BikeComputer/static_scheduling_with_event/bike_system.cpp

// Copyright 2022 Haute école d'ingénierie et d'architecture de Fribourg
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.

/****************************************************************************
 * @file bike_system.cpp
 * @author Serge Ayer <serge.ayer@hefr.ch>
 * @author Rémi Heredero <remi@heredero.ch>
 * @author Yann Sierro <yannsierro.pro@gmail.com>
 *
 * @brief Bike System implementation (static scheduling)
 *
 * @date 2023-11-15
 * @version 1.1.0
 ***************************************************************************/

#include "bike_system.hpp"

#include <chrono>

#include "mbed_trace.h"
#if MBED_CONF_MBED_TRACE_ENABLE
#define TRACE_GROUP "BikeSystem"
#endif  // MBED_CONF_MBED_TRACE_ENABLE

namespace static_scheduling_with_event {

static constexpr std::chrono::milliseconds kGearTaskPeriod					 =  800ms;
static constexpr std::chrono::milliseconds kGearTaskDelay 					 =    0ms;
static constexpr std::chrono::milliseconds kGearTaskComputationTime 		 =  100ms;

static constexpr std::chrono::milliseconds kSpeedDistanceTaskPeriod 		 =  400ms;
static constexpr std::chrono::milliseconds kSpeedDistanceTaskDelay 			 =  100ms;
static constexpr std::chrono::milliseconds kSpeedDistanceTaskComputationTime =  200ms;

static constexpr std::chrono::milliseconds kDisplayTask1Period 				 = 1600ms;
static constexpr std::chrono::milliseconds kDisplayTask1Delay 				 =  300ms;
static constexpr std::chrono::milliseconds kDisplayTask1ComputationTime    	 =  200ms;

static constexpr std::chrono::milliseconds kResetTaskPeriod 				 =  800ms;
static constexpr std::chrono::milliseconds kResetTaskDelay 					 =  700ms;
static constexpr std::chrono::milliseconds kResetTaskComputationTime 		 =  100ms;

static constexpr std::chrono::milliseconds kTemperatureTaskPeriod 			 = 1600ms;
static constexpr std::chrono::milliseconds kTemperatureTaskDelay 			 = 1100ms;
static constexpr std::chrono::milliseconds kTemperatureTaskComputationTime	 =  100ms;

static constexpr std::chrono::milliseconds kDisplayTask2Period 				 = 1600ms;
static constexpr std::chrono::milliseconds kDisplayTask2Delay 				 = 1200ms;
static constexpr std::chrono::milliseconds kDisplayTask2ComputationTime   	 =  100ms;

static constexpr std::chrono::milliseconds kCPUTaskPeriod 					 = 1600ms;
static constexpr std::chrono::milliseconds kCPUTaskDelay 					 = 1200ms;
static constexpr std::chrono::milliseconds kCPUTaskComputationTime			 =  100ms;


BikeSystem::BikeSystem() :
	_gearDevice(),
    _pedalDevice(),
    _resetDevice(callback(this, &BikeSystem::onReset)),
	_speedometer(_timer),
    _cpuLogger(_timer)
{

}

void BikeSystem::start() {

    tr_info("Starting Super-Loop with event handling");

    init();

    EventQueue eventQueue;

	Event<void()> gearEvent(&eventQueue, callback(this, &BikeSystem::gearTask));
	gearEvent.delay(kGearTaskDelay);
	gearEvent.period(kGearTaskPeriod);
	gearEvent.post();

    Event<void()> speedDistanceEvent(&eventQueue, callback(this, &BikeSystem::speedDistanceTask));
    speedDistanceEvent.delay(kSpeedDistanceTaskDelay);
    speedDistanceEvent.period(kSpeedDistanceTaskPeriod);
    speedDistanceEvent.post();

    Event<void()> display1Event(&eventQueue, callback(this, &BikeSystem::displayTask1));
    display1Event.delay(kDisplayTask1Delay);
    display1Event.period(kDisplayTask1Period);
    display1Event.post();

    Event<void()> resetEvent(&eventQueue, callback(this, &BikeSystem::resetTask));
    resetEvent.delay(kResetTaskDelay);
    resetEvent.period(kResetTaskPeriod);
    resetEvent.post();

    Event<void()> temperatureEvent(&eventQueue, callback(this, &BikeSystem::temperatureTask));
    temperatureEvent.delay(kTemperatureTaskDelay);
    temperatureEvent.period(kTemperatureTaskPeriod);
    temperatureEvent.post();

    Event<void()> display2Event(&eventQueue, callback(this, &BikeSystem::displayTask2));
    display2Event.delay(kDisplayTask2Delay);
    display2Event.period(kDisplayTask2Period);
    display2Event.post();

