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Part1
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df8edf3c34 |
8
.github/workflows/build-test.yml
vendored
8
.github/workflows/build-test.yml
vendored
@ -1,6 +1,6 @@
|
|||||||
name: Build test application
|
name: Build test application
|
||||||
on:
|
on:
|
||||||
pull_request:
|
push:
|
||||||
|
|
||||||
jobs:
|
jobs:
|
||||||
build-cli-v1:
|
build-cli-v1:
|
||||||
@ -14,11 +14,9 @@ jobs:
|
|||||||
target: [DISCO_H747I]
|
target: [DISCO_H747I]
|
||||||
profile: [debug]
|
profile: [debug]
|
||||||
tests: [
|
tests: [
|
||||||
tests-simple-test-always-succeed,
|
|
||||||
tests-simple-test-test-ptr,
|
|
||||||
advdembsof_library-tests-sensors-hdc1000,
|
|
||||||
tests-bike-computer-sensor-device,
|
tests-bike-computer-sensor-device,
|
||||||
tests-bike-computer-speedometer
|
tests-bike-computer-speedometer,
|
||||||
|
tests-bike-computer-bike-system,
|
||||||
]
|
]
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||||||
|
|
||||||
|
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||||||
|
@ -1,24 +1,26 @@
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|||||||
files: ^main.cpp
|
files: ^main.cpp|^static_scheduling|^static_scheduling_with_event|^TESTS
|
||||||
repos:
|
repos:
|
||||||
- repo: https://github.com/pre-commit/pre-commit-hooks
|
- repo: https://github.com/pre-commit/pre-commit-hooks
|
||||||
rev: v4.3.0
|
rev: v4.3.0
|
||||||
hooks:
|
hooks:
|
||||||
- id: check-yaml
|
- id: check-yaml
|
||||||
args: [--allow-multiple-documents]
|
args: [--allow-multiple-documents]
|
||||||
- id: end-of-file-fixer
|
- id: end-of-file-fixer
|
||||||
- id: trailing-whitespace
|
- id: trailing-whitespace
|
||||||
- repo: https://github.com/pre-commit/mirrors-clang-format
|
- repo: https://github.com/pre-commit/mirrors-clang-format
|
||||||
rev: 'v14.0.6'
|
rev: "v14.0.6"
|
||||||
hooks:
|
hooks:
|
||||||
- id: clang-format
|
- id: clang-format
|
||||||
- repo: https://github.com/cpplint/cpplint
|
- repo: https://github.com/cpplint/cpplint
|
||||||
rev: '1.6.1'
|
rev: "1.6.1"
|
||||||
hooks:
|
hooks:
|
||||||
- id: cpplint
|
- id: cpplint
|
||||||
- repo: local
|
name: cpplint
|
||||||
hooks:
|
entry: cpplint --linelength=90 --filter=-build/include_subdir,-whitespace/indent,-build/namespaces,-build/c++11
|
||||||
- id: cppcheck
|
- repo: local
|
||||||
name: cppcheck
|
hooks:
|
||||||
require_serial: true
|
- id: cppcheck
|
||||||
entry: cppcheck --enable=all --suppress=missingInclude:* --inline-suppr -i mbed-os --std=c++14 --error-exitcode=1
|
name: cppcheck
|
||||||
language: system
|
require_serial: true
|
||||||
|
entry: cppcheck --enable=all --suppress=missingInclude --suppress=missingIncludeSystem --inline-suppr -i mbed-os --std=c++14 --error-exitcode=1
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||||||
|
language: system
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||||||
|
66
README.md
66
README.md
@ -22,3 +22,69 @@ Test sensor libraries :
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```terminal
|
```terminal
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||||||
mbed test -m DISCO_H747I -t GCC_ARM -n advdembsof_library-tests-sensors-hdc1000 --compile --run
|
mbed test -m DISCO_H747I -t GCC_ARM -n advdembsof_library-tests-sensors-hdc1000 --compile --run
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||||||
```
|
```
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||||||
|
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||||||
|
## Run static scheduling
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||||||
|
On `.mbedignore` put at the end of the file
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||||||
|
```
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||||||
|
static_scheduling_with_event/*
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||||||
|
```
|
||||||
|
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||||||
|
On main.cpp include `"static_scheduling/bike_system.hpp"` and use :
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||||||
|
```cpp
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||||||
|
static_scheduling::BikeSystem bikeSystem;
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||||||
|
bikeSystem.start();
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||||||
|
```
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||||||
|
|
||||||
|
## Run static scheduling with event queue
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||||||
|
On `.mbedignore` put at the end of the file :
|
||||||
|
```
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||||||
|
static_scheduling_with_event/*
|
||||||
|
```
|
||||||
|
|
||||||
|
On main.cpp include `"static_scheduling/bike_system.hpp"` and use :
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||||||
|
```cpp
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||||||
|
static_scheduling::BikeSystem bikeSystem;
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||||||
|
bikeSystem.startWithEventQueue();
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||||||
|
```
|
||||||
|
|
||||||
|
## Run static scheduling with event scheduling
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||||||
|
On `.mbedignore` put at the end of the file
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||||||
|
```
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||||||
|
static_scheduling/*
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||||||
|
```
|
||||||
|
|
||||||
|
On main.cpp include `"static_scheduling_with_event/bike_system.hpp"` and use :
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||||||
|
```cpp
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||||||
|
static_scheduling_with_event::BikeSystem bikeSystem;
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||||||
|
bikeSystem.start();
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||||||
|
```
|
||||||
|
|
||||||
|
# Some questions
|
||||||
|
## Question 1
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||||||
|
`If you print CPU statistics at the end of every major cycle (in the super-loop), what CPU usage do you observe? How can you explain the observed CPU uptime?`
|
||||||
|
|
||||||
|
We observe a 100% usage because on each CPU cycle it compare if time is done.
|
||||||
|
|
||||||
|
## Question 2
|
||||||
|
`If you run the program after the change from busy wait to sleep calls, what CPU usage do you observe? How can you explain the observed CPU uptime?`
|
||||||
|
|
||||||
|
We can observe only a usage of 75% because the CPU is more on Idle with Thread sleep.
