current_speed( + pedalRotationTime, traySize, gearSize, wheelCircumference, currentSpeed); + } + + // execute the test only once and move to the next one, without waiting + return CaseNext; +} + +// test the speedometer by modifying the pedal rotation speed +static control_t test_rotation_speed(const size_t call_count) { + // create a timer + Timer timer; + // start the timer + timer.start(); + + // create a speedometer instance + bike_computer::Speedometer speedometer(timer); + + // set the gear size + speedometer.setGearSize(bike_computer::kMaxGearSize); + + // get speedometer constant values + const auto traySize = speedometer.getTraySize(); + const auto wheelCircumference = speedometer.getWheelCircumference(); + const auto gearSize = speedometer.getGearSize(); + + // first test increasing rotation speed (decreasing rotation time) + auto pedalRotationTime = speedometer.getCurrentPedalRotationTime(); + while (pedalRotationTime > bike_computer::kMinPedalRotationTime) { + // decrease the pedal rotation time + pedalRotationTime -= bike_computer::kDeltaPedalRotationTime; + speedometer.setCurrentRotationTime(pedalRotationTime); + + // get the current speed + const auto currentSpeed = speedometer.getCurrentSpeed(); + + // check the speed against the expected one + check_current_speed( + pedalRotationTime, traySize, gearSize, wheelCircumference, currentSpeed); + } + + // second test decreasing rotation speed (increasing rotation time) + pedalRotationTime = speedometer.getCurrentPedalRotationTime(); + while (pedalRotationTime < bike_computer::kMaxPedalRotationTime) { + // increase the pedal rotation time + pedalRotationTime += bike_computer::kDeltaPedalRotationTime; + speedometer.setCurrentRotationTime(pedalRotationTime); + + // get the current speed + const auto currentSpeed = speedometer.getCurrentSpeed(); + + // check the speed against the expected one + check_current_speed( + pedalRotationTime, traySize, gearSize, wheelCircumference, currentSpeed); + } + + // execute the test only once and move to the next one, without waiting + return CaseNext; +} + +// test the speedometer by modifying the pedal rotation speed +static control_t test_distance(const size_t call_count) { + // create a timer + Timer timer; + + // create a speedometer instance + bike_computer::Speedometer speedometer(timer); + + // set the gear size + speedometer.setGearSize(bike_computer::kMaxGearSize); + + // get speedometer constant values + const auto traySize = speedometer.getTraySize(); + const auto wheelCircumference = speedometer.getWheelCircumference(); + auto gearSize = speedometer.getGearSize(); + auto pedalRotationTime = speedometer.getCurrentPedalRotationTime(); + + // test different travel times + const std::chrono::milliseconds travelTimes[] = {500ms, 1000ms, 5s, 10s}; + const uint8_t nbrOfTravelTimes = sizeof(travelTimes) / sizeof(travelTimes[0]); + + // start the timer (for simulating bike start) + timer.start(); + + // first check travel distance without changing gear and rotation speed + std::chrono::milliseconds totalTravelTime = std::chrono::milliseconds::zero(); + for (uint8_t index = 0; index < nbrOfTravelTimes; index++) { + // run for the travel time and get the distance + ThisThread::sleep_for(travelTimes[index]); + + // get the distance traveled + const auto distance = speedometer.getDistance(); + + // accumulate travel time + totalTravelTime += travelTimes[index]; + + // check the distance vs the expected one + check_distance(pedalRotationTime, + traySize, + gearSize, + wheelCircumference, + totalTravelTime, + distance); + } + + // now change gear at each time interval + auto expectedDistance = speedometer.getDistance(); + for (uint8_t index = 0; index < nbrOfTravelTimes; index++) { + // update the gear size + gearSize++; + speedometer.setGearSize(gearSize); + + // run for the travel time and get the distance + ThisThread::sleep_for(travelTimes[index]); + + // compute the expected distance for this time segment + float distance = compute_distance(pedalRotationTime, + traySize, + gearSize, + wheelCircumference, + travelTimes[index]); + expectedDistance += distance; + + // get the distance traveled + const auto traveledDistance = speedometer.getDistance(); + + printf(" Expected distance is %f, current distance is %f\n", + expectedDistance, + traveledDistance); + TEST_ASSERT_FLOAT_WITHIN( + kAllowedDistanceDelta, expectedDistance, traveledDistance); + } + // now change rotation speed at each time interval + expectedDistance = speedometer.getDistance(); + for (uint8_t index = 0; index < nbrOfTravelTimes; index++) { + // update the rotation speed + pedalRotationTime += bike_computer::kDeltaPedalRotationTime; + speedometer.setCurrentRotationTime(pedalRotationTime); + + // run for the travel time and get the distance + ThisThread::sleep_for(travelTimes[index]); + + // compute the expected distance for this time segment + float distance = compute_distance(pedalRotationTime, + traySize, + gearSize, + wheelCircumference, + travelTimes[index]); + expectedDistance += distance; + + // get the distance traveled + const auto traveledDistance = speedometer.getDistance(); + + printf(" Expected distance is %f, current distance is %f\n", + expectedDistance, + traveledDistance); + TEST_ASSERT_FLOAT_WITHIN( + kAllowedDistanceDelta, expectedDistance, traveledDistance); + } + + // execute the test only once and move to the next one, without waiting + return CaseNext; +} + +// test the speedometer by modifying the pedal rotation speed +static control_t test_reset(const size_t call_count) { + // create a timer instance + Timer timer; + + // create a speedometer instance + bike_computer::Speedometer speedometer(timer); + + // set the gear size + speedometer.setGearSize(bike_computer::kMinGearSize); + + // get speedometer constant values + const auto traySize = speedometer.getTraySize(); + const auto wheelCircumference = speedometer.getWheelCircumference(); + const auto gearSize = speedometer.getGearSize(); + const auto pedalRotationTime = speedometer.getCurrentPedalRotationTime(); + + // start the timer (for simulating bike start) + timer.start(); + + // travel for 1 second + const auto travelTime = 1000ms; + ThisThread::sleep_for(travelTime); + + // check the expected distaance traveled + const auto expectedDistance = compute_distance( + pedalRotationTime, traySize, gearSize, wheelCircumference, travelTime); + + // get the distance traveled + auto traveledDistance = speedometer.getDistance(); + + printf(" Expected distance is %f, current distance is %f\n", + expectedDistance, + traveledDistance); + TEST_ASSERT_FLOAT_WITHIN(kAllowedDistanceDelta, expectedDistance, traveledDistance); + + // reset the speedometer + speedometer.reset(); + + // traveled distance should now be zero + traveledDistance = speedometer.getDistance(); + + printf(" Expected distance is %f, current distance is %f\n", 0.0f, traveledDistance); + TEST_ASSERT_FLOAT_WITHIN(kAllowedDistanceDelta, 0.0f, traveledDistance); + + // execute the test only once and move to the next one, without waiting + return CaseNext; +} + +static utest::v1::status_t greentea_setup(const size_t number_of_cases) { + // Here, we specify the timeout (60s) and the host test (a built-in host test or the + // name of our Python file) + GREENTEA_SETUP(180, "default_auto"); + + return greentea_test_setup_handler(number_of_cases); +} + +// List of test cases in this file +static Case cases[] = { + Case("test speedometer gear size change", test_gear_size), + Case("test speedometer rotation speed change", test_rotation_speed), + Case("test speedometer distance", test_distance), + Case("test speedometer reset", test_reset)}; + +static Specification specification(greentea_setup, cases); + +int main() { return !Harness::run(specification); } \ No newline at end of file diff --git a/advdembsof_library.lib b/advdembsof_library.lib new file mode 100644 index 0000000..e2720e9 --- /dev/null +++ b/advdembsof_library.lib @@ -0,0 +1 @@ +https://github.com/SergeAyer/advdembsof_library/#c0687fc795de83780fa9e7e935c9f465d697cc2a diff --git a/common/constants.hpp b/common/constants.hpp new file mode 100644 index 0000000..859a210 --- /dev/null +++ b/common/constants.hpp @@ -0,0 +1,60 @@ +// 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 constants.hpp + * @author Serge Ayer + * + * @brief Constants definition used for implementing the bike system + * + * @date 2023-08-20 + * @version 1.0.0 + ***************************************************************************/ + +#pragma once + +#include + +#include "mbed.h" + +namespace bike_computer { + +// gear related constants +static constexpr uint8_t kMinGear = 1; +static constexpr uint8_t kMaxGear = 9; +// smallest gear (= 1) corresponds to a gear size of 20 +// when the gear increases, the gear size descreases +static constexpr uint8_t kMaxGearSize = 20; +static constexpr uint8_t kMinGearSize = kMaxGearSize - kMaxGear; + +// pedal related constants +// When compiling and linking with gcc, we get a link error when using static +// constexpr. The error is related to template instantiation. + +// definition of pedal rotation initial time (corresponds to 80 turn / min) +static constexpr std::chrono::milliseconds kInitialPedalRotationTime = 750ms; +// definition of pedal minimal rotation time (corresponds to 160 turn / min) +static constexpr std::chrono::milliseconds kMinPedalRotationTime = 375ms; +// definition of pedal maximal rotation time (corresponds to 10 turn / min) +static constexpr std::chrono::milliseconds kMaxPedalRotationTime = 1500ms; +// definition of pedal rotation time change upon acceleration/deceleration +static constexpr std::chrono::milliseconds kDeltaPedalRotationTime = 25ms; + +static constexpr uint32_t kNbrOfSteps = static_cast( + ( + bike_computer::kMaxPedalRotationTime - bike_computer::kMinPedalRotationTime + ).count() / bike_computer::kDeltaPedalRotationTime.count() +); + +} // namespace bike_computer \ No newline at end of file diff --git a/common/sensor_device.cpp b/common/sensor_device.cpp new file mode 100644 index 0000000..4aa7ef2 --- /dev/null +++ b/common/sensor_device.cpp @@ -0,0 +1,21 @@ +#include "sensor_device.hpp" + +namespace bike_computer { + +SensorDevice::SensorDevice() : _hdc1000(I2C_SDA, I2C_SCL, STMOD_11) +{} + +bool SensorDevice::init() { + return this->_hdc1000.probe(); +} + +float SensorDevice::readTemperature(void) { + return this->_hdc1000.getTemperature(); +} + +float SensorDevice::readHumidity(void) { + return this->_hdc1000.getHumidity(); +} + +} // bike_computer + diff --git a/common/sensor_device.hpp b/common/sensor_device.hpp new file mode 100644 index 0000000..d6ead2c --- /dev/null +++ b/common/sensor_device.hpp @@ -0,0 +1,49 @@ +// 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 sensor_device.hpp + * @author Serge Ayer + * + * @brief SensorDevice header file (static scheduling) + * + * @date 2023-08-20 + * @version 1.0.0 + ***************************************************************************/ + +#pragma once + +#include "hdc1000.hpp" +#include "mbed.h" + +namespace bike_computer { + +class SensorDevice { + public: + // constructor + SensorDevice(); + + // method for initializing the device + bool init(); + + // methods used for + float readTemperature(void); + float readHumidity(void); + + private: + // data members + advembsof::HDC1000 _hdc1000; +}; + +} // namespace bike_computer \ No newline at end of file diff --git a/common/speedometer.cpp b/common/speedometer.cpp new file mode 100644 index 0000000..c68b20a --- /dev/null +++ b/common/speedometer.cpp @@ -0,0 +1,144 @@ +// 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 speedometer_device.cpp + * @author Serge Ayer + * + * @brief WheelCounterDevice implementation (static scheduling) + * + * @date 2023-08-20 + * @version 1.0.0 + ***************************************************************************/ + +#include "speedometer.hpp" + +#include "static_scheduling/gear_device.hpp" + +#include +#include + +// from disco_h747i/wrappers +#include "joystick.hpp" +#include "mbed_trace.h" + +#if MBED_CONF_MBED_TRACE_ENABLE +#define TRACE_GROUP "Speedometer" +#endif // MBED_CONF_MBED_TRACE_ENABLE + +namespace bike_computer { + +Speedometer::Speedometer(Timer& timer) : _timer(timer) { + // update _lastTime + _lastTime = _timer.elapsed_time(); +} + +void Speedometer::setCurrentRotationTime( + const std::chrono::milliseconds& currentRotationTime) { + if (_pedalRotationTime != currentRotationTime) { + // compute distance before changing the rotation time + computeDistance(); + + // change pedal rotation time + _pedalRotationTime = currentRotationTime; + + // compute speed with the new pedal rotation time + computeSpeed(); + } +} + +void Speedometer::setGearSize(uint8_t gearSize) { + if (_gearSize != gearSize) { + // compute distance before chaning the gear size + computeDistance(); + + // change gear size + _gearSize = gearSize; + + // compute