ADD threads dispatcher and drive reset with event
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fastium
parent
da79a18cd9
commit
69bc8785a8
@ -35,104 +35,29 @@
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namespace multi_tasking {
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static constexpr std::chrono::milliseconds kGearTaskPeriod = 800ms;
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static constexpr std::chrono::milliseconds kGearTaskDelay = 0ms;
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static constexpr std::chrono::milliseconds kGearTaskComputationTime = 100ms;
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static constexpr std::chrono::milliseconds kSpeedDistanceTaskPeriod = 400ms;
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static constexpr std::chrono::milliseconds kSpeedDistanceTaskDelay = 100ms;
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static constexpr std::chrono::milliseconds kSpeedDistanceTaskComputationTime = 200ms;
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static constexpr std::chrono::milliseconds kDisplayTask1Period = 1600ms;
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static constexpr std::chrono::milliseconds kDisplayTask1Delay = 300ms;
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static constexpr std::chrono::milliseconds kDisplayTask1ComputationTime = 200ms;
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static constexpr std::chrono::milliseconds kResetTaskPeriod = 800ms;
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static constexpr std::chrono::milliseconds kResetTaskDelay = 700ms;
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static constexpr std::chrono::milliseconds kResetTaskComputationTime = 100ms;
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static constexpr std::chrono::milliseconds kTemperatureTaskPeriod = 1600ms;
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static constexpr std::chrono::milliseconds kTemperatureTaskDelay = 1100ms;
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static constexpr std::chrono::milliseconds kTemperatureTaskComputationTime = 100ms;
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static constexpr std::chrono::milliseconds kDisplayTask2Period = 1600ms;
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static constexpr std::chrono::milliseconds kDisplayTask2Delay = 1200ms;
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static constexpr std::chrono::milliseconds kDisplayTask2ComputationTime = 100ms;
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static constexpr std::chrono::milliseconds kCPUTaskPeriod = 1600ms;
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static constexpr std::chrono::milliseconds kCPUTaskDelay = 1200ms;
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static constexpr std::chrono::milliseconds kCPUTaskComputationTime = 100ms;
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BikeSystem::BikeSystem() :
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_gearDevice(),
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BikeSystem::BikeSystem()
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: _gearDevice(),
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_pedalDevice(),
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_resetDevice(callback(this, &BikeSystem::onReset)),
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_speedometer(_timer),
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_cpuLogger(_timer)
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{
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}
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_cpuLogger(_timer) {}
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void BikeSystem::start() {
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// new thread dedicated for ISRs with its event queue
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tr_info("Starting Super-Loop with event handling");
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init();
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EventQueue eventQueue;
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Event<void()> gearEvent(&eventQueue, callback(this, &BikeSystem::gearTask));
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gearEvent.delay(kGearTaskDelay);
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gearEvent.period(kGearTaskPeriod);
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gearEvent.post();
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Event<void()> speedDistanceEvent(&eventQueue, callback(this, &BikeSystem::speedDistanceTask));
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speedDistanceEvent.delay(kSpeedDistanceTaskDelay);
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speedDistanceEvent.period(kSpeedDistanceTaskPeriod);
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speedDistanceEvent.post();
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Event<void()> display1Event(&eventQueue, callback(this, &BikeSystem::displayTask1));
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display1Event.delay(kDisplayTask1Delay);
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display1Event.period(kDisplayTask1Period);
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display1Event.post();
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Event<void()> resetEvent(&eventQueue, callback(this, &BikeSystem::resetTask));
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resetEvent.delay(kResetTaskDelay);
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resetEvent.period(kResetTaskPeriod);
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resetEvent.post();
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Event<void()> temperatureEvent(&eventQueue, callback(this, &BikeSystem::temperatureTask));
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temperatureEvent.delay(kTemperatureTaskDelay);
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temperatureEvent.period(kTemperatureTaskPeriod);
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temperatureEvent.post();
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Event<void()> display2Event(&eventQueue, callback(this, &BikeSystem::displayTask2));
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display2Event.delay(kDisplayTask2Delay);
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display2Event.period(kDisplayTask2Period);
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display2Event.post();
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#if !defined(MBED_TEST_MODE)
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Event<void()> cpuEvent(&eventQueue, callback(this, &BikeSystem::cpuTask));
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cpuEvent.delay(kCPUTaskDelay);
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cpuEvent.period(kCPUTaskPeriod);
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cpuEvent.post();
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#endif
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eventQueue.dispatch_forever();
