ADD bike-system super-loop with while

.github/workflows/build-test.yml

@@ -1,6 +1,6 @@
 name: Build test application
 on:
-  push:
+  pull_request:
 
 jobs:
   build-cli-v1:
@@ -14,9 +14,11 @@ jobs:
         target: [DISCO_H747I]
         profile: [debug]
         tests: [
+          tests-simple-test-always-succeed,
+          tests-simple-test-test-ptr,
+          advdembsof_library-tests-sensors-hdc1000,
           tests-bike-computer-sensor-device,
-          tests-bike-computer-speedometer,
+          tests-bike-computer-speedometer
-          tests-bike-computer-bike-system,
         ]
 
 

.gitignore

@@ -4,5 +4,5 @@ projectfiles
 *.py*
 BUILD
 mbed-os
-DISCO_H747I
+DISCO_h747i
 advdembsof_library

.mbedignore

@@ -14,5 +14,4 @@ mbed-os/features/FEATURE_BOOTLOADER/*
 mbed-os/features/frameworks/mbed-client-cli/*
 mbed-os/features/frameworks/COMPONENT_FPGA_CI_TEST_SHIELD/*
 mbed-os/platform/randlib/*
-mbed-os/storage/kvstore/*
+mbed-os/storage/kvstore/*
-mbed-os-bootloader/*

.pre-commit-config.yaml

@@ -1,26 +1,24 @@
-files: ^main.cpp|^static_scheduling|^static_scheduling_with_event|^TESTS|^multi_tasking|^common
+files: ^main.cpp
 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
-        name: cpplint
+- repo: local
-        entry: cpplint --linelength=90 --filter=-build/include_subdir,-whitespace/indent,-build/namespaces,-build/c++11
+  hooks:
-  - repo: local
+  -   id: cppcheck
-    hooks:
+      name: cppcheck
-      - id: cppcheck
+      require_serial: true
-        name: cppcheck
+      entry: cppcheck --enable=all --suppress=missingInclude:* --inline-suppr -i mbed-os --std=c++14 --error-exitcode=1
-        require_serial: true
+      language: system
-        entry: cppcheck --enable=all --suppress=missingInclude --suppress=missingIncludeSystem --inline-suppr -i mbed-os --std=c++14 --error-exitcode=1
-        language: system

README.md

@@ -22,100 +22,3 @@ Test sensor libraries :
 ```terminal
 mbed test -m DISCO_H747I -t GCC_ARM -n advdembsof_library-tests-sensors-hdc1000 --compile --run
 ```
-
-## Run static scheduling
-On `.mbedignore` put at the end of the file
-```
-static_scheduling_with_event/*
-multi_tasking/*
-```
-
-On main.cpp include `"static_scheduling/bike_system.hpp"` and use :
-```cpp
-static_scheduling::BikeSystem bikeSystem;
-bikeSystem.start();
-```
-
-## Run static scheduling with event queue
-On `.mbedignore` put at the end of the file :
-```
-static_scheduling_with_event/*
-multi_tasking/*
-```
-
-On main.cpp include `"static_scheduling/bike_system.hpp"` and use :
-```cpp
-static_scheduling::BikeSystem bikeSystem;
-bikeSystem.startWithEventQueue();
-```
-
-## Run static scheduling with event scheduling
-On `.mbedignore` put at the end of the file
-```
-static_scheduling/*
-static_scheduling_with_event/*
-```
-
-On main.cpp include `"multi_tasking/bike_system.hpp"` and use :
-```cpp
-multi_tasking::BikeSystem bikeSystem;
-bikeSystem.start();
-```
-
-## Run multi-tasking
-On `.mbedignore` put at the end of the file
-```
-static_scheduling/*
-multi_tasking/*
-```
-
-On main.cpp include `"static_scheduling_with_event/bike_system.hpp"` and use :
-```cpp
-static_scheduling_with_event::BikeSystem bikeSystem;
-bikeSystem.start();
-```
-
-# Some questions
-## Question 1
-`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.
-
-# Multi-tasking
-
-## Question 1
-We have computed the elapsed time between the event is sent by the interruption until it is executed :
-
-|Rtos priority            |time   |
-|---|---|
-|osPriorityBelowNormal    |13 usecs   |
-|osPriorityNormal         |13 usecs   |
-|osPriorityAboveNormal    |13 usecs   |
-
-To abtain these values, we have to consider that there is a isr thread. He dispatchs all the events from the gear device and the reset device. The rest is processed by the main thread.
-
-Main of the time, it meares these values. But sometimes, higher values can appear. These values doesn't change because there isn't often more than one event in the queue.
-
-# 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

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

@@ -23,25 +23,16 @@
  ***************************************************************************/
 
 #include <chrono>
-#include <cstdint>
 
-#include "gear_device.hpp"
+#include "static_scheduling/bike_system.hpp"
+
 #include "greentea-client/test_env.h"
 #include "mbed.h"
-#include "mbed_trace.h"  // NOLINT
-#include "multi_tasking/bike_system.hpp"
-#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"
 
-#if defined(MBED_CONF_MBED_TRACE_ENABLE)
+using namespace utest::v1;
-#define TRACE_GROUP "TEST_BIKE_SYSTEM"
-#endif  // MBED_CONF_MBED_TRACE_ENAB
-
-namespace utest {
-namespace v1 {
 
 // test_bike_system handler function
 static void test_bike_system() {
@@ -67,7 +58,7 @@ static void test_bike_system() {
         800000us, 400000us, 1600000us, 800000us, 1600000us, 1600000us};
 
     // allow for 2 msecs offset
-    uint64_t deltaUs = 3000;
+    uint64_t deltaUs = 2000;
     for (uint8_t taskIndex = 0; taskIndex < advembsof::TaskLogger::kNbrOfTasks;
          taskIndex++) {
         TEST_ASSERT_UINT64_WITHIN(
@@ -81,328 +72,17 @@ static void test_bike_system() {
     }
 }
 
-// test_bike_system_event_queue handler function
+static utest::v1::status_t greentea_setup(const size_t number_of_cases) {
-static void test_bike_system_event_queue() {
+    // Here, we specify the timeout (60s) and the host test (a built-in host test or the
-    // create the BikeSystem instance
+    // name of our Python file)
-    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());
-    }
-}
-
-// test_multi_tasking_bike_system handler function
-static void test_multi_tasking_bike_system() {
-    tr_info("test multi tasking bike system");
-
-    // create the BikeSystem instance
-    multi_tasking::BikeSystem bikeSystem;
-
-    // run the bike system in a separate thread
-    Thread thread;
-    osStatus status =
-        thread.start(callback(&bikeSystem, &multi_tasking::BikeSystem::start));
-
-    if (status != osOK) {
-        tr_error("Thread bike system is not OK !");
-    }
-
-    tr_info("bike system has started");
-
-    // let the bike system run for 20 secs
-    ThisThread::sleep_for(20s);
-
-    // 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)
-    constexpr uint64_t kDeltaUs = 2000;
-
-    // stop the bike system
-    bikeSystem.stop();
-    thread.terminate();
-
-    tr_info("Threads have stopped");
-
-    TEST_ASSERT_UINT64_WITHIN(
-        kDeltaUs,
-        taskPeriods[advembsof::TaskLogger::kTemperatureTaskIndex].count(),
-        bikeSystem.getTaskLogger()
-            .getPeriod(advembsof::TaskLogger::kTemperatureTaskIndex)
-            .count());
-    TEST_ASSERT_UINT64_WITHIN(
-        kDeltaUs,
-        taskPeriods[advembsof::TaskLogger::kDisplayTask1Index].count(),
-        bikeSystem.getTaskLogger()
-            .getPeriod(advembsof::TaskLogger::kDisplayTask1Index)
-            .count());
-}
-
-// test_reset_multi_tasking_bike_system handler function
-Timer timer;
-static std::chrono::microseconds resetTime = std::chrono::microseconds::zero();
-static EventFlags eventFlags;
-static constexpr uint32_t kResetEventFlag = (1UL << 0);
-static void resetCallback() {
-    resetTime = timer.elapsed_time();
-    eventFlags.set(kResetEventFlag);
-}
-
-static void test_reset_multi_tasking_bike_system() {
-    tr_info("test reset multi tasking bike system");
-    // create the BikeSystem instance
-    multi_tasking::BikeSystem bikeSystem;
-
-    // run the bike system in a separate thread
-    Thread thread;
-    osStatus status =
-        thread.start(callback(&bikeSystem, &multi_tasking::BikeSystem::start));
-
-    if (status != osOK) {
-        tr_error("Thread bike system is not OK !");
-    }
-
-    tr_info("Bike system has started");
-
-    // let the bike system run for 2 secs
-    ThisThread::sleep_for(2s);
-
-    // test reset on BikeSystem
-    bikeSystem.getSpeedometer().setOnResetCallback(resetCallback);
-
-    // start the timer instance
-    timer.start();
-
-    // check for reset response time
-    constexpr uint8_t kNbrOfResets             = 10;
-    std::chrono::microseconds lastResponseTime = std::chrono::microseconds::zero();
-    for (uint8_t i = 0; i < kNbrOfResets; i++) {
-        tr_info("Reset test N°%d", i);
-        // take time before reset
-        auto startTime = timer.elapsed_time();
-
-        // reset the BikeSystem
-        bikeSystem.onReset();
-
-        // wait for resetCallback to be called
-        eventFlags.wait_all(kResetEventFlag);
-
-        // get the response time and check it
-        auto responseTime = resetTime - startTime;
-
-        // cppcheck generates an internal error with 20us
-        constexpr std::chrono::microseconds kMaxExpectedResponseTime(20);
-
-        tr_info("Reset task: response time is %lld usecs\n, expected : %lld",
-                responseTime.count(),
-                kMaxExpectedResponseTime.count());
-
-        TEST_ASSERT_TRUE(responseTime.count() <= kMaxExpectedResponseTime.count());
-
-        // jitter of 20us is accepted
-        constexpr uint64_t kDeltaUs = 4;
-        constexpr std::chrono::microseconds kMaxExpectedJitter(3);
-        if (i > 0) {
-            auto jitter = responseTime - lastResponseTime;
-            tr_info("Reset task: jitter is %lld usecs\n", std::abs(jitter.count()));
-            TEST_ASSERT_UINT64_WITHIN(
-                kDeltaUs, kMaxExpectedJitter.count(), std::abs(jitter.count()));
-        }
-        lastResponseTime = responseTime;
-
-        // let the bike system run for 2 secs
-        ThisThread::sleep_for(2s);
-    }
-
-    // stop the bike system
-    bikeSystem.stop();
-    thread.terminate();
-    tr_info("Threads have stopped");
-    timer.stop();
-}
-
-Timer timerGear;
-static std::chrono::microseconds gearTime = std::chrono::microseconds::zero();
-static EventFlags eventGearFlags;
-static constexpr uint32_t kGearEventFlag = (1UL << 0);
-constexpr uint8_t kNbrOfGear             = 9;
-static void onGearChange() {
-    gearTime = timerGear.elapsed_time();
-    eventGearFlags.set(kGearEventFlag);
-    tr_info("Gear changed");
-}
-
-static void gearTest(Callback<void()> gearChange) {
-    // std::chrono::microseconds lastResponseTime = std::chrono::microseconds::zero();
-
-    for (uint8_t i = 1; i < kNbrOfGear; i++) {
-        tr_info("Gear test N°%d", i);
-        // take time before increase the gear
-        auto startTime = timerGear.elapsed_time();
-
-        // change the gear with the callback
-        tr_info("Change gear");
-        gearChange();
-
-        // wait flag
-        eventGearFlags.wait_all(kGearEventFlag);
-
-        // get the response time and check it
-        auto responseTime = gearTime - startTime;
-        constexpr std::chrono::microseconds kMaxExpectedResponseTime(100000);
-
-        tr_info("Change gear task: response time is %lld usecs\n, expected : %lld",
-                responseTime.count(),
-                kMaxExpectedResponseTime.count());
-
-        TEST_ASSERT_TRUE(responseTime.count() <= kMaxExpectedResponseTime.count());
-
-        // jitter of 20us is accepted
-        // constexpr uint64_t kDeltaUs = 2000;
-        // constexpr std::chrono::microseconds kMaxExpectedJitter(4000);
-        // if (i > 1) {
-        //     auto jitter = responseTime - lastResponseTime;
-        //     tr_info("Gear task: jitter is %lld usecs\n", std::abs(jitter.count()));
-        //     TEST_ASSERT_UINT64_WITHIN(
-        //         kDeltaUs, kMaxExpectedJitter.count(), std::abs(jitter.count()));
-        // }
-        // lastResponseTime = responseTime;
-
-        // let the bike system run for 2 secs
-        ThisThread::sleep_for(2s);
-    }
-}
-
-static void test_gear_multi_tasking_bike_system() {
-    tr_info("test reset multi tasking bike system");
-    // create the BikeSystem instance
-    multi_tasking::BikeSystem bikeSystem;
-
-    // run the bike system in a separate thread
-    Thread thread;
-    osStatus status =
-        thread.start(callback(&bikeSystem, &multi_tasking::BikeSystem::start));
-
-    if (status != osOK) {
-        tr_error("Thread bike system is not OK !");
-    }
-
-    tr_info("Bike system has started");
-
-    // let the bike system run for 2 secs
-    ThisThread::sleep_for(2s);
-
-    // get the gear device to call onUp and onDown functions
-    multi_tasking::GearDevice& gearDevice = bikeSystem.getGearDevice();
-
-    // set callback for response time measuring
-    bikeSystem.setCallbackGearChage(onGearChange);
-
-    // start the timer instance
-    timerGear.start();
-
-    // test timing incresing the gear
-    tr_info("Test incresing gear");
-    gearTest(callback(&gearDevice, &multi_tasking::GearDevice::onUp));
-
-    // test timing decreasing the gear
-    tr_info("Test decreasing gear");
-    gearTest(callback(&gearDevice, &multi_tasking::GearDevice::onDown));
-
-    // stop the bike system
-    bikeSystem.stop();
-    thread.terminate();
-    tr_info("Threads have stopped");
-    timerGear.stop();
-}
-
-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[] = {
+static Case cases[] = {Case("test bike system", test_bike_system)};
-    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", test_bike_system_with_event),
-    Case("test multi-tasking bike system", test_multi_tasking_bike_system),
-    Case("test reset multi-tasking bike system", test_reset_multi_tasking_bike_system),
-    Case("test gear multi-tasking bike system", test_gear_multi_tasking_bike_system),
-};
 
