ADD bike-system super-loop with while

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

@@ -0,0 +1,88 @@
+// Copyright 2022 Haute école d'ingénierie et d'architecture de Fribourg
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+/****************************************************************************
+ * @file main.cpp
+ * @author Serge Ayer <serge.ayer@hefr.ch>
+ *
+ * @brief Bike computer test suite: scheduling
+ *
+ * @date 2023-08-26
+ * @version 0.1.0
+ ***************************************************************************/
+
+#include <chrono>
+
+#include "static_scheduling/bike_system.hpp"
+
+#include "greentea-client/test_env.h"
+#include "mbed.h"
+#include "task_logger.hpp"
+#include "unity/unity.h"
+#include "utest/utest.h"
+
+using namespace utest::v1;
+
+// test_bike_system handler function
+static void test_bike_system() {
+    // create the BikeSystem instance
+    static_scheduling::BikeSystem bikeSystem;
+
+    // run the bike system in a separate thread
+    Thread thread;
+    thread.start(callback(&bikeSystem, &static_scheduling::BikeSystem::start));
+
+    // let the bike system run for 20 secs
+    ThisThread::sleep_for(20s);
+
+    // stop the bike system
+    bikeSystem.stop();
+
+    // check whether scheduling was correct
+    // Order is kGearTaskIndex, kSpeedTaskIndex, kTemperatureTaskIndex,
+    //          kResetTaskIndex, kDisplayTask1Index, kDisplayTask2Index
+    constexpr std::chrono::microseconds taskComputationTimes[] = {
+        100000us, 200000us, 100000us, 100000us, 200000us, 100000us};
+    constexpr std::chrono::microseconds taskPeriods[] = {
+        800000us, 400000us, 1600000us, 800000us, 1600000us, 1600000us};
+
+    // allow for 2 msecs offset
+    uint64_t deltaUs = 2000;
+    for (uint8_t taskIndex = 0; taskIndex < advembsof::TaskLogger::kNbrOfTasks;
+         taskIndex++) {
+        TEST_ASSERT_UINT64_WITHIN(
+            deltaUs,
+            taskPeriods[taskIndex].count(),
+            bikeSystem.getTaskLogger().getPeriod(taskIndex).count());
+        TEST_ASSERT_UINT64_WITHIN(
+            deltaUs,
+            taskComputationTimes[taskIndex].count(),
+            bikeSystem.getTaskLogger().getComputationTime(taskIndex).count());
+    }
+}
+
+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 or the
+    // name of our Python file)
+    GREENTEA_SETUP(180, "default_auto");
+
+    return greentea_test_setup_handler(number_of_cases);
+}
+
+// List of test cases in this file
+static Case cases[] = {Case("test bike system", test_bike_system)};
+
+static Specification specification(greentea_setup, cases);
+
+int main() { return !Harness::run(specification); }

main.cpp

@@ -6,19 +6,28 @@
 #if !MBED_TEST_MODE
 
 #include "mbed.h"  // NOLINT
+#include "mbed_trace.h"
+#include "static_scheduling/bike_system.hpp"
 
 // Blinking rate in milliseconds
 #define BLINKING_RATE 500ms
 
+#define TRACE_GROUP "MAIN"
+
 int main() {
     // Initialise the digital pin LED1 as an output
 
-    DigitalOut led(LED1);
+    mbed_trace_init();
+    // DigitalOut led(LED1);
+    // tr_debug("Hello world");
 
-    while (true) {
+    //    while (true) {
-        led = !led;
+    //        led = !led;
-        ThisThread::sleep_for(BLINKING_RATE);
+    //        ThisThread::sleep_for(BLINKING_RATE);
-    }
+    //        tr_debug("blink");
+    //    }
+    static_scheduling::BikeSystem bikeSystem;
+    bikeSystem.start();
 }
 