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_isrEventThread.start(callback(this, &BikeSystem::dispatch_isr_events));
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_mainEventThread.start(callback(this, &BikeSystem::dispatch_events));
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}
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void BikeSystem::onReset() {
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_resetTime = _timer.elapsed_time();
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core_util_atomic_store_bool(&_resetFlag, true);
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Event<void()> resetEvent(&_isrEventQueue, callback(this, &BikeSystem::resetTask));
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resetEvent.post();
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}
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void BikeSystem::stop() { core_util_atomic_store_bool(&_stopFlag, true); }
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#if defined(MBED_TEST_MODE)
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const advembsof::TaskLogger& BikeSystem::getTaskLogger() { return _taskLogger; }
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#endif // defined(MBED_TEST_MODE)
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@ -166,8 +91,7 @@ void BikeSystem::gearTask() {
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_currentGearSize = _gearDevice.getCurrentGearSize();
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_taskLogger.logPeriodAndExecutionTime(
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_timer, advembsof::TaskLogger::kGearTaskIndex, taskStartTime
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);
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_timer, advembsof::TaskLogger::kGearTaskIndex, taskStartTime);
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}
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void BikeSystem::speedDistanceTask() {
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@ -181,25 +105,21 @@ void BikeSystem::speedDistanceTask() {
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_traveledDistance = _speedometer.getDistance();
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_taskLogger.logPeriodAndExecutionTime(
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_timer, advembsof::TaskLogger::kSpeedTaskIndex, taskStartTime
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);
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_timer, advembsof::TaskLogger::kSpeedTaskIndex, taskStartTime);
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}
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void BikeSystem::temperatureTask() {
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auto taskStartTime = _timer.elapsed_time();
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//tr_warn("Tick1 %" PRIu64, _timer.elapsed_time().count());
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// tr_warn("Tick1 %" PRIu64, _timer.elapsed_time().count());
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// no need to protect access to data members (single threaded)
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_currentTemperature = _sensorDevice.readTemperature();
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//tr_warn("Tick2 %" PRIu64, _timer.elapsed_time().count());
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// tr_warn("Tick2 %" PRIu64, _timer.elapsed_time().count());
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ThisThread::sleep_for(
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std::chrono::duration_cast<std::chrono::milliseconds>(
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kTemperatureTaskComputationTime - (_timer.elapsed_time() - taskStartTime)
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)
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);
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ThisThread::sleep_for(std::chrono::duration_cast<std::chrono::milliseconds>(
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kTemperatureTaskComputationTime - (_timer.elapsed_time() - taskStartTime)));
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_taskLogger.logPeriodAndExecutionTime(
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_timer, advembsof::TaskLogger::kTemperatureTaskIndex, taskStartTime);
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@ -208,14 +128,9 @@ void BikeSystem::temperatureTask() {
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void BikeSystem::resetTask() {
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auto taskStartTime = _timer.elapsed_time();
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if (core_util_atomic_load_bool(&_resetFlag)) {
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std::chrono::microseconds responseTime = _timer.elapsed_time() - _resetTime;
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tr_info("Reset task: response time is %" PRIu64 " usecs", responseTime.count());
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_speedometer.reset();
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core_util_atomic_store_bool(&_resetFlag, false);
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}
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_taskLogger.logPeriodAndExecutionTime(
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_timer, advembsof::TaskLogger::kResetTaskIndex, taskStartTime);
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}
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@ -227,11 +142,8 @@ void BikeSystem::displayTask1() {
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_displayDevice.displaySpeed(_currentSpeed);
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_displayDevice.displayDistance(_traveledDistance);
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ThisThread::sleep_for(
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std::chrono::duration_cast<std::chrono::milliseconds>(
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kDisplayTask1ComputationTime - (_timer.elapsed_time() - taskStartTime)
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)
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);
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ThisThread::sleep_for(std::chrono::duration_cast<std::chrono::milliseconds>(
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kDisplayTask1ComputationTime - (_timer.elapsed_time() - taskStartTime)));
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_taskLogger.logPeriodAndExecutionTime(
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_timer, advembsof::TaskLogger::kDisplayTask1Index, taskStartTime);
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@ -242,18 +154,17 @@ void BikeSystem::displayTask2() {
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_displayDevice.displayTemperature(_currentTemperature);
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ThisThread::sleep_for(
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std::chrono::duration_cast<std::chrono::milliseconds>(
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kDisplayTask2ComputationTime - (_timer.elapsed_time() - taskStartTime)