 static Specification specification(greentea_setup, cases);
 
-};  // namespace v1
+int main() { return !Harness::run(specification); }
-};  // namespace utest
-
-int main() {
-#if defined(MBED_CONF_MBED_TRACE_ENABLE)
-    mbed_trace_init();
-#endif
-    return !utest::v1::Harness::run(utest::v1::specification);
-}

TESTS/bike-computer/sensor-device/main.cpp

@@ -29,8 +29,7 @@
 #include "unity/unity.h"
 #include "utest/utest.h"
 
-namespace utest {
+using namespace utest::v1;
-namespace v1 {
 
 // test_hdc1000 test handler function
 static control_t test_sensor_device(const size_t call_count) {
@@ -54,9 +53,9 @@ static control_t test_sensor_device(const size_t call_count) {
     return CaseNext;
 }
 
-static status_t greentea_setup(const size_t number_of_cases) {
+static utest::v1::status_t greentea_setup(const size_t number_of_cases) {
-    // Here, we specify the timeout (60s) and the host test (a built-in host test
+    // Here, we specify the timeout (60s) and the host test (a built-in host test or the
-    // or the name of our Python file)
+    // name of our Python file)
     GREENTEA_SETUP(60, "default_auto");
 
     return greentea_test_setup_handler(number_of_cases);
@@ -66,7 +65,5 @@ static status_t greentea_setup(const size_t number_of_cases) {
 static Case cases[] = {Case("test sensor device", test_sensor_device)};
 
 static Specification specification(greentea_setup, cases);
-};  // namespace v1
-};  // namespace utest
 
-int main() { return !utest::v1::Harness::run(utest::v1::specification); }
+int main() { return !Harness::run(specification); }

TESTS/bike-computer/speedometer/main.cpp

@@ -32,14 +32,13 @@
 #include "unity/unity.h"
 #include "utest/utest.h"
 
+using namespace utest::v1;
+
 // allow for 0.1 km/h difference
 static constexpr float kAllowedSpeedDelta = 0.1f;
 // allow for 1m difference
 static constexpr float kAllowedDistanceDelta = 1.0f / 1000.0;
 
-namespace utest {
-namespace v1 {
-
 // function called by test handler functions for verifying the current speed
 void check_current_speed(const std::chrono::milliseconds& pedalRotationTime,
                          uint8_t traySize,
@@ -76,8 +75,7 @@ float compute_distance(const std::chrono::milliseconds& pedalRotationTime,
     float trayGearRatio = static_cast<float>(traySize) / static_cast<float>(gearSize);
     float distancePerPedalTurn = trayGearRatio * wheelCircumference;
 
-    // distancePerPedalTurn is expressed in m, divide per 1000 for a distance in
+    // distancePerPedalTurn is expressed in m, divide per 1000 for a distance in km
-    // km
     return (distancePerPedalTurn * pedalRotations) / 1000.0;
 }
 
@@ -88,8 +86,7 @@ void check_distance(const std::chrono::milliseconds& pedalRotationTime,
                     float wheelCircumference,
                     const std::chrono::milliseconds& travelTime,
                     float distance) {
-    // distancePerPedalTurn is expressed in m, divide per 1000 for a distance in
+    // distancePerPedalTurn is expressed in m, divide per 1000 for a distance in km
-    // km
     float expectedDistance = compute_distance(
         pedalRotationTime, traySize, gearSize, wheelCircumference, travelTime);
     printf("  Expected distance is %f, current distance is %f\n",
@@ -337,9 +334,9 @@ static control_t test_reset(const size_t call_count) {
     return CaseNext;
 }
 
-static status_t greentea_setup(const size_t number_of_cases) {
+static utest::v1::status_t greentea_setup(const size_t number_of_cases) {
-    // Here, we specify the timeout (60s) and the host test (a built-in host test
+    // Here, we specify the timeout (60s) and the host test (a built-in host test or the
-    // or the name of our Python file)
+    // name of our Python file)
     GREENTEA_SETUP(180, "default_auto");
 
     return greentea_test_setup_handler(number_of_cases);
@@ -353,7 +350,5 @@ static Case cases[] = {
     Case("test speedometer reset", test_reset)};
 
 static Specification specification(greentea_setup, cases);
-};  // namespace v1
-};  // namespace utest
 
-int main() { return !utest::v1::Harness::run(utest::v1::specification); }
+int main() { return !Harness::run(specification); }

TESTS/simple-test/always-succeed/main.cpp

@@ -27,8 +27,7 @@
 #include "unity/unity.h"
 #include "utest/utest.h"
 
-namespace utest {
+using namespace utest::v1;
-namespace v1 {
 
 // test handler function
 static control_t always_succeed(const size_t call_count) {
@@ -39,9 +38,9 @@ static control_t always_succeed(const size_t call_count) {
     return CaseNext;
 }
 
-static status_t greentea_setup(const size_t number_of_cases) {
+static utest::v1::status_t greentea_setup(const size_t number_of_cases) {
-    // Here, we specify the timeout (60s) and the host test (a built-in host test
+    // Here, we specify the timeout (60s) and the host test (a built-in host test or the
-    // or the name of our Python file)
+    // name of our Python file)
     GREENTEA_SETUP(60, "default_auto");
 
     return greentea_test_setup_handler(number_of_cases);
@@ -52,7 +51,4 @@ static Case cases[] = {Case("always succeed test", always_succeed)};
 
 static Specification specification(greentea_setup, cases);
 
-};  // namespace v1
+int main() { return !Harness::run(specification); }
-};  // namespace utest
-
-int main() { return !utest::v1::Harness::run(utest::v1::specification); }

TESTS/simple-test/test-ptr/main.cpp

@@ -24,14 +24,12 @@
  * @version 0.2.0
  ***************************************************************************/
 
-#include "greentea-client/test_env.h"  // NOLINT
+#include "greentea-client/test_env.h"
-#include "mbed.h"                      // NOLINT
+#include "mbed.h"
-#include "unity/unity.h"               // NOLINT
+#include "unity/unity.h"
-#include "utest/utest.h"               // NOLINT
+#include "utest/utest.h"
-
-namespace utest {
-namespace v1 {
 
+using namespace utest::v1;
 struct Test {
     Test() {
         _instanceCount++;
@@ -50,8 +48,7 @@ struct Test {
 uint32_t Test::_instanceCount = 0;
 
 /**
- * Test that a shared pointer correctly manages the lifetime of the underlying
+ * Test that a shared pointer correctly manages the lifetime of the underlying raw pointer
- * raw pointer
  */
 void test_single_sharedptr_lifetime() {
     // Sanity-check value of counter
@@ -69,8 +66,8 @@ void test_single_sharedptr_lifetime() {
 }
 