 #endif  // MBED_TEST_MODE

static_scheduling/bike_system.cpp

@@ -0,0 +1,233 @@
+// Copyright 2022 Haute école d'ingénierie et d'architecture de Fribourg
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+/****************************************************************************
+ * @file bike_system.cpp
+ * @author Serge Ayer <serge.ayer@hefr.ch>
+ * @author Rémi Heredero <remi@heredero.ch>
+ * @author Yann Sierro <yannsierro.pro@gmail.com>
+ *
+ * @brief Bike System implementation (static scheduling)
+ *
+ * @date 2023-11-15
+ * @version 1.1.0
+ ***************************************************************************/
+
+#include "bike_system.hpp"
+
+#include <chrono>
+
+#include "mbed_trace.h"
+#if MBED_CONF_MBED_TRACE_ENABLE
+#define TRACE_GROUP "BikeSystem"
+#endif  // MBED_CONF_MBED_TRACE_ENABLE
+
+namespace static_scheduling {
+
+static constexpr std::chrono::milliseconds kGearTaskPeriod					 = 800ms;
+static constexpr std::chrono::milliseconds kGearTaskDelay 					 = 0ms;
+static constexpr std::chrono::milliseconds kGearTaskComputationTime 		 = 100ms;
+static constexpr std::chrono::milliseconds kSpeedDistanceTaskPeriod 		 = 400ms;
+static constexpr std::chrono::milliseconds kSpeedDistanceTaskDelay 			 = 0ms; // 0 or 100ms
+static constexpr std::chrono::milliseconds kSpeedDistanceTaskComputationTime = 200ms;
+static constexpr std::chrono::milliseconds kDisplayTask1Period 				 = 1600ms;
+static constexpr std::chrono::milliseconds kDisplayTask1Delay 				 = 300ms;
+static constexpr std::chrono::milliseconds kDisplayTask1ComputationTime    	 = 200ms;
+static constexpr std::chrono::milliseconds kResetTaskPeriod 				 = 800ms;
+static constexpr std::chrono::milliseconds kResetTaskDelay 					 = 700ms;
+static constexpr std::chrono::milliseconds kResetTaskComputationTime 		 = 100ms;
+static constexpr std::chrono::milliseconds kTemperatureTaskPeriod 			 = 1600ms;
+static constexpr std::chrono::milliseconds kTemperatureTaskDelay 			 = 1100ms;
+static constexpr std::chrono::milliseconds kTemperatureTaskComputationTime	 = 100ms;
+static constexpr std::chrono::milliseconds kDisplayTask2Period 				 = 1600ms;
+static constexpr std::chrono::milliseconds kDisplayTask2Delay 				 = 1200ms;
+static constexpr std::chrono::milliseconds kDisplayTask2ComputationTime   	 = 100ms;
+
+// TODO: implement the constructor
+
+BikeSystem::BikeSystem() :
+	_gearDevice(_timer),
+    _pedalDevice(_timer),
+    _resetDevice(_timer),
+	_speedometer(_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();
+
+        // TODO: implement calls to different tasks based on computed schedule
+        // Done
+		gearTask();				// 100ms :    0ms ->  100ms
+        speedDistanceTask();	// 200ms :  100ms ->  300ms
+        displayTask1();			// 200ms :  300ms ->  500ms
+        speedDistanceTask();    // 200ms :  500ms ->  700ms
+        resetTask();			// 100ms :  700ms ->  800ms
+        gearTask();				// 100ms :  800ms ->  900ms
+        speedDistanceTask();	// 200ms :  900ms -> 1100ms
+        temperatureTask();		// 100ms : 1100ms -> 1200ms
+        displayTask2();			// 100ms : 1200ms -> 1300ms
+        speedDistanceTask();	// 200ms : 1300ms -> 1500ms
+        resetTask();			// 100ms : 1500ms -> 1600ms
+        
+
+
+        // register the time at the end of the cyclic schedule period and print the
+        // elapsed time for the period
+        std::chrono::microseconds endTime = _timer.elapsed_time();
+        const auto cycle =
+            std::chrono::duration_cast<std::chrono::milliseconds>(endTime - startTime);
+        tr_debug("Repeating cycle time is %" PRIu64 " milliseconds", cycle.count());
+
+        // TODO: implement loop exit when applicable
+        // Done
+        bool fStop = false;
+        core_util_atomic_load(&fStop);
+        if (fStop) {
+            break;
+        }
+
+    }
+}
+
+void BikeSystem::stop() { core_util_atomic_store_bool(&_stopFlag, true); }
+
+#if defined(MBED_TEST_MODE)
+const advembsof::TaskLogger& BikeSystem::getTaskLogger() { return _taskLogger; }
+#endif  // defined(MBED_TEST_MODE)
+
