ADD threads dispatcher and drive reset with event
This commit is contained in:
fastium
parent
da79a18cd9
commit
69bc8785a8
@ -35,104 +35,29 @@
|
||||
|
||||
namespace multi_tasking {
|
||||
|
||||
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)
|
||||
{
|
||||
|
||||
}
|
||||
BikeSystem::BikeSystem()
|
||||
: _gearDevice(),
|
||||
_pedalDevice(),
|
||||
_resetDevice(callback(this, &BikeSystem::onReset)),
|
||||
_speedometer(_timer),
|
||||
_cpuLogger(_timer) {}
|
||||
|
||||
void BikeSystem::start() {
|
||||
|
||||
// new thread dedicated for ISRs with its event queue
|
||||
|
||||
|
||||
|
||||
tr_info("Starting Super-Loop with event handling");
|
||||
|
||||
init();
|
||||
|
||||
EventQueue eventQueue;
|
||||
|
||||
Event<void()> gearEvent(&eventQueue, callback(this, &BikeSystem::gearTask));
|
||||
gearEvent.delay(kGearTaskDelay);
|
||||
gearEvent.period(kGearTaskPeriod);
|
||||
gearEvent.post();
|
||||
|
||||
Event<void()> speedDistanceEvent(&eventQueue, callback(this, &BikeSystem::speedDistanceTask));
|
||||
speedDistanceEvent.delay(kSpeedDistanceTaskDelay);
|
||||
speedDistanceEvent.period(kSpeedDistanceTaskPeriod);
|
||||
speedDistanceEvent.post();
|
||||
|
||||
Event<void()> display1Event(&eventQueue, callback(this, &BikeSystem::displayTask1));
|
||||
display1Event.delay(kDisplayTask1Delay);
|
||||
display1Event.period(kDisplayTask1Period);
|
||||
display1Event.post();
|
||||
|
||||
Event<void()> resetEvent(&eventQueue, callback(this, &BikeSystem::resetTask));
|
||||
resetEvent.delay(kResetTaskDelay);
|
||||
resetEvent.period(kResetTaskPeriod);
|
||||
resetEvent.post();
|
||||
|
||||
Event<void()> temperatureEvent(&eventQueue, callback(this, &BikeSystem::temperatureTask));
|
||||
temperatureEvent.delay(kTemperatureTaskDelay);
|
||||
temperatureEvent.period(kTemperatureTaskPeriod);
|
||||
temperatureEvent.post();
|
||||
|
||||
Event<void()> display2Event(&eventQueue, callback(this, &BikeSystem::displayTask2));
|
||||
display2Event.delay(kDisplayTask2Delay);
|
||||
display2Event.period(kDisplayTask2Period);
|
||||
display2Event.post();
|
||||
|
||||
#if !defined(MBED_TEST_MODE)
|
||||
Event<void()> cpuEvent(&eventQueue, callback(this, &BikeSystem::cpuTask));
|
||||
cpuEvent.delay(kCPUTaskDelay);
|
||||
cpuEvent.period(kCPUTaskPeriod);
|
||||
cpuEvent.post();
|
||||
#endif
|
||||
|
||||
eventQueue.dispatch_forever();
|
||||
_isrEventThread.start(callback(this, &BikeSystem::dispatch_isr_events));
|
||||
_mainEventThread.start(callback(this, &BikeSystem::dispatch_events));
|
||||
}
|
||||
|
||||
void BikeSystem::onReset() {
|
||||
_resetTime = _timer.elapsed_time();
|
||||
core_util_atomic_store_bool(&_resetFlag, true);
|
||||
Event<void()> resetEvent(&_isrEventQueue, callback(this, &BikeSystem::resetTask));
|
||||
resetEvent.post();
|
||||
}
|
||||
|
||||
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)
|
||||
@ -166,8 +91,7 @@ void BikeSystem::gearTask() {
|
||||
_currentGearSize = _gearDevice.getCurrentGearSize();
|
||||
|
||||
_taskLogger.logPeriodAndExecutionTime(
|
||||
_timer, advembsof::TaskLogger::kGearTaskIndex, taskStartTime
|
||||
);
|
||||
