ADD cpplint args in action file
This commit is contained in:
fastium
Fastium
parent
f8077db299
commit
c0335b38a4
@ -15,6 +15,8 @@ repos:
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rev: "1.6.1"
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hooks:
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- id: cpplint
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name: cpplint
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entry: cpplint --linelength=90 --filter=-build/include_subdir,-whitespace/indent,-build/namespaces,-build/c++11
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- repo: local
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hooks:
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- id: cppcheck
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@ -24,16 +24,15 @@
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#include <chrono>
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#include "static_scheduling/bike_system.hpp"
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#include "static_scheduling_with_event/bike_system.hpp"
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#include "greentea-client/test_env.h"
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#include "mbed.h"
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#include "static_scheduling/bike_system.hpp"
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#include "static_scheduling_with_event/bike_system.hpp"
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#include "task_logger.hpp"
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#include "unity/unity.h"
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#include "utest/utest.h"
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using namespace utest::v1;
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namespace utest::v1 {
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// test_bike_system handler function
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static void test_bike_system() {
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@ -80,7 +79,8 @@ static void test_bike_system_event_queue() {
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// run the bike system in a separate thread
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Thread thread;
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thread.start(callback(&bikeSystem, &static_scheduling::BikeSystem::startWithEventQueue));
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thread.start(
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callback(&bikeSystem, &static_scheduling::BikeSystem::startWithEventQueue));
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// let the bike system run for 20 secs
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ThisThread::sleep_for(20s);
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@ -156,4 +156,5 @@ static Case cases[] = {
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static Specification specification(greentea_setup, cases);
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int main() { return !Harness::run(specification); }
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int main() { return !Harness::run(specification); }
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}; // namespace utest::v1
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@ -29,7 +29,7 @@
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#include "unity/unity.h"
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#include "utest/utest.h"
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using namespace utest::v1;
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namespace utest::v1 {
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// test_hdc1000 test handler function
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static control_t test_sensor_device(const size_t call_count) {
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@ -66,4 +66,5 @@ static Case cases[] = {Case("test sensor device", test_sensor_device)};
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static Specification specification(greentea_setup, cases);
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int main() { return !Harness::run(specification); }
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int main() { return !Harness::run(specification); }
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}; // namespace utest::v1
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@ -31,8 +31,7 @@
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#include "static_scheduling/gear_device.hpp"
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#include "unity/unity.h"
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#include "utest/utest.h"
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using namespace utest::v1;
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namespace utest::v1 {
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// allow for 0.1 km/h difference
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static constexpr float kAllowedSpeedDelta = 0.1f;
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@ -351,4 +350,5 @@ static Case cases[] = {
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static Specification specification(greentea_setup, cases);
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int main() { return !Harness::run(specification); }
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int main() { return !Harness::run(specification); }
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}; // namespace utest::v1
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@ -27,7 +27,7 @@
