ADD [WIP] Static scheduling with event
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static_scheduling_with_event/bike_system.cpp
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295
static_scheduling_with_event/bike_system.cpp
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// Copyright 2022 Haute école d'ingénierie et d'architecture de Fribourg
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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/****************************************************************************
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* @file bike_system.cpp
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* @author Serge Ayer <serge.ayer@hefr.ch>
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* @author Rémi Heredero <remi@heredero.ch>
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* @author Yann Sierro <yannsierro.pro@gmail.com>
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*
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* @brief Bike System implementation (static scheduling)
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*
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* @date 2023-11-15
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* @version 1.1.0
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***************************************************************************/
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#include "bike_system.hpp"
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#include <chrono>
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#include "mbed_trace.h"
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#if MBED_CONF_MBED_TRACE_ENABLE
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#define TRACE_GROUP "BikeSystem"
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#endif // MBED_CONF_MBED_TRACE_ENABLE
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namespace static_scheduling_with_event {
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static constexpr std::chrono::milliseconds kGearTaskPeriod = 800ms;
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static constexpr std::chrono::milliseconds kGearTaskDelay = 0ms;
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static constexpr std::chrono::milliseconds kGearTaskComputationTime = 100ms;
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static constexpr std::chrono::milliseconds kSpeedDistanceTaskPeriod = 400ms;
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static constexpr std::chrono::milliseconds kSpeedDistanceTaskDelay = 100ms;
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static constexpr std::chrono::milliseconds kSpeedDistanceTaskComputationTime = 200ms;
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static constexpr std::chrono::milliseconds kDisplayTask1Period = 1600ms;
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static constexpr std::chrono::milliseconds kDisplayTask1Delay = 300ms;
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static constexpr std::chrono::milliseconds kDisplayTask1ComputationTime = 200ms;
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static constexpr std::chrono::milliseconds kResetTaskPeriod = 800ms;
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static constexpr std::chrono::milliseconds kResetTaskDelay = 700ms;
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static constexpr std::chrono::milliseconds kResetTaskComputationTime = 100ms;
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static constexpr std::chrono::milliseconds kTemperatureTaskPeriod = 1600ms;
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static constexpr std::chrono::milliseconds kTemperatureTaskDelay = 1100ms;
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static constexpr std::chrono::milliseconds kTemperatureTaskComputationTime = 100ms;
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static constexpr std::chrono::milliseconds kDisplayTask2Period = 1600ms;
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static constexpr std::chrono::milliseconds kDisplayTask2Delay = 1200ms;
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static constexpr std::chrono::milliseconds kDisplayTask2ComputationTime = 100ms;
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static constexpr std::chrono::milliseconds kCPUTaskPeriod = 1600ms;
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static constexpr std::chrono::milliseconds kCPUTaskDelay = 1200ms;
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static constexpr std::chrono::milliseconds kCPUTaskComputationTime = 100ms;
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BikeSystem::BikeSystem() :
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_gearDevice(),
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_pedalDevice(),
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_resetDevice(callback(this, &BikeSystem::onReset)),
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_speedometer(_timer),
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_cpuLogger(_timer)
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{
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}
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void BikeSystem::start() {
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tr_info("Starting Super-Loop without event handling");
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init();
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while (true) {
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auto startTime = _timer.elapsed_time();
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gearTask(); // 100ms : 0ms -> 100ms
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speedDistanceTask(); // 200ms : 100ms -> 300ms
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displayTask1(); // 200ms : 300ms -> 500ms
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speedDistanceTask(); // 200ms : 500ms -> 700ms
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resetTask(); // 100ms : 700ms -> 800ms
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gearTask(); // 100ms : 800ms -> 900ms
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speedDistanceTask(); // 200ms : 900ms -> 1100ms
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temperatureTask(); // 100ms : 1100ms -> 1200ms
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displayTask2(); // 100ms : 1200ms -> 1300ms
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speedDistanceTask(); // 200ms : 1300ms -> 1500ms
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resetTask(); // 100ms : 1500ms -> 1600ms
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// register the time at the end of the cyclic schedule period and print the
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// elapsed time for the period
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std::chrono::microseconds endTime = _timer.elapsed_time();
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const auto cycle =
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std::chrono::duration_cast<std::chrono::milliseconds>(endTime - startTime);
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tr_debug("Repeating cycle time is %" PRIu64 " milliseconds", cycle.count());
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bool stopFlag = false;
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core_util_atomic_load(&stopFlag);
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if (stopFlag) {
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break;
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}
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#if !defined(MBED_TEST_MODE)
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_cpuLogger.printStats();
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#endif
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}
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}
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void BikeSystem::startWithEventQueue() {
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tr_info("Starting Super-Loop with event handling");
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init();
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EventQueue eventQueue;
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Event<void()> gearEvent(&eventQueue, callback(this, &BikeSystem::gearTask));
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gearEvent.delay(kGearTaskDelay);
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gearEvent.period(kGearTaskPeriod);
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gearEvent.post();
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Event<void()> speedDistanceEvent(&eventQueue, callback(this, &BikeSystem::speedDistanceTask));
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speedDistanceEvent.delay(kSpeedDistanceTaskDelay);
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speedDistanceEvent.period(kSpeedDistanceTaskPeriod);
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speedDistanceEvent.post();
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Event<void()> display1Event(&eventQueue, callback(this, &BikeSystem::displayTask1));
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display1Event.delay(kDisplayTask1Delay);
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display1Event.period(kDisplayTask1Period);
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display1Event.post();
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Event<void()> resetEvent(&eventQueue, callback(this, &BikeSystem::resetTask));
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resetEvent.delay(kResetTaskDelay);
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resetEvent.period(kResetTaskPeriod);
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resetEvent.post();
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Event<void()> temperatureEvent(&eventQueue, callback(this, &BikeSystem::temperatureTask));