_timer, advembsof::TaskLogger::kGearTaskIndex, taskStartTime);
|
||||
}
|
||||
|
||||
void BikeSystem::speedDistanceTask() {
|
||||
@ -177,29 +101,25 @@ void BikeSystem::speedDistanceTask() {
|
||||
_speedometer.setCurrentRotationTime(pedalRotationTime);
|
||||
_speedometer.setGearSize(_currentGearSize);
|
||||
|
||||
_currentSpeed = _speedometer.getCurrentSpeed();
|
||||
_currentSpeed = _speedometer.getCurrentSpeed();
|
||||
_traveledDistance = _speedometer.getDistance();
|
||||
|
||||
_taskLogger.logPeriodAndExecutionTime(
|
||||
_timer, advembsof::TaskLogger::kSpeedTaskIndex, taskStartTime
|
||||
);
|
||||
_timer, advembsof::TaskLogger::kSpeedTaskIndex, taskStartTime);
|
||||
}
|
||||
|
||||
void BikeSystem::temperatureTask() {
|
||||
auto taskStartTime = _timer.elapsed_time();
|
||||
|
||||
//tr_warn("Tick1 %" PRIu64, _timer.elapsed_time().count());
|
||||
// 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());
|
||||
// tr_warn("Tick2 %" PRIu64, _timer.elapsed_time().count());
|
||||
|
||||
ThisThread::sleep_for(
|
||||
std::chrono::duration_cast<std::chrono::milliseconds>(
|
||||
kTemperatureTaskComputationTime - (_timer.elapsed_time() - taskStartTime)
|
||||
)
|
||||
);
|
||||
ThisThread::sleep_for(std::chrono::duration_cast<std::chrono::milliseconds>(
|
||||
kTemperatureTaskComputationTime - (_timer.elapsed_time() - taskStartTime)));
|
||||
|
||||
_taskLogger.logPeriodAndExecutionTime(
|
||||
_timer, advembsof::TaskLogger::kTemperatureTaskIndex, taskStartTime);
|
||||
@ -208,13 +128,8 @@ void BikeSystem::temperatureTask() {
|
||||
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);
|
||||
}
|
||||
tr_info("Reset task: response time is %" PRIu64 " usecs", responseTime.count());
|
||||
_speedometer.reset();
|
||||
|
||||
_taskLogger.logPeriodAndExecutionTime(
|
||||
_timer, advembsof::TaskLogger::kResetTaskIndex, taskStartTime);
|
||||
@ -227,11 +142,8 @@ void BikeSystem::displayTask1() {
|
||||
_displayDevice.displaySpeed(_currentSpeed);
|
||||
_displayDevice.displayDistance(_traveledDistance);
|
||||
|
||||
ThisThread::sleep_for(
|
||||
std::chrono::duration_cast<std::chrono::milliseconds>(
|
||||
kDisplayTask1ComputationTime - (_timer.elapsed_time() - taskStartTime)
|
||||
)
|
||||
);
|
||||
ThisThread::sleep_for(std::chrono::duration_cast<std::chrono::milliseconds>(
|
||||
kDisplayTask1ComputationTime - (_timer.elapsed_time() - taskStartTime)));
|
||||
|
||||
_taskLogger.logPeriodAndExecutionTime(
|
||||
_timer, advembsof::TaskLogger::kDisplayTask1Index, taskStartTime);
|
||||
@ -242,18 +154,17 @@ void BikeSystem::displayTask2() {
|
||||
|
||||
_displayDevice.displayTemperature(_currentTemperature);
|
||||
|
||||
ThisThread::sleep_for(
|
||||
std::chrono::duration_cast<std::chrono::milliseconds>(
|
||||
kDisplayTask2ComputationTime - (_timer.elapsed_time() - taskStartTime)
|
||||
)
|
||||
);
|
||||
ThisThread::sleep_for(std::chrono::duration_cast<std::chrono::milliseconds>(
|
||||
kDisplayTask2ComputationTime - (_timer.elapsed_time() - taskStartTime)));
|
||||
|
||||
_taskLogger.logPeriodAndExecutionTime(
|
||||
_timer, advembsof::TaskLogger::kDisplayTask2Index, taskStartTime);