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#include "unity/unity.h"
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#include "utest/utest.h"
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using namespace utest::v1;
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namespace utest::v1 {
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// test handler function
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static control_t always_succeed(const size_t call_count) {
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@ -51,4 +51,5 @@ static Case cases[] = {Case("always succeed test", always_succeed)};
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static Specification specification(greentea_setup, cases);
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int main() { return !Harness::run(specification); }
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int main() { return !Harness::run(specification); }
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}; // namespace utest::v1
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@ -24,12 +24,12 @@
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* @version 0.2.0
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***************************************************************************/
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#include "greentea-client/test_env.h"
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#include "mbed.h"
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#include "unity/unity.h"
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#include "utest/utest.h"
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#include "greentea-client/test_env.h" // NOLINT
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#include "mbed.h" // NOLINT
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#include "unity/unity.h" // NOLINT
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#include "utest/utest.h" // NOLINT
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using namespace utest::v1;
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namespace utest::v1 {
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struct Test {
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Test() {
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_instanceCount++;
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@ -97,8 +97,8 @@ void test_instance_sharing() {
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}
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/**********************
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* UNIQUE PTR EXERCISE *
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**********************/
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* UNIQUE PTR EXERCISE *
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**********************/
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/*
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* Check normal lifetime on a unique_ptr
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@ -114,7 +114,7 @@ void test_single_unique_ptr_lifetime() {
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TEST_ASSERT_EQUAL(Test::kMagicNumber, p1->_value);
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const uint32_t number = 42;
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p1->_value = number;
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p1->_value = number;
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TEST_ASSERT_EQUAL(number, p1->_value);
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p1.reset();
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@ -132,12 +132,12 @@ void test_unique_ptr_transfer() {
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TEST_ASSERT_EQUAL(0, Test::_instanceCount);
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{
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//create p1
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// create p1
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std::unique_ptr<Test> p1 = std::make_unique<Test>();
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TEST_ASSERT_EQUAL(Test::kMagicNumber, p1->_value);
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TEST_ASSERT_EQUAL(1, Test::_instanceCount);
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//transfer p1 to p2
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// transfer p1 to p2
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std::unique_ptr<Test> p2 = std::move(p1);
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TEST_ASSERT_EQUAL(Test::kMagicNumber, p2->_value);
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TEST_ASSERT_EQUAL(1, Test::_instanceCount);
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@ -145,7 +145,7 @@ void test_unique_ptr_transfer() {
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p2.reset();
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TEST_ASSERT_EQUAL(0, Test::_instanceCount);
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TEST_ASSERT(!p1);
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TEST_ASSERT(!p1); // cppcheck-suppress accessMoved
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TEST_ASSERT(!p2);
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}
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@ -160,13 +160,13 @@ void test_unique_ptr_release() {
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TEST_ASSERT_EQUAL(0, Test::_instanceCount);
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{
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//create p1
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// create p1
