ADD [WIP] Static scheduling with event

TESTS/bike-computer/bike-system/main.cpp

@@ -25,6 +25,7 @@
 #include <chrono>
 
 #include "static_scheduling/bike_system.hpp"
+#include "static_scheduling_with_event/bike_system.hpp"
 
 #include "greentea-client/test_env.h"
 #include "mbed.h"
@@ -105,6 +106,39 @@ static void test_bike_system_event_queue() {
     }
 }
 
+// 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)
@@ -117,6 +151,7 @@ static utest::v1::status_t greentea_setup(const size_t number_of_cases) {
 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);

common/constants.hpp

@@ -51,4 +51,10 @@ 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<uint32_t>(
+    (
+        bike_computer::kMaxPedalRotationTime - bike_computer::kMinPedalRotationTime
+    ).count() / bike_computer::kDeltaPedalRotationTime.count()
+);
+
 }  // namespace bike_computer

main.cpp

@@ -7,27 +7,17 @@
 
 #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();
-    // DigitalOut led(LED1);
+#endif
-    // tr_debug("Hello world");
+    static_scheduling_with_event::BikeSystem bikeSystem;
-
-    //    while (true) {
-    //        led = !led;
-    //        ThisThread::sleep_for(BLINKING_RATE);
-    //        tr_debug("blink");
-    //    }
-    static_scheduling::BikeSystem bikeSystem;
-    // bikeSystem.start();
     bikeSystem.startWithEventQueue();
 }
 

static_scheduling/reset_device.cpp

@@ -23,7 +23,7 @@ static constexpr uint8_t kPolarityPressed = 1;
 
 
 #if MBED_CONF_MBED_TRACE_ENABLE
-#define TRACE_GROUP "PedalDevice"
+#define TRACE_GROUP "ResetDevice"
 #endif  // MBED_CONF_MBED_TRACE_ENABLE
 
 namespace static_scheduling {

static_scheduling_with_event/bike_system.cpp

@@ -0,0 +1,295 @@
+// 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 <serge.ayer@hefr.ch>
+ * @author Rémi Heredero <remi@heredero.ch>
+ * @author Yann Sierro <yannsierro.pro@gmail.com>
+ *
+ * @brief Bike System implementation (static scheduling)
+ *
+ * @date 2023-11-15
+ * @version 1.1.0
+ ***************************************************************************/
+
+#include "bike_system.hpp"
+
+#include <chrono>
+
+#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 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<std::chrono::milliseconds>(endTime - startTime);
+        tr_debug("Repeating cycle time is %" PRIu64 " milliseconds", cycle.count());
+
+        bool stopFlag = false;
+        core_util_atomic_load(&stopFlag);
+        if (stopFlag) {
+            break;
+        }
+
+        #if !defined(MBED_TEST_MODE)
+        	_cpuLogger.printStats();
+        #endif
+
+    }
+}
+
+void BikeSystem::startWithEventQueue() {
+
+    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();
+}
+
+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<int>(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<std::chrono::milliseconds>(
+            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();
+    }
+
+    _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<std::chrono::milliseconds>(
+            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<std::chrono::milliseconds>(
+            kDisplayTask2ComputationTime - (_timer.elapsed_time() - taskStartTime)
+        )
+    );
+
+    _taskLogger.logPeriodAndExecutionTime(
+        _timer, advembsof::TaskLogger::kDisplayTask2Index, taskStartTime);
+}
+
+void BikeSystem::cpuTask() {
+    _cpuLogger.printStats();
+}
+
+}  // namespace static_scheduling

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 <serge.ayer@hefr.ch>
+ *
+ * @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

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 <serge.ayer@hefr.ch>
+ * @author Rémi Heredero <remi@heredero.ch>
+ * @author Yann Sierro <yannsierro.pro@gmail.com>
+ *
+ * @brief Gear Device implementation (static scheduling)
+ *
+ * @date 2023-11-17
+ * @version 1.1.0
+ ***************************************************************************/
+
+#include "gear_device.hpp"
+
+// from disco_h747i/wrappers
+#include <chrono>
+
+#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

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 <serge.ayer@hefr.ch>
+ * @author Rémi Heredero <remi@heredero.ch>
+ * @author Yann Sierro <yannsierro.pro@gmail.com>
+ *
+ * @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

static_scheduling_with_event/pedal_device.cpp

@@ -0,0 +1,62 @@
+/****************************************************************************
+* @file pedal_device.cpp
+* @author Rémi Heredero <remi@heredero.ch>
+* @author Yann Sierro <yannsierro.pro@gmail.com>
+*
+* @brief Pedal Device implementation (static scheduling)
+* @date 2024-11-17
+* @version 1.1.0
+****************************************************************************/
+
+#include "pedal_device.hpp"
+
+// from disco_h747i/wrappers
+#include <chrono>
+
+#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();
+    }
+
+}

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 <serge.ayer@hefr.ch>
+ * @author Rémi Heredero <remi@heredero.ch>
+ * @author Yann Sierro <yannsierro.pro@gmail.com>
+ *
+ * @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<uint32_t>(
+        (
+            bike_computer::kInitialPedalRotationTime - bike_computer::kMinPedalRotationTime
+        ).count() / bike_computer::kDeltaPedalRotationTime.count()
+    );
+};
+
+}  // namespace static_scheduling

static_scheduling_with_event/reset_device.cpp

@@ -0,0 +1,36 @@
+/****************************************************************************
+* @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"
+
+// from disco_h747i/wrappers
+#include <chrono>
+
+#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<void()> cb) : _resetButton(PUSH_BUTTON) {
+    	_resetButton.fall(cb);
+	}
+
+
+}

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 <serge.ayer@hefr.ch>
+ * @author Rémi Heredero <remi@heredero.ch>
+ * @author Yann Sierro <yannsierro.pro@gmail.com>
+ *
+ * @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<void()> 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