 /**
- * Test that multiple instances of shared pointers correctly manage the
+ * Test that multiple instances of shared pointers correctly manage the reference count
- * reference count to release the object at the correct point
+ * to release the object at the correct point
  */
 void test_instance_sharing() {
     std::shared_ptr<Test> shared_ptr1(nullptr);
@@ -100,8 +97,8 @@ void test_instance_sharing() {
 }
 
 /**********************
- * UNIQUE PTR EXERCISE *
+* UNIQUE PTR EXERCISE *
- **********************/
+**********************/
 
 /*
  * Check normal lifetime on a unique_ptr
@@ -117,7 +114,7 @@ void test_single_unique_ptr_lifetime() {
         TEST_ASSERT_EQUAL(Test::kMagicNumber, p1->_value);
 
         const uint32_t number = 42;
-        p1->_value            = number;
+        p1->_value = number;
         TEST_ASSERT_EQUAL(number, p1->_value);
 
         p1.reset();
@@ -135,12 +132,12 @@ void test_unique_ptr_transfer() {
     TEST_ASSERT_EQUAL(0, Test::_instanceCount);
 
     {
-        // create p1
+        //create p1
         std::unique_ptr<Test> p1 = std::make_unique<Test>();
         TEST_ASSERT_EQUAL(Test::kMagicNumber, p1->_value);
         TEST_ASSERT_EQUAL(1, Test::_instanceCount);
 
-        // transfer p1 to p2
+        //transfer p1 to p2
         std::unique_ptr<Test> p2 = std::move(p1);
         TEST_ASSERT_EQUAL(Test::kMagicNumber, p2->_value);
         TEST_ASSERT_EQUAL(1, Test::_instanceCount);
@@ -148,7 +145,7 @@ void test_unique_ptr_transfer() {
         p2.reset();
 
         TEST_ASSERT_EQUAL(0, Test::_instanceCount);
-        TEST_ASSERT(!p1);  // cppcheck-suppress accessMoved
+        TEST_ASSERT(!p1);
         TEST_ASSERT(!p2);
     }
 
@@ -163,13 +160,13 @@ void test_unique_ptr_release() {
     TEST_ASSERT_EQUAL(0, Test::_instanceCount);
 
     {
-        // create p1
+        //create p1
         std::unique_ptr<Test> p1 = std::make_unique<Test>();
         TEST_ASSERT_EQUAL(Test::kMagicNumber, p1->_value);
         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(1, Test::_instanceCount);
 
@@ -195,21 +192,21 @@ void test_unique_ptr_swap() {
         const uint32_t number1 = 65;
         const uint32_t number2 = 42;
 
-        // create p1
+        //create p1
         std::unique_ptr<Test> p1 = std::make_unique<Test>();
         TEST_ASSERT_EQUAL(Test::kMagicNumber, p1->_value);
         TEST_ASSERT_EQUAL(1, Test::_instanceCount);
         p1->_value = number1;
         TEST_ASSERT_EQUAL(number1, p1->_value);
 
-        // create p2
+        //create p2
         std::unique_ptr<Test> p2 = std::make_unique<Test>();
         TEST_ASSERT_EQUAL(Test::kMagicNumber, p2->_value);
         TEST_ASSERT_EQUAL(2, Test::_instanceCount);
         p2->_value = number2;
         TEST_ASSERT_EQUAL(number2, p2->_value);
 
-        // swap
+        //swap
         p1.swap(p2);
 
         TEST_ASSERT_EQUAL(number1, p2->_value);
@@ -226,13 +223,14 @@ void test_unique_ptr_swap() {
     TEST_ASSERT_EQUAL(0, Test::_instanceCount);
 }
 
+
+
 /*******************
- * RAW PTR EXERCISE *
+* RAW PTR EXERCISE *
- *******************/
+*******************/
 
 /**
- * Test that a shared pointer correctly manages the lifetime of the underlying
+ * Test that a shared pointer correctly manages the lifetime of the underlying raw pointer
- * raw pointer
  */
 void test_single_raw_ptr_lifetime() {
     // Sanity-check value of counter
@@ -244,12 +242,12 @@ void test_single_raw_ptr_lifetime() {
         TEST_ASSERT_EQUAL(1, Test::_instanceCount);
         TEST_ASSERT_EQUAL(Test::kMagicNumber, t1._value);
 
-        Test* p1 = &t1;
+        Test * p1 = &t1;
         TEST_ASSERT_EQUAL(1, Test::_instanceCount);
         TEST_ASSERT_EQUAL(Test::kMagicNumber, p1->_value);
 
         const uint32_t number1 = 42;
-        p1->_value             = number1;
+        p1->_value = number1;
         TEST_ASSERT_EQUAL(number1, p1->_value);
         TEST_ASSERT_EQUAL(number1, t1._value);
 
@@ -262,9 +260,9 @@ void test_single_raw_ptr_lifetime() {
     TEST_ASSERT_EQUAL(0, Test::_instanceCount);
 }
 
-static status_t greentea_setup(const size_t number_of_cases) {
+static utest::v1::status_t greentea_setup(const size_t number_of_cases) {
-    // Here, we specify the timeout (60s) and the host test (a built-in host test
+    // Here, we specify the timeout (60s) and the host test (a built-in host test or the
-    // or the name of our Python file)
+    // name of our Python file)
     GREENTEA_SETUP(60, "default_auto");
     return greentea_test_setup_handler(number_of_cases);
 }
@@ -287,7 +285,4 @@ static Case cases[] = {
 
 static Specification specification(greentea_setup, cases);
 
-};  // namespace v1
+int main() { return !Harness::run(specification); }
-};  // namespace utest
-
-int main() { return !utest::v1::Harness::run(utest::v1::specification); }

common/constants.hpp

@@ -51,9 +51,4 @@ static constexpr std::chrono::milliseconds kMaxPedalRotationTime = 1500ms;
 // definition of pedal rotation time change upon acceleration/deceleration
 static constexpr std::chrono::milliseconds kDeltaPedalRotationTime = 25ms;
 
-static constexpr uint32_t kNbrOfSteps = static_cast<uint32_t>(
+}  // namespace bike_computer
-    (bike_computer::kMaxPedalRotationTime - bike_computer::kMinPedalRotationTime)
-        .count() /
-    bike_computer::kDeltaPedalRotationTime.count());
-
-}  // namespace bike_computer

common/sensor_device.cpp

@@ -1,37 +1,21 @@
-// 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 speedometer_device.cpp
- * @author Serge Ayer <serge.ayer@hefr.ch>
- *
- * @brief WheelCounterDevice implementation (static scheduling)
- *
- * @date 2023-08-20
- * @version 1.0.0
- ***************************************************************************/
-
 #include "sensor_device.hpp"
 
 namespace bike_computer {
 
-SensorDevice::SensorDevice() : _hdc1000(I2C_SDA, I2C_SCL, STMOD_11) {}
+SensorDevice::SensorDevice() : _hdc1000(I2C_SDA, I2C_SCL, STMOD_11) 
+{}
 
-bool SensorDevice::init() { return this->_hdc1000.probe(); }
+bool SensorDevice::init() {
+    return this->_hdc1000.probe();
+}
 
-float SensorDevice::readTemperature(void) { return this->_hdc1000.getTemperature(); }
+float SensorDevice::readTemperature(void) {
+    return this->_hdc1000.getTemperature();
+}
 
-float SensorDevice::readHumidity(void) { return this->_hdc1000.getHumidity(); }
+float SensorDevice::readHumidity(void) {
+    return this->_hdc1000.getHumidity();
+}
+
+} // bike_computer
 
-}  // namespace bike_computer

common/sensor_device.hpp

@@ -46,4 +46,4 @@ class SensorDevice {
     advembsof::HDC1000 _hdc1000;
 };
 
-}  // namespace bike_computer
+}  // namespace bike_computer

common/speedometer.cpp

@@ -24,8 +24,9 @@
 
 #include "speedometer.hpp"
 
+#include "static_scheduling/gear_device.hpp"
+
 #include <chrono>
-#include <cstddef>
 #include <ratio>
 
 // from disco_h747i/wrappers
@@ -79,12 +80,7 @@ float Speedometer::getDistance() {
 }
 
 void Speedometer::reset() {
-#if defined(MBED_TEST_MODE)
+    // TODO : done
-    if (_cbOnReset != NULL) {
-        _cbOnReset();
-    }
-#endif
-
     this->_totalDistanceMutex.lock();
     this->_totalDistance = 0.0f;
     this->_totalDistanceMutex.unlock();
@@ -100,7 +96,6 @@ float Speedometer::getTraySize() const { return kTraySize; }
 std::chrono::milliseconds Speedometer::getCurrentPedalRotationTime() const {
     return _pedalRotationTime;
 }
-void Speedometer::setOnResetCallback(mbed::Callback<void()> cb) { _cbOnReset = cb; }
 
 #endif  // defined(MBED_TEST_MODE)
 
@@ -112,14 +107,11 @@ void Speedometer::computeSpeed() {
     // = 6.99m If you ride at 80 pedal turns / min, you run a distance of 6.99 * 80 / min
     // ~= 560 m / min = 33.6 km/h
 
-    // Distance run with one pedal turn = tray size / rear gear size * circumference of
+    // TODO : done
-    // 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);
-    float pedal_rotation_per_hour =
+    float pedal_rotation_per_hour = ms_in_hour / static_cast<float>(_pedalRotationTime.count());
-        ms_in_hour /
+    float gear_ratio = static_cast<float>(kTraySize) / static_cast<float>(this->_gearSize);
-        std::chrono::duration_cast<std::chrono::milliseconds>(_pedalRotationTime).count();
-    float gear_ratio =
-        static_cast<float>(kTraySize) / static_cast<float>(this->_gearSize);
     float wheel_dist_km = static_cast<float>(this->kWheelCircumference) / 1000.0;
     this->_currentSpeed = gear_ratio * wheel_dist_km * pedal_rotation_per_hour;
 }
@@ -133,13 +125,14 @@ void Speedometer::computeDistance() {
     // ~= 560 m / min = 33.6 km/h. We then multiply the speed by the time for getting the
     // distance traveled.
 