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std::unique_ptr<Test> p1 = std::make_unique<Test>();
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TEST_ASSERT_EQUAL(Test::kMagicNumber, p1->_value);
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TEST_ASSERT_EQUAL(1, Test::_instanceCount);
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//transfer and release p1 to p2
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Test * p2 = p1.release();
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// transfer and release p1 to p2
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Test* p2 = p1.release();
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TEST_ASSERT_EQUAL(Test::kMagicNumber, p2->_value);
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TEST_ASSERT_EQUAL(1, Test::_instanceCount);
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@ -192,21 +192,21 @@ void test_unique_ptr_swap() {
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const uint32_t number1 = 65;
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const uint32_t number2 = 42;
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//create p1
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// create p1
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std::unique_ptr<Test> p1 = std::make_unique<Test>();
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TEST_ASSERT_EQUAL(Test::kMagicNumber, p1->_value);
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TEST_ASSERT_EQUAL(1, Test::_instanceCount);
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p1->_value = number1;
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TEST_ASSERT_EQUAL(number1, p1->_value);
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//create p2
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// create p2
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std::unique_ptr<Test> p2 = std::make_unique<Test>();
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TEST_ASSERT_EQUAL(Test::kMagicNumber, p2->_value);
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TEST_ASSERT_EQUAL(2, Test::_instanceCount);
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p2->_value = number2;
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TEST_ASSERT_EQUAL(number2, p2->_value);
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//swap
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// swap
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p1.swap(p2);
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TEST_ASSERT_EQUAL(number1, p2->_value);
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@ -223,11 +223,9 @@ void test_unique_ptr_swap() {
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TEST_ASSERT_EQUAL(0, Test::_instanceCount);
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}
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/*******************
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* RAW PTR EXERCISE *
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*******************/
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* RAW PTR EXERCISE *
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*******************/
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/**
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* Test that a shared pointer correctly manages the lifetime of the underlying raw pointer
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@ -242,12 +240,12 @@ void test_single_raw_ptr_lifetime() {
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TEST_ASSERT_EQUAL(1, Test::_instanceCount);
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TEST_ASSERT_EQUAL(Test::kMagicNumber, t1._value);
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Test * p1 = &t1;
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Test* p1 = &t1;
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TEST_ASSERT_EQUAL(1, Test::_instanceCount);
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TEST_ASSERT_EQUAL(Test::kMagicNumber, p1->_value);
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const uint32_t number1 = 42;
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p1->_value = number1;
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p1->_value = number1;
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TEST_ASSERT_EQUAL(number1, p1->_value);
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TEST_ASSERT_EQUAL(number1, t1._value);
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@ -285,4 +283,5 @@ static Case cases[] = {
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static Specification specification(greentea_setup, cases);
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int main() { return !Harness::run(specification); }
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int main() { return !Harness::run(specification); }
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}; // namespace utest::v1
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8
main.cpp
8
main.cpp
@ -7,7 +7,7 @@
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#include "mbed.h" // NOLINT
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#include "mbed_trace.h"
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//#include "static_scheduling/bike_system.hpp"
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// #include "static_scheduling/bike_system.hpp"
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#include "static_scheduling_with_event/bike_system.hpp"
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#if defined(MBED_CONF_MBED_TRACE_ENABLE)
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@ -19,9 +19,9 @@ int main() {
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mbed_trace_init();