	#if !defined(MBED_TEST_MODE)
  		Event<void()> cpuEvent(&eventQueue, callback(this, &BikeSystem::cpuTask));
  		cpuEvent.delay(kCPUTaskDelay);
  		cpuEvent.period(kCPUTaskPeriod);
  		cpuEvent.post();
	#endif
    
	eventQueue.dispatch_forever();
}

void BikeSystem::onReset() {
    _resetTime = _timer.elapsed_time();
    core_util_atomic_store_bool(&_resetFlag, true);
}

void BikeSystem::stop() { core_util_atomic_store_bool(&_stopFlag, true); }

#if defined(MBED_TEST_MODE)
const advembsof::TaskLogger& BikeSystem::getTaskLogger() { return _taskLogger; }
#endif  // defined(MBED_TEST_MODE)

void BikeSystem::init() {
    // start the timer
    _timer.start();

    // initialize the lcd display
    disco::ReturnCode rc = _displayDevice.init();
    if (rc != disco::ReturnCode::Ok) {
        tr_error("Failed to initialized the lcd display: %d", static_cast<int>(rc));
    }

    // initialize the sensor device
    bool present = _sensorDevice.init();
    if (!present) {
        tr_error("Sensor not present or initialization failed");
    }

    // enable/disable task logging
    _taskLogger.enable(true);
}

void BikeSystem::gearTask() {
    // gear task
    auto taskStartTime = _timer.elapsed_time();

    // no need to protect access to data members (single threaded)
    _currentGear     = _gearDevice.getCurrentGear();
    _currentGearSize = _gearDevice.getCurrentGearSize();

    _taskLogger.logPeriodAndExecutionTime(
        _timer, advembsof::TaskLogger::kGearTaskIndex, taskStartTime
    );
}

void BikeSystem::speedDistanceTask() {
    auto taskStartTime = _timer.elapsed_time();

    const auto pedalRotationTime = _pedalDevice.getCurrentRotationTime();
    _speedometer.setCurrentRotationTime(pedalRotationTime);
    _speedometer.setGearSize(_currentGearSize);

    _currentSpeed    = _speedometer.getCurrentSpeed();
    _traveledDistance = _speedometer.getDistance();

    _taskLogger.logPeriodAndExecutionTime(
        _timer, advembsof::TaskLogger::kSpeedTaskIndex, taskStartTime
    );
}

void BikeSystem::temperatureTask() {
    auto taskStartTime = _timer.elapsed_time();

    //tr_warn("Tick1 %" PRIu64, _timer.elapsed_time().count());

    // no need to protect access to data members (single threaded)
    _currentTemperature = _sensorDevice.readTemperature();

    //tr_warn("Tick2 %" PRIu64, _timer.elapsed_time().count());

    ThisThread::sleep_for(
        std::chrono::duration_cast<std::chrono::milliseconds>(
            kTemperatureTaskComputationTime - (_timer.elapsed_time() - taskStartTime)
        )
    );

    _taskLogger.logPeriodAndExecutionTime(
        _timer, advembsof::TaskLogger::kTemperatureTaskIndex, taskStartTime);
}

void BikeSystem::resetTask() {
    auto taskStartTime = _timer.elapsed_time();

    if (core_util_atomic_load_bool(&_resetFlag)) {
        std::chrono::microseconds responseTime = _timer.elapsed_time() - _resetTime;
        tr_info("Reset task: response time is %" PRIu64 " usecs", responseTime.count());
        _speedometer.reset();
    }

    _taskLogger.logPeriodAndExecutionTime(
        _timer, advembsof::TaskLogger::kResetTaskIndex, taskStartTime);
}

void BikeSystem::displayTask1() {
    auto taskStartTime = _timer.elapsed_time();

    _displayDevice.displayGear(_currentGear);
    _displayDevice.displaySpeed(_currentSpeed);
    _displayDevice.displayDistance(_traveledDistance);

    ThisThread::sleep_for(
        std::chrono::duration_cast<std::chrono::milliseconds>(
            kDisplayTask1ComputationTime - (_timer.elapsed_time() - taskStartTime)
        )
    );

    _taskLogger.logPeriodAndExecutionTime(
        _timer, advembsof::TaskLogger::kDisplayTask1Index, taskStartTime);
}

void BikeSystem::displayTask2() {
    auto taskStartTime = _timer.elapsed_time();

    _displayDevice.displayTemperature(_currentTemperature);

    ThisThread::sleep_for(
        std::chrono::duration_cast<std::chrono::milliseconds>(
            kDisplayTask2ComputationTime - (_timer.elapsed_time() - taskStartTime)
        )
    );

    _taskLogger.logPeriodAndExecutionTime(
        _timer, advembsof::TaskLogger::kDisplayTask2Index, taskStartTime);
}

void BikeSystem::cpuTask() {
    _cpuLogger.printStats();
}

}  // namespace static_scheduling