|
||||||
|
|
||||||
|
## Question 3
|
||||||
|
`If you run the static_scheduling_with_event program, what CPU usage do you observe? How can you explain the observed CPU uptime?`
|
||||||
|
|
||||||
|
We observe a light usage of 1% of CPU. The CPU is now sleeping all the time and doing small task only on event.
|
||||||
|
|
||||||
|
## Question 4
|
||||||
|
`When you run multiple tests for computing the response time of the reset event, what do you observe? Is there an improvement as compared to the static_scheduling::BikeSystem implementation?`
|
||||||
|
|
||||||
|
` - If you do not press long enough on the push button, the event may be missed and no reset happens.`
|
||||||
|
|
||||||
|
`Based on the program itself and on the task scheduling, explain these two behaviors. Explain also why such behaviors may be problematic.`
|
||||||
|
|
||||||
|
We notice, that we miss such less event when is event driven (or not at all). But with a static scheduling the response time is still long because the reset task is call with a certain period.
|
||||||
|
|
||||||
|
# Issues
|
||||||
|
When compile with GCC, the full loop of static scheduling is 2 to 3 ms faster than expected.
|
||||||
|
This problem doesn't occur if we compile with ARMC6.
|
||||||
|
As the acceptable delta is 2ms and the teacher test is done with GCC, we modify the delta on the test to be 3ms
|
163
TESTS/bike-computer/bike-system/main.cpp
Normal file
163
TESTS/bike-computer/bike-system/main.cpp
Normal file
@ -0,0 +1,163 @@
|
|||||||
|
// 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 main.cpp
|
||||||
|
* @author Serge Ayer <serge.ayer@hefr.ch>
|
||||||
|
*
|
||||||
|
* @brief Bike computer test suite: scheduling
|
||||||
|
*
|
||||||
|
* @date 2023-08-26
|
||||||
|
* @version 0.1.0
|
||||||
|
***************************************************************************/
|
||||||
|
|
||||||
|
#include <chrono>
|
||||||
|
|
||||||
|
#include "greentea-client/test_env.h"
|
||||||
|
#include "mbed.h"
|
||||||
|
#include "static_scheduling/bike_system.hpp"
|
||||||
|
#include "static_scheduling_with_event/bike_system.hpp"
|
||||||
|
#include "task_logger.hpp"
|
||||||
|
#include "unity/unity.h"
|
||||||
|
#include "utest/utest.h"
|
||||||
|
|
||||||
|
namespace utest {
|
||||||
|
namespace v1 {
|
||||||
|
|
||||||
|
// test_bike_system handler function
|
||||||
|
static void test_bike_system() {
|
||||||
|
// create the BikeSystem instance
|
||||||
|
static_scheduling::BikeSystem bikeSystem;
|
||||||
|
|
||||||
|
// run the bike system in a separate thread
|
||||||
|
Thread thread;
|
||||||
|
thread.start(callback(&bikeSystem, &static_scheduling::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
|
||||||
|
constexpr std::chrono::microseconds taskComputationTimes[] = {
|
||||||
|
100000us, 200000us, 100000us, 100000us, 200000us, 100000us};
|
||||||
|
constexpr std::chrono::microseconds taskPeriods[] = {
|
||||||
|
800000us, 400000us, 1600000us, 800000us, 1600000us, 1600000us};
|
||||||
|
|
||||||
|
// allow for 2 msecs offset
|
||||||
|
uint64_t deltaUs = 3000;
|
||||||
|
for (uint8_t taskIndex = 0; taskIndex < advembsof::TaskLogger::kNbrOfTasks;
|
||||||
|
taskIndex++) {
|
||||||
|
TEST_ASSERT_UINT64_WITHIN(
|
||||||
|
deltaUs,
|
||||||
|
taskPeriods[taskIndex].count(),
|
||||||
|
bikeSystem.getTaskLogger().getPeriod(taskIndex).count());
|
||||||
|
TEST_ASSERT_UINT64_WITHIN(
|
||||||
|
deltaUs,
|
||||||
|
taskComputationTimes[taskIndex].count(),
|
||||||
|
bikeSystem.getTaskLogger().getComputationTime(taskIndex).count());
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
// test_bike_system_event_queue handler function
|
||||||
|
static void test_bike_system_event_queue() {
|
||||||
|
// create the BikeSystem instance
|
||||||
|
static_scheduling::BikeSystem bikeSystem;
|
||||||
|
|
||||||
|
// run the bike system in a separate thread
|
||||||
|
Thread thread;
|
||||||
|
thread.start(
|
||||||
|
callback(&bikeSystem, &static_scheduling::BikeSystem::startWithEventQueue));
|
||||||
|
|
||||||
|
// 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 the event queue, 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 = 3000;
|
||||||
|
for (uint8_t taskIndex = 0; taskIndex < advembsof::TaskLogger::kNbrOfTasks;
|
||||||
|
taskIndex++) {
|
||||||
|
TEST_ASSERT_UINT64_WITHIN(
|
||||||
|
deltaUs,
|
||||||
|
taskPeriods[taskIndex].count(),
|
||||||
|
bikeSystem.getTaskLogger().getPeriod(taskIndex).count());
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
// 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 = 3000;
|
||||||
|
for (uint8_t taskIndex = 0; taskIndex < advembsof::TaskLogger::kNbrOfTasks;
|
||||||
|
taskIndex++) {
|
||||||
|
TEST_ASSERT_UINT64_WITHIN(
|
||||||
|
deltaUs,
|
||||||
|
taskPeriods[taskIndex].count(),
|
||||||
|
bikeSystem.getTaskLogger().getPeriod(taskIndex).count());
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
static 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)
|
||||||
|
GREENTEA_SETUP(180, "default_auto");
|
||||||
|
|
||||||
|
return greentea_test_setup_handler(number_of_cases);
