Klagarge/BikeComputer
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ADD test for multi-tasking

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This commit is contained in:
fastium
2025-01-06 00:14:43 +01:00
parent 55a6594646
commit 618ddaaa1b
6 changed files with 342 additions and 48 deletions
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84
multi_tasking/bike_system.cpp
View File

@ -27,12 +27,12 @@
#include "bike_system.hpp"
#include <chrono>
#include <cstdint>
#include "Callback.h"
#include "cmsis_os2.h"
#include "constants.hpp"
#include "cmsis_os.h"
#include "common/constants.hpp"
#include "mbed_trace.h"
#include "pedal_device.hpp"
#if MBED_CONF_MBED_TRACE_ENABLE
#define TRACE_GROUP "BikeSystem"
#endif // MBED_CONF_MBED_TRACE_ENABLE
@ -75,7 +75,7 @@ BikeSystem::BikeSystem()
_isrEventThread(osPriorityAboveNormal, OS_STACK_SIZE, nullptr, "ISR_Event"),
_speedDistanceThread(
osPriorityNormal, OS_STACK_SIZE, nullptr, "Speed_distance_Task"),
_gearTaskThread(osPriorityNormal, OS_STACK_SIZE, nullptr, "Gear_Task"),
_gearTaskThread(osPriorityAboveNormal, OS_STACK_SIZE, nullptr, "Gear_Task"),
_gearDevice(&_mailGearDevice, _timer),
_pedalDevice(&_mailPedalDevice, _timer),
_resetDevice(callback(this, &BikeSystem::onReset)),
@ -88,13 +88,22 @@ BikeSystem::BikeSystem()
#if defined(MBED_TEST_MODE)
const advembsof::TaskLogger& BikeSystem::getTaskLogger() { return _taskLogger; }
bike_computer::Speedometer& Bike_system::getSpeedometer() {
bike_computer::Speedometer& BikeSystem::getSpeedometer() {
// ENTER CRITICAL SECTION
_mutexSpeedometer.lock();
bike_computer::Speedometer& speedometer = _speedometer;
_mutexSpeedometer.unlock();
// END CRITICAL SECTION
return speedometer;
}
GearDevice& BikeSystem::getGearDevice() { return _gearDevice; }
void BikeSystem::setCallbackGearChage(Callback<void()> cbGearChange) {
_cbGearChange = cbGearChange;
}
#endif // defined(MBED_TEST_MODE)
void BikeSystem::init() {
@ -104,7 +113,7 @@ void BikeSystem::init() {
// initialize the lcd display
disco::ReturnCode rc = _displayDevice.init();
if (rc != disco::ReturnCode::Ok) {
tr_error("Ffalseailed to initialized the lcd display: %ld", static_cast<int>(rc));
tr_error("Ffalseailed to initialized the lcd display: %d", static_cast<int>(rc));
}
// initialize the sensor device
@ -114,7 +123,13 @@ void BikeSystem::init() {
}
// enable/disable task logging
_taskLogger.enable(false);
bool runTaskLogger = false;
#if defined(MBED_TEST_MODE)
runTaskLogger = true;
#endif
_taskLogger.enable(runTaskLogger);
}
void BikeSystem::start() {
@ -134,18 +149,24 @@ void BikeSystem::start() {
osStatus status =
_isrEventThread.start(callback(this, &BikeSystem::dispatch_isr_events));
if (status != osOK) {
tr_error("Thread %s started with status %d", _isrEventThread.get_name(), status);
tr_error("Thread %s started with status %ld",
_isrEventThread.get_name(),
static_cast<int32_t>(status));
}
status =
_speedDistanceThread.start(callback(this, &BikeSystem::loop_speed_distance_task));
if (status != osOK) {
tr_error("Thread %s started with status %d", _isrEventThread.get_name(), status);
tr_error("Thread %s started with status %ld",
_isrEventThread.get_name(),
static_cast<int32_t>(status));
}
status = _gearTaskThread.start(callback(this, &BikeSystem::loop_gear_task));
if (status != osOK) {
tr_error("Thread %s started with status %d", _gearTaskThread.get_name(), status);
tr_error("Thread %s started with status %ld",
_gearTaskThread.get_name(),
