ADD cpplint args in action file
This commit is contained in:
		| @@ -15,6 +15,8 @@ repos: | |||||||
|     rev: "1.6.1" |     rev: "1.6.1" | ||||||
|     hooks: |     hooks: | ||||||
|       - id: cpplint |       - id: cpplint | ||||||
|  |         name: cpplint | ||||||
|  |         entry: cpplint --linelength=90 --filter=-build/include_subdir,-whitespace/indent,-build/namespaces,-build/c++11 | ||||||
|   - repo: local |   - repo: local | ||||||
|     hooks: |     hooks: | ||||||
|       - id: cppcheck |       - id: cppcheck | ||||||
|   | |||||||
| @@ -24,16 +24,15 @@ | |||||||
|  |  | ||||||
| #include <chrono> | #include <chrono> | ||||||
|  |  | ||||||
| #include "static_scheduling/bike_system.hpp" |  | ||||||
| #include "static_scheduling_with_event/bike_system.hpp" |  | ||||||
|  |  | ||||||
| #include "greentea-client/test_env.h" | #include "greentea-client/test_env.h" | ||||||
| #include "mbed.h" | #include "mbed.h" | ||||||
|  | #include "static_scheduling/bike_system.hpp" | ||||||
|  | #include "static_scheduling_with_event/bike_system.hpp" | ||||||
| #include "task_logger.hpp" | #include "task_logger.hpp" | ||||||
| #include "unity/unity.h" | #include "unity/unity.h" | ||||||
| #include "utest/utest.h" | #include "utest/utest.h" | ||||||
|  |  | ||||||
| using namespace utest::v1; | namespace utest::v1 { | ||||||
|  |  | ||||||
| // test_bike_system handler function | // test_bike_system handler function | ||||||
| static void test_bike_system() { | static void test_bike_system() { | ||||||
| @@ -80,7 +79,8 @@ static void test_bike_system_event_queue() { | |||||||
|  |  | ||||||
|     // run the bike system in a separate thread |     // run the bike system in a separate thread | ||||||
|     Thread thread; |     Thread thread; | ||||||
|     thread.start(callback(&bikeSystem, &static_scheduling::BikeSystem::startWithEventQueue)); |     thread.start( | ||||||
|  |         callback(&bikeSystem, &static_scheduling::BikeSystem::startWithEventQueue)); | ||||||
|  |  | ||||||
|     // let the bike system run for 20 secs |     // let the bike system run for 20 secs | ||||||
|     ThisThread::sleep_for(20s); |     ThisThread::sleep_for(20s); | ||||||
| @@ -157,3 +157,4 @@ static Case cases[] = { | |||||||
| static Specification specification(greentea_setup, cases); | static Specification specification(greentea_setup, cases); | ||||||
|  |  | ||||||
| int main() { return !Harness::run(specification); } | int main() { return !Harness::run(specification); } | ||||||
|  | };  // namespace utest::v1 | ||||||
|   | |||||||
| @@ -29,7 +29,7 @@ | |||||||
| #include "unity/unity.h" | #include "unity/unity.h" | ||||||
| #include "utest/utest.h" | #include "utest/utest.h" | ||||||
|  |  | ||||||
| using namespace utest::v1; | namespace utest::v1 { | ||||||
|  |  | ||||||
| // test_hdc1000 test handler function | // test_hdc1000 test handler function | ||||||
| static control_t test_sensor_device(const size_t call_count) { | static control_t test_sensor_device(const size_t call_count) { | ||||||
| @@ -67,3 +67,4 @@ static Case cases[] = {Case("test sensor device", test_sensor_device)}; | |||||||
| static Specification specification(greentea_setup, cases); | static Specification specification(greentea_setup, cases); | ||||||
|  |  | ||||||