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)
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);
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ThisThread::sleep_for(std::chrono::duration_cast<std::chrono::milliseconds>(
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kDisplayTask2ComputationTime - (_timer.elapsed_time() - taskStartTime)));
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_taskLogger.logPeriodAndExecutionTime(
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_timer, advembsof::TaskLogger::kDisplayTask2Index, taskStartTime);
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}
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void BikeSystem::cpuTask() {
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_cpuLogger.printStats();
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}
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void BikeSystem::cpuTask() { _cpuLogger.printStats(); }
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} // namespace static_scheduling
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void BikeSystem::dispatch_isr_events() { _isrEventQueue.dispatch_forever(); }
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void BikeSystem::dispatch_events() { _eventQueue.dispatch_forever(); }
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} // namespace multi_tasking
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@ -26,9 +26,10 @@
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// from advembsof
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#include "EventQueue.h"
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#include "display_device.hpp"
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#include "task_logger.hpp"
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#include "cpu_logger.hpp"
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#include "display_device.hpp"
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#include "mbed.h"
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#include "task_logger.hpp"
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// from common
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#include "sensor_device.hpp"
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@ -75,12 +76,6 @@ class BikeSystem {
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void displayTask2();
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void cpuTask();
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// stop flag, used for stopping the super-loop (set in stop())
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bool _stopFlag = false;
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std::chrono::microseconds _resetTime = std::chrono::microseconds::zero();
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volatile bool _resetFlag = false;
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// timer instance used for loggint task time and used by ResetDevice
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Timer _timer;
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// data member that represents the device for manipulating the gear
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@ -109,7 +104,15 @@ class BikeSystem {
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advembsof::CPULogger _cpuLogger;
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// Event queues
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EventQueue * _isrEventQueue;
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EventQueue _isrEventQueue;
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EventQueue _eventQueue;
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// Tread for isr events
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Thread _isrEventThread;
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Thread _mainEventThread;
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void dispatch_isr_events();
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void dispatch_events();
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};
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} // namespace static_scheduling
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} // namespace multi_tasking
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@ -1,12 +1,12 @@
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/****************************************************************************
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* @file reset_device.cpp
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* @author Rémi Heredero <remi@heredero.ch>
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* @author Yann Sierro <yannsierro.pro@gmail.com>
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*
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* @brief Reset Device implementation (static scheduling with event)
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* @date 2024-11-17
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* @version 1.1.0
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****************************************************************************/
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* @file reset_device.cpp
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* @author Rémi Heredero <remi@heredero.ch>
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* @author Yann Sierro <yannsierro.pro@gmail.com>
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*
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* @brief Reset Device implementation (static scheduling with event)
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* @date 2024-11-17
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* @version 1.1.0
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****************************************************************************/
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#include "reset_device.hpp"
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@ -21,16 +21,14 @@
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static constexpr uint8_t kPolarityPressed = 1;
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#endif
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#if MBED_CONF_MBED_TRACE_ENABLE
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#define TRACE_GROUP "ResetDevice"
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#endif // MBED_CONF_MBED_TRACE_ENABLE
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namespace multi_tasking {
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ResetDevice::ResetDevice(Callback<void()> cb) : _resetButton(PUSH_BUTTON) {
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ResetDevice::ResetDevice(Callback<void()> cb) : _resetButton(PUSH_BUTTON) {
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_resetButton.fall(cb);
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}
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}
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} // namespace multi_tasking
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