|
||||||
|
}
|
||||||
|
|
||||||
|
// List of test cases in this file
|
||||||
|
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);
|
||||||
|
|
||||||
|
}; // namespace v1
|
||||||
|
}; // namespace utest
|
||||||
|
|
||||||
|
int main() { return !utest::v1::Harness::run(utest::v1::specification); }
|
@ -29,7 +29,8 @@
|
|||||||
#include "unity/unity.h"
|
#include "unity/unity.h"
|
||||||
#include "utest/utest.h"
|
#include "utest/utest.h"
|
||||||
|
|
||||||
using namespace utest::v1;
|
namespace utest {
|
||||||
|
namespace v1 {
|
||||||
|
|
||||||
// test_hdc1000 test handler function
|
// test_hdc1000 test handler function
|
||||||
static control_t test_sensor_device(const size_t call_count) {
|
static control_t test_sensor_device(const size_t call_count) {
|
||||||
@ -53,9 +54,9 @@ static control_t test_sensor_device(const size_t call_count) {
|
|||||||
return CaseNext;
|
return CaseNext;
|
||||||
}
|
}
|
||||||
|
|
||||||
static utest::v1::status_t greentea_setup(const size_t number_of_cases) {
|
static 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
|
// Here, we specify the timeout (60s) and the host test (a built-in host test
|
||||||
// name of our Python file)
|
// or the name of our Python file)
|
||||||
GREENTEA_SETUP(60, "default_auto");
|
GREENTEA_SETUP(60, "default_auto");
|
||||||
|
|
||||||
return greentea_test_setup_handler(number_of_cases);
|
return greentea_test_setup_handler(number_of_cases);
|
||||||
@ -65,5 +66,7 @@ static utest::v1::status_t greentea_setup(const size_t number_of_cases) {
|
|||||||
static Case cases[] = {Case("test sensor device", test_sensor_device)};
|
static Case cases[] = {Case("test sensor device", test_sensor_device)};
|
||||||
|
|
||||||
static Specification specification(greentea_setup, cases);
|
static Specification specification(greentea_setup, cases);
|
||||||
|
}; // namespace v1
|
||||||
|
}; // namespace utest
|
||||||
|
|
||||||
int main() { return !Harness::run(specification); }
|
int main() { return !utest::v1::Harness::run(utest::v1::specification); }
|
||||||
|
@ -32,13 +32,14 @@
|
|||||||
#include "unity/unity.h"
|
#include "unity/unity.h"
|
||||||
#include "utest/utest.h"
|
#include "utest/utest.h"
|
||||||
|
|
||||||
using namespace utest::v1;
|
|
||||||
|
|
||||||
// allow for 0.1 km/h difference
|
// allow for 0.1 km/h difference
|
||||||
static constexpr float kAllowedSpeedDelta = 0.1f;
|
static constexpr float kAllowedSpeedDelta = 0.1f;
|
||||||
// allow for 1m difference
|
// allow for 1m difference
|
||||||
static constexpr float kAllowedDistanceDelta = 1.0f / 1000.0;
|
static constexpr float kAllowedDistanceDelta = 1.0f / 1000.0;
|
||||||
|
|
||||||
|
namespace utest {
|
||||||
|
namespace v1 {
|
||||||
|
|
||||||
// function called by test handler functions for verifying the current speed
|
// function called by test handler functions for verifying the current speed
|
||||||
void check_current_speed(const std::chrono::milliseconds& pedalRotationTime,
|
void check_current_speed(const std::chrono::milliseconds& pedalRotationTime,
|
||||||
uint8_t traySize,
|
uint8_t traySize,
|
||||||
@ -75,7 +76,8 @@ float compute_distance(const std::chrono::milliseconds& pedalRotationTime,
|
|||||||
float trayGearRatio = static_cast<float>(traySize) / static_cast<float>(gearSize);
|
float trayGearRatio = static_cast<float>(traySize) / static_cast<float>(gearSize);
|
||||||
float distancePerPedalTurn = trayGearRatio * wheelCircumference;
|
float distancePerPedalTurn = trayGearRatio * wheelCircumference;
|
||||||
|
|
||||||
// distancePerPedalTurn is expressed in m, divide per 1000 for a distance in km
|
// distancePerPedalTurn is expressed in m, divide per 1000 for a distance in
|
||||||
|
// km
|
||||||
return (distancePerPedalTurn * pedalRotations) / 1000.0;
|
return (distancePerPedalTurn * pedalRotations) / 1000.0;
|
||||||
}
|
}
|
||||||
|
|
||||||
@ -86,7 +88,8 @@ void check_distance(const std::chrono::milliseconds& pedalRotationTime,
|
|||||||
float wheelCircumference,
|
float wheelCircumference,
|
||||||
const std::chrono::milliseconds& travelTime,
|
const std::chrono::milliseconds& travelTime,
|
||||||
float distance) {
|
float distance) {
|
||||||
// distancePerPedalTurn is expressed in m, divide per 1000 for a distance in km
|
// distancePerPedalTurn is expressed in m, divide per 1000 for a distance in
|
||||||
|
// km
|
||||||
float expectedDistance = compute_distance(
|
float expectedDistance = compute_distance(
|
||||||
pedalRotationTime, traySize, gearSize, wheelCircumference, travelTime);
|
pedalRotationTime, traySize, gearSize, wheelCircumference, travelTime);
|
||||||
printf(" Expected distance is %f, current distance is %f\n",
|
printf(" Expected distance is %f, current distance is %f\n",
|
||||||
@ -334,9 +337,9 @@ static control_t test_reset(const size_t call_count) {
|
|||||||
return CaseNext;
|
return CaseNext;
|
||||||
}
|
}
|
||||||
|
|
||||||
static utest::v1::status_t greentea_setup(const size_t number_of_cases) {
|
static 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