| int main() { return !Harness::run(specification); } | int main() { return !Harness::run(specification); } | ||||||
|  | };  // namespace utest::v1 | ||||||
|   | |||||||
| @@ -31,8 +31,7 @@ | |||||||
| #include "static_scheduling/gear_device.hpp" | #include "static_scheduling/gear_device.hpp" | ||||||
| #include "unity/unity.h" | #include "unity/unity.h" | ||||||
| #include "utest/utest.h" | #include "utest/utest.h" | ||||||
|  | namespace utest::v1 { | ||||||
| using namespace utest::v1; |  | ||||||
|  |  | ||||||
| // allow for 0.1 km/h difference | // allow for 0.1 km/h difference | ||||||
| static constexpr float kAllowedSpeedDelta = 0.1f; | static constexpr float kAllowedSpeedDelta = 0.1f; | ||||||
| @@ -352,3 +351,4 @@ static Case cases[] = { | |||||||
| static Specification specification(greentea_setup, cases); | static Specification specification(greentea_setup, cases); | ||||||
|  |  | ||||||
| int main() { return !Harness::run(specification); } | int main() { return !Harness::run(specification); } | ||||||
|  | };  // namespace utest::v1 | ||||||
|   | |||||||
| @@ -27,7 +27,7 @@ | |||||||
| #include "unity/unity.h" | #include "unity/unity.h" | ||||||
| #include "utest/utest.h" | #include "utest/utest.h" | ||||||
|  |  | ||||||
| using namespace utest::v1; | namespace utest::v1 { | ||||||
|  |  | ||||||
| // test handler function | // test handler function | ||||||
| static control_t always_succeed(const size_t call_count) { | static control_t always_succeed(const size_t call_count) { | ||||||
| @@ -52,3 +52,4 @@ static Case cases[] = {Case("always succeed test", always_succeed)}; | |||||||
| static Specification specification(greentea_setup, cases); | static Specification specification(greentea_setup, cases); | ||||||
|  |  | ||||||
| int main() { return !Harness::run(specification); } | int main() { return !Harness::run(specification); } | ||||||
|  | };  // namespace utest::v1 | ||||||
|   | |||||||
| @@ -24,12 +24,12 @@ | |||||||
|  * @version 0.2.0 |  * @version 0.2.0 | ||||||
|  ***************************************************************************/ |  ***************************************************************************/ | ||||||
|  |  | ||||||
| #include "greentea-client/test_env.h" | #include "greentea-client/test_env.h"  // NOLINT | ||||||
| #include "mbed.h" | #include "mbed.h"                      // NOLINT | ||||||
| #include "unity/unity.h" | #include "unity/unity.h"               // NOLINT | ||||||
| #include "utest/utest.h" | #include "utest/utest.h"               // NOLINT | ||||||
|  |  | ||||||
| using namespace utest::v1; | namespace utest::v1 { | ||||||
| struct Test { | struct Test { | ||||||
|     Test() { |     Test() { | ||||||
|         _instanceCount++; |         _instanceCount++; | ||||||
| @@ -145,7 +145,7 @@ void test_unique_ptr_transfer() { | |||||||
|         p2.reset(); |         p2.reset(); | ||||||
|  |  | ||||||
|         TEST_ASSERT_EQUAL(0, Test::_instanceCount); |         TEST_ASSERT_EQUAL(0, Test::_instanceCount); | ||||||
|         TEST_ASSERT(!p1); |         TEST_ASSERT(!p1);  // cppcheck-suppress accessMoved | ||||||
|         TEST_ASSERT(!p2); |         TEST_ASSERT(!p2); | ||||||
|     } |     } | ||||||
|  |  | ||||||
| @@ -223,8 +223,6 @@ void test_unique_ptr_swap() { | |||||||
|     TEST_ASSERT_EQUAL(0, Test::_instanceCount); |     TEST_ASSERT_EQUAL(0, Test::_instanceCount); | ||||||
| } | } | ||||||
|  |  | ||||||
|  |  | ||||||
|  |  | ||||||
| /******************* | /******************* | ||||||
|  * RAW PTR EXERCISE * |  * RAW PTR EXERCISE * | ||||||
|  *******************/ |  *******************/ | ||||||
| @@ -286,3 +284,4 @@ static Case cases[] = { | |||||||
| static Specification specification(greentea_setup, cases); | static Specification specification(greentea_setup, cases); | ||||||
|  |  | ||||||
| int main() { return !Harness::run(specification); } | int main() { return !Harness::run(specification); } | ||||||
|  | };  // namespace utest::v1 | ||||||
|   | |||||||
| @@ -57,16 +57,12 @@ static constexpr std::chrono::milliseconds kCPUTaskPeriod 					 = 1600ms; | |||||||
| static constexpr std::chrono::milliseconds kCPUTaskDelay                     = 0ms; | static constexpr std::chrono::milliseconds kCPUTaskDelay                     = 0ms; | ||||||
| static constexpr std::chrono::milliseconds kCPUTaskComputationTime           = 0ms; | static constexpr std::chrono::milliseconds kCPUTaskComputationTime           = 0ms; | ||||||
|  |  | ||||||
|  | BikeSystem::BikeSystem() | ||||||
| BikeSystem::BikeSystem() : |     : _gearDevice(_timer), | ||||||
| 	_gearDevice(_timer), |  | ||||||
|       _pedalDevice(_timer), |       _pedalDevice(_timer), | ||||||
|       _resetDevice(_timer), |       _resetDevice(_timer), | ||||||
|       _speedometer(_timer), |       _speedometer(_timer), | ||||||
|     _cpuLogger(_timer) |       _cpuLogger(_timer) {} | ||||||
| { |  | ||||||
|  |  | ||||||
| } |  | ||||||
|  |  | ||||||
| void BikeSystem::start() { | void BikeSystem::start() { | ||||||
|     tr_info("Starting Super-Loop without event handling"); |     tr_info("Starting Super-Loop without event handling"); | ||||||
| @@ -88,8 +84,6 @@ void BikeSystem::start() { | |||||||
|         speedDistanceTask();  // 200ms : 1300ms -> 1500ms |         speedDistanceTask();  // 200ms : 1300ms -> 1500ms | ||||||
|         resetTask();          // 100ms : 1500ms -> 1600ms |         resetTask();          // 100ms : 1500ms -> 1600ms | ||||||
|  |  | ||||||
|  |  | ||||||
|  |  | ||||||
|         // register the time at the end of the cyclic schedule period and print the |         // register the time at the end of the cyclic schedule period and print the | ||||||
|         // elapsed time for the period |         // elapsed time for the period | ||||||
|         std::chrono::microseconds endTime = _timer.elapsed_time(); |         std::chrono::microseconds endTime = _timer.elapsed_time(); | ||||||
| @@ -97,8 +91,6 @@ void BikeSystem::start() { | |||||||
|             std::chrono::duration_cast<std::chrono::milliseconds>(endTime - startTime); |             std::chrono::duration_cast<std::chrono::milliseconds>(endTime - startTime); | ||||||
|         tr_debug("Repeating cycle time is %" PRIu64 " milliseconds", cycle.count()); |         tr_debug("Repeating cycle time is %" PRIu64 " milliseconds", cycle.count()); | ||||||
|  |  | ||||||
|         // TODO: implement loop exit when applicable |  | ||||||
|         // Done |  | ||||||
|         bool fStop = false; |         bool fStop = false; | ||||||
|         core_util_atomic_load(&fStop); |         core_util_atomic_load(&fStop); | ||||||
|         if (fStop) { |         if (fStop) { | ||||||