+    // TODO : done
     Speedometer::computeSpeed();
     // compute distance
 
-    const std::chrono::microseconds timeNow  = _timer.elapsed_time();
+    const std::chrono::microseconds timeNow = _timer.elapsed_time();
     const std::chrono::microseconds timeDiff = timeNow - _lastTime;
-    constexpr float ms_in_hour               = static_cast<float>(3600 * 1000);
+    constexpr float ms_in_hour = static_cast<float>(3600 * 1000);
-    float traveled_dist = _currentSpeed * timeDiff.count() / (ms_in_hour * 1000.0 /*μs*/);
+    float traveled_dist = _currentSpeed * timeDiff.count() / (ms_in_hour*1000.0/*μs*/);
 
     this->_totalDistanceMutex.lock();
     this->_totalDistance += traveled_dist;
@@ -148,4 +141,4 @@ void Speedometer::computeDistance() {
     _lastTime = _timer.elapsed_time();
 }
 
-}  // namespace bike_computer
+}  // namespace bike_computer

common/speedometer.hpp

@@ -55,7 +55,6 @@ class Speedometer {
     float getTraySize() const;
     std::chrono::milliseconds getCurrentPedalRotationTime() const;
     void setOnResetCallback(mbed::Callback<void()> cb);
-    mbed::Callback<void()> _cbOnReset = NULL;
 #endif  // defined(MBED_TEST_MODE)
 
    private:
@@ -80,11 +79,13 @@ class Speedometer {
     float _currentSpeed = 0.0f;
     Mutex _totalDistanceMutex;
     float _totalDistance = 0.0f;
-    uint8_t _gearSize    = bike_computer::kMaxGearSize;
+    uint8_t _gearSize    = 1;
+
+    Thread _thread;
 
 #if defined(MBED_TEST_MODE)
     mbed::Callback<void()> _cb;
 #endif
 };
 
-}  // namespace bike_computer
+}  // namespace bike_computer

main.cpp

@@ -5,29 +5,29 @@
 
 #if !MBED_TEST_MODE
 
-#include "mbed.h"        // NOLINT
+#include "mbed.h"  // NOLINT
-#include "mbed_trace.h"  // NOLINT
+#include "mbed_trace.h"
-// #include "static_scheduling/bike_system.hpp"
+#include "static_scheduling/bike_system.hpp"
-#include "static_scheduling_with_event/bike_system.hpp"
+
-// #include "multi_tasking/bike_system.hpp"
+// Blinking rate in milliseconds
+#define BLINKING_RATE 500ms
 
-#if defined(MBED_CONF_MBED_TRACE_ENABLE)
 #define TRACE_GROUP "MAIN"
-#endif  // MBED_CONF_MBED_TRACE_ENAB
 
 int main() {
-#if defined(MBED_CONF_MBED_TRACE_ENABLE)
+    // Initialise the digital pin LED1 as an output
+
     mbed_trace_init();
-#endif
+    // DigitalOut led(LED1);
+    // tr_debug("Hello world");
 
-    // static_scheduling::BikeSystem bikeSystem;
+    //    while (true) {
-    // bikeSystem.start();
+    //        led = !led;
-
+    //        ThisThread::sleep_for(BLINKING_RATE);
-    static_scheduling_with_event::BikeSystem bikeSystem;
+    //        tr_debug("blink");
+    //    }
+    static_scheduling::BikeSystem bikeSystem;
     bikeSystem.start();
-
-    // multi_tasking::BikeSystem bikeSystem;
-    // bikeSystem.start();
 }
 
 #endif  // MBED_TEST_MODE

mbed-os-bootloader/.clang-format

@@ -1,12 +0,0 @@
----
-BasedOnStyle: Google
-IndentWidth: 4
----
-Language: Cpp
-ColumnLimit: 90
-AlignConsecutiveAssignments: true
-DerivePointerAlignment: false
-PointerAlignment: Left
-BinPackArguments: false
-BinPackParameters: false
-IndentAccessModifiers: false

mbed-os-bootloader/.gitignore

@@ -1,8 +0,0 @@
-.build
-.mbed
-projectfiles
-*.py*
-mbed-os
-BUILD
-!BUILD/DISCO_H747I/GCC_ARM/mbed-os-bootloader.bin
-

mbed-os-bootloader/.mbedignore

@@ -1,17 +0,0 @@
-mbed-os/drivers/device_key/*
-mbed-os/drivers/source/usb/USBMSD.cpp
-mbed-os/drivers/source/SFDP.cpp
-mbed-os/connectivity/cellular/*
-mbed-os/connectivity/drivers/*
-mbed-os/connectivity/FEATURE_BLE/*
-mbed-os/connectivity/libraries/*
-mbed-os/connectivity/lorawan/*
-mbed-os/connectivity/lwipstack/*
-mbed-os/connectivity/nanostack/*
-mbed-os/connectivity/netsocket/*
-mbed-os/connectivity/nfc/*
-mbed-os/features/FEATURE_BOOTLOADER/*
-mbed-os/features/frameworks/mbed-client-cli/*
-mbed-os/features/frameworks/COMPONENT_FPGA_CI_TEST_SHIELD/*
-mbed-os/platform/randlib/*
-mbed-os/storage/kvstore/*

mbed-os-bootloader/.pre-commit-config.yaml

@@ -1,26 +0,0 @@
-files: ^main.cpp
-repos:
-  - repo: https://github.com/pre-commit/pre-commit-hooks
-    rev: v4.3.0
-    hooks:
-      - id: check-yaml
-        args: [--allow-multiple-documents]
-      - id: end-of-file-fixer
-      - id: trailing-whitespace
-  - repo: https://github.com/pre-commit/mirrors-clang-format
-    rev: "v14.0.6"
-    hooks:
-      - id: clang-format
-  - repo: https://github.com/cpplint/cpplint
-    rev: "1.6.1"
-    hooks:
-      - id: cpplint
-        name: cpplint
-        entry: cpplint --linelength=90 --filter=-build/include_subdir,-whitespace/indent,-build/namespaces,-build/c++11
-  - repo: local
-    hooks:
-      - id: cppcheck
-        name: cppcheck
-        require_serial: true
-        entry: cppcheck --enable=all --suppress=missingInclude --inline-suppr -i mbed-os --std=c++14 --error-exitcode=1
-        language: system

mbed-os-bootloader/main.cpp

@@ -1,35 +0,0 @@
-#include "mbed.h"
-
-#include "mbed_trace.h"
-#if MBED_CONF_MBED_TRACE_ENABLE
-#define TRACE_GROUP "bootloader"
-#endif // MBED_CONF_MBED_TRACE_ENABLE
-
-#if MBED_CONF_MBED_TRACE_ENABLE
-static UnbufferedSerial g_uart(CONSOLE_TX, CONSOLE_RX);
-
-// Function that directly outputs to an unbuffered serial port in blocking mode.
-static void boot_debug(const char *s) {
-    size_t len = strlen(s);
-    g_uart.write(s, len);
-    g_uart.write("\r\n", 2);
-}
-#endif
-
-int main() {
-#if MBED_CONF_MBED_TRACE_ENABLE
-    mbed_trace_init();
-    mbed_trace_print_function_set(boot_debug);
-#endif // MBED_CONF_MBED_TRACE_ENABLE
-
-    tr_debug("BikeComputer bootloader\r\n");
-
-    // at this stage we directly branch to the main application
-    void *sp = *((void **) POST_APPLICATION_ADDR + 0);  // NOLINT(readability/casting)
-    void *pc = *((void **) POST_APPLICATION_ADDR + 1);  // NOLINT(readability/casting)
-    tr_debug("Starting application at address 0x%08x (sp 0x%08x, pc 0x%08x)\r\n", POST_APPLICATION_ADDR, (uint32_t) sp, (uint32_t) pc);
-
-    mbed_start_application(POST_APPLICATION_ADDR);
-
-    return 0;
-}

mbed-os-bootloader/mbed-os.lib

@@ -1 +0,0 @@
-https://github.com/ARMmbed/mbed-os.git#17dc3dc2e6e2817a8bd3df62f38583319f0e4fed

mbed-os-bootloader/mbed_app.json

@@ -1,28 +0,0 @@
-{
-    "macros": [
-      "MBED_CONF_MBED_TRACE_FEA_IPV6=0"
-    ],
-    "config": {
-      "main-stack-size": {
-       "value": 4096
-      }
-    },
-    "target_overrides": {
-      "*": {
-        "mbed-trace.enable": false,
-        "platform.stdio-convert-newlines": true,
-        "platform.stdio-baud-rate": 115200,
-        "platform.default-serial-baud-rate": 115200,
-        "platform.stdio-buffered-serial": true,
-        "platform.all-stats-enabled": true,
-        "target.printf_lib":"minimal-printf",
-        "platform.minimal-printf-enable-floating-point": true,
-        "platform.minimal-printf-set-floating-point-max-decimals": 2
-      },
-      "DISCO_H747I": {
-        "target.restrict_size": "0x20000",
-        "mbed-trace.enable": true,
-        "mbed-trace.max-level": "TRACE_LEVEL_DEBUG"
-      }
-    }
-  }

mbed_app.json

@@ -1,27 +1,26 @@
 {
-  "macros": ["MBED_CONF_MBED_TRACE_FEA_IPV6=0"],
+    "macros": [
-  "config": {
+      "MBED_CONF_MBED_TRACE_FEA_IPV6=0"
-    "main-stack-size": {
+    ],
-      "value": 8192
+    "config": {
-    }
+      "main-stack-size": {
-  },
+       "value": 4096
-  "target_overrides": {
+      }
-    "*": {
-      "mbed-trace.enable": false,
-      "platform.stdio-convert-newlines": true,
-      "platform.stdio-baud-rate": 115200,
-      "platform.default-serial-baud-rate": 115200,
-      "platform.stdio-buffered-serial": true,
-      "platform.all-stats-enabled": true,
-      "target.printf_lib": "minimal-printf",
-      "platform.minimal-printf-enable-floating-point": true,
-      "platform.minimal-printf-set-floating-point-max-decimals": 2
     },
-    "DISCO_H747I": {
+    "target_overrides": {
-      "mbed-trace.enable": true,
+      "*": {
-      "mbed-trace.max-level": "TRACE_LEVEL_DEBUG",
+        "mbed-trace.enable": false,
-      "target.bootloader_img": "./mbed-os-bootloader/BUILD/DISCO_H747I/GCC_ARM/mbed-os-bootloader.bin",
+        "platform.stdio-convert-newlines": true,
-      "target.app_offset": "0x20000"
+        "platform.stdio-baud-rate": 115200,
+        "platform.default-serial-baud-rate": 115200,
+        "platform.stdio-buffered-serial": true,
+        "target.printf_lib":"minimal-printf",
+        "platform.minimal-printf-enable-floating-point": true,
+        "platform.minimal-printf-set-floating-point-max-decimals": 2
+      },
+      "DISCO_H747I": {
+        "mbed-trace.enable": true,
+        "mbed-trace.max-level": "TRACE_LEVEL_DEBUG"      
+      }
     }
-  }
+  }
-}