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#endif
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// static_scheduling::BikeSystem bikeSystem;
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// bikeSystem.start();
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// bikeSystem.startWithEventQueue();
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// static_scheduling::BikeSystem bikeSystem;
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// bikeSystem.start();
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// bikeSystem.startWithEventQueue();
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static_scheduling_with_event::BikeSystem bikeSystem;
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bikeSystem.start();
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@ -35,38 +35,34 @@
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namespace static_scheduling {
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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 = 0ms; // 0 or 100ms
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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 = 0ms; // 0 or 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 = 0ms;
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static constexpr std::chrono::milliseconds kCPUTaskComputationTime = 0ms;
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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 = 0ms;
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static constexpr std::chrono::milliseconds kCPUTaskComputationTime = 0ms;
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BikeSystem::BikeSystem() :
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_gearDevice(_timer),
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_pedalDevice(_timer),
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_resetDevice(_timer),
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_speedometer(_timer),
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_cpuLogger(_timer)
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{
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}
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BikeSystem::BikeSystem()
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: _gearDevice(_timer),
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_pedalDevice(_timer),
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_resetDevice(_timer),
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_speedometer(_timer),
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_cpuLogger(_timer) {}
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void BikeSystem::start() {
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tr_info("Starting Super-Loop without event handling");
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@ -76,19 +72,17 @@ void BikeSystem::start() {
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while (true) {
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auto startTime = _timer.elapsed_time();
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gearTask(); // 100ms : 0ms -> 100ms
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speedDistanceTask(); // 200ms : 100ms -> 300ms
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displayTask1(); // 200ms : 300ms -> 500ms
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speedDistanceTask(); // 200ms : 500ms -> 700ms
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resetTask(); // 100ms : 700ms -> 800ms
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gearTask(); // 100ms : 800ms -> 900ms
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speedDistanceTask(); // 200ms : 900ms -> 1100ms
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temperatureTask(); // 100ms : 1100ms -> 1200ms
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displayTask2(); // 100ms : 1200ms -> 1300ms
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speedDistanceTask(); // 200ms : 1300ms -> 1500ms
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resetTask(); // 100ms : 1500ms -> 1600ms
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gearTask(); // 100ms : 0ms -> 100ms
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speedDistanceTask(); // 200ms : 100ms -> 300ms
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displayTask1(); // 200ms : 300ms -> 500ms
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speedDistanceTask(); // 200ms : 500ms -> 700ms
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resetTask(); // 100ms : 700ms -> 800ms
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gearTask(); // 100ms : 800ms -> 900ms
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speedDistanceTask(); // 200ms : 900ms -> 1100ms
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temperatureTask(); // 100ms : 1100ms -> 1200ms
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displayTask2(); // 100ms : 1200ms -> 1300ms
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speedDistanceTask(); // 200ms : 1300ms -> 1500ms
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resetTask(); // 100ms : 1500ms -> 1600ms
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// register the time at the end of the cyclic schedule period and print the
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// elapsed time for the period
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@ -97,35 +91,32 @@ void BikeSystem::start() {
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std::chrono::duration_cast<std::chrono::milliseconds>(endTime - startTime);
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tr_debug("Repeating cycle time is %" PRIu64 " milliseconds", cycle.count());