| @@ -108,12 +100,10 @@ void BikeSystem::start() { | |||||||
| #if !defined(MBED_TEST_MODE) | #if !defined(MBED_TEST_MODE) | ||||||
|         _cpuLogger.printStats(); |         _cpuLogger.printStats(); | ||||||
| #endif | #endif | ||||||
|  |  | ||||||
|     } |     } | ||||||
| } | } | ||||||
|  |  | ||||||
| void BikeSystem::startWithEventQueue() { | void BikeSystem::startWithEventQueue() { | ||||||
|  |  | ||||||
|     tr_info("Starting Super-Loop with event handling"); |     tr_info("Starting Super-Loop with event handling"); | ||||||
|  |  | ||||||
|     init(); |     init(); | ||||||
| @@ -125,7 +115,8 @@ void BikeSystem::startWithEventQueue() { | |||||||
|     gearEvent.period(kGearTaskPeriod); |     gearEvent.period(kGearTaskPeriod); | ||||||
|     gearEvent.post(); |     gearEvent.post(); | ||||||
|  |  | ||||||
|     Event<void()> speedDistanceEvent(&eventQueue, callback(this, &BikeSystem::speedDistanceTask)); |     Event<void()> speedDistanceEvent(&eventQueue, | ||||||
|  |                                      callback(this, &BikeSystem::speedDistanceTask)); | ||||||
|     speedDistanceEvent.delay(kSpeedDistanceTaskDelay); |     speedDistanceEvent.delay(kSpeedDistanceTaskDelay); | ||||||
|     speedDistanceEvent.period(kSpeedDistanceTaskPeriod); |     speedDistanceEvent.period(kSpeedDistanceTaskPeriod); | ||||||
|     speedDistanceEvent.post(); |     speedDistanceEvent.post(); | ||||||
| @@ -140,7 +131,8 @@ void BikeSystem::startWithEventQueue() { | |||||||
|     resetEvent.period(kResetTaskPeriod); |     resetEvent.period(kResetTaskPeriod); | ||||||
|     resetEvent.post(); |     resetEvent.post(); | ||||||
|  |  | ||||||
|     Event<void()> temperatureEvent(&eventQueue, callback(this, &BikeSystem::temperatureTask)); |     Event<void()> temperatureEvent(&eventQueue, | ||||||
|  |                                    callback(this, &BikeSystem::temperatureTask)); | ||||||
|     temperatureEvent.delay(kTemperatureTaskDelay); |     temperatureEvent.delay(kTemperatureTaskDelay); | ||||||
|     temperatureEvent.period(kTemperatureTaskPeriod); |     temperatureEvent.period(kTemperatureTaskPeriod); | ||||||
|     temperatureEvent.post(); |     temperatureEvent.post(); | ||||||
| @@ -195,8 +187,7 @@ void BikeSystem::gearTask() { | |||||||
|     _currentGearSize = _gearDevice.getCurrentGearSize(); |     _currentGearSize = _gearDevice.getCurrentGearSize(); | ||||||
|  |  | ||||||
|     _taskLogger.logPeriodAndExecutionTime( |     _taskLogger.logPeriodAndExecutionTime( | ||||||
|         _timer, advembsof::TaskLogger::kGearTaskIndex, taskStartTime |         _timer, advembsof::TaskLogger::kGearTaskIndex, taskStartTime); | ||||||
|     ); |  | ||||||
| } | } | ||||||
|  |  | ||||||
| void BikeSystem::speedDistanceTask() { | void BikeSystem::speedDistanceTask() { | ||||||
| @@ -211,8 +202,7 @@ void BikeSystem::speedDistanceTask() { | |||||||
|     _traveledDistance = _speedometer.getDistance(); |     _traveledDistance = _speedometer.getDistance(); | ||||||
|  |  | ||||||
|     _taskLogger.logPeriodAndExecutionTime( |     _taskLogger.logPeriodAndExecutionTime( | ||||||
|         _timer, advembsof::TaskLogger::kSpeedTaskIndex, taskStartTime |         _timer, advembsof::TaskLogger::kSpeedTaskIndex, taskStartTime); | ||||||
|     ); |  | ||||||
| } | } | ||||||
|  |  | ||||||