|
||||
}
|
||||
|
||||
void BikeSystem::cpuTask() {
|
||||
_cpuLogger.printStats();
|
||||
}
|
||||
void BikeSystem::cpuTask() { _cpuLogger.printStats(); }
|
||||
|
||||
} // namespace static_scheduling
|
||||
void BikeSystem::dispatch_isr_events() { _isrEventQueue.dispatch_forever(); }
|
||||
|
||||
void BikeSystem::dispatch_events() { _eventQueue.dispatch_forever(); }
|
||||
|
||||
} // namespace multi_tasking
|
||||
|
||||
@ -26,9 +26,10 @@
|
||||
|
||||
// from advembsof
|
||||
#include "EventQueue.h"
|
||||
#include "display_device.hpp"
|
||||
#include "task_logger.hpp"
|
||||
#include "cpu_logger.hpp"
|
||||
#include "display_device.hpp"
|
||||
#include "mbed.h"
|
||||
#include "task_logger.hpp"
|
||||
|
||||
// from common
|
||||
#include "sensor_device.hpp"
|
||||
@ -75,22 +76,16 @@ class BikeSystem {
|
||||
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 _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 _currentSpeed = 0.0f;
|
||||
float _traveledDistance = 0.0f;
|
||||
// data member that represents the device used for resetting
|
||||
ResetDevice _resetDevice;
|
||||
@ -109,7 +104,15 @@ class BikeSystem {
|
||||
advembsof::CPULogger _cpuLogger;
|
||||
|
||||
// Event queues
|
||||
EventQueue * _isrEventQueue;
|
||||
EventQueue _isrEventQueue;
|
||||
EventQueue _eventQueue;
|
||||
|
||||
// Tread for isr events
|
||||
Thread _isrEventThread;
|
||||
Thread _mainEventThread;
|
||||
|
||||
void dispatch_isr_events();
|
||||
void dispatch_events();
|
||||
};
|
||||
|
||||
} // namespace static_scheduling
|
||||
} // namespace multi_tasking
|
||||
|
||||
@ -1,12 +1,12 @@
|
||||
/****************************************************************************
|
||||
* @file reset_device.cpp
|
||||
* @author Rémi Heredero <remi@heredero.ch>
|
||||
* @author Yann Sierro <yannsierro.pro@gmail.com>
|
||||
*
|
||||
* @brief Reset Device implementation (static scheduling with event)
|
||||
* @date 2024-11-17
|
||||
* @version 1.1.0
|
||||
****************************************************************************/
|
||||
* @file reset_device.cpp
|
||||
* @author Rémi Heredero <remi@heredero.ch>
|
||||
* @author Yann Sierro <yannsierro.pro@gmail.com>
|
||||
*
|
||||
* @brief Reset Device implementation (static scheduling with event)
|
||||
* @date 2024-11-17
|
||||
* @version 1.1.0
|
||||
****************************************************************************/
|
||||
|
||||
#include "reset_device.hpp"
|
||||
|
||||
@ -21,16 +21,14 @@
|
||||
static constexpr uint8_t kPolarityPressed = 1;
|
||||
#endif
|
||||
|
||||
|
||||
#if MBED_CONF_MBED_TRACE_ENABLE
|
||||
#define TRACE_GROUP "ResetDevice"
|
||||
#endif // MBED_CONF_MBED_TRACE_ENABLE
|
||||
|
||||
namespace multi_tasking {
|
||||
|
||||
ResetDevice::ResetDevice(Callback<void()> cb) : _resetButton(PUSH_BUTTON) {
|
||||
_resetButton.fall(cb);
|
||||
}
|
||||
|
||||
|
||||
ResetDevice::ResetDevice(Callback<void()> cb) : _resetButton(PUSH_BUTTON) {
|
||||
_resetButton.fall(cb);
|
||||
}
|
||||
|
||||
} // namespace multi_tasking
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user