multi_tasking/bike_system.cpp

@@ -1,406 +0,0 @@
-// 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 <cstdint>
-
-#include "cmsis_os.h"
-#include "common/constants.hpp"
-#include "mbed_trace.h"
-
-#if MBED_CONF_MBED_TRACE_ENABLE
-#define TRACE_GROUP "BikeSystem"
-#endif  // MBED_CONF_MBED_TRACE_ENABLE
-
-namespace multi_tasking {
-
-static constexpr std::chrono::milliseconds kGearTaskComputationTime          = 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 kTemperatureTaskPeriod            = 1600ms;
-static constexpr std::chrono::milliseconds kTemperatureTaskDelay             = 1100ms;
-static constexpr std::chrono::milliseconds kTemperatureTaskComputationTime   = 100ms;
-static constexpr std::chrono::milliseconds kCPUTaskPeriod                    = 1600ms;
-static constexpr std::chrono::milliseconds kCPUTaskDelay                     = 0ms;
-
-BikeSystem::BikeSystem()
-    : _timer(),
-      _isrEventQueue(),
-      _eventQueue(),
-      _mailPedalDevice(),
-      _mailGearDevice(),
-      _mutexGearSize(),
-      _mutexGear(),
-      _mutexSpeed(),
-      _mutexDistance(),
-      _mutexSpeedometer(),
-      _isrEventThread(osPriorityAboveNormal, OS_STACK_SIZE, nullptr, "ISR_Event"),
-      _speedDistanceThread(
-          osPriorityNormal, OS_STACK_SIZE, nullptr, "Speed_distance_Task"),
-      _gearTaskThread(osPriorityAboveNormal, OS_STACK_SIZE, nullptr, "Gear_Task"),
-      _gearDevice(&_mailGearDevice, _timer),
-      _pedalDevice(&_mailPedalDevice, _timer),
-      _resetDevice(callback(this, &BikeSystem::onReset)),
-      _displayDevice(),
-      _speedometer(_timer),
-      _sensorDevice(),
-      _taskLogger(),
-      _cpuLogger(_timer) {}
-
-#if defined(MBED_TEST_MODE)
-const advembsof::TaskLogger& BikeSystem::getTaskLogger() { return _taskLogger; }
-
-bike_computer::Speedometer& BikeSystem::getSpeedometer() {
-    // ENTER CRITICAL SECTION
-    _mutexSpeedometer.lock();
-    bike_computer::Speedometer& speedometer = _speedometer;
-    _mutexSpeedometer.unlock();
-    // END CRITICAL SECTION
-
-    return speedometer;
-}
-
-GearDevice& BikeSystem::getGearDevice() { return _gearDevice; }
-
-void BikeSystem::setCallbackGearChage(Callback<void()> cbGearChange) {
-    _cbGearChange = cbGearChange;
-}
-
-#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("Ffalseailed 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
-    bool runTaskLogger = false;
-
-#if defined(MBED_TEST_MODE)
-    runTaskLogger = true;
-#endif
-
-    _taskLogger.enable(runTaskLogger);
-}
-
-void BikeSystem::start() {
-    init();
-
-    Event<void()> temperatureEvent(&_eventQueue,
-                                   callback(this, &BikeSystem::temperatureTask));
-    temperatureEvent.delay(kTemperatureTaskDelay);
-    temperatureEvent.period(kTemperatureTaskPeriod);
-    temperatureEvent.post();
-
-    Event<void()> displayEvent(&_eventQueue, callback(this, &BikeSystem::displayTask));
-    displayEvent.delay(kDisplayTask1Delay);
-    displayEvent.period(kDisplayTask1Period);
-    displayEvent.post();
-
-    osStatus status =
-        _isrEventThread.start(callback(this, &BikeSystem::dispatch_isr_events));
-    if (status != osOK) {
-        tr_error("Thread %s started with status %ld",
-                 _isrEventThread.get_name(),
-                 static_cast<int32_t>(status));
-    }
-
-    status =
-        _speedDistanceThread.start(callback(this, &BikeSystem::loop_speed_distance_task));
-    if (status != osOK) {
-        tr_error("Thread %s started with status %ld",
-                 _isrEventThread.get_name(),
-                 static_cast<int32_t>(status));
-    }
-
-    status = _gearTaskThread.start(callback(this, &BikeSystem::loop_gear_task));
-    if (status != osOK) {
-        tr_error("Thread %s started with status %ld",
-                 _gearTaskThread.get_name(),
-                 static_cast<int32_t>(status));
-    }
-
-#if !defined(MBED_TEST_MODE)
-    Event<void()> cpuEvent(&_eventQueue, callback(this, &BikeSystem::cpuTask));
-    cpuEvent.delay(kCPUTaskDelay);
-    cpuEvent.period(kCPUTaskPeriod);
-    cpuEvent.post();
-#endif
-
-    // dispatch the main queue in the main thread
-    dispatch_events();
-}
-
-void BikeSystem::stop() {
-    osStatus status = _isrEventThread.terminate();
-    status += _speedDistanceThread.terminate();
-    status += _gearTaskThread.terminate();
-    if (status != 0) {
-        tr_error("Stop thread error");
-    }
-    tr_info("Bike system has stopped !");
-}
-
-/* Callback from isr */
-
-void BikeSystem::onReset() {
-    _resetTime = _timer.elapsed_time();
-    Event<void()> resetEvent(&_isrEventQueue, callback(this, &BikeSystem::resetTask));
-    resetEvent.post();
-}
-
-// ISR thread functions
-
-void BikeSystem::resetTask() {
-#if !defined(MBED_TEST_MODE)
-    auto taskStartTime = _timer.elapsed_time();
-
-    std::chrono::microseconds responseTime = _timer.elapsed_time() - _resetTime;
-    tr_info("Reset task: response time is %" PRIu64 " usecs", responseTime.count());
-#endif
-    // ENTER CRITICAL SECTION
-    _mutexSpeedometer.lock();
-    _speedometer.reset();
-    _mutexSpeedometer.unlock();
-    // END CRITICAL SECTION
-
-#if !defined(MBED_TEST_MODE)
-    _taskLogger.logPeriodAndExecutionTime(
-        _timer, advembsof::TaskLogger::kResetTaskIndex, taskStartTime);
-#endif
-}
-
-// Speed distance thread functions
-
-void BikeSystem::speedDistanceTask() {
-    auto taskStartTime = _timer.elapsed_time();
-
-    pedalMail_t* currentStep = _mailPedalDevice.try_get();
-
-    if (currentStep != nullptr) {
-        const auto pedalRotationTime =
-            PedalDevice::getCurrentRotationTime(currentStep->step);
-
-        // ENTER CRITICAL SECTION
-        _mutexSpeedometer.lock();
-        _speedometer.setCurrentRotationTime(pedalRotationTime);
-        _mutexSpeedometer.unlock();
-        // END CRITICAL SECTION
-
-        std::chrono::microseconds responseTime =
-            _timer.elapsed_time() - currentStep->callTime;
-        tr_info("Speed distance task: response time is %" PRIu64 " usecs",
-                responseTime.count());
-
-        osStatus status = _mailPedalDevice.free(currentStep);
-        if (status != osOK) {
-            tr_error("free current step in the speed distance tasks doesn't work !");
-        }
-    }
-
-    // ENTER CRITICAL SECTION
-    _mutexSpeedometer.lock();
-    _speedometer.setGearSize(getCurrentGearSize());
-    _mutexSpeed.lock();
-    _currentSpeed = _speedometer.getCurrentSpeed();
-    _mutexSpeed.unlock();
-    _mutexDistance.lock();
-    _traveledDistance = _speedometer.getDistance();
-    _mutexDistance.unlock();
-    _mutexSpeedometer.unlock();
-    // END CRITICAL SECTION
-
-    ThisThread::sleep_for(std::chrono::duration_cast<std::chrono::milliseconds>(
-        kSpeedDistanceTaskComputationTime - (_timer.elapsed_time() - taskStartTime)));
-
-    _taskLogger.logPeriodAndExecutionTime(
-        _timer, advembsof::TaskLogger::kSpeedTaskIndex, taskStartTime);
-}
-
-/* Gear thread functions */
-void BikeSystem::gearTask() {
-    auto taskStartTime = _timer.elapsed_time();
-
-    gearMail_t* currentGear = _mailGearDevice.try_get();
-
-    if (currentGear != nullptr) {
-#if !defined(MBED_TEST_MODE)
-        std::chrono::microseconds responseTime =
-            _timer.elapsed_time() - currentGear->callTime;
-        tr_info("Gear task: response time is %" PRIu64 " usecs", responseTime.count());
-#endif
-
-#if defined(MBED_TEST_MODE)
-        _cbGearChange();
-#endif
-
-        // ENTER CRITICAL SECTION
-        _mutexGear.lock();
-        _currentGear = currentGear->gear;
-        _mutexGear.unlock();
-        _mutexGearSize.lock();
-        _currentGearSize = bike_computer::kMaxGearSize - currentGear->gear;
-        _mutexGearSize.unlock();
-        // END CRITICAL SECTION
-
-        osStatus status = _mailGearDevice.free(currentGear);
-        if (status != osOK) {
-            tr_error("free current gear in the gear tasks doesn't work !");
-        }
-    }
-
-    ThisThread::sleep_for(std::chrono::duration_cast<std::chrono::milliseconds>(
-        kGearTaskComputationTime - (_timer.elapsed_time() - taskStartTime)));
-
-    _taskLogger.logPeriodAndExecutionTime(
-        _timer, advembsof::TaskLogger::kGearTaskIndex, taskStartTime);
-}
-
-/* Main thread functions */
-
-void BikeSystem::temperatureTask() {
-    auto taskStartTime = _timer.elapsed_time();
-
-    // no need to protect access to data members (single threaded)
-    _currentTemperature = _sensorDevice.readTemperature();
-
-    ThisThread::sleep_for(std::chrono::duration_cast<std::chrono::milliseconds>(
-        kTemperatureTaskComputationTime - (_timer.elapsed_time() - taskStartTime)));
-
-    _taskLogger.logPeriodAndExecutionTime(
-        _timer, advembsof::TaskLogger::kTemperatureTaskIndex, taskStartTime);
-}
-
-void BikeSystem::displayTask() {
-    auto taskStartTime = _timer.elapsed_time();
-
-    // ENTER CRITICAL SECTION
-    _displayDevice.displayGear(getCurrentGear());
-    _displayDevice.displaySpeed(getCurrentSpeed());
-    _displayDevice.displayDistance(getCurrentDistance());
-    // END CRITICAL SECTION
-
-    _displayDevice.displayTemperature(_currentTemperature);
-
-    // ThisThread::sleep_for(std::chrono::duration_cast<std::chrono::milliseconds>(kDisplayTask1ComputationTime
-    // - (_timer.elapsed_time() - taskStartTime)));
-
-    _taskLogger.logPeriodAndExecutionTime(
-        _timer, advembsof::TaskLogger::kDisplayTask1Index, taskStartTime);
-}
-
-void BikeSystem::cpuTask() { _cpuLogger.printStats(); }
-
-void BikeSystem::dispatch_isr_events() {
-    tr_info("Start dispatching isr events");
-    _isrEventQueue.dispatch_forever();
-    tr_info("Stop dispatching isr events");
-}
-
-void BikeSystem::dispatch_events() {
-    tr_info("Start dispatching main events");
-    _eventQueue.dispatch_forever();
-    tr_info("Stop dispatching main events");
-}
-
-void BikeSystem::loop_speed_distance_task() {
-    tr_info("Start loop speed-distance calculation");
-    while (true) {
-        speedDistanceTask();
-    }
-}
-
-void BikeSystem::loop_gear_task() {
-    tr_info("Start loop gear calculation");
-    while (true) {
-        gearTask();
-    }
-}
-
-uint8_t BikeSystem::getCurrentGear() {
-    uint8_t currentGear;
-
-    // ENTER CRITICAL SECTION
-    _mutexGear.lock();
-    currentGear = _currentGear;
-    _mutexGear.unlock();
-    // END CRITICAL SECTION
-
-    return currentGear;
-}
-
-uint8_t BikeSystem::getCurrentGearSize() {
-    uint8_t currentGearSize;
-
-    // ENTER CRITICAL SECTION
-    _mutexGearSize.lock();
-    currentGearSize = _currentGearSize;
-    _mutexGearSize.unlock();
-    // END CRITICAL SECTION
-
-    return currentGearSize;
-}
-
-float BikeSystem::getCurrentSpeed() {
-    float currentSpeed;
-
-    // ENTER CRITICAL SECTION
-    _mutexSpeed.lock();
-    currentSpeed = _currentSpeed;
-    _mutexSpeed.unlock();
-    // END CRITICAL SECTION
-
-    return currentSpeed;
-}
-
-float BikeSystem::getCurrentDistance() {
-    float currentDistance;
-
-    // ENTER CRITICAL SECTION
-    _mutexDistance.lock();
-    currentDistance = _traveledDistance;
-    _mutexDistance.unlock();
-    // END CRITICAL SECTION
-
-    return currentDistance;
-}
-
-}  // namespace multi_tasking