| void BikeSystem::temperatureTask() { | void BikeSystem::temperatureTask() { | ||||||
| @@ -225,11 +215,8 @@ void BikeSystem::temperatureTask() { | |||||||
|  |  | ||||||
|     tr_warn("Tick2 %" PRIu64, _timer.elapsed_time().count()); |     tr_warn("Tick2 %" PRIu64, _timer.elapsed_time().count()); | ||||||
|  |  | ||||||
|     ThisThread::sleep_for( |     ThisThread::sleep_for(std::chrono::duration_cast<std::chrono::milliseconds>( | ||||||
|         std::chrono::duration_cast<std::chrono::milliseconds>( |         kTemperatureTaskComputationTime - (_timer.elapsed_time() - taskStartTime))); | ||||||
|             kTemperatureTaskComputationTime - (_timer.elapsed_time() - taskStartTime) |  | ||||||
|         ) |  | ||||||
|     ); |  | ||||||
|  |  | ||||||
|     // simulate task computation by waiting for the required task computation time |     // simulate task computation by waiting for the required task computation time | ||||||
|  |  | ||||||
| @@ -263,11 +250,8 @@ void BikeSystem::displayTask1() { | |||||||
|     _displayDevice.displaySpeed(_currentSpeed); |     _displayDevice.displaySpeed(_currentSpeed); | ||||||
|     _displayDevice.displayDistance(_traveledDistance); |     _displayDevice.displayDistance(_traveledDistance); | ||||||
|  |  | ||||||
|     ThisThread::sleep_for( |     ThisThread::sleep_for(std::chrono::duration_cast<std::chrono::milliseconds>( | ||||||
|         std::chrono::duration_cast<std::chrono::milliseconds>( |         kDisplayTask1ComputationTime - (_timer.elapsed_time() - taskStartTime))); | ||||||
|             kDisplayTask1ComputationTime - (_timer.elapsed_time() - taskStartTime) |  | ||||||
|         ) |  | ||||||
|     ); |  | ||||||
|  |  | ||||||
|     // simulate task computation by waiting for the required task computation time |     // simulate task computation by waiting for the required task computation time | ||||||
|  |  | ||||||
| @@ -285,11 +269,8 @@ void BikeSystem::displayTask2() { | |||||||
|  |  | ||||||
|     _displayDevice.displayTemperature(_currentTemperature); |     _displayDevice.displayTemperature(_currentTemperature); | ||||||
|  |  | ||||||
|     ThisThread::sleep_for( |     ThisThread::sleep_for(std::chrono::duration_cast<std::chrono::milliseconds>( | ||||||
|         std::chrono::duration_cast<std::chrono::milliseconds>( |         kDisplayTask2ComputationTime - (_timer.elapsed_time() - taskStartTime))); | ||||||
|             kDisplayTask2ComputationTime - (_timer.elapsed_time() - taskStartTime) |  | ||||||
|         ) |  | ||||||
|     ); |  | ||||||
|  |  | ||||||
|     // simulate task computation by waiting for the required task computation time |     // simulate task computation by waiting for the required task computation time | ||||||
|  |  | ||||||
| @@ -301,8 +282,6 @@ void BikeSystem::displayTask2() { | |||||||
|         _timer, advembsof::TaskLogger::kDisplayTask2Index, taskStartTime); |         _timer, advembsof::TaskLogger::kDisplayTask2Index, taskStartTime); | ||||||
| } | } | ||||||
|  |  | ||||||
| void BikeSystem::cpuTask() { | void BikeSystem::cpuTask() { _cpuLogger.printStats(); } | ||||||
|     _cpuLogger.printStats(); |  | ||||||
| } |  | ||||||
|  |  | ||||||
| }  // namespace static_scheduling | }  // namespace static_scheduling | ||||||
| @@ -25,9 +25,9 @@ | |||||||
| #pragma once | #pragma once | ||||||