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// TODO: implement loop exit when applicable
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// Done
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bool fStop = false;
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core_util_atomic_load(&fStop);
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if (fStop) {
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break;
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}
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#if !defined(MBED_TEST_MODE)
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_cpuLogger.printStats();
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#endif
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#if !defined(MBED_TEST_MODE)
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_cpuLogger.printStats();
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#endif
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}
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}
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void BikeSystem::startWithEventQueue() {
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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()> 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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Event<void()> speedDistanceEvent(&eventQueue,
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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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@ -140,7 +131,8 @@ void BikeSystem::startWithEventQueue() {
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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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Event<void()> temperatureEvent(&eventQueue,
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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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@ -150,14 +142,14 @@ void BikeSystem::startWithEventQueue() {
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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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#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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}
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void BikeSystem::stop() { core_util_atomic_store_bool(&_stopFlag, true); }
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@ -195,8 +187,7 @@ 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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}
|
||||
|
||||
void BikeSystem::speedDistanceTask() {
|
||||
@ -207,12 +198,11 @@ void BikeSystem::speedDistanceTask() {
|
||||
_speedometer.setCurrentRotationTime(pedalRotationTime);
|
||||
_speedometer.setGearSize(_currentGearSize);
|
||||
// no need to protect access to data members (single threaded)
|
||||
_currentSpeed = _speedometer.getCurrentSpeed();
|
||||
_currentSpeed = _speedometer.getCurrentSpeed();
|
||||
_traveledDistance = _speedometer.getDistance();
|
||||
|
||||
_taskLogger.logPeriodAndExecutionTime(
|
||||
_timer, advembsof::TaskLogger::kSpeedTaskIndex, taskStartTime
|
||||
);
|
||||
_timer, advembsof::TaskLogger::kSpeedTaskIndex, taskStartTime);
|
||||
}
|
||||
|
||||
void BikeSystem::temperatureTask() {
|
||||
@ -225,18 +215,15 @@ void BikeSystem::temperatureTask() {
|
||||
|
||||
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)));
|
||||
|
||||
// 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;
|
||||
// }
|
||||
// std::chrono::microseconds elapsedTime = std::chrono::microseconds::zero();
|
||||
// while (elapsedTime < kTemperatureTaskComputationTime) {
|
||||
// elapsedTime = _timer.elapsed_time() - taskStartTime;
|
||||
// }
|
||||
|
||||
_taskLogger.logPeriodAndExecutionTime(
|
||||
_timer, advembsof::TaskLogger::kTemperatureTaskIndex, taskStartTime);
|
||||
@ -263,18 +250,15 @@ 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)));
|
||||
|
||||
// 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;
|
||||
// }
|
||||
// std::chrono::microseconds elapsedTime = std::chrono::microseconds::zero();
|
||||
// while (elapsedTime < kDisplayTask1ComputationTime) {
|
||||
// elapsedTime = _timer.elapsed_time() - taskStartTime;
|
||||
// }
|
||||
|
||||
_taskLogger.logPeriodAndExecutionTime(
|
||||
_timer, advembsof::TaskLogger::kDisplayTask1Index, taskStartTime);
|
||||
@ -285,24 +269,19 @@ 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)));
|
||||
|
||||
// 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;
|
||||
// }
|
||||
// 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();
|
||||
}
|
||||
void BikeSystem::cpuTask() { _cpuLogger.printStats(); }
|
||||
|
||||
} // namespace static_scheduling
|
||||
} // namespace static_scheduling
|
||||
|
||||
@ -25,9 +25,9 @@
|
||||
#pragma once
|
||||
|
||||
// from advembsof
|
||||
#include "cpu_logger.hpp"
|
||||
#include "display_device.hpp"
|
||||
#include "task_logger.hpp"
|
||||
#include "cpu_logger.hpp"
|
||||
|
||||
// from common
|
||||
#include "sensor_device.hpp"
|
||||
@ -79,12 +79,12 @@ class BikeSystem {
|
||||
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;
|
||||
@ -103,4 +103,4 @@ class BikeSystem {
|
||||
advembsof::CPULogger _cpuLogger;
|
||||
};
|
||||
|
||||
} // namespace static_scheduling
|
||||
} // namespace static_scheduling
|
||||
|
||||
@ -80,4 +80,4 @@ uint8_t GearDevice::getCurrentGearSize() const {
|
||||
return bike_computer::kMaxGearSize - _currentGear;
|
||||
}
|
||||
|
||||
} // namespace static_scheduling
|
||||
} // namespace static_scheduling
|
||||
|
||||
@ -47,4 +47,4 @@ class GearDevice {