multi_tasking/bike_system.hpp

@@ -1,171 +0,0 @@
-// 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 "mbed.h"
-#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 multi_tasking {
-
-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 for stopping the system
-    void stop();
-
-#if defined(MBED_TEST_MODE)
-    const advembsof::TaskLogger& getTaskLogger();
-    bike_computer::Speedometer& getSpeedometer();
-    GearDevice& getGearDevice();
-    void setCallbackGearChage(Callback<void()> cbGearChange);
-    Callback<void()> _cbGearChange;
-#endif  // defined(MBED_TEST_MODE)
-
-   private:
-    // private methods
-    void init();
-
-    // Main Thread
-    void temperatureTask();
-    void displayTask();
-    void cpuTask();
-
-// ISR Thread
-#if defined(MBED_TEST_MODE)
-
-   public:
-#endif
-    void onReset();
-#if defined(MBED_TEST_MODE)
-
-   private:
-#endif
-
-    void resetTask();
-
-    // gear Thread
-    void gearTask();
-
-    // Speed / Distance Thread
-    void speedDistanceTask();
-
-    // GETTER - SETTER
-    uint8_t getCurrentGear();
-    uint8_t getCurrentGearSize();
-    float getCurrentSpeed();
-    float getCurrentDistance();
-    void setCurrentGear(uint8_t gear);
-
-    // Thread functions
-    void dispatch_isr_events();
-    void dispatch_events();
-    void loop_speed_distance_task();
-    void loop_gear_task();
-
-    // timer instance used for loggint task time and used by ResetDevice
-    std::chrono::microseconds _resetTime      = std::chrono::microseconds::zero();
-    std::chrono::microseconds _onGearUpTime   = std::chrono::microseconds::zero();
-    std::chrono::microseconds _onGearDownTime = std::chrono::microseconds::zero();
-
-    Timer _timer;
-
-    // Event queues
-    EventQueue _isrEventQueue;
-    EventQueue _eventQueue;
-
-    // Mail
-    Mail<pedalMail_t, 16> _mailPedalDevice;
-    Mail<gearMail_t, 16> _mailGearDevice;
-
-    // mutex for shared resource
-    Mutex _mutexGearSize;
-    Mutex _mutexGear;
-    Mutex _mutexSpeed;
-    Mutex _mutexDistance;
-    Mutex _mutexSpeedometer;
-
-    // Tread for isr events
-    Thread _isrEventThread;
-    Thread _speedDistanceThread;
-    Thread _gearTaskThread;
-
-    // data member that represents the device for manipulating the gear
-    GearDevice _gearDevice;
-
-    //////////////////////////////////////////////////////////////
-    // shared resources between the main thread and the isr thread
-    uint8_t _currentGear     = bike_computer::kMinGear;
-    uint8_t _currentGearSize = bike_computer::kMaxGearSize;
-    //////////////////////////////////////////////////////////////
-
-    // data member that represents the device for manipulating the pedal rotation
-    // speed/time
-    PedalDevice _pedalDevice;
-
-    //////////////////////////////////////////////////////////////
-    // shared resources between the main thread and the isr thread
-    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 multi_tasking

multi_tasking/gear_device.cpp

@@ -1,74 +0,0 @@
-// 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"
-
-#include "bike_system.hpp"
-
-// from disco_h747i/wrappers
-
-#include "joystick.hpp"
-#include "mbed_atomic.h"
-#include "mbed_trace.h"
-
-#if MBED_CONF_MBED_TRACE_ENABLE
-#define TRACE_GROUP "GearDevice"
-#endif  // MBED_CONF_MBED_TRACE_ENABLE
-
-namespace multi_tasking {
-
-GearDevice::GearDevice(Mail<gearMail_t, 16>* mailBox, Timer& timer)
-    : _mailBox(mailBox), _timer(timer) {
-    disco::Joystick::getInstance().setUpCallback(callback(this, &GearDevice::onUp));
-    disco::Joystick::getInstance().setDownCallback(callback(this, &GearDevice::onDown));
-}
-
-void GearDevice::onUp() {
-    if (_currentGear < bike_computer::kMaxGear) {
-        core_util_atomic_incr_u8(&_currentGear, 1);
-        sendMail(core_util_atomic_load_u8(&_currentGear));
-    }
-}
-
-void GearDevice::onDown() {
-    if (_currentGear > bike_computer::kMinGear) {
-        core_util_atomic_decr_u8(&_currentGear, 1);
-        sendMail(core_util_atomic_load_u8(&_currentGear));
-    }
-}
-
-void GearDevice::sendMail(uint32_t data) {
-    if (_mailBox != nullptr) {
-        gearMail_t* currentGear = _mailBox->try_alloc();
-        if (currentGear != nullptr) {
-            currentGear->gear     = data;
-            currentGear->callTime = _timer.elapsed_time();
-            _mailBox->put(currentGear);
-        }
-    }
-}
-
-}  // namespace multi_tasking

multi_tasking/gear_device.hpp

@@ -1,61 +0,0 @@
-// 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 "common/constants.hpp"
-#include "mbed.h"
-
-namespace multi_tasking {
-
-typedef struct gearMail {
-    uint8_t gear;
-    std::chrono::microseconds callTime;
-} gearMail_t;
-
-class GearDevice {
-   public:
-    explicit GearDevice(Mail<gearMail_t, 16>* mailBox,
-                        Timer& timer);  // NOLINT(runtime/references)
-
-    // make the class non copyable
-    GearDevice(GearDevice&)            = delete;
-    GearDevice& operator=(GearDevice&) = delete;
-
-    // method called for updating the bike system
-    void onUp();
-    void onDown();
-
-    void sendMail(uint32_t data);
-
-   private:
-    // data members
-    volatile uint8_t _currentGear = bike_computer::kMinGear;
-    Mail<gearMail_t, 16>* _mailBox;
-    Timer& _timer;
-};
-
-}  // namespace multi_tasking

multi_tasking/pedal_device.cpp

@@ -1,85 +0,0 @@
-// 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 "bike_system.hpp"
-#include "joystick.hpp"
-#include "mbed_trace.h"
-
-#if MBED_CONF_MBED_TRACE_ENABLE
-#define TRACE_GROUP "PedalDevice"
-#endif  // MBED_CONF_MBED_TRACE_ENABLE
-
-namespace multi_tasking {
-
-PedalDevice::PedalDevice(Mail<pedalMail_t, 16>* mailBox, Timer& timer)
-    : _mailBox(mailBox), _timer(timer) {
-    disco::Joystick::getInstance().setLeftCallback(callback(this, &PedalDevice::onLeft));
-    disco::Joystick::getInstance().setRightCallback(
-        callback(this, &PedalDevice::onRight));
-}
-
-void PedalDevice::increaseRotationSpeed() {
-    uint32_t currentStep = core_util_atomic_load_u32(&_currentStep);
-    if (currentStep > 0) {
-        core_util_atomic_decr_u32(&_currentStep, 1);
-        sendMail(core_util_atomic_load_u32(&_currentStep));
-    }
-}
-
-void PedalDevice::decreaseRotationSpeed() {
-    uint32_t currentStep = core_util_atomic_load_u32(&_currentStep);
-    if (currentStep < bike_computer::kNbrOfSteps) {
-        core_util_atomic_incr_u32(&_currentStep, 1);
-        sendMail(core_util_atomic_load_u32(&_currentStep));
-    }
-}
-
-void PedalDevice::onLeft() { decreaseRotationSpeed(); }
-
-void PedalDevice::onRight() { increaseRotationSpeed(); }
-
-void PedalDevice::sendMail(uint32_t data) {
-    if (_mailBox != nullptr) {
-        pedalMail_t* currentStep = _mailBox->try_alloc();
-        if (currentStep != nullptr) {
-            currentStep->step     = data;
-            currentStep->callTime = _timer.elapsed_time();
-            _mailBox->put(currentStep);
-        }
-    }
-}
-
-// static methods
-
-std::chrono::milliseconds PedalDevice::getCurrentRotationTime(uint32_t step) {
-    return bike_computer::kMinPedalRotationTime +
-           step * bike_computer::kDeltaPedalRotationTime;
-}
-
-}  // namespace multi_tasking