|
// Here, we specify the timeout (60s) and the host test (a built-in host test
|
||||||
// name of our Python file)
|
// or the name of our Python file)
|
||||||
GREENTEA_SETUP(180, "default_auto");
|
GREENTEA_SETUP(180, "default_auto");
|
||||||
|
|
||||||
return greentea_test_setup_handler(number_of_cases);
|
return greentea_test_setup_handler(number_of_cases);
|
||||||
@ -350,5 +353,7 @@ static Case cases[] = {
|
|||||||
Case("test speedometer reset", test_reset)};
|
Case("test speedometer reset", test_reset)};
|
||||||
|
|
||||||
static Specification specification(greentea_setup, cases);
|
static Specification specification(greentea_setup, cases);
|
||||||
|
}; // namespace v1
|
||||||
|
}; // namespace utest
|
||||||
|
|
||||||
int main() { return !Harness::run(specification); }
|
int main() { return !utest::v1::Harness::run(utest::v1::specification); }
|
||||||
|
@ -27,7 +27,8 @@
|
|||||||
#include "unity/unity.h"
|
#include "unity/unity.h"
|
||||||
#include "utest/utest.h"
|
#include "utest/utest.h"
|
||||||
|
|
||||||
using namespace utest::v1;
|
namespace utest {
|
||||||
|
namespace v1 {
|
||||||
|
|
||||||
// test handler function
|
// test handler function
|
||||||
static control_t always_succeed(const size_t call_count) {
|
static control_t always_succeed(const size_t call_count) {
|
||||||
@ -38,9 +39,9 @@ static control_t always_succeed(const size_t call_count) {
|
|||||||
return CaseNext;
|
return CaseNext;
|
||||||
}
|
}
|
||||||
|
|
||||||
static utest::v1::status_t greentea_setup(const size_t number_of_cases) {
|
static 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
|
// Here, we specify the timeout (60s) and the host test (a built-in host test
|
||||||
// name of our Python file)
|
// or the name of our Python file)
|
||||||
GREENTEA_SETUP(60, "default_auto");
|
GREENTEA_SETUP(60, "default_auto");
|
||||||
|
|
||||||
return greentea_test_setup_handler(number_of_cases);
|
return greentea_test_setup_handler(number_of_cases);
|
||||||
@ -51,4 +52,7 @@ static Case cases[] = {Case("always succeed test", always_succeed)};
|
|||||||
|
|
||||||
static Specification specification(greentea_setup, cases);
|
static Specification specification(greentea_setup, cases);
|
||||||
|
|
||||||
int main() { return !Harness::run(specification); }
|
}; // namespace v1
|
||||||
|
}; // namespace utest
|
||||||
|
|
||||||
|
int main() { return !utest::v1::Harness::run(utest::v1::specification); }
|
||||||
|
@ -24,12 +24,14 @@
|
|||||||
* @version 0.2.0
|
* @version 0.2.0
|
||||||
***************************************************************************/
|
***************************************************************************/
|
||||||
|
|
||||||
#include "greentea-client/test_env.h"
|
#include "greentea-client/test_env.h" // NOLINT
|
||||||
#include "mbed.h"
|
#include "mbed.h" // NOLINT
|
||||||
#include "unity/unity.h"
|
#include "unity/unity.h" // NOLINT
|
||||||
#include "utest/utest.h"
|
#include "utest/utest.h" // NOLINT
|
||||||
|
|
||||||
|
namespace utest {
|
||||||
|
namespace v1 {
|
||||||
|
|
||||||
using namespace utest::v1;
|
|
||||||
struct Test {
|
struct Test {
|
||||||
Test() {
|
Test() {
|
||||||
_instanceCount++;
|
_instanceCount++;
|
||||||
@ -48,7 +50,8 @@ struct Test {
|
|||||||
uint32_t Test::_instanceCount = 0;
|
uint32_t Test::_instanceCount = 0;
|
||||||
|
|
||||||
/**
|
/**
|
||||||
* Test that a shared pointer correctly manages the lifetime of the underlying raw pointer
|
* Test that a shared pointer correctly manages the lifetime of the underlying
|
||||||
|
* raw pointer
|
||||||
*/
|
*/
|
||||||
void test_single_sharedptr_lifetime() {
|
void test_single_sharedptr_lifetime() {
|
||||||
// Sanity-check value of counter
|
// Sanity-check value of counter
|
||||||
@ -66,8 +69,8 @@ void test_single_sharedptr_lifetime() {
|
|||||||
}
|
}
|
||||||
|
|
||||||
/**
|
/**
|
||||||
* Test that multiple instances of shared pointers correctly manage the reference count
|
* Test that multiple instances of shared pointers correctly manage the
|
||||||
* to release the object at the correct point
|
* reference count to release the object at the correct point
|
||||||
*/
|
*/
|
||||||
void test_instance_sharing() {
|
void test_instance_sharing() {
|
||||||
std::shared_ptr<Test> shared_ptr1(nullptr);
|
std::shared_ptr<Test> shared_ptr1(nullptr);
|
||||||
@ -97,8 +100,8 @@ void test_instance_sharing() {
|
|||||||
}
|
}
|
||||||
|
|
||||||
/**********************
|
/**********************
|
||||||
* UNIQUE PTR EXERCISE *
|
* UNIQUE PTR EXERCISE *
|
||||||
**********************/
|
**********************/
|
||||||
|
|
||||||
/*
|
/*
|
||||||
* Check normal lifetime on a unique_ptr
|
* Check normal lifetime on a unique_ptr
|
||||||
@ -114,7 +117,7 @@ void test_single_unique_ptr_lifetime() {
|
|||||||
TEST_ASSERT_EQUAL(Test::kMagicNumber, p1->_value);
|
TEST_ASSERT_EQUAL(Test::kMagicNumber, p1->_value);
|
||||||
|
|
||||||
const uint32_t number = 42;
|
const uint32_t number = 42;
|
||||||
p1->_value = number;
|
p1->_value = number;
|
||||||