speed with the new gear size + computeSpeed(); + } +} + +float Speedometer::getCurrentSpeed() const { return _currentSpeed; } + +float Speedometer::getDistance() { + // make sure to update the distance traveled + computeDistance(); + return _totalDistance; +} + +void Speedometer::reset() { + // TODO : done + this->_totalDistanceMutex.lock(); + this->_totalDistance = 0.0f; + this->_totalDistanceMutex.unlock(); +} + +#if defined(MBED_TEST_MODE) +uint8_t Speedometer::getGearSize() const { return _gearSize; } + +float Speedometer::getWheelCircumference() const { return kWheelCircumference; } + +float Speedometer::getTraySize() const { return kTraySize; } + +std::chrono::milliseconds Speedometer::getCurrentPedalRotationTime() const { + return _pedalRotationTime; +} + +#endif // defined(MBED_TEST_MODE) + +void Speedometer::computeSpeed() { + // For computing the speed given a rear gear (braquet), one must divide the size of + // the tray (plateau) by the size of the rear gear (pignon arrière), and then multiply + // the result by the circumference of the wheel. Example: tray = 50, rear gear = 15. + // Distance run with one pedal turn (wheel circumference = 2.10 m) = 50/15 * 2.1 m + // = 6.99m If you ride at 80 pedal turns / min, you run a distance of 6.99 * 80 / min + // ~= 560 m / min = 33.6 km/h + + // TODO : done + //Distance run with one pedal turn = tray size / rear gear size * circumference of the wheel + constexpr float ms_in_hour = static_cast(3600 * 1000); + float pedal_rotation_per_hour = ms_in_hour / static_cast(_pedalRotationTime.count()); + float gear_ratio = static_cast(kTraySize) / static_cast(this->_gearSize); + float wheel_dist_km = static_cast(this->kWheelCircumference) / 1000.0; + this->_currentSpeed = gear_ratio * wheel_dist_km * pedal_rotation_per_hour; +} + +void Speedometer::computeDistance() { + // For computing the speed given a rear gear (braquet), one must divide the size of + // the tray (plateau) by the size of the rear gear (pignon arrière), and then multiply + // the result by the circumference of the wheel. Example: tray = 50, rear gear = 15. + // Distance run with one pedal turn (wheel circumference = 2.10 m) = 50/15 * 2.1 m + // = 6.99m If you ride at 80 pedal turns / min, you run a distance of 6.99 * 80 / min + // ~= 560 m / min = 33.6 km/h. We then multiply the speed by the time for getting the + // distance traveled. + + // TODO : done + Speedometer::computeSpeed(); + // compute distance + + const std::chrono::microseconds timeNow = _timer.elapsed_time(); + const std::chrono::microseconds timeDiff = timeNow - _lastTime; + constexpr float ms_in_hour = static_cast(3600 * 1000); + float traveled_dist = _currentSpeed * timeDiff.count() / (ms_in_hour*1000.0/*μs*/); + + this->_totalDistanceMutex.lock(); + this->_totalDistance += traveled_dist; + this->_totalDistanceMutex.unlock(); + + _lastTime = _timer.elapsed_time(); +} + +} // namespace bike_computer \ No newline at end of file diff --git a/common/speedometer.hpp b/common/speedometer.hpp new file mode 100644 index 0000000..bbc1e6b --- /dev/null +++ b/common/speedometer.hpp @@ -0,0 +1,91 @@ +// 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 speedometer_device.hpp + * @author Serge Ayer + * + * @brief WheelCounterDevice header file (static scheduling) + * + * @date 2023-08-20 + * @version 1.0.0 + ***************************************************************************/ + +#pragma once + +#include "constants.hpp" +#include "mbed.h" + +namespace bike_computer { + +class Speedometer { + public: + explicit Speedometer(Timer& timer); // NOLINT(runtime/references) + + // method used for setting the current pedal rotation time + void setCurrentRotationTime(const std::chrono::milliseconds& currentRotationTime); + + // method used for setting/getting the current gear + void setGearSize(uint8_t gearSize); + + // method called for getting the current speed (expressed in km / h) + float getCurrentSpeed() const; + + // method called for getting the current traveled distance (expressed in km) + float getDistance(); + + // method called for resetting the traveled distance + void reset(); + + // methods used for tests only +#if defined(MBED_TEST_MODE) + uint8_t getGearSize() const; + float getWheelCircumference() const; + float getTraySize() const; + std::chrono::milliseconds getCurrentPedalRotationTime() const; + void setOnResetCallback(mbed::Callback cb); +#endif // defined(MBED_TEST_MODE) + + private: + // private methods + void computeSpeed(); + void computeDistance(); + + // definition of task period time + static constexpr std::chrono::milliseconds kTaskPeriod = 400ms; + // definition of task execution time + static constexpr std::chrono::microseconds kTaskRunTime = 200000us; + + // constants related to speed computation + static constexpr float kWheelCircumference = 2.1f; + static constexpr uint8_t kTraySize = 50; + std::chrono::microseconds _lastTime = std::chrono::microseconds::zero(); + std::chrono::milliseconds _pedalRotationTime = kInitialPedalRotationTime; + + // data members + Timer& _timer; + LowPowerTicker _ticker; + float _currentSpeed = 0.0f; + Mutex _totalDistanceMutex; + float _totalDistance = 0.0f; + uint8_t _gearSize = 1; + + Thread _thread; + +#if defined(MBED_TEST_MODE) + mbed::Callback _cb; +#endif +}; + +} // namespace bike_computer \ No newline at end of file diff --git a/main.cpp b/main.cpp index 9bb6191..f8b2f75 100644 --- a/main.cpp +++ b/main.cpp @@ -6,19 +6,25 @@ #if !MBED_TEST_MODE #include "mbed.h" // NOLINT +#include "mbed_trace.h" +//#include "static_scheduling/bike_system.hpp" +#include "static_scheduling_with_event/bike_system.hpp" -// Blinking rate in milliseconds -#define BLINKING_RATE 500ms +#if defined(MBED_CONF_MBED_TRACE_ENABLE) +#define TRACE_GROUP "MAIN" +#endif // MBED_CONF_MBED_TRACE_ENAB int main() { - // Initialise the digital pin LED1 as an output +#if defined(MBED_CONF_MBED_TRACE_ENABLE) + mbed_trace_init(); +#endif - DigitalOut led(LED1); + // static_scheduling::BikeSystem bikeSystem; + // bikeSystem.start(); + // bikeSystem.startWithEventQueue(); - while (true) { - led = !led; - ThisThread::sleep_for(BLINKING_RATE); - } + static_scheduling_with_event::BikeSystem bikeSystem; + bikeSystem.start(); } #endif // MBED_TEST_MODE diff --git a/mbed_app.json b/mbed_app.json index 2f706a5..c42f542 100644 --- a/mbed_app.json +++ b/mbed_app.json @@ -14,6 +14,7 @@ "platform.stdio-baud-rate": 115200, "platform.default-serial-baud-rate": 