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temperatureEvent.delay(kTemperatureTaskDelay);
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temperatureEvent.period(kTemperatureTaskPeriod);
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temperatureEvent.post();
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Event<void()> display2Event(&eventQueue, callback(this, &BikeSystem::displayTask2));
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display2Event.delay(kDisplayTask2Delay);
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display2Event.period(kDisplayTask2Period);
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display2Event.post();
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#if !defined(MBED_TEST_MODE)
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Event<void()> cpuEvent(&eventQueue, callback(this, &BikeSystem::cpuTask));
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cpuEvent.delay(kCPUTaskDelay);
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cpuEvent.period(kCPUTaskPeriod);
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cpuEvent.post();
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#endif
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eventQueue.dispatch_forever();
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}
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void BikeSystem::onReset() {
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_resetTime = _timer.elapsed_time();
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core_util_atomic_store_bool(&_resetFlag, true);
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}
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void BikeSystem::stop() { core_util_atomic_store_bool(&_stopFlag, true); }
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#if defined(MBED_TEST_MODE)
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const advembsof::TaskLogger& BikeSystem::getTaskLogger() { return _taskLogger; }
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#endif // defined(MBED_TEST_MODE)
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void BikeSystem::init() {
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// start the timer
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_timer.start();
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// initialize the lcd display
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disco::ReturnCode rc = _displayDevice.init();
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if (rc != disco::ReturnCode::Ok) {
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tr_error("Failed to initialized the lcd display: %d", static_cast<int>(rc));
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}
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// initialize the sensor device
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bool present = _sensorDevice.init();
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if (!present) {
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tr_error("Sensor not present or initialization failed");
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}
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// enable/disable task logging
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_taskLogger.enable(true);
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}
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void BikeSystem::gearTask() {
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// gear task
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auto taskStartTime = _timer.elapsed_time();
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// no need to protect access to data members (single threaded)
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_currentGear = _gearDevice.getCurrentGear();
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_currentGearSize = _gearDevice.getCurrentGearSize();
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_taskLogger.logPeriodAndExecutionTime(
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_timer, advembsof::TaskLogger::kGearTaskIndex, taskStartTime
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);
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}
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void BikeSystem::speedDistanceTask() {
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auto taskStartTime = _timer.elapsed_time();
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const auto pedalRotationTime = _pedalDevice.getCurrentRotationTime();
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_speedometer.setCurrentRotationTime(pedalRotationTime);
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_speedometer.setGearSize(_currentGearSize);
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_currentSpeed = _speedometer.getCurrentSpeed();
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_traveledDistance = _speedometer.getDistance();
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_taskLogger.logPeriodAndExecutionTime(
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_timer, advembsof::TaskLogger::kSpeedTaskIndex, taskStartTime
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);
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}
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void BikeSystem::temperatureTask() {
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auto taskStartTime = _timer.elapsed_time();
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//tr_warn("Tick1 %" PRIu64, _timer.elapsed_time().count());
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// no need to protect access to data members (single threaded)
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_currentTemperature = _sensorDevice.readTemperature();
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//tr_warn("Tick2 %" PRIu64, _timer.elapsed_time().count());
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ThisThread::sleep_for(
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std::chrono::duration_cast<std::chrono::milliseconds>(
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kTemperatureTaskComputationTime - (_timer.elapsed_time() - taskStartTime)
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)
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);
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_taskLogger.logPeriodAndExecutionTime(
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_timer, advembsof::TaskLogger::kTemperatureTaskIndex, taskStartTime);
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}
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void BikeSystem::resetTask() {
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auto taskStartTime = _timer.elapsed_time();
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if (core_util_atomic_load_bool(&_resetFlag)) {
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std::chrono::microseconds responseTime = _timer.elapsed_time() - _resetTime;
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tr_info("Reset task: response time is %" PRIu64 " usecs", responseTime.count());
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_speedometer.reset();
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}
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_taskLogger.logPeriodAndExecutionTime(
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_timer, advembsof::TaskLogger::kResetTaskIndex, taskStartTime);
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}
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void BikeSystem::displayTask1() {
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auto taskStartTime = _timer.elapsed_time();
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_displayDevice.displayGear(_currentGear);
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_displayDevice.displaySpeed(_currentSpeed);
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_displayDevice.displayDistance(_traveledDistance);
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ThisThread::sleep_for(
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std::chrono::duration_cast<std::chrono::milliseconds>(
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kDisplayTask1ComputationTime - (_timer.elapsed_time() - taskStartTime)
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)
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);
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_taskLogger.logPeriodAndExecutionTime(
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_timer, advembsof::TaskLogger::kDisplayTask1Index, taskStartTime);
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}
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void BikeSystem::displayTask2() {
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auto taskStartTime = _timer.elapsed_time();
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_displayDevice.displayTemperature(_currentTemperature);
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ThisThread::sleep_for(
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std::chrono::duration_cast<std::chrono::milliseconds>(
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kDisplayTask2ComputationTime - (_timer.elapsed_time() - taskStartTime)
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)
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);
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_taskLogger.logPeriodAndExecutionTime(
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_timer, advembsof::TaskLogger::kDisplayTask2Index, taskStartTime);
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}
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void BikeSystem::cpuTask() {
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_cpuLogger.printStats();
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}
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} // namespace static_scheduling
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