+void BikeSystem::init() {
+    // start the timer
+    _timer.start();
+
+    // initialize the lcd display
+    disco::ReturnCode rc = _displayDevice.init();
+    if (rc != disco::ReturnCode::Ok) {
+        tr_error("Failed to initialized the lcd display: %d", static_cast<int>(rc));
+    }
+
+    // initialize the sensor device
+    bool present = _sensorDevice.init();
+    if (!present) {
+        tr_error("Sensor not present or initialization failed");
+    }
+
+    // enable/disable task logging
+    _taskLogger.enable(true);
+}
+
+void BikeSystem::gearTask() {
+    // gear task
+    auto taskStartTime = _timer.elapsed_time();
+
+    // no need to protect access to data members (single threaded)
+    _currentGear     = _gearDevice.getCurrentGear();
+    _currentGearSize = _gearDevice.getCurrentGearSize();
+
+    _taskLogger.logPeriodAndExecutionTime(
+        _timer, advembsof::TaskLogger::kGearTaskIndex, taskStartTime);
+}
+
+void BikeSystem::speedDistanceTask() {
+    // speed and distance task
+    auto taskStartTime = _timer.elapsed_time();
+
+    const auto pedalRotationTime = _pedalDevice.getCurrentRotationTime();
+    _speedometer.setCurrentRotationTime(pedalRotationTime);
+    _speedometer.setGearSize(_currentGearSize);
+    // no need to protect access to data members (single threaded)
+    _currentSpeed    = _speedometer.getCurrentSpeed();
+    _traveledDistance = _speedometer.getDistance();
+
+    _taskLogger.logPeriodAndExecutionTime(
+        _timer, advembsof::TaskLogger::kSpeedTaskIndex, taskStartTime);
+}
+
+void BikeSystem::temperatureTask() {
+    auto taskStartTime = _timer.elapsed_time();
+
+    tr_warn("Tick1 %" PRIu64, _timer.elapsed_time().count());
+
+    // no need to protect access to data members (single threaded)
+    _currentTemperature = _sensorDevice.readTemperature();
+
+    tr_warn("Tick2 %" PRIu64, _timer.elapsed_time().count());
+
+    // simulate task computation by waiting for the required task computation time
+
+    std::chrono::microseconds elapsedTime = std::chrono::microseconds::zero();
+    while (elapsedTime < kTemperatureTaskComputationTime) {
+        elapsedTime = _timer.elapsed_time() - taskStartTime;
+    }
+
+    _taskLogger.logPeriodAndExecutionTime(
+        _timer, advembsof::TaskLogger::kTemperatureTaskIndex, taskStartTime);
+}
+
+void BikeSystem::resetTask() {
+    auto taskStartTime = _timer.elapsed_time();
+
+    if (_resetDevice.checkReset()) {
+        std::chrono::microseconds responseTime =
+            _timer.elapsed_time() - _resetDevice.getPressTime();
+        tr_info("Reset task: response time is %" PRIu64 " usecs", responseTime.count());
+        _speedometer.reset();
+    }
+
+    _taskLogger.logPeriodAndExecutionTime(
+        _timer, advembsof::TaskLogger::kResetTaskIndex, taskStartTime);
+}
+
+void BikeSystem::displayTask1() {
+    auto taskStartTime = _timer.elapsed_time();
+
+    _displayDevice.displayGear(_currentGear);
+    _displayDevice.displaySpeed(_currentSpeed);
+    _displayDevice.displayDistance(_traveledDistance);
+
+    // simulate task computation by waiting for the required task computation time
+
+    std::chrono::microseconds elapsedTime = std::chrono::microseconds::zero();
+    while (elapsedTime < kDisplayTask1ComputationTime) {
+        elapsedTime = _timer.elapsed_time() - taskStartTime;
+    }
+
+    _taskLogger.logPeriodAndExecutionTime(
+        _timer, advembsof::TaskLogger::kDisplayTask1Index, taskStartTime);
+}
+
+void BikeSystem::displayTask2() {
+    auto taskStartTime = _timer.elapsed_time();
+
+    _displayDevice.displayTemperature(_currentTemperature);
+
+    // simulate task computation by waiting for the required task computation time
+
+    std::chrono::microseconds elapsedTime = std::chrono::microseconds::zero();
+    while (elapsedTime < kDisplayTask2ComputationTime) {
+        elapsedTime = _timer.elapsed_time() - taskStartTime;
+    }
+    _taskLogger.logPeriodAndExecutionTime(
+        _timer, advembsof::TaskLogger::kDisplayTask2Index, taskStartTime);
+}
+
+}  // namespace static_scheduling