TEST_ASSERT_EQUAL(number, p1->_value);
|
TEST_ASSERT_EQUAL(number, p1->_value);
|
||||||
|
|
||||||
p1.reset();
|
p1.reset();
|
||||||
@ -132,12 +135,12 @@ void test_unique_ptr_transfer() {
|
|||||||
TEST_ASSERT_EQUAL(0, Test::_instanceCount);
|
TEST_ASSERT_EQUAL(0, Test::_instanceCount);
|
||||||
|
|
||||||
{
|
{
|
||||||
//create p1
|
// create p1
|
||||||
std::unique_ptr<Test> p1 = std::make_unique<Test>();
|
std::unique_ptr<Test> p1 = std::make_unique<Test>();
|
||||||
TEST_ASSERT_EQUAL(Test::kMagicNumber, p1->_value);
|
TEST_ASSERT_EQUAL(Test::kMagicNumber, p1->_value);
|
||||||
TEST_ASSERT_EQUAL(1, Test::_instanceCount);
|
TEST_ASSERT_EQUAL(1, Test::_instanceCount);
|
||||||
|
|
||||||
//transfer p1 to p2
|
// transfer p1 to p2
|
||||||
std::unique_ptr<Test> p2 = std::move(p1);
|
std::unique_ptr<Test> p2 = std::move(p1);
|
||||||
TEST_ASSERT_EQUAL(Test::kMagicNumber, p2->_value);
|
TEST_ASSERT_EQUAL(Test::kMagicNumber, p2->_value);
|
||||||
TEST_ASSERT_EQUAL(1, Test::_instanceCount);
|
TEST_ASSERT_EQUAL(1, Test::_instanceCount);
|
||||||
@ -145,7 +148,7 @@ void test_unique_ptr_transfer() {
|
|||||||
p2.reset();
|
p2.reset();
|
||||||
|
|
||||||
TEST_ASSERT_EQUAL(0, Test::_instanceCount);
|
TEST_ASSERT_EQUAL(0, Test::_instanceCount);
|
||||||
TEST_ASSERT(!p1);
|
TEST_ASSERT(!p1); // cppcheck-suppress accessMoved
|
||||||
TEST_ASSERT(!p2);
|
TEST_ASSERT(!p2);
|
||||||
}
|
}
|
||||||
|
|
||||||
@ -160,13 +163,13 @@ void test_unique_ptr_release() {
|
|||||||
TEST_ASSERT_EQUAL(0, Test::_instanceCount);
|
TEST_ASSERT_EQUAL(0, Test::_instanceCount);
|
||||||
|
|
||||||
{
|
{
|
||||||
//create p1
|
// create p1
|
||||||
std::unique_ptr<Test> p1 = std::make_unique<Test>();
|
std::unique_ptr<Test> p1 = std::make_unique<Test>();
|
||||||
TEST_ASSERT_EQUAL(Test::kMagicNumber, p1->_value);
|
TEST_ASSERT_EQUAL(Test::kMagicNumber, p1->_value);
|
||||||
TEST_ASSERT_EQUAL(1, Test::_instanceCount);
|
TEST_ASSERT_EQUAL(1, Test::_instanceCount);
|
||||||
|
|
||||||
//transfer and release p1 to p2
|
// transfer and release p1 to p2
|
||||||
Test * p2 = p1.release();
|
Test* p2 = p1.release();
|
||||||
TEST_ASSERT_EQUAL(Test::kMagicNumber, p2->_value);
|
TEST_ASSERT_EQUAL(Test::kMagicNumber, p2->_value);
|
||||||
TEST_ASSERT_EQUAL(1, Test::_instanceCount);
|
TEST_ASSERT_EQUAL(1, Test::_instanceCount);
|
||||||
|
|
||||||
@ -192,21 +195,21 @@ void test_unique_ptr_swap() {
|
|||||||
const uint32_t number1 = 65;
|
const uint32_t number1 = 65;
|
||||||
const uint32_t number2 = 42;
|
const uint32_t number2 = 42;
|
||||||
|
|
||||||
//create p1
|
// create p1
|
||||||
std::unique_ptr<Test> p1 = std::make_unique<Test>();
|
std::unique_ptr<Test> p1 = std::make_unique<Test>();
|
||||||
TEST_ASSERT_EQUAL(Test::kMagicNumber, p1->_value);
|
TEST_ASSERT_EQUAL(Test::kMagicNumber, p1->_value);
|
||||||
TEST_ASSERT_EQUAL(1, Test::_instanceCount);
|
TEST_ASSERT_EQUAL(1, Test::_instanceCount);
|
||||||
p1->_value = number1;
|
p1->_value = number1;
|
||||||
TEST_ASSERT_EQUAL(number1, p1->_value);
|
TEST_ASSERT_EQUAL(number1, p1->_value);
|
||||||
|
|
||||||
//create p2
|
// create p2
|
||||||
std::unique_ptr<Test> p2 = std::make_unique<Test>();
|
std::unique_ptr<Test> p2 = std::make_unique<Test>();
|
||||||
TEST_ASSERT_EQUAL(Test::kMagicNumber, p2->_value);
|
TEST_ASSERT_EQUAL(Test::kMagicNumber, p2->_value);
|
||||||
TEST_ASSERT_EQUAL(2, Test::_instanceCount);
|
TEST_ASSERT_EQUAL(2, Test::_instanceCount);
|
||||||
p2->_value = number2;
|
p2->_value = number2;
|
||||||
TEST_ASSERT_EQUAL(number2, p2->_value);
|
TEST_ASSERT_EQUAL(number2, p2->_value);
|
||||||
|
|
||||||
//swap
|
// swap
|
||||||
p1.swap(p2);
|
p1.swap(p2);
|
||||||
|
|
||||||
TEST_ASSERT_EQUAL(number1, p2->_value);
|
TEST_ASSERT_EQUAL(number1, p2->_value);
|
||||||
@ -223,14 +226,13 @@ void test_unique_ptr_swap() {
|
|||||||
TEST_ASSERT_EQUAL(0, Test::_instanceCount);
|
TEST_ASSERT_EQUAL(0, Test::_instanceCount);
|
||||||
}
|
}
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
/*******************
|
/*******************
|
||||||
* RAW PTR EXERCISE *
|
* RAW PTR EXERCISE *
|
||||||
*******************/
|
*******************/
|
||||||
|
|
||||||
/**
|
/**
|
||||||
* Test that a shared pointer correctly manages the lifetime of the underlying raw pointer
|
* Test that a shared pointer correctly manages the lifetime of the underlying
|
||||||
|
* raw pointer
|
||||||
*/
|
*/
|
||||||
void test_single_raw_ptr_lifetime() {
|
void test_single_raw_ptr_lifetime() {
|
||||||
// Sanity-check value of counter
|
// Sanity-check value of counter
|
||||||
@ -242,12 +244,12 @@ void test_single_raw_ptr_lifetime() {
|
|||||||
TEST_ASSERT_EQUAL(1, Test::_instanceCount);
|
TEST_ASSERT_EQUAL(1, Test::_instanceCount);
|
||||||
TEST_ASSERT_EQUAL(Test::kMagicNumber, t1._value);
|
TEST_ASSERT_EQUAL(Test::kMagicNumber, t1._value);
|
||||||
|
|
||||||
Test * p1 = &t1;
|
Test* p1 = &t1;
|
||||||
TEST_ASSERT_EQUAL(1, Test::_instanceCount);
|
TEST_ASSERT_EQUAL(1, Test::_instanceCount);
|
||||||
TEST_ASSERT_EQUAL(Test::kMagicNumber, p1->_value);
|
TEST_ASSERT_EQUAL(Test::kMagicNumber, p1->_value);