|
||||
Timer& _timer;
|
||||
};
|
||||
|
||||
} // namespace static_scheduling
|
||||
} // namespace static_scheduling
|
||||
|
||||
@ -1,12 +1,25 @@
|
||||
// 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.cpp
|
||||
* @author Rémi Heredero <remi@heredero.ch>
|
||||
* @author Yann Sierro <yannsierro.pro@gmail.com>
|
||||
*
|
||||
* @brief Pedal Device implementation (static scheduling)
|
||||
* @date 2024-11-09
|
||||
* @version 0.1.0
|
||||
****************************************************************************/
|
||||
* @file pedal_device.cpp
|
||||
* @author Rémi Heredero <remi@heredero.ch>
|
||||
* @author Yann Sierro <yannsierro.pro@gmail.com>
|
||||
*
|
||||
* @brief Pedal Device implementation (static scheduling)
|
||||
* @date 2024-11-09
|
||||
* @version 0.1.0
|
||||
****************************************************************************/
|
||||
|
||||
#include "pedal_device.hpp"
|
||||
|
||||
@ -22,51 +35,50 @@
|
||||
|
||||
namespace static_scheduling {
|
||||
|
||||
static constexpr std::chrono::microseconds kTaskRunTime = 200000us;
|
||||
static constexpr std::chrono::microseconds kTaskRunTime = 200000us;
|
||||
|
||||
PedalDevice::PedalDevice(Timer& timer) : _timer(timer) {}
|
||||
PedalDevice::PedalDevice(Timer& timer) : _timer(timer) {}
|
||||
|
||||
std::chrono::milliseconds PedalDevice::getCurrentRotationTime() {
|
||||
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();
|
||||
|
||||
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;
|
||||
|
||||
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;
|
||||
|
||||
case disco::Joystick::State::DownPressed:
|
||||
if (_pedalRotationTime > bike_computer::kMinPedalRotationTime) {
|
||||
decreaseRotationSpeed();
|
||||
hasChanged = true;
|
||||
}
|
||||
break;
|
||||
|
||||
default:
|
||||
break;
|
||||
}
|
||||
}
|
||||
elapsedTime = _timer.elapsed_time() - initialTime;
|
||||
}
|
||||
return _pedalRotationTime;
|
||||
default:
|
||||
break;
|
||||
}
|
||||
}
|
||||
elapsedTime = _timer.elapsed_time() - initialTime;
|
||||
}
|
||||
|
||||
void PedalDevice::increaseRotationSpeed() {
|
||||
_pedalRotationTime -= bike_computer::kDeltaPedalRotationTime;
|
||||
}
|
||||
|
||||
void PedalDevice::decreaseRotationSpeed() {
|
||||
_pedalRotationTime += bike_computer::kDeltaPedalRotationTime;
|
||||
}
|
||||
|
||||
return _pedalRotationTime;
|
||||
}
|
||||
|
||||
void PedalDevice::increaseRotationSpeed() {
|
||||
_pedalRotationTime -= bike_computer::kDeltaPedalRotationTime;
|
||||
}
|
||||
|
||||
void PedalDevice::decreaseRotationSpeed() {
|
||||
_pedalRotationTime += bike_computer::kDeltaPedalRotationTime;
|
||||
}
|
||||
|
||||
} // namespace static_scheduling
|
||||
|
||||
@ -51,4 +51,4 @@ class PedalDevice {
|
||||
Timer& _timer;
|
||||
};
|
||||
|
||||
} // namespace static_scheduling
|
||||
} // namespace static_scheduling
|
||||
|
||||
@ -1,12 +1,26 @@
|
||||
// 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.cpp
|
||||
* @author Rémi Heredero <remi@heredero.ch>
|
||||
* @author Yann Sierro <yannsierro.pro@gmail.com>
|
||||
*
|
||||
* @brief Reset Device implementation (static scheduling)
|
||||
* @date 2024-11-12
|
||||
* @version 0.1.0
|
||||
****************************************************************************/
|
||||
* @file reset_device.cpp
|
||||
* @author Rémi Heredero <remi@heredero.ch>
|
||||
* @author Yann Sierro <yannsierro.pro@gmail.com>
|
||||
*
|
||||
* @brief Reset Device implementation (static scheduling)
|
||||
* @date 2024-11-12
|
||||
* @version 0.1.0
|
||||
****************************************************************************/
|
||||
|
||||
#include "reset_device.hpp"
|
||||
|
||||
@ -21,43 +35,35 @@
|
||||
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;
|
||||
static constexpr std::chrono::microseconds kTaskRunTime = 100000us;
|
||||
|
||||
ResetDevice::ResetDevice(Timer& timer) : _timer(timer), _resetButton(PUSH_BUTTON) {
|
||||
_resetButton.rise(callback(this, &ResetDevice::onRise));
|
||||
}
|
||||
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;
|
||||
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;
|
||||
}
|
||||
|
||||
void ResetDevice::onRise() {
|
||||
_pressTime = _timer.elapsed_time();
|
||||
}
|
||||
return isPressed;
|
||||
}
|
||||
|
||||
std::chrono::microseconds ResetDevice::getPressTime() { return _pressTime; }
|
||||
|
||||
void ResetDevice::onRise() { _pressTime = _timer.elapsed_time(); }
|
||||
|
||||
}
|
||||
} // namespace static_scheduling
|
||||
|
||||
@ -53,4 +53,4 @@ class ResetDevice {
|
||||
std::chrono::microseconds _pressTime;
|
||||
};
|
||||
|
||||
} // namespace static_scheduling
|
||||
} // namespace static_scheduling
|
||||
|
||||
@ -35,59 +35,55 @@
|
||||
|
||||
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 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 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 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 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 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 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;
|
||||
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() {
|
||||
|
||||
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()> gearEvent(&eventQueue, callback(this, &BikeSystem::gearTask));
|
||||
gearEvent.delay(kGearTaskDelay);
|
||||
gearEvent.period(kGearTaskPeriod);
|
||||
gearEvent.post();
|
||||
|
||||
Event<void()> speedDistanceEvent(&eventQueue, callback(this, &BikeSystem::speedDistanceTask));
|
||||
Event<void()> speedDistanceEvent(&eventQueue,
|
||||
callback(this, &BikeSystem::speedDistanceTask));
|
||||
speedDistanceEvent.delay(kSpeedDistanceTaskDelay);
|
||||
speedDistanceEvent.period(kSpeedDistanceTaskPeriod);