multi_tasking/pedal_device.hpp

@@ -1,69 +0,0 @@
-// 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 multi_tasking {
-
-typedef struct pedalMail {
-    uint8_t step;
-    std::chrono::microseconds callTime;
-} pedalMail_t;
-
-class PedalDevice {
-   public:
-    explicit PedalDevice(Mail<pedalMail_t, 16>* mailBox,  // NOLINT (runtime/references)
-                         Timer& timer);                   // NOLINT (runtime/references)
-
-    // make the class non copyable
-    PedalDevice(PedalDevice&)            = delete;
-    PedalDevice& operator=(PedalDevice&) = delete;
-
-    // method called for updating the bike system
-    static std::chrono::milliseconds getCurrentRotationTime(uint32_t step);
-
-   private:
-    // private methods
-    void onLeft();
-    void onRight();
-    void increaseRotationSpeed();
-    void decreaseRotationSpeed();
-
-    void sendMail(uint32_t data);
-    // data members
-    volatile uint32_t _currentStep = static_cast<uint32_t>(
-        (bike_computer::kInitialPedalRotationTime - bike_computer::kMinPedalRotationTime)
-            .count() /
-        bike_computer::kDeltaPedalRotationTime.count());
-
-    Mail<pedalMail_t, 16>* _mailBox;
-    Timer& _timer;
-};
-
-}  // namespace multi_tasking

multi_tasking/reset_device.cpp

@@ -1,48 +0,0 @@
-// 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 multi_tasking {
-
-ResetDevice::ResetDevice(Callback<void()> cb) : _resetButton(PUSH_BUTTON) {
-    _resetButton.fall(cb);
-}
-
-}  // namespace multi_tasking

multi_tasking/reset_device.hpp

@@ -1,47 +0,0 @@
-// 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 multi_tasking {
-
-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 multi_tasking

static_scheduling/bike_system.cpp

@@ -35,57 +35,61 @@
 
 namespace static_scheduling {
 
-static constexpr std::chrono::milliseconds kGearTaskPeriod          = 800ms;
+static constexpr std::chrono::milliseconds kGearTaskPeriod					 = 800ms;
-static constexpr std::chrono::milliseconds kGearTaskDelay           = 0ms;
+static constexpr std::chrono::milliseconds kGearTaskDelay 					 = 0ms;
-static constexpr std::chrono::milliseconds kGearTaskComputationTime = 100ms;
+static constexpr std::chrono::milliseconds kGearTaskComputationTime 		 = 100ms;
-static constexpr std::chrono::milliseconds kSpeedDistanceTaskPeriod = 400ms;
+static constexpr std::chrono::milliseconds kSpeedDistanceTaskPeriod 		 = 400ms;
-static constexpr std::chrono::milliseconds kSpeedDistanceTaskDelay  = 0ms;  // 0 or 100ms
+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 kDisplayTask1Period 				 = 1600ms;
-static constexpr std::chrono::milliseconds kDisplayTask1Delay                = 300ms;
+static constexpr std::chrono::milliseconds kDisplayTask1Delay 				 = 300ms;
-static constexpr std::chrono::milliseconds kDisplayTask1ComputationTime      = 200ms;
+static constexpr std::chrono::milliseconds kDisplayTask1ComputationTime    	 = 200ms;
-static constexpr std::chrono::milliseconds kResetTaskPeriod                  = 800ms;
+static constexpr std::chrono::milliseconds kResetTaskPeriod 				 = 800ms;
-static constexpr std::chrono::milliseconds kResetTaskDelay                   = 700ms;
+static constexpr std::chrono::milliseconds kResetTaskDelay 					 = 700ms;
-static constexpr std::chrono::milliseconds kResetTaskComputationTime         = 100ms;
+static constexpr std::chrono::milliseconds kResetTaskComputationTime 		 = 100ms;
-static constexpr std::chrono::milliseconds kTemperatureTaskPeriod            = 1600ms;
+static constexpr std::chrono::milliseconds kTemperatureTaskPeriod 			 = 1600ms;
-static constexpr std::chrono::milliseconds kTemperatureTaskDelay             = 1100ms;
+static constexpr std::chrono::milliseconds kTemperatureTaskDelay 			 = 1100ms;
-static constexpr std::chrono::milliseconds kTemperatureTaskComputationTime   = 100ms;
+static constexpr std::chrono::milliseconds kTemperatureTaskComputationTime	 = 100ms;
-static constexpr std::chrono::milliseconds kDisplayTask2Period               = 1600ms;
+static constexpr std::chrono::milliseconds kDisplayTask2Period 				 = 1600ms;
-static constexpr std::chrono::milliseconds kDisplayTask2Delay                = 1200ms;
+static constexpr std::chrono::milliseconds kDisplayTask2Delay 				 = 1200ms;
-static constexpr std::chrono::milliseconds kDisplayTask2ComputationTime      = 100ms;
+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()
+// TODO: implement the constructor
-    : _gearDevice(_timer),
+
-      _pedalDevice(_timer),
+BikeSystem::BikeSystem() :
-      _resetDevice(_timer),
+	_gearDevice(_timer),
-      _displayDevice(),
+    _pedalDevice(_timer),
-      _speedometer(_timer),
+    _resetDevice(_timer),
-      _sensorDevice(),
+	_speedometer(_timer)
-      _taskLogger(),
+{
-      _cpuLogger(_timer) {}
+
+}
 
 void BikeSystem::start() {
     tr_info("Starting Super-Loop without event handling");
 
     init();
 
+    // TODO: implement the super-loop based for implementing the appropriate schedule
+    // Done
     while (true) {
         auto startTime = _timer.elapsed_time();
 
-        gearTask();           // 100ms :    0ms ->  100ms
+        // TODO: implement calls to different tasks based on computed schedule
-        speedDistanceTask();  // 200ms :  100ms ->  300ms
+        // Done
-        displayTask1();       // 200ms :  300ms ->  500ms
+		gearTask();				// 100ms :    0ms ->  100ms
-        speedDistanceTask();  // 200ms :  500ms ->  700ms
+        speedDistanceTask();	// 200ms :  100ms ->  300ms
-        resetTask();          // 100ms :  700ms ->  800ms
+        displayTask1();			// 200ms :  300ms ->  500ms
-        gearTask();           // 100ms :  800ms ->  900ms
+        speedDistanceTask();    // 200ms :  500ms ->  700ms
-        speedDistanceTask();  // 200ms :  900ms -> 1100ms
+        resetTask();			// 100ms :  700ms ->  800ms
-        temperatureTask();    // 100ms : 1100ms -> 1200ms
+        gearTask();				// 100ms :  800ms ->  900ms
-        displayTask2();       // 100ms : 1200ms -> 1300ms
+        speedDistanceTask();	// 200ms :  900ms -> 1100ms
-        speedDistanceTask();  // 200ms : 1300ms -> 1500ms
+        temperatureTask();		// 100ms : 1100ms -> 1200ms
-        resetTask();          // 100ms : 1500ms -> 1600ms
+        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
@@ -94,67 +98,17 @@ void BikeSystem::start() {
             std::chrono::duration_cast<std::chrono::milliseconds>(endTime - startTime);
         tr_debug("Repeating cycle time is %" PRIu64 " milliseconds", cycle.count());
 
+        // TODO: implement loop exit when applicable
+        // Done
         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)
@@ -201,25 +155,32 @@ void BikeSystem::speedDistanceTask() {
     _speedometer.setCurrentRotationTime(pedalRotationTime);
     _speedometer.setGearSize(_currentGearSize);
     // no need to protect access to data members (single threaded)
-    _currentSpeed     = _speedometer.getCurrentSpeed();
+    _currentSpeed    = _speedometer.getCurrentSpeed();
     _traveledDistance = _speedometer.getDistance();
 
     _taskLogger.logPeriodAndExecutionTime(
         _timer, advembsof::TaskLogger::kSpeedTaskIndex, taskStartTime);
 }
 
-void BikeSystem::displayTask1() {
+void BikeSystem::temperatureTask() {
     auto taskStartTime = _timer.elapsed_time();
 
-    _displayDevice.displayGear(_currentGear);
+    tr_warn("Tick1 %" PRIu64, _timer.elapsed_time().count());
-    _displayDevice.displaySpeed(_currentSpeed);
-    _displayDevice.displayDistance(_traveledDistance);
 
-    ThisThread::sleep_for(std::chrono::duration_cast<std::chrono::milliseconds>(
+    // no need to protect access to data members (single threaded)
-        kDisplayTask1ComputationTime - (_timer.elapsed_time() - taskStartTime)));
+    _currentTemperature = _sensorDevice.readTemperature();
+
+    tr_warn("Tick2 %" PRIu64, _timer.elapsed_time().count());
+
+    // 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::kDisplayTask1Index, taskStartTime);
+        _timer, advembsof::TaskLogger::kTemperatureTaskIndex, taskStartTime);
 }
 
 void BikeSystem::resetTask() {
@@ -235,17 +196,23 @@ void BikeSystem::resetTask() {
     _taskLogger.logPeriodAndExecutionTime(
         _timer, advembsof::TaskLogger::kResetTaskIndex, taskStartTime);
 }
-void BikeSystem::temperatureTask() {
+
+void BikeSystem::displayTask1() {
     auto taskStartTime = _timer.elapsed_time();
 
-    // no need to protect access to data members (single threaded)
+    _displayDevice.displayGear(_currentGear);
-    _currentTemperature = _sensorDevice.readTemperature();
+    _displayDevice.displaySpeed(_currentSpeed);
+    _displayDevice.displayDistance(_traveledDistance);
 
-    ThisThread::sleep_for(std::chrono::duration_cast<std::chrono::milliseconds>(
+    // simulate task computation by waiting for the required task computation time
-        kTemperatureTaskComputationTime - (_timer.elapsed_time() - taskStartTime)));
+
+    std::chrono::microseconds elapsedTime = std::chrono::microseconds::zero();
+    while (elapsedTime < kDisplayTask1ComputationTime) {
+        elapsedTime = _timer.elapsed_time() - taskStartTime;
+    }
 
     _taskLogger.logPeriodAndExecutionTime(
-        _timer, advembsof::TaskLogger::kTemperatureTaskIndex, taskStartTime);
+        _timer, advembsof::TaskLogger::kDisplayTask1Index, taskStartTime);
 }
 
 void BikeSystem::displayTask2() {
@@ -253,13 +220,14 @@ void BikeSystem::displayTask2() {
 
     _displayDevice.displayTemperature(_currentTemperature);
 