|
||||||
|
|
||||||
const uint32_t number1 = 42;
|
const uint32_t number1 = 42;
|
||||||
p1->_value = number1;
|
p1->_value = number1;
|
||||||
TEST_ASSERT_EQUAL(number1, p1->_value);
|
TEST_ASSERT_EQUAL(number1, p1->_value);
|
||||||
TEST_ASSERT_EQUAL(number1, t1._value);
|
TEST_ASSERT_EQUAL(number1, t1._value);
|
||||||
|
|
||||||
@ -260,9 +262,9 @@ void test_single_raw_ptr_lifetime() {
|
|||||||
TEST_ASSERT_EQUAL(0, Test::_instanceCount);
|
TEST_ASSERT_EQUAL(0, Test::_instanceCount);
|
||||||
}
|
}
|
||||||
|
|
||||||
static utest::v1::status_t greentea_setup(const size_t number_of_cases) {
|
static 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
|
// Here, we specify the timeout (60s) and the host test (a built-in host test
|
||||||
// name of our Python file)
|
// or the name of our Python file)
|
||||||
GREENTEA_SETUP(60, "default_auto");
|
GREENTEA_SETUP(60, "default_auto");
|
||||||
return greentea_test_setup_handler(number_of_cases);
|
return greentea_test_setup_handler(number_of_cases);
|
||||||
}
|
}
|
||||||
@ -285,4 +287,7 @@ static Case cases[] = {
|
|||||||
|
|
||||||
static Specification specification(greentea_setup, cases);
|
static Specification specification(greentea_setup, cases);
|
||||||
|
|
||||||
int main() { return !Harness::run(specification); }
|
}; // namespace v1
|
||||||
|
}; // namespace utest
|
||||||
|
|
||||||
|
int main() { return !utest::v1::Harness::run(utest::v1::specification); }
|
||||||
|
@ -51,4 +51,10 @@ static constexpr std::chrono::milliseconds kMaxPedalRotationTime = 1500ms;
|
|||||||
// definition of pedal rotation time change upon acceleration/deceleration
|
// definition of pedal rotation time change upon acceleration/deceleration
|
||||||
static constexpr std::chrono::milliseconds kDeltaPedalRotationTime = 25ms;
|
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
|
} // namespace bike_computer
|
@ -110,7 +110,7 @@ void Speedometer::computeSpeed() {
|
|||||||
// TODO : done
|
// TODO : done
|
||||||
//Distance run with one pedal turn = tray size / rear gear size * circumference of the wheel
|
//Distance run with one pedal turn = tray size / rear gear size * circumference of the wheel
|
||||||
constexpr float ms_in_hour = static_cast<float>(3600 * 1000);
|
constexpr float ms_in_hour = static_cast<float>(3600 * 1000);
|
||||||
float pedal_rotation_per_hour = ms_in_hour / static_cast<float>(_pedalRotationTime.count());
|
float pedal_rotation_per_hour = ms_in_hour / std::chrono::duration_cast<std::chrono::milliseconds>(_pedalRotationTime).count();
|
||||||
float gear_ratio = static_cast<float>(kTraySize) / static_cast<float>(this->_gearSize);
|
float gear_ratio = static_cast<float>(kTraySize) / static_cast<float>(this->_gearSize);
|
||||||
float wheel_dist_km = static_cast<float>(this->kWheelCircumference) / 1000.0;
|
float wheel_dist_km = static_cast<float>(this->kWheelCircumference) / 1000.0;
|
||||||
this->_currentSpeed = gear_ratio * wheel_dist_km * pedal_rotation_per_hour;
|
this->_currentSpeed = gear_ratio * wheel_dist_km * pedal_rotation_per_hour;
|
||||||
|
22
main.cpp
22
main.cpp
@ -6,19 +6,25 @@
|
|||||||
#if !MBED_TEST_MODE
|
#if !MBED_TEST_MODE
|
||||||
|
|
||||||
#include "mbed.h" // NOLINT
|
#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
|
#if defined(MBED_CONF_MBED_TRACE_ENABLE)
|
||||||
#define BLINKING_RATE 500ms
|
#define TRACE_GROUP "MAIN"
|
||||||
|
#endif // MBED_CONF_MBED_TRACE_ENAB
|
||||||
|
|
||||||
int main() {
|
int main() {
|
||||||
// Initialise the digital pin LED1 as an output
|
#if defined(MBED_CONF_MBED_TRACE_ENABLE)
|
||||||
|
mbed_trace_init();
|
||||||
|
#endif
|
||||||
|
|
||||||
DigitalOut led(LED1);
|
// static_scheduling::BikeSystem bikeSystem;
|
||||||
|
// bikeSystem.start();
|
||||||
|
// bikeSystem.startWithEventQueue();
|
||||||
|
|
||||||
while (true) {
|
static_scheduling_with_event::BikeSystem bikeSystem;
|
||||||
led = !led;
|
bikeSystem.start();
|
||||||
ThisThread::sleep_for(BLINKING_RATE);
|
|
||||||
}
|
|
||||||
}
|
}
|
||||||
|
|
||||||
#endif // MBED_TEST_MODE
|
#endif // MBED_TEST_MODE
|
||||||
|
@ -14,6 +14,7 @@
|
|||||||
"platform.stdio-baud-rate": 115200,
|
"platform.stdio-baud-rate": 115200,
|
||||||
"platform.default-serial-baud-rate": 115200,
|
"platform.default-serial-baud-rate": 115200,
|
||||||
"platform.stdio-buffered-serial": true,
|
"platform.stdio-buffered-serial": true,
|
||||||
|
"platform.all-stats-enabled": true,
|
||||||
"target.printf_lib":"minimal-printf",
|
"target.printf_lib":"minimal-printf",
|
||||||
"platform.minimal-printf-enable-floating-point": true,
|
"platform.minimal-printf-enable-floating-point": true,
|
||||||
"platform.minimal-printf-set-floating-point-max-decimals": 2
|
"platform.minimal-printf-set-floating-point-max-decimals": 2
|
||||||
|
290
static_scheduling/bike_system.cpp
Normal file
290
static_scheduling/bike_system.cpp
Normal file
@ -0,0 +1,290 @@
|
|||||||
|
// 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 {
|
||||||
|
|
||||||
|
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 = 0ms; // 0 or 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 = 0ms;