|
||||
speedDistanceEvent.post();
|
||||
@ -102,7 +98,8 @@ void BikeSystem::start() {
|
||||
resetEvent.period(kResetTaskPeriod);
|
||||
resetEvent.post();
|
||||
|
||||
Event<void()> temperatureEvent(&eventQueue, callback(this, &BikeSystem::temperatureTask));
|
||||
Event<void()> temperatureEvent(&eventQueue,
|
||||
callback(this, &BikeSystem::temperatureTask));
|
||||
temperatureEvent.delay(kTemperatureTaskDelay);
|
||||
temperatureEvent.period(kTemperatureTaskPeriod);
|
||||
temperatureEvent.post();
|
||||
@ -112,14 +109,14 @@ void BikeSystem::start() {
|
||||
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();
|
||||
#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() {
|
||||
@ -162,8 +159,7 @@ void BikeSystem::gearTask() {
|
||||
_currentGearSize = _gearDevice.getCurrentGearSize();
|
||||
|
||||
_taskLogger.logPeriodAndExecutionTime(
|
||||
_timer, advembsof::TaskLogger::kGearTaskIndex, taskStartTime
|
||||
);
|
||||
_timer, advembsof::TaskLogger::kGearTaskIndex, taskStartTime);
|
||||
}
|
||||
|
||||
void BikeSystem::speedDistanceTask() {
|
||||
@ -173,29 +169,25 @@ 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);
|
||||
@ -223,11 +215,8 @@ 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);
|
||||
@ -238,18 +227,13 @@ 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
|
||||
} // namespace static_scheduling_with_event
|
||||
|
||||
@ -25,9 +25,9 @@
|
||||
#pragma once
|
||||
|
||||
// from advembsof
|
||||
#include "cpu_logger.hpp"
|
||||
#include "display_device.hpp"
|
||||
#include "task_logger.hpp"
|
||||
#include "cpu_logger.hpp"
|
||||
|
||||
// from common
|
||||
#include "sensor_device.hpp"
|
||||
@ -78,18 +78,18 @@ class BikeSystem {
|
||||
bool _stopFlag = false;
|
||||
|
||||
std::chrono::microseconds _resetTime = std::chrono::microseconds::zero();
|
||||
volatile bool _resetFlag = false;
|
||||
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;
|
||||
@ -108,4 +108,4 @@ class BikeSystem {
|
||||
advembsof::CPULogger _cpuLogger;
|
||||
};
|
||||
|
||||
} // namespace static_scheduling
|
||||
} // namespace static_scheduling_with_event
|
||||
|
||||
@ -38,17 +38,12 @@
|
||||
|
||||
namespace static_scheduling_with_event {
|
||||
|
||||
|
||||
GearDevice::GearDevice() {
|
||||
disco::Joystick::getInstance().setUpCallback(
|
||||
callback(this, &GearDevice::onUp));
|
||||
disco::Joystick::getInstance().setDownCallback(
|
||||
callback(this, &GearDevice::onDown));
|
||||
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::getCurrentGear() { return core_util_atomic_load_u8(&_currentGear); }
|
||||
|
||||
uint8_t GearDevice::getCurrentGearSize() const {
|
||||
return bike_computer::kMaxGearSize - core_util_atomic_load_u8(&_currentGear);
|
||||
@ -66,4 +61,4 @@ void GearDevice::onDown() {
|
||||
}
|
||||
}
|
||||
|
||||
} // namespace static_scheduling
|
||||
} // namespace static_scheduling_with_event
|
||||
|
||||
@ -33,7 +33,7 @@ namespace static_scheduling_with_event {
|
||||
|
||||
class GearDevice {
|
||||
public:
|
||||
explicit GearDevice(); // NOLINT(runtime/references)
|
||||
GearDevice(); // NOLINT(runtime/references)
|
||||
|
||||
// make the class non copyable
|
||||
GearDevice(GearDevice&) = delete;
|
||||
@ -51,4 +51,4 @@ class GearDevice {
|
||||
volatile uint8_t _currentGear = bike_computer::kMinGear;
|
||||
};
|
||||
|
||||
} // namespace static_scheduling
|
||||
} // namespace static_scheduling_with_event
|
||||
|
||||
@ -1,12 +1,26 @@
|
||||
// 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.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
|
||||
****************************************************************************/
|
||||
* @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"
|
||||
|
||||
@ -22,41 +36,34 @@
|
||||
|
||||
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();
|
||||
}
|
||||
|
||||
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(); }
|
||||
|
||||
} // namespace static_scheduling_with_event
|
||||
|
||||
@ -51,10 +51,9 @@ class PedalDevice {
|
||||
|
||||
// data members
|
||||
volatile uint32_t _currentStep = static_cast<uint32_t>(
|
||||
(
|
||||
bike_computer::kInitialPedalRotationTime - bike_computer::kMinPedalRotationTime
|
||||
).count() / bike_computer::kDeltaPedalRotationTime.count()
|
||||
);
|
||||
(bike_computer::kInitialPedalRotationTime - bike_computer::kMinPedalRotationTime)
|
||||
.count() /
|
||||
bike_computer::kDeltaPedalRotationTime.count());
|
||||
};
|
||||
|
||||
} // namespace static_scheduling
|
||||
} // namespace static_scheduling_with_event
|
||||
|
||||
@ -1,12 +1,26 @@
|
||||
// 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.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 +35,14 @@
|
||||
static constexpr uint8_t kPolarityPressed = 1;
|
||||
#endif
|
||||
|
||||
|
||||
#if MBED_CONF_MBED_TRACE_ENABLE
|
||||
#define TRACE_GROUP "ResetDevice"
|
||||
#endif // MBED_CONF_MBED_TRACE_ENABLE
|
||||
|
||||
namespace static_scheduling_with_event {
|
||||
|
||||
ResetDevice::ResetDevice(Callback<void()> cb) : _resetButton(PUSH_BUTTON) {
|
||||
_resetButton.fall(cb);
|
||||
}
|
||||
ResetDevice::ResetDevice(Callback<void()> cb) : _resetButton(PUSH_BUTTON) {
|
||||
_resetButton.fall(cb);
|
||||
}
|
||||
|
||||
|
||||
}
|
||||
} // namespace static_scheduling_with_event
|
||||
|
||||
@ -39,10 +39,9 @@ class ResetDevice {
|
||||
ResetDevice& operator=(ResetDevice&) = delete;
|
||||
|
||||
private:
|
||||
|
||||
// data members
|
||||
// instance representing the reset button
|
||||
InterruptIn _resetButton;
|
||||
};
|
||||
|
||||
} // namespace static_scheduling
|
||||
} // namespace static_scheduling_with_event
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user