115200, "platform.stdio-buffered-serial": true, + "platform.all-stats-enabled": true, "target.printf_lib":"minimal-printf", "platform.minimal-printf-enable-floating-point": true, "platform.minimal-printf-set-floating-point-max-decimals": 2 diff --git a/static_scheduling/bike_system.cpp b/static_scheduling/bike_system.cpp new file mode 100644 index 0000000..74a4040 --- /dev/null +++ b/static_scheduling/bike_system.cpp @@ -0,0 +1,308 @@ +// 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 + * @author Rémi Heredero + * @author Yann Sierro + * + * @brief Bike System implementation (static scheduling) + * + * @date 2023-11-15 + * @version 1.1.0 + ***************************************************************************/ + +#include "bike_system.hpp" + +#include + +#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; +static constexpr std::chrono::milliseconds kCPUTaskPeriod = 1600ms; +static constexpr std::chrono::milliseconds kCPUTaskDelay = 0ms; +static constexpr std::chrono::milliseconds kCPUTaskComputationTime = 0ms; + + +BikeSystem::BikeSystem() : + _gearDevice(_timer), + _pedalDevice(_timer), + _resetDevice(_timer), + _speedometer(_timer), + _cpuLogger(_timer) +{ + +} + +void BikeSystem::start() { + tr_info("Starting Super-Loop without event handling"); + + init(); + + while (true) { + auto startTime = _timer.elapsed_time(); + + 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(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; + } + + #if !defined(MBED_TEST_MODE) + _cpuLogger.printStats(); + #endif + + } +} + +void BikeSystem::startWithEventQueue() { + + tr_info("Starting Super-Loop with event handling"); + + init(); + + EventQueue eventQueue; + + Event gearEvent(&eventQueue, callback(this, &BikeSystem::gearTask)); + gearEvent.delay(kGearTaskDelay); + gearEvent.period(kGearTaskPeriod); + gearEvent.post(); + + Event speedDistanceEvent(&eventQueue, callback(this, &BikeSystem::speedDistanceTask)); + speedDistanceEvent.delay(kSpeedDistanceTaskDelay); + speedDistanceEvent.period(kSpeedDistanceTaskPeriod); + speedDistanceEvent.post(); + + Event display1Event(&eventQueue, callback(this, &BikeSystem::displayTask1)); + display1Event.delay(kDisplayTask1Delay); + display1Event.period(kDisplayTask1Period); + display1Event.post(); + + Event resetEvent(&eventQueue, callback(this, &BikeSystem::resetTask)); + resetEvent.delay(kResetTaskDelay); + resetEvent.period(kResetTaskPeriod); + resetEvent.post(); + + Event temperatureEvent(&eventQueue, callback(this, &BikeSystem::temperatureTask)); + temperatureEvent.delay(kTemperatureTaskDelay); + temperatureEvent.period(kTemperatureTaskPeriod); + temperatureEvent.post(); + + Event display2Event(&eventQueue, callback(this, &BikeSystem::displayTask2)); + display2Event.delay(kDisplayTask2Delay); + display2Event.period(kDisplayTask2Period); + display2Event.post(); + + #if !defined(MBED_TEST_MODE) + Event cpuEvent(&eventQueue, callback(this, &BikeSystem::cpuTask)); + cpuEvent.delay(kCPUTaskDelay); + cpuEvent.period(kCPUTaskPeriod); + cpuEvent.post(); + #endif + + eventQueue.dispatch_forever(); +} + +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(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()); + + ThisThread::sleep_for( + std::chrono::duration_cast( + kTemperatureTaskComputationTime - (_timer.elapsed_time() - taskStartTime) + ) + ); + + // 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); + + ThisThread::sleep_for( + std::chrono::duration_cast( + kDisplayTask1ComputationTime - (_timer.elapsed_time() - taskStartTime) + ) + ); + + // 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); + + ThisThread::sleep_for( + std::chrono::duration_cast( + kDisplayTask2ComputationTime - (_timer.elapsed_time() - taskStartTime) + ) + ); + + // 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); +} + +void BikeSystem::cpuTask() { + _cpuLogger.printStats(); +} + +} // namespace static_scheduling \ No newline at end of file diff --git a/static_scheduling/bike_system.hpp b/static_scheduling/bike_system.hpp new file mode 100644 index 0000000..ccd3409 --- /dev/null +++ b/static_scheduling/bike_system.hpp @@ -0,0 +1,106 @@ +// 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.hpp + * @author Serge Ayer + * + * @brief Bike System header file (static scheduling) + * + * @date 2023-08-20 + * @version 1.0.0 + ***************************************************************************/ + +#pragma once + +// from advembsof +#include "display_device.hpp" +#include "task_logger.hpp" +#include "cpu_logger.hpp" + +// from common +#include "sensor_device.hpp" +#include "speedometer.hpp" + +// local +#include "gear_device.hpp" +#include "pedal_device.hpp" +#include "reset_device.hpp" + +namespace static_scheduling { + +class BikeSystem { + public: + // constructor + BikeSystem(); + + // make the class non copyable + BikeSystem(BikeSystem&) = delete; + BikeSystem& operator=(BikeSystem&) = delete; + + // method called in main() for starting the system + void start(); + + // method called in main() for starting the sysytem with the event queue + void startWithEventQueue(); + + // method called for stopping the system + void stop(); + +#if defined(MBED_TEST_MODE) + const advembsof::TaskLogger& getTaskLogger(); +#endif // defined(MBED_TEST_MODE) + + private: + // private methods + void init(); + void gearTask(); + void speedDistanceTask(); + void temperatureTask(); + void resetTask(); + void displayTask1(); + void displayTask2(); + void cpuTask(); + + // stop flag, used for stopping the super-loop (set in stop()) + bool _stopFlag = false; + // timer instance used for loggint task time and used by ResetDevice + Timer _timer; + // data member that represents the device for manipulating the gear + GearDevice _gearDevice; + uint8_t _currentGear = bike_computer::kMinGear; + uint8_t _currentGearSize = bike_computer::kMinGearSize; + // data member that represents the device for manipulating the pedal rotation + // speed/time + PedalDevice _pedalDevice; + float _currentSpeed = 0.0f; + float _traveledDistance = 0.0f; + // data member that represents the device used for resetting + ResetDevice _resetDevice; + // data member that represents the device display + advembsof::DisplayDevice _displayDevice; + // data member that represents the device for counting wheel rotations + bike_computer::Speedometer _speedometer; + // data member that represents the sensor device + bike_computer::SensorDevice _sensorDevice; + float _currentTemperature = 0.0f; + + // used for logging task info + advembsof::TaskLogger _taskLogger; + + // cpu logger to measure cpu usage + advembsof::CPULogger _cpuLogger; +}; + +} // namespace static_scheduling \ No newline at end of file diff --git a/static_scheduling/gear_device.cpp b/static_scheduling/gear_device.cpp new file mode 100644 index 0000000..e120ce2 --- /dev/null +++ b/static_scheduling/gear_device.cpp @@ -0,0 +1,83 @@ +// 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 gear_device.cpp + * @author Serge Ayer + * + * @brief Gear Device implementation (static scheduling) + * + * @date 2023-08-20 + * @version 1.0.0 + ***************************************************************************/ + +#include "gear_device.hpp" + +// from disco_h747i/wrappers +#include + +#include "joystick.hpp" +#include "mbed_trace.h" + +#if MBED_CONF_MBED_TRACE_ENABLE +#define TRACE_GROUP "GearDevice" +#endif // MBED_CONF_MBED_TRACE_ENABLE + +namespace static_scheduling { + +// definition of task execution time +static constexpr std::chrono::microseconds kTaskRunTime = 100000us; + +GearDevice::GearDevice(Timer& timer) : _timer(timer) {} + +uint8_t GearDevice::getCurrentGear() { + std::chrono::microseconds initialTime = _timer.elapsed_time(); + std::chrono::microseconds elapsedTime = std::chrono::microseconds::zero(); + // we bound the change to one increment/decrement per call + bool hasChanged = false; + while (elapsedTime < kTaskRunTime) { + if (!hasChanged) { + disco::Joystick::State joystickState = + disco::Joystick::getInstance().getState(); + switch (joystickState) { + case disco::Joystick::State::UpPressed: + if (_currentGear < bike_computer::kMaxGear) { + _currentGear++; + } + hasChanged = true; + break; + + case disco::Joystick::State::DownPressed: + if (_currentGear > bike_computer::kMinGear) { + _currentGear--; + } + hasChanged = true; + break; + + default: + break; + } + } + elapsedTime = _timer.elapsed_time() - initialTime; + } + return _currentGear; +} + +uint8_t GearDevice::getCurrentGearSize() const { + // simulate task computation by waiting for the required task run time + // wait_us(kTaskRunTime.count()); + return bike_computer::kMaxGearSize - _currentGear; +} + +} // namespace static_scheduling \ No newline at end of file diff --git a/static_scheduling/gear_device.hpp b/static_scheduling/gear_device.hpp new file mode 100644 index 0000000..d44d6f7 --- /dev/null +++ b/static_scheduling/gear_device.hpp @@ -0,0 +1,50 @@ +// 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 gear_device.hpp + * @author Serge Ayer + * + * @brief Gear Device header file (static scheduling) + * + * @date 2023-08-20 + * @version 1.0.0 + ***************************************************************************/ + +#pragma once + +#include "constants.hpp" +#include "mbed.h" + +namespace static_scheduling { + +class GearDevice { + public: + explicit GearDevice(Timer& timer); // NOLINT(runtime/references) + + // make the class non copyable + GearDevice(GearDevice&) = delete; + GearDevice& operator=(GearDevice&) = delete; + + // method called for updating the bike system + uint8_t getCurrentGear(); + uint8_t getCurrentGearSize() const; + + private: + // data members + uint8_t _currentGear = bike_computer::kMinGear; + Timer& _timer; +}; + +} // namespace static_scheduling \ No newline at end of file diff --git a/static_scheduling/pedal_device.cpp b/static_scheduling/pedal_device.cpp new file mode 100644 index 0000000..9379136 --- /dev/null +++ b/static_scheduling/pedal_device.cpp @@ -0,0 +1,72 @@ +/**************************************************************************** +* @file pedal_device.cpp +* @author Rémi Heredero +* @author Yann Sierro +* +* @brief Pedal Device implementation (static scheduling) +* @date 2024-11-09 +* @version 0.1.0 +****************************************************************************/ + +#include "pedal_device.hpp" + +// from disco_h747i/wrappers +#include + +#include "joystick.hpp" +#include "mbed_trace.h" + +#if MBED_CONF_MBED_TRACE_ENABLE +#define TRACE_GROUP "PedalDevice" +#endif // MBED_CONF_MBED_TRACE_ENABLE + +namespace static_scheduling { + + static constexpr std::chrono::microseconds kTaskRunTime = 200000us; + + PedalDevice::PedalDevice(Timer& timer) : _timer(timer) {} + + + std::chrono::milliseconds PedalDevice::getCurrentRotationTime() { + // TODO + std::chrono::microseconds initialTime = _timer.elapsed_time(); + std::chrono::microseconds elapsedTime = std::chrono::microseconds::zero(); + // we bound the change to one increment/decrement per call + bool hasChanged = false; + while (elapsedTime < kTaskRunTime) { + if (!hasChanged) { + disco::Joystick::State joystickState = disco::Joystick::getInstance().getState(); + + switch (joystickState) { + case disco::Joystick::State::LeftPressed: + if (_pedalRotationTime < bike_computer::kMaxPedalRotationTime) { + decreaseRotationSpeed(); + hasChanged = true; + } + break; + + case disco::Joystick::State::DownPressed: + if (_pedalRotationTime > bike_computer::kMinPedalRotationTime) { + decreaseRotationSpeed(); + hasChanged = true; + } + break; + + default: + break; + } + } + elapsedTime = _timer.elapsed_time() - initialTime; + } + return _pedalRotationTime; + } + + void PedalDevice::increaseRotationSpeed() { + _pedalRotationTime -= bike_computer::kDeltaPedalRotationTime; + } + + void PedalDevice::decreaseRotationSpeed() { + _pedalRotationTime += bike_computer::kDeltaPedalRotationTime; + } + +} diff --git a/static_scheduling/pedal_device.hpp b/static_scheduling/pedal_device.hpp new file mode 100644 index 0000000..3f5c489 --- /dev/null +++ b/static_scheduling/pedal_device.hpp @@ -0,0 +1,54 @@ +// 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 pedal_device.hpp + * @author Serge Ayer + * + * @brief Pedal System header file (static scheduling) + * + * @date 2023-08-20 + * @version 1.0.0 + ***************************************************************************/ + +#pragma once + +#include "constants.hpp" +#include "mbed.h" + +namespace static_scheduling { + +class PedalDevice { + public: + explicit PedalDevice(Timer& timer); // NOLINT(runtime/references) + + // make the class non copyable + PedalDevice(PedalDevice&) = delete; + PedalDevice& operator=(PedalDevice&) = delete; + + // method called for updating the bike system + std::chrono::milliseconds getCurrentRotationTime(); + + private: + // private methods + void increaseRotationSpeed(); + void decreaseRotationSpeed(); + + // data