|
||||||
|
static constexpr std::chrono::milliseconds kCPUTaskComputationTime = 0ms;
|
||||||
|
|
||||||
|
BikeSystem::BikeSystem()
|
||||||
|
: _gearDevice(_timer),
|
||||||
|
_pedalDevice(_timer),
|
||||||
|
_resetDevice(_timer),
|
||||||
|
_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 fStop = false;
|
||||||
|
core_util_atomic_load(&fStop);
|
||||||
|
if (fStop) {
|
||||||
|
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::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() {
|
||||||
|
// speed and distance task
|
||||||
|
auto taskStartTime = _timer.elapsed_time();
|
||||||
|
|
||||||
|
const auto pedalRotationTime = _pedalDevice.getCurrentRotationTime();
|
||||||
|
_speedometer.setCurrentRotationTime(pedalRotationTime);
|
||||||
|
_speedometer.setGearSize(_currentGearSize);
|
||||||
|
// no need to protect access to data members (single threaded)
|
||||||
|
_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)));
|
||||||
|
|
||||||
|
// 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;
|
||||||
|
// }
|
||||||
|
|
||||||
|
_taskLogger.logPeriodAndExecutionTime(
|
||||||
|
_timer, advembsof::TaskLogger::kTemperatureTaskIndex, taskStartTime);
|
||||||
|
}
|
||||||
|
|
||||||
|
void BikeSystem::resetTask() {
|
||||||
|
auto taskStartTime = _timer.elapsed_time();
|
||||||
|
|
||||||
|
if (_resetDevice.checkReset()) {
|
||||||
|
std::chrono::microseconds responseTime =
|
||||||
|
_timer.elapsed_time() - _resetDevice.getPressTime();
|
||||||
|
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)));
|
||||||
|
|
||||||
|
// 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;
|
||||||
|
// }
|
||||||
|
|
||||||
|
_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)));
|
||||||
|
|
||||||
|
// 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;
|
||||||
|
// }
|
||||||
|
_taskLogger.logPeriodAndExecutionTime(
|
||||||
|
_timer, advembsof::TaskLogger::kDisplayTask2Index, taskStartTime);
|
||||||
|
}
|
||||||
|
|
||||||
|
void BikeSystem::cpuTask() { _cpuLogger.printStats(); }
|
||||||
|
|
||||||
|
} // namespace static_scheduling
|
106
static_scheduling/bike_system.hpp
Normal file
106
static_scheduling/bike_system.hpp
Normal file
@ -0,0 +1,106 @@
|
|||||||
|
// 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 "cpu_logger.hpp"
|
||||||
|
#include "display_device.hpp"
|
||||||
|
#include "task_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 {
|
||||||
|
|
||||||
|
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 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;
|
||||||
|
// 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
|
@ -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
|
* @file pedal_device.cpp
|
||||||
* @author Rémi Heredero <remi@heredero.ch>
|
* @author Rémi Heredero <remi@heredero.ch>
|
||||||
* @author Yann Sierro <yannsierro.pro@gmail.com>
|
* @author Yann Sierro <yannsierro.pro@gmail.com>
|
||||||
*
|
*
|
||||||
* @brief Pedal Device implementation (static scheduling)
|
* @brief Pedal Device implementation (static scheduling)
|
||||||
* @date 2024-11-09
|
* @date 2024-11-09
|
||||||
* @version 0.1.0
|
* @version 0.1.0
|
||||||
****************************************************************************/
|
****************************************************************************/
|
||||||
|
|
||||||
#include "pedal_device.hpp"
|
#include "pedal_device.hpp"
|
||||||
|
|
||||||
@ -22,51 +35,50 @@
|
|||||||
|
|
||||||
namespace static_scheduling {
|
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() {
|
switch (joystickState) {
|
||||||
// TODO
|
case disco::Joystick::State::LeftPressed:
|
||||||
std::chrono::microseconds initialTime = _timer.elapsed_time();
|
if (_pedalRotationTime < bike_computer::kMaxPedalRotationTime) {
|
||||||
std::chrono::microseconds elapsedTime = std::chrono::microseconds::zero();
|
decreaseRotationSpeed();
|
||||||
// we bound the change to one increment/decrement per call
|
hasChanged = true;
|
||||||
bool hasChanged = false;
|
}
|
||||||
while (elapsedTime < kTaskRunTime) {
|
break;
|
||||||
if (!hasChanged) {
|
|
||||||
disco::Joystick::State joystickState = disco::Joystick::getInstance().getState();
|
|
||||||
|
|
||||||
switch (joystickState) {
|
case disco::Joystick::State::DownPressed:
|
||||||
case disco::Joystick::State::LeftPressed:
|
if (_pedalRotationTime > bike_computer::kMinPedalRotationTime) {
|
||||||
if (_pedalRotationTime < bike_computer::kMaxPedalRotationTime) {
|
decreaseRotationSpeed();
|
||||||
decreaseRotationSpeed();
|
hasChanged = true;
|
||||||
hasChanged = true;
|
}
|
||||||
}
|
break;
|
||||||
break;
|
|
||||||
|
|
||||||
case disco::Joystick::State::DownPressed:
|
default:
|
||||||
if (_pedalRotationTime > bike_computer::kMinPedalRotationTime) {
|
break;
|
||||||
decreaseRotationSpeed();
|
}
|
||||||
hasChanged = true;
|
}
|
||||||
}
|
elapsedTime = _timer.elapsed_time() - initialTime;
|
||||||
break;
|
|
||||||
|
|
||||||
default:
|
|
||||||
break;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