-    ThisThread::sleep_for(std::chrono::duration_cast<std::chrono::milliseconds>(
+    // simulate task computation by waiting for the required task computation time
-        kDisplayTask2ComputationTime - (_timer.elapsed_time() - taskStartTime)));
 
+    std::chrono::microseconds elapsedTime = std::chrono::microseconds::zero();
+    while (elapsedTime < kDisplayTask2ComputationTime) {
+        elapsedTime = _timer.elapsed_time() - taskStartTime;
+    }
     _taskLogger.logPeriodAndExecutionTime(
         _timer, advembsof::TaskLogger::kDisplayTask2Index, taskStartTime);
 }
 
-void BikeSystem::cpuTask() { _cpuLogger.printStats(); }
+}  // namespace static_scheduling
-
-}  // namespace static_scheduling

static_scheduling/bike_system.hpp

@@ -25,7 +25,6 @@
 #pragma once
 
 // from advembsof
-#include "cpu_logger.hpp"
 #include "display_device.hpp"
 #include "task_logger.hpp"
 
@@ -52,9 +51,6 @@ class BikeSystem {
     // 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();
 
@@ -71,7 +67,6 @@ class BikeSystem {
     void resetTask();
     void displayTask1();
     void displayTask2();
-    void cpuTask();
 
     // stop flag, used for stopping the super-loop (set in stop())
     bool _stopFlag = false;
@@ -79,12 +74,12 @@ class BikeSystem {
     Timer _timer;
     // data member that represents the device for manipulating the gear
     GearDevice _gearDevice;
-    uint8_t _currentGear     = bike_computer::kMinGear;
+    uint8_t _currentGear = bike_computer::kMinGear;
-    uint8_t _currentGearSize = bike_computer::kMaxGearSize;
+    uint8_t _currentGearSize = bike_computer::kMinGearSize;
     // data member that represents the device for manipulating the pedal rotation
     // speed/time
     PedalDevice _pedalDevice;
-    float _currentSpeed     = 0.0f;
+    float _currentSpeed = 0.0f;
     float _traveledDistance = 0.0f;
     // data member that represents the device used for resetting
     ResetDevice _resetDevice;
@@ -98,9 +93,6 @@ class BikeSystem {
 
     // used for logging task info
     advembsof::TaskLogger _taskLogger;
-
-    // cpu logger to measure cpu usage
-    advembsof::CPULogger _cpuLogger;
 };
 
-}  // namespace static_scheduling
+}  // namespace static_scheduling

static_scheduling/gear_device.cpp

@@ -80,4 +80,4 @@ uint8_t GearDevice::getCurrentGearSize() const {
     return bike_computer::kMaxGearSize - _currentGear;
 }
 
-}  // namespace static_scheduling
+}  // namespace static_scheduling

static_scheduling/gear_device.hpp

@@ -47,4 +47,4 @@ class GearDevice {
     Timer& _timer;
 };
 
-}  // namespace static_scheduling
+}  // namespace static_scheduling

static_scheduling/pedal_device.cpp

@@ -1,25 +1,12 @@
-// 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"
 
@@ -35,50 +22,51 @@
 
 namespace static_scheduling {
 
-static constexpr std::chrono::microseconds kTaskRunTime = 200000us;
+	static constexpr std::chrono::microseconds kTaskRunTime = 200000us;
 
-PedalDevice::PedalDevice(Timer& timer) : _timer(timer), _pedalRotationTime(0) {}
+	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();
 
-            switch (joystickState) {
+    std::chrono::milliseconds PedalDevice::getCurrentRotationTime() {
-                case disco::Joystick::State::LeftPressed:
+        // TODO
-                    if (_pedalRotationTime < bike_computer::kMaxPedalRotationTime) {
+        std::chrono::microseconds initialTime = _timer.elapsed_time();
-                        decreaseRotationSpeed();
+    	std::chrono::microseconds elapsedTime = std::chrono::microseconds::zero();
-                        hasChanged = true;
+    	// we bound the change to one increment/decrement per call
-                    }
+    	bool hasChanged = false;
-                    break;
+    	while (elapsedTime < kTaskRunTime) {
+	        if (!hasChanged) {
+				disco::Joystick::State joystickState = disco::Joystick::getInstance().getState();
 
-                case disco::Joystick::State::DownPressed:
+				switch (joystickState) {
-                    if (_pedalRotationTime > bike_computer::kMinPedalRotationTime) {
+                	case disco::Joystick::State::LeftPressed:
-                        decreaseRotationSpeed();
+	                    if (_pedalRotationTime < bike_computer::kMaxPedalRotationTime) {
-                        hasChanged = true;
+	                        decreaseRotationSpeed();
-                    }
+	                    	hasChanged = true;
-                    break;
+	                    }
+	                    break;
 
-                default:
+	                case disco::Joystick::State::DownPressed:
-                    break;
+	                    if (_pedalRotationTime > bike_computer::kMinPedalRotationTime) {
-            }
+	                        decreaseRotationSpeed();
-        }
+                            hasChanged = true;
-        elapsedTime = _timer.elapsed_time() - initialTime;
+	                    }
+	                    break;
+
+	                default:
+	                    break;
+	            }
+	        }
+	        elapsedTime = _timer.elapsed_time() - initialTime;
+	    }
+        return _pedalRotationTime;
     }
-    return _pedalRotationTime;
-}
 
-void PedalDevice::increaseRotationSpeed() {
+    void PedalDevice::increaseRotationSpeed() {
-    _pedalRotationTime -= bike_computer::kDeltaPedalRotationTime;
+        _pedalRotationTime -= bike_computer::kDeltaPedalRotationTime;
-}
+    }
 
-void PedalDevice::decreaseRotationSpeed() {
+    void PedalDevice::decreaseRotationSpeed() {
-    _pedalRotationTime += bike_computer::kDeltaPedalRotationTime;
+        _pedalRotationTime += bike_computer::kDeltaPedalRotationTime;
-}
+    }
 
-}  // namespace static_scheduling
+}

static_scheduling/pedal_device.hpp

@@ -46,9 +46,9 @@ class PedalDevice {
     void decreaseRotationSpeed();
 
     // data members
-    Timer& _timer;
     std::chrono::milliseconds _pedalRotationTime =
         bike_computer::kInitialPedalRotationTime;
+    Timer& _timer;
 };
 
-}  // namespace static_scheduling
+}  // namespace static_scheduling

static_scheduling/reset_device.cpp

@@ -1,26 +1,12 @@
-// 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"
 
@@ -35,36 +21,43 @@
 static constexpr uint8_t kPolarityPressed = 1;
 #endif
 
+
 #if MBED_CONF_MBED_TRACE_ENABLE
-#define TRACE_GROUP "ResetDevice"
+#define TRACE_GROUP "PedalDevice"
 #endif  // MBED_CONF_MBED_TRACE_ENABLE
 
 namespace static_scheduling {
 
-static constexpr std::chrono::microseconds kTaskRunTime = 100000us;
+	static constexpr std::chrono::microseconds kTaskRunTime = 100000us;
 
-ResetDevice::ResetDevice(Timer& timer)
+	ResetDevice::ResetDevice(Timer& timer) : _timer(timer), _resetButton(PUSH_BUTTON) {
-    : _resetButton(PUSH_BUTTON), _timer(timer), _pressTime(0) {
+    	_resetButton.rise(callback(this, &ResetDevice::onRise));
-    _resetButton.rise(callback(this, &ResetDevice::onRise));
+	}
-}
 
-bool ResetDevice::checkReset() {
+	bool ResetDevice::checkReset() {
-    std::chrono::microseconds initialTime = _timer.elapsed_time();
+		std::chrono::microseconds initialTime = _timer.elapsed_time();
-    std::chrono::microseconds elapsedTime = std::chrono::microseconds::zero();
+    	std::chrono::microseconds elapsedTime = std::chrono::microseconds::zero();
-    // we bound the change to one increment/decrement per call
+    	// we bound the change to one increment/decrement per call
-    bool isPressed = false;
+    	bool isPressed = false;
-    while (elapsedTime < kTaskRunTime) {
+    	while (elapsedTime < kTaskRunTime) {
-        if (!isPressed) {
+            if(!isPressed) {
-            isPressed = _resetButton.read() == kPolarityPressed;
+                isPressed = _resetButton.read() == kPolarityPressed;
-        }
+            }
-        elapsedTime = _timer.elapsed_time() - initialTime;
+            elapsedTime = _timer.elapsed_time() - initialTime;
+		}
+
+        return isPressed;
+
+	}
+
+    std::chrono::microseconds ResetDevice::getPressTime() {
+        return _pressTime;
     }
 
-    return isPressed;
+    void ResetDevice::onRise() {
-}
+        _pressTime = _timer.elapsed_time();
+    }
 
-std::chrono::microseconds ResetDevice::getPressTime() { return _pressTime; }
 
-void ResetDevice::onRise() { _pressTime = _timer.elapsed_time(); }
 
-}  // namespace static_scheduling
+}

static_scheduling/reset_device.hpp

@@ -53,4 +53,4 @@ class ResetDevice {
     std::chrono::microseconds _pressTime;
 };
 
-}  // namespace static_scheduling
+}  // namespace static_scheduling

static_scheduling_with_event/bike_system.cpp

@@ -1,238 +0,0 @@
-// 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)),
-      _displayDevice(),
-      _speedometer(_timer),
-      _sensorDevice(),
-      _taskLogger(),
-      _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::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::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::temperatureTask() {
-    auto taskStartTime = _timer.elapsed_time();
-
-    // no need to protect access to data members (single threaded)
-    _currentTemperature = _sensorDevice.readTemperature();
-
-    ThisThread::sleep_for(std::chrono::duration_cast<std::chrono::milliseconds>(
-        kTemperatureTaskComputationTime - (_timer.elapsed_time() - taskStartTime)));
-
-    _taskLogger.logPeriodAndExecutionTime(
-        _timer, advembsof::TaskLogger::kTemperatureTaskIndex, 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

static_scheduling_with_event/bike_system.hpp

@@ -1,111 +0,0 @@
-// 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::kMaxGearSize;
-    // 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

static_scheduling_with_event/gear_device.cpp

@@ -1,64 +0,0 @@
-// 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

static_scheduling_with_event/gear_device.hpp

@@ -1,54 +0,0 @@
-// 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

static_scheduling_with_event/pedal_device.cpp

@@ -1,69 +0,0 @@
-// 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

static_scheduling_with_event/pedal_device.hpp

@@ -1,59 +0,0 @@
-// 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

static_scheduling_with_event/reset_device.cpp

@@ -1,48 +0,0 @@
-// 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

static_scheduling_with_event/reset_device.hpp

@@ -1,47 +0,0 @@
-// 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