members + std::chrono::milliseconds _pedalRotationTime = + bike_computer::kInitialPedalRotationTime; + Timer& _timer; +}; + +} // namespace static_scheduling \ No newline at end of file diff --git a/static_scheduling/reset_device.cpp b/static_scheduling/reset_device.cpp new file mode 100644 index 0000000..e7ebcc0 --- /dev/null +++ b/static_scheduling/reset_device.cpp @@ -0,0 +1,63 @@ +/**************************************************************************** +* @file reset_device.cpp +* @author Rémi Heredero +* @author Yann Sierro +* +* @brief Reset Device implementation (static scheduling) +* @date 2024-11-12 +* @version 0.1.0 +****************************************************************************/ + +#include "reset_device.hpp" + +// from disco_h747i/wrappers +#include + +#include "joystick.hpp" +#include "mbed_trace.h" + +#if defined(TARGET_DISCO_H747I) +#define PUSH_BUTTON BUTTON1 +static constexpr uint8_t kPolarityPressed = 1; +#endif + + +#if MBED_CONF_MBED_TRACE_ENABLE +#define TRACE_GROUP "ResetDevice" +#endif // MBED_CONF_MBED_TRACE_ENABLE + +namespace static_scheduling { + + static constexpr std::chrono::microseconds kTaskRunTime = 100000us; + + ResetDevice::ResetDevice(Timer& timer) : _timer(timer), _resetButton(PUSH_BUTTON) { + _resetButton.rise(callback(this, &ResetDevice::onRise)); + } + + bool ResetDevice::checkReset() { + std::chrono::microseconds initialTime = _timer.elapsed_time(); + std::chrono::microseconds elapsedTime = std::chrono::microseconds::zero(); + // we bound the change to one increment/decrement per call + bool isPressed = false; + while (elapsedTime < kTaskRunTime) { + if(!isPressed) { + isPressed = _resetButton.read() == kPolarityPressed; + } + elapsedTime = _timer.elapsed_time() - initialTime; + } + + return isPressed; + + } + + std::chrono::microseconds ResetDevice::getPressTime() { + return _pressTime; + } + + void ResetDevice::onRise() { + _pressTime = _timer.elapsed_time(); + } + + + +} \ No newline at end of file diff --git a/static_scheduling/reset_device.hpp b/static_scheduling/reset_device.hpp new file mode 100644 index 0000000..e5d1b2f --- /dev/null +++ b/static_scheduling/reset_device.hpp @@ -0,0 +1,56 @@ +// 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 reset_device.hpp + * @author Serge Ayer + * + * @brief ResetDevice header file (static scheduling) + * + * @date 2023-08-20 + * @version 1.0.0 + ***************************************************************************/ + +#pragma once + +#include "mbed.h" + +namespace static_scheduling { + +class ResetDevice { + public: + explicit ResetDevice(Timer& timer); // NOLINT(runtime/references) + + // make the class non copyable + ResetDevice(ResetDevice&) = delete; + ResetDevice& operator=(ResetDevice&) = delete; + + // method called for checking the reset status + bool checkReset(); + + // for computing the response time + std::chrono::microseconds getPressTime(); + + private: + // called when the button is pressed + void onRise(); + + // data members + // instance representing the reset button + InterruptIn _resetButton; + Timer& _timer; + std::chrono::microseconds _pressTime; +}; + +} // namespace static_scheduling \ No newline at end of file diff --git a/static_scheduling_with_event/bike_system.cpp b/static_scheduling_with_event/bike_system.cpp new file mode 100644 index 0000000..0ea2f49 --- /dev/null +++ b/static_scheduling_with_event/bike_system.cpp @@ -0,0 +1,255 @@ +// 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 + * @author Rémi Heredero + * @author Yann Sierro + * + * @brief Bike System implementation (static scheduling) + * + * @date 2023-11-15 + * @version 1.1.0 + ***************************************************************************/ + +#include "bike_system.hpp" + +#include + +#include "mbed_trace.h" +#if MBED_CONF_MBED_TRACE_ENABLE +#define TRACE_GROUP "BikeSystem" +#endif // MBED_CONF_MBED_TRACE_ENABLE + +namespace static_scheduling_with_event { + +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 = 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; + +static constexpr std::chrono::milliseconds kCPUTaskPeriod = 1600ms; +static constexpr std::chrono::milliseconds kCPUTaskDelay = 1200ms; +static constexpr std::chrono::milliseconds kCPUTaskComputationTime = 100ms; + + +BikeSystem::BikeSystem() : + _gearDevice(), + _pedalDevice(), + _resetDevice(callback(this, &BikeSystem::onReset)), + _speedometer(_timer), + _cpuLogger(_timer) +{ + +} + +void BikeSystem::start() { + + tr_info("Starting Super-Loop with event handling"); + + init(); + + EventQueue eventQueue; + + Event gearEvent(&eventQueue, callback(this, &BikeSystem::gearTask)); + gearEvent.delay(kGearTaskDelay); + gearEvent.period(kGearTaskPeriod); + gearEvent.post(); + + Event speedDistanceEvent(&eventQueue, callback(this, &BikeSystem::speedDistanceTask)); + speedDistanceEvent.delay(kSpeedDistanceTaskDelay); + speedDistanceEvent.period(kSpeedDistanceTaskPeriod); + speedDistanceEvent.post(); + + Event display1Event(&eventQueue, callback(this, &BikeSystem::displayTask1)); + display1Event.delay(kDisplayTask1Delay); + display1Event.period(kDisplayTask1Period); + display1Event.post(); + + Event resetEvent(&eventQueue, callback(this, &BikeSystem::resetTask)); + resetEvent.delay(kResetTaskDelay); + resetEvent.period(kResetTaskPeriod); + resetEvent.post(); + + Event temperatureEvent(&eventQueue, callback(this, &BikeSystem::temperatureTask)); + temperatureEvent.delay(kTemperatureTaskDelay); + temperatureEvent.period(kTemperatureTaskPeriod); + temperatureEvent.post(); + + Event display2Event(&eventQueue, callback(this, &BikeSystem::displayTask2)); + display2Event.delay(kDisplayTask2Delay); + display2Event.period(kDisplayTask2Period); + display2Event.post(); + + #if !defined(MBED_TEST_MODE) + Event cpuEvent(&eventQueue, callback(this, &BikeSystem::cpuTask)); + cpuEvent.delay(kCPUTaskDelay); + cpuEvent.period(kCPUTaskPeriod); + cpuEvent.post(); + #endif + + eventQueue.dispatch_forever(); +} + +void BikeSystem::onReset() { + _resetTime = _timer.elapsed_time(); + core_util_atomic_store_bool(&_resetFlag, true); +} + +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(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() { + auto taskStartTime = _timer.elapsed_time(); + + const auto pedalRotationTime = _pedalDevice.getCurrentRotationTime(); + _speedometer.setCurrentRotationTime(pedalRotationTime); + _speedometer.setGearSize(_currentGearSize); + + _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()); + + ThisThread::sleep_for( + std::chrono::duration_cast( + kTemperatureTaskComputationTime - (_timer.elapsed_time() - taskStartTime) + ) + ); + + _taskLogger.logPeriodAndExecutionTime( + _timer, advembsof::TaskLogger::kTemperatureTaskIndex, taskStartTime); +} + +void BikeSystem::resetTask() { + auto taskStartTime = _timer.elapsed_time(); + + if (core_util_atomic_load_bool(&_resetFlag)) { + std::chrono::microseconds responseTime = _timer.elapsed_time() - _resetTime; + tr_info("Reset task: response time is %" PRIu64 " usecs", responseTime.count()); + _speedometer.reset(); + + core_util_atomic_store_bool(&_resetFlag, false); + } + + _taskLogger.logPeriodAndExecutionTime( + _timer, advembsof::TaskLogger::kResetTaskIndex, taskStartTime); +} + +void BikeSystem::displayTask1() { + auto taskStartTime = _timer.elapsed_time(); + + _displayDevice.displayGear(_currentGear); + _displayDevice.displaySpeed(_currentSpeed); + _displayDevice.displayDistance(_traveledDistance); + + ThisThread::sleep_for( + std::chrono::duration_cast( + kDisplayTask1ComputationTime - (_timer.elapsed_time() - taskStartTime) + ) + ); + + _taskLogger.logPeriodAndExecutionTime( + _timer, advembsof::TaskLogger::kDisplayTask1Index, taskStartTime); +} + +void BikeSystem::displayTask2() { + auto taskStartTime = _timer.elapsed_time(); + + _displayDevice.displayTemperature(_currentTemperature); + + ThisThread::sleep_for( + std::chrono::duration_cast( + kDisplayTask2ComputationTime - (_timer.elapsed_time() - taskStartTime) + ) + ); + + _taskLogger.logPeriodAndExecutionTime( + _timer, advembsof::TaskLogger::kDisplayTask2Index, taskStartTime); +} + +void BikeSystem::cpuTask() { + _cpuLogger.printStats(); +} + +} // namespace static_scheduling \ No newline at end of file diff --git a/static_scheduling_with_event/bike_system.hpp b/static_scheduling_with_event/bike_system.hpp new file mode 100644 index 0000000..3bf3f97 --- /dev/null +++ b/static_scheduling_with_event/bike_system.hpp @@ -0,0 +1,111 @@ +// 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.hpp + * @author Serge Ayer + * + * @brief Bike System header file (static scheduling) + * + * @date 2023-08-20 + * @version 1.0.0 + ***************************************************************************/ + +#pragma once + +// from advembsof +#include "display_device.hpp" +#include "task_logger.hpp" +#include "cpu_logger.hpp" + +// from common +#include "sensor_device.hpp" +#include "speedometer.hpp" + +// local +#include "gear_device.hpp" +#include "pedal_device.hpp" +#include "reset_device.hpp" + +namespace static_scheduling_with_event { + +class BikeSystem { + public: + // constructor + BikeSystem(); + + // make the class non copyable + BikeSystem(BikeSystem&) = delete; + BikeSystem& operator=(BikeSystem&) = delete; + + // method called in main() for starting the system + void start(); + + // method called in main() for starting the sysytem with the event queue + void startWithEventQueue(); + + // method called for stopping the system + void stop(); + +#if defined(MBED_TEST_MODE) + const advembsof::TaskLogger& getTaskLogger(); +#endif // defined(MBED_TEST_MODE) + + private: + // private methods + void init(); + void onReset(); + void gearTask(); + void speedDistanceTask(); + void temperatureTask(); + void resetTask(); + void displayTask1(); + void displayTask2(); + void cpuTask(); + + // stop flag, used for stopping the super-loop (set in stop()) + bool _stopFlag = false; + + std::chrono::microseconds _resetTime = std::chrono::microseconds::zero(); + volatile bool _resetFlag = false; + + // timer instance used for loggint task time and used by ResetDevice + Timer _timer; + // data member that represents the device for manipulating the gear + GearDevice _gearDevice; + uint8_t _currentGear = bike_computer::kMinGear; + uint8_t _currentGearSize = bike_computer::kMinGearSize; + // data member that represents the device for manipulating the pedal rotation + // speed/time + PedalDevice _pedalDevice; + float _currentSpeed = 0.0f; + float _traveledDistance = 0.0f; + // data member that represents the device used for resetting + ResetDevice _resetDevice; + // data member that represents the device display + advembsof::DisplayDevice _displayDevice; + // data member that represents the device for counting wheel rotations + bike_computer::Speedometer _speedometer; + // data member that represents the sensor device + bike_computer::SensorDevice _sensorDevice; + float _currentTemperature = 0.0f; + + // used for logging task info + advembsof::TaskLogger _taskLogger; + + // cpu logger to measure cpu usage + advembsof::CPULogger _cpuLogger; +}; + +} // namespace static_scheduling \ No newline at end of file diff --git a/static_scheduling_with_event/gear_device.cpp b/static_scheduling_with_event/gear_device.cpp new file mode 100644 index 0000000..4c30525 --- /dev/null +++ b/static_scheduling_with_event/gear_device.cpp @@ -0,0 +1,69 @@ +// 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 gear_device.cpp + * @author Serge Ayer + * @author Rémi Heredero + * @author Yann Sierro + * + * @brief Gear Device implementation (static scheduling) + * + * @date 2023-11-17 + * @version 1.1.0 + ***************************************************************************/ + +#include "gear_device.hpp" + +// from disco_h747i/wrappers +#include + +#include "joystick.hpp" +#include "mbed_trace.h" + +#if MBED_CONF_MBED_TRACE_ENABLE +#define TRACE_GROUP "GearDevice" +#endif // MBED_CONF_MBED_TRACE_ENABLE + +namespace static_scheduling_with_event { + + +GearDevice::GearDevice() { + disco::Joystick::getInstance().setUpCallback( + callback(this, &GearDevice::onUp)); + disco::Joystick::getInstance().setDownCallback( + callback(this, &GearDevice::onDown)); +} + +uint8_t GearDevice::getCurrentGear() { + return core_util_atomic_load_u8(&_currentGear); +} + +uint8_t GearDevice::getCurrentGearSize() const { + return bike_computer::kMaxGearSize - core_util_atomic_load_u8(&_currentGear); +} + +void GearDevice::onUp() { + if (_currentGear < bike_computer::kMaxGear) { + core_util_atomic_incr_u8(&_currentGear, 1); + } +} + +void GearDevice::onDown() { + if (_currentGear > bike_computer::kMinGear) { + core_util_atomic_decr_u8(&_currentGear, 1); + } +} + +} // namespace static_scheduling \ No newline at end of file diff --git a/static_scheduling_with_event/gear_device.hpp b/static_scheduling_with_event/gear_device.hpp new file mode 100644 index 