static_cast<int32_t>(status));
}
#if !defined(MBED_TEST_MODE)
@ -159,6 +180,16 @@ void BikeSystem::start() {
dispatch_events();
}
void BikeSystem::stop() {
osStatus status = _isrEventThread.terminate();
status += _speedDistanceThread.terminate();
status += _gearTaskThread.terminate();
if (status != 0) {
tr_error("Stop thread error");
}
tr_info("Bike system has stopped !");
}
/* Callback from isr */
void BikeSystem::onReset() {
@ -170,20 +201,19 @@ void BikeSystem::onReset() {
// ISR thread functions
void BikeSystem::resetTask() {
#ifndef(MBED_TEST_MODE)
#if !defined(MBED_TEST_MODE)
auto taskStartTime = _timer.elapsed_time();
std::chrono::microseconds responseTime = _timer.elapsed_time() - _resetTime;
tr_info("Reset task: response time is %" PRIu64 " usecs", responseTime.count());
#endif
// ENTER CRITICAL SECTION
_mutexSpeedometer.lock();
_speedometer.reset();
_mutexSpeedometer.unlock();
// END CRITICAL SECTION
#ifndef(MBED_TEST_MODE)
#if !defined(MBED_TEST_MODE)
_taskLogger.logPeriodAndExecutionTime(
_timer, advembsof::TaskLogger::kResetTaskIndex, taskStartTime);
#endif
@ -208,7 +238,8 @@ void BikeSystem::speedDistanceTask() {
std::chrono::microseconds responseTime =
_timer.elapsed_time() - currentStep->callTime;
tr_info("Reset task: response time is %" PRIu64 " usecs", responseTime.count());
tr_info("Speed distance task: response time is %" PRIu64 " usecs",
responseTime.count());
osStatus status = _mailPedalDevice.free(currentStep);
if (status != osOK) {
@ -228,6 +259,9 @@ void BikeSystem::speedDistanceTask() {
_mutexSpeedometer.unlock();
// END CRITICAL SECTION
ThisThread::sleep_for(std::chrono::duration_cast<std::chrono::milliseconds>(
kSpeedDistanceTaskComputationTime - (_timer.elapsed_time() - taskStartTime)));
_taskLogger.logPeriodAndExecutionTime(
_timer, advembsof::TaskLogger::kSpeedTaskIndex, taskStartTime);
}
@ -239,6 +273,16 @@ void BikeSystem::gearTask() {
gearMail_t* currentGear = _mailGearDevice.try_get();
if (currentGear != nullptr) {
#if !defined(MBED_TEST_MODE)
std::chrono::microseconds responseTime =
_timer.elapsed_time() - currentGear->callTime;
tr_info("Gear task: response time is %" PRIu64 " usecs", responseTime.count());
#endif
#if defined(MBED_TEST_MODE)
_cbGearChange();
#endif
// ENTER CRITICAL SECTION
_mutexGear.lock();
_currentGear = currentGear->gear;
@ -248,17 +292,17 @@ void BikeSystem::gearTask() {
_mutexGearSize.unlock();
// END CRITICAL SECTION
std::chrono::microseconds responseTime =
_timer.elapsed_time() - currentGear->callTime;
tr_info("Reset task: response time is %" PRIu64 " usecs", responseTime.count());
osStatus status = _mailGearDevice.free(currentGear);
if (status != osOK) {
tr_error("free current gear in the gear tasks doesn't work !");
}
}
ThisThread::sleep_for(std::chrono::duration_cast<std::chrono::milliseconds>(
kGearTaskComputationTime - (_timer.elapsed_time() - taskStartTime)));
_taskLogger.logPeriodAndExecutionTime(
_timer, advembsof::TaskLogger::kSpeedTaskIndex, taskStartTime);
_timer, advembsof::TaskLogger::kGearTaskIndex, taskStartTime);
}
/* Main thread functions */

3
multi_tasking/bike_system.hpp
View File

@ -59,6 +59,9 @@ class BikeSystem {
#if defined(MBED_TEST_MODE)
const advembsof::TaskLogger& getTaskLogger();
bike_computer::Speedometer& getSpeedometer();
GearDevice& getGearDevice();
void setCallbackGearChage(Callback<void()> cbGearChange);
Callback<void()> _cbGearChange;
#endif // defined(MBED_TEST_MODE)
private: