112 lines
3.4 KiB
C++
112 lines
3.4 KiB
C++
// Copyright 2022 Haute école d'ingénierie et d'architecture de Fribourg
|
|
//
|
|
// Licensed under the Apache License, Version 2.0 (the "License");
|
|
// you may not use this file except in compliance with the License.
|
|
// You may obtain a copy of the License at
|
|
//
|
|
// http://www.apache.org/licenses/LICENSE-2.0
|
|
//
|
|
// Unless required by applicable law or agreed to in writing, software
|
|
// distributed under the License is distributed on an "AS IS" BASIS,
|
|
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
|
// See the License for the specific language governing permissions and
|
|
// limitations under the License.
|
|
|
|
/****************************************************************************
|
|
* @file bike_system.hpp
|
|
* @author Serge Ayer <serge.ayer@hefr.ch>
|
|
*
|
|
* @brief Bike System header file (static scheduling)
|
|
*
|
|
* @date 2023-08-20
|
|
* @version 1.0.0
|
|
***************************************************************************/
|
|
|
|
#pragma once
|
|
|
|
// from advembsof
|
|
#include "cpu_logger.hpp"
|
|
#include "display_device.hpp"
|
|
#include "task_logger.hpp"
|
|
|
|
// from common
|
|
#include "sensor_device.hpp"
|
|
#include "speedometer.hpp"
|
|
|
|
// local
|
|
#include "gear_device.hpp"
|
|
#include "pedal_device.hpp"
|
|
#include "reset_device.hpp"
|
|
|
|
namespace static_scheduling_with_event {
|
|
|
|
class BikeSystem {
|
|
public:
|
|
// constructor
|
|
BikeSystem();
|
|
|
|
// make the class non copyable
|
|
BikeSystem(BikeSystem&) = delete;
|
|
BikeSystem& operator=(BikeSystem&) = delete;
|
|
|
|
// method called in main() for starting the system
|
|
void start();
|
|
|
|
// method called in main() for starting the sysytem with the event queue
|
|
void startWithEventQueue();
|
|
|
|
// method called for stopping the system
|
|
void stop();
|
|
|
|
#if defined(MBED_TEST_MODE)
|
|
const advembsof::TaskLogger& getTaskLogger();
|
|
#endif // defined(MBED_TEST_MODE)
|
|
|
|
private:
|
|
// private methods
|
|
void init();
|
|
void onReset();
|
|
void gearTask();
|
|
void speedDistanceTask();
|
|
void temperatureTask();
|
|
void resetTask();
|
|
void displayTask1();
|
|
void displayTask2();
|
|
void cpuTask();
|
|
|
|
// stop flag, used for stopping the super-loop (set in stop())
|
|
bool _stopFlag = false;
|
|
|
|
std::chrono::microseconds _resetTime = std::chrono::microseconds::zero();
|
|
volatile bool _resetFlag = false;
|
|
|
|
// timer instance used for loggint task time and used by ResetDevice
|
|
Timer _timer;
|
|
// data member that represents the device for manipulating the gear
|
|
GearDevice _gearDevice;
|
|
uint8_t _currentGear = bike_computer::kMinGear;
|
|
uint8_t _currentGearSize = bike_computer::kMinGearSize;
|
|
// data member that represents the device for manipulating the pedal rotation
|
|
// speed/time
|
|
PedalDevice _pedalDevice;
|
|
float _currentSpeed = 0.0f;
|
|
float _traveledDistance = 0.0f;
|
|
// data member that represents the device used for resetting
|
|
ResetDevice _resetDevice;
|
|
// data member that represents the device display
|
|
advembsof::DisplayDevice _displayDevice;
|
|
// data member that represents the device for counting wheel rotations
|
|
bike_computer::Speedometer _speedometer;
|
|
// data member that represents the sensor device
|
|
bike_computer::SensorDevice _sensorDevice;
|
|
float _currentTemperature = 0.0f;
|
|
|
|
// used for logging task info
|
|
advembsof::TaskLogger _taskLogger;
|
|
|
|
// cpu logger to measure cpu usage
|
|
advembsof::CPULogger _cpuLogger;
|
|
};
|
|
|
|
} // namespace static_scheduling_with_event
|