0000000..250857a --- /dev/null +++ b/static_scheduling_with_event/gear_device.hpp @@ -0,0 +1,54 @@ +// 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 gear_device.hpp + * @author Serge Ayer + * @author Rémi Heredero + * @author Yann Sierro + * + * @brief Gear Device header file (static scheduling) + * + * @date 2023-11-17 + * @version 1.1.0 + ***************************************************************************/ + +#pragma once + +#include "constants.hpp" +#include "mbed.h" + +namespace static_scheduling_with_event { + +class GearDevice { + public: + explicit GearDevice(); // NOLINT(runtime/references) + + // make the class non copyable + GearDevice(GearDevice&) = delete; + GearDevice& operator=(GearDevice&) = delete; + + // method called for updating the bike system + uint8_t getCurrentGear(); + uint8_t getCurrentGearSize() const; + + void onUp(); + void onDown(); + + private: + // data members + volatile uint8_t _currentGear = bike_computer::kMinGear; +}; + +} // namespace static_scheduling \ No newline at end of file diff --git a/static_scheduling_with_event/pedal_device.cpp b/static_scheduling_with_event/pedal_device.cpp new file mode 100644 index 0000000..97e9637 --- /dev/null +++ b/static_scheduling_with_event/pedal_device.cpp @@ -0,0 +1,62 @@ +/**************************************************************************** +* @file pedal_device.cpp +* @author Rémi Heredero +* @author Yann Sierro +* +* @brief Pedal Device implementation (static scheduling) +* @date 2024-11-17 +* @version 1.1.0 +****************************************************************************/ + +#include "pedal_device.hpp" + +// from disco_h747i/wrappers +#include + +#include "joystick.hpp" +#include "mbed_trace.h" + +#if MBED_CONF_MBED_TRACE_ENABLE +#define TRACE_GROUP "PedalDevice" +#endif // MBED_CONF_MBED_TRACE_ENABLE + +namespace static_scheduling_with_event { + + PedalDevice::PedalDevice() { + disco::Joystick::getInstance().setLeftCallback( + callback(this, &PedalDevice::onLeft) + ); + disco::Joystick::getInstance().setRightCallback( + callback(this, &PedalDevice::onRight) + ); + } + + + std::chrono::milliseconds PedalDevice::getCurrentRotationTime() { + uint32_t currentStep = core_util_atomic_load_u32(&_currentStep); + return bike_computer::kMinPedalRotationTime + currentStep * bike_computer::kDeltaPedalRotationTime; + } + + void PedalDevice::increaseRotationSpeed() { + uint32_t currentStep = core_util_atomic_load_u32(&_currentStep); + if (currentStep > 0) { + core_util_atomic_decr_u32(&_currentStep, 1); + } + } + + void PedalDevice::decreaseRotationSpeed() { + uint32_t currentStep = core_util_atomic_load_u32(&_currentStep); + if (currentStep < bike_computer::kNbrOfSteps) { + core_util_atomic_incr_u32(&_currentStep, 1); + } + } + + void PedalDevice::onLeft() { + decreaseRotationSpeed(); + } + + void PedalDevice::onRight() { + increaseRotationSpeed(); + } + +} diff --git a/static_scheduling_with_event/pedal_device.hpp b/static_scheduling_with_event/pedal_device.hpp new file mode 100644 index 0000000..91104d4 --- /dev/null +++ b/static_scheduling_with_event/pedal_device.hpp @@ -0,0 +1,60 @@ +// 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 pedal_device.hpp + * @author Serge Ayer + * @author Rémi Heredero + * @author Yann Sierro + * + * @brief Pedal System header file (static scheduling) + * + * @date 2023-11-17 + * @version 1.1.0 + ***************************************************************************/ + +#pragma once + +#include "constants.hpp" +#include "mbed.h" + +namespace static_scheduling_with_event { + +class PedalDevice { + public: + PedalDevice(); // NOLINT(runtime/references) + + // make the class non copyable + PedalDevice(PedalDevice&) = delete; + PedalDevice& operator=(PedalDevice&) = delete; + + // method called for updating the bike system + std::chrono::milliseconds getCurrentRotationTime(); + + private: + // private methods + void onLeft(); + void onRight(); + void increaseRotationSpeed(); + void decreaseRotationSpeed(); + + // data members + volatile uint32_t _currentStep = static_cast( + ( + bike_computer::kInitialPedalRotationTime - bike_computer::kMinPedalRotationTime + ).count() / bike_computer::kDeltaPedalRotationTime.count() + ); +}; + +} // namespace static_scheduling \ No newline at end of file diff --git a/static_scheduling_with_event/reset_device.cpp b/static_scheduling_with_event/reset_device.cpp new file mode 100644 index 0000000..9d7a2e6 --- /dev/null +++ b/static_scheduling_with_event/reset_device.cpp @@ -0,0 +1,36 @@ +/**************************************************************************** +* @file reset_device.cpp +* @author Rémi Heredero +* @author Yann Sierro +* +* @brief Reset Device implementation (static scheduling with event) +* @date 2024-11-17 +* @version 1.1.0 +****************************************************************************/ + +#include "reset_device.hpp" + +// from disco_h747i/wrappers +#include + +#include "joystick.hpp" +#include "mbed_trace.h" + +#if defined(TARGET_DISCO_H747I) +#define PUSH_BUTTON BUTTON1 +static constexpr uint8_t kPolarityPressed = 1; +#endif + + +#if MBED_CONF_MBED_TRACE_ENABLE +#define TRACE_GROUP "ResetDevice" +#endif // MBED_CONF_MBED_TRACE_ENABLE + +namespace static_scheduling_with_event { + + ResetDevice::ResetDevice(Callback cb) : _resetButton(PUSH_BUTTON) { + _resetButton.fall(cb); + } + + +} \ No newline at end of file diff --git a/static_scheduling_with_event/reset_device.hpp b/static_scheduling_with_event/reset_device.hpp new file mode 100644 index 0000000..8a10171 --- /dev/null +++ b/static_scheduling_with_event/reset_device.hpp @@ -0,0 +1,48 @@ +// 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 reset_device.hpp + * @author Serge Ayer + * @author Rémi Heredero + * @author Yann Sierro + * + * @brief ResetDevice header file (static scheduling with event) + * + * @date 2023-11-17 + * @version 1.1.0 + ***************************************************************************/ + +#pragma once + +#include "mbed.h" + +namespace static_scheduling_with_event { + +class ResetDevice { + public: + explicit ResetDevice(Callback cb); // NOLINT(runtime/references) + + // make the class non copyable + ResetDevice(ResetDevice&) = delete; + ResetDevice& operator=(ResetDevice&) = delete; + + private: + + // data members + // instance representing the reset button + InterruptIn _resetButton; +}; + +} // namespace static_scheduling \ No newline at end of file