Klagarge/BikeComputer
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ADD threads dispatcher and drive reset with event

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This commit is contained in:
fastium
2024-12-30 16:56:04 +01:00
parent da79a18cd9
commit 69bc8785a8
3 changed files with 56 additions and 144 deletions
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147
multi_tasking/bike_system.cpp
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@@ -35,104 +35,29 @@
namespace multi_tasking {
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)
{
}
BikeSystem::BikeSystem()
: _gearDevice(),
_pedalDevice(),
_resetDevice(callback(this, &BikeSystem::onReset)),
_speedometer(_timer),
_cpuLogger(_timer) {}
void BikeSystem::start() {
// new thread dedicated for ISRs with its event queue
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();
_isrEventThread.start(callback(this, &BikeSystem::dispatch_isr_events));
_mainEventThread.start(callback(this, &BikeSystem::dispatch_events));
}
void BikeSystem::onReset() {
_resetTime = _timer.elapsed_time();
core_util_atomic_store_bool(&_resetFlag, true);
Event<void()> resetEvent(&_isrEventQueue, callback(this, &BikeSystem::resetTask));
resetEvent.post();
}
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)
@@ -166,8 +91,7 @@ void BikeSystem::gearTask() {
_currentGearSize = _gearDevice.getCurrentGearSize();
_taskLogger.logPeriodAndExecutionTime(
_timer, advembsof::TaskLogger::kGearTaskIndex, taskStartTime
);
_timer, advembsof::TaskLogger::kGearTaskIndex, taskStartTime);
}
void BikeSystem::speedDistanceTask() {
@@ -177,29 +101,25 @@ void BikeSystem::speedDistanceTask() {
_speedometer.setCurrentRotationTime(pedalRotationTime);
_speedometer.setGearSize(_currentGearSize);
_currentSpeed = _speedometer.getCurrentSpeed();
_currentSpeed = _speedometer.getCurrentSpeed();
_traveledDistance = _speedometer.getDistance();
_taskLogger.logPeriodAndExecutionTime(
_timer, advembsof::TaskLogger::kSpeedTaskIndex, taskStartTime
);
_timer, advembsof::TaskLogger::kSpeedTaskIndex, taskStartTime);
}
void BikeSystem::temperatureTask() {
auto taskStartTime = _timer.elapsed_time();
//tr_warn("Tick1 %" PRIu64, _timer.elapsed_time().count());
// 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());
// tr_warn("Tick2 %" PRIu64, _timer.elapsed_time().count());
ThisThread::sleep_for(
std::chrono::duration_cast<std::chrono::milliseconds>(
kTemperatureTaskComputationTime - (_timer.elapsed_time() - taskStartTime)
)
);
ThisThread::sleep_for(std::chrono::duration_cast<std::chrono::milliseconds>(
kTemperatureTaskComputationTime - (_timer.elapsed_time() - taskStartTime)));
_taskLogger.logPeriodAndExecutionTime(
_timer, advembsof::TaskLogger::kTemperatureTaskIndex, taskStartTime);
@@ -208,13 +128,8 @@ void BikeSystem::temperatureTask() {
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);
}
tr_info("Reset task: response time is %" PRIu64 " usecs", responseTime.count());
_speedometer.reset();
_taskLogger.logPeriodAndExecutionTime(
_timer, advembsof::TaskLogger::kResetTaskIndex, taskStartTime);
@@ -227,11 +142,8 @@ void BikeSystem::displayTask1() {
_displayDevice.displaySpeed(_currentSpeed);
_displayDevice.displayDistance(_traveledDistance);
ThisThread::sleep_for(
std::chrono::duration_cast<std::chrono::milliseconds>(
kDisplayTask1ComputationTime - (_timer.elapsed_time() - taskStartTime)
)
);
ThisThread::sleep_for(std::chrono::duration_cast<std::chrono::milliseconds>(
kDisplayTask1ComputationTime - (_timer.elapsed_time() - taskStartTime)));
_taskLogger.logPeriodAndExecutionTime(
_timer, advembsof::TaskLogger::kDisplayTask1Index, taskStartTime);
@@ -242,18 +154,17 @@ void BikeSystem::displayTask2() {
_displayDevice.displayTemperature(_currentTemperature);
ThisThread::sleep_for(
std::chrono::duration_cast<std::chrono::milliseconds>(
kDisplayTask2ComputationTime - (_timer.elapsed_time() - taskStartTime)
)
);
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();
}
void BikeSystem::cpuTask() { _cpuLogger.printStats(); }
} // namespace static_scheduling
void BikeSystem::dispatch_isr_events() { _isrEventQueue.dispatch_forever(); }
void BikeSystem::dispatch_events() { _eventQueue.dispatch_forever(); }
} // namespace multi_tasking