static_scheduling/bike_system.hpp

@@ -0,0 +1,98 @@
+// 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 "display_device.hpp"
+#include "task_logger.hpp"
+
+// from common
+#include "sensor_device.hpp"
+#include "speedometer.hpp"
+
+// local
+#include "gear_device.hpp"
+#include "pedal_device.hpp"
+#include "reset_device.hpp"
+
+namespace static_scheduling {
+
+class BikeSystem {
+   public:
+    // constructor
+    BikeSystem();
+
+    // make the class non copyable
+    BikeSystem(BikeSystem&)            = delete;
+    BikeSystem& operator=(BikeSystem&) = delete;
+
+    // method called in main() for starting the system
+    void start();
+
+    // method called for stopping the system
+    void stop();
+
+#if defined(MBED_TEST_MODE)
+    const advembsof::TaskLogger& getTaskLogger();
+#endif  // defined(MBED_TEST_MODE)
+
+   private:
+    // private methods
+    void init();
+    void gearTask();
+    void speedDistanceTask();
+    void temperatureTask();
+    void resetTask();
+    void displayTask1();
+    void displayTask2();
+
+    // stop flag, used for stopping the super-loop (set in stop())
+    bool _stopFlag = false;
+    // timer instance used for loggint task time and used by ResetDevice
+    Timer _timer;
+    // data member that represents the device for manipulating the gear
+    GearDevice _gearDevice;
+    uint8_t _currentGear = bike_computer::kMinGear;
+    uint8_t _currentGearSize = bike_computer::kMinGearSize;
+    // data member that represents the device for manipulating the pedal rotation
+    // speed/time
+    PedalDevice _pedalDevice;
+    float _currentSpeed = 0.0f;
+    float _traveledDistance = 0.0f;
+    // data member that represents the device used for resetting
+    ResetDevice _resetDevice;
+    // data member that represents the device display
+    advembsof::DisplayDevice _displayDevice;
+    // data member that represents the device for counting wheel rotations
+    bike_computer::Speedometer _speedometer;
+    // data member that represents the sensor device
+    bike_computer::SensorDevice _sensorDevice;
+    float _currentTemperature = 0.0f;
+
+    // used for logging task info
+    advembsof::TaskLogger _taskLogger;
+};
+
+}  // namespace static_scheduling

static_scheduling/reset_device.cpp

@@ -28,7 +28,7 @@ static constexpr uint8_t kPolarityPressed = 1;
 
 namespace static_scheduling {
 
-	static constexpr std::chrono::microseconds kTaskRunTime = 1000000us;
+	static constexpr std::chrono::microseconds kTaskRunTime = 100000us;
 
 	ResetDevice::ResetDevice(Timer& timer) : _timer(timer), _resetButton(PUSH_BUTTON) {
     	_resetButton.rise(callback(this, &ResetDevice::onRise));