ADD EventQueue for static_scheduling

static_scheduling/bike_system.cpp

@@ -53,6 +53,9 @@ static constexpr std::chrono::milliseconds kTemperatureTaskComputationTime	 = 10
 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 					 = 0ms;
+static constexpr std::chrono::milliseconds kCPUTaskComputationTime			 = 0ms;
 
 
 BikeSystem::BikeSystem() :
@@ -109,6 +112,54 @@ void BikeSystem::start() {
     }
 }
 
+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)
@@ -250,4 +301,8 @@ void BikeSystem::displayTask2() {
         _timer, advembsof::TaskLogger::kDisplayTask2Index, taskStartTime);
 }
 
+void BikeSystem::cpuTask() {
+    _cpuLogger.printStats();
+}
+
 }  // namespace static_scheduling

static_scheduling/bike_system.hpp

@@ -52,6 +52,9 @@ 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();
 
@@ -68,6 +71,7 @@ class BikeSystem {
     void resetTask();
     void displayTask1();
     void displayTask2();
+    void cpuTask();
 
     // stop flag, used for stopping the super-loop (set in stop())
     bool _stopFlag = false;