elapsedTime = _timer.elapsed_time() - initialTime;
|
|
||||||
}
|
|
||||||
return _pedalRotationTime;
|
|
||||||
}
|
}
|
||||||
|
return _pedalRotationTime;
|
||||||
void PedalDevice::increaseRotationSpeed() {
|
|
||||||
_pedalRotationTime -= bike_computer::kDeltaPedalRotationTime;
|
|
||||||
}
|
|
||||||
|
|
||||||
void PedalDevice::decreaseRotationSpeed() {
|
|
||||||
_pedalRotationTime += bike_computer::kDeltaPedalRotationTime;
|
|
||||||
}
|
|
||||||
|
|
||||||
}
|
}
|
||||||
|
|
||||||
|
void PedalDevice::increaseRotationSpeed() {
|
||||||
|
_pedalRotationTime -= bike_computer::kDeltaPedalRotationTime;
|
||||||
|
}
|
||||||
|
|
||||||
|
void PedalDevice::decreaseRotationSpeed() {
|
||||||
|
_pedalRotationTime += bike_computer::kDeltaPedalRotationTime;
|
||||||
|
}
|
||||||
|
|
||||||
|
} // 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
|
* @file reset_device.cpp
|
||||||
* @author Rémi Heredero <remi@heredero.ch>
|
* @author Rémi Heredero <remi@heredero.ch>
|
||||||
* @author Yann Sierro <yannsierro.pro@gmail.com>
|
* @author Yann Sierro <yannsierro.pro@gmail.com>
|
||||||
*
|
*
|
||||||
* @brief Reset Device implementation (static scheduling)
|
* @brief Reset Device implementation (static scheduling)
|
||||||
* @date 2024-11-12
|
* @date 2024-11-12
|
||||||
* @version 0.1.0
|
* @version 0.1.0
|
||||||
****************************************************************************/
|
****************************************************************************/
|
||||||
|
|
||||||
#include "reset_device.hpp"
|
#include "reset_device.hpp"
|
||||||
|
|
||||||
@ -21,43 +35,35 @@
|
|||||||
static constexpr uint8_t kPolarityPressed = 1;
|
static constexpr uint8_t kPolarityPressed = 1;
|
||||||
#endif
|
#endif
|
||||||
|
|
||||||
|
|
||||||
#if MBED_CONF_MBED_TRACE_ENABLE
|
#if MBED_CONF_MBED_TRACE_ENABLE
|
||||||
#define TRACE_GROUP "PedalDevice"
|
#define TRACE_GROUP "ResetDevice"
|
||||||
#endif // MBED_CONF_MBED_TRACE_ENABLE
|
#endif // MBED_CONF_MBED_TRACE_ENABLE
|
||||||
|
|
||||||
namespace static_scheduling {
|
namespace static_scheduling {
|
||||||
|
|
||||||
static constexpr std::chrono::microseconds kTaskRunTime = 1000000us;
|
static constexpr std::chrono::microseconds kTaskRunTime = 100000us;
|
||||||
|
|
||||||
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;
|
|
||||||
}
|
|
||||||
|
|
||||||
void ResetDevice::onRise() {
|
|
||||||
_pressTime = _timer.elapsed_time();
|
|
||||||
}
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
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; }
|
||||||
|
|
||||||
|
void ResetDevice::onRise() { _pressTime = _timer.elapsed_time(); }
|
||||||
|
|
||||||
|
} // namespace static_scheduling
|
||||||
|
239
static_scheduling_with_event/bike_system.cpp
Normal file
239
static_scheduling_with_event/bike_system.cpp
Normal file
@ -0,0 +1,239 @@
|
|||||||
|
// 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 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();
|
||||||
|
|
||||||
|
core_util_atomic_store_bool(&_resetFlag, false);
|
||||||
|
}
|
||||||
|
|
||||||
|
_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_with_event
|
111
static_scheduling_with_event/bike_system.hpp
Normal file
111
static_scheduling_with_event/bike_system.hpp
Normal file
@ -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 "cpu_logger.hpp"
|
||||||
|
#include "display_device.hpp"
|
||||||
|
#include "task_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_with_event
|
64
static_scheduling_with_event/gear_device.cpp
Normal file
64
static_scheduling_with_event/gear_device.cpp
Normal file
@ -0,0 +1,64 @@
|
|||||||
|
// 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_with_event
|
54
static_scheduling_with_event/gear_device.hpp
Normal file
54
static_scheduling_with_event/gear_device.hpp
Normal file
@ -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:
|
||||||
|
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_with_event
|
69
static_scheduling_with_event/pedal_device.cpp
Normal file
69
static_scheduling_with_event/pedal_device.cpp
Normal file
@ -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 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(); }
|
||||||
|
|
||||||
|
} // namespace static_scheduling_with_event
|
59
static_scheduling_with_event/pedal_device.hpp
Normal file
59
static_scheduling_with_event/pedal_device.hpp
Normal file
@ -0,0 +1,59 @@
|
|||||||
|
// 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_with_event
|
48
static_scheduling_with_event/reset_device.cpp
Normal file
48
static_scheduling_with_event/reset_device.cpp
Normal file
@ -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.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);
|
||||||
|
}
|
||||||
|
|
||||||
|
} // namespace static_scheduling_with_event
|
47
static_scheduling_with_event/reset_device.hpp
Normal file
47
static_scheduling_with_event/reset_device.hpp
Normal file
@ -0,0 +1,47 @@
|
|||||||
|
// 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_with_event
|
Reference in New Issue
Block a user