|  |  | ||||||
| // from advembsof | // from advembsof | ||||||
|  | #include "cpu_logger.hpp" | ||||||
| #include "display_device.hpp" | #include "display_device.hpp" | ||||||
| #include "task_logger.hpp" | #include "task_logger.hpp" | ||||||
| #include "cpu_logger.hpp" |  | ||||||
|  |  | ||||||
| // from common | // from common | ||||||
| #include "sensor_device.hpp" | #include "sensor_device.hpp" | ||||||
|   | |||||||
| @@ -1,3 +1,16 @@ | |||||||
|  | // 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 pedal_device.cpp |  * @file pedal_device.cpp | ||||||
|  * @author Rémi Heredero <remi@heredero.ch> |  * @author Rémi Heredero <remi@heredero.ch> | ||||||
| @@ -26,16 +39,15 @@ namespace static_scheduling { | |||||||
|  |  | ||||||
| PedalDevice::PedalDevice(Timer& timer) : _timer(timer) {} | PedalDevice::PedalDevice(Timer& timer) : _timer(timer) {} | ||||||
|  |  | ||||||
|  |  | ||||||
| std::chrono::milliseconds PedalDevice::getCurrentRotationTime() { | std::chrono::milliseconds PedalDevice::getCurrentRotationTime() { | ||||||
|         // TODO |  | ||||||
|     std::chrono::microseconds initialTime = _timer.elapsed_time(); |     std::chrono::microseconds initialTime = _timer.elapsed_time(); | ||||||
|     std::chrono::microseconds elapsedTime = std::chrono::microseconds::zero(); |     std::chrono::microseconds elapsedTime = std::chrono::microseconds::zero(); | ||||||
|     // we bound the change to one increment/decrement per call |     // we bound the change to one increment/decrement per call | ||||||
|     bool hasChanged = false; |     bool hasChanged = false; | ||||||
|     while (elapsedTime < kTaskRunTime) { |     while (elapsedTime < kTaskRunTime) { | ||||||
|         if (!hasChanged) { |         if (!hasChanged) { | ||||||
| 				disco::Joystick::State joystickState = disco::Joystick::getInstance().getState(); |             disco::Joystick::State joystickState = | ||||||
|  |                 disco::Joystick::getInstance().getState(); | ||||||
|  |  | ||||||
|             switch (joystickState) { |             switch (joystickState) { | ||||||
|                 case disco::Joystick::State::LeftPressed: |                 case disco::Joystick::State::LeftPressed: | ||||||
| @@ -69,4 +81,4 @@ namespace static_scheduling { | |||||||
|     _pedalRotationTime += bike_computer::kDeltaPedalRotationTime; |     _pedalRotationTime += bike_computer::kDeltaPedalRotationTime; | ||||||
| } | } | ||||||
|  |  | ||||||
| } | }  // namespace static_scheduling | ||||||
|   | |||||||
| @@ -1,3 +1,17 @@ | |||||||
|  | // 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 reset_device.cpp |  * @file reset_device.cpp | ||||||
|  * @author Rémi Heredero <remi@heredero.ch> |  * @author Rémi Heredero <remi@heredero.ch> | ||||||
| @@ -21,7 +35,6 @@ | |||||||
| static constexpr uint8_t kPolarityPressed = 1; | static constexpr uint8_t kPolarityPressed = 1; | ||||||
| #endif | #endif | ||||||
|  |  | ||||||
|  |  | ||||||
| #if MBED_CONF_MBED_TRACE_ENABLE | #if MBED_CONF_MBED_TRACE_ENABLE | ||||||
| #define TRACE_GROUP "ResetDevice" | #define TRACE_GROUP "ResetDevice" | ||||||
| #endif  // MBED_CONF_MBED_TRACE_ENABLE | #endif  // MBED_CONF_MBED_TRACE_ENABLE | ||||||
| @@ -47,17 +60,10 @@ namespace static_scheduling { | |||||||
|     } |     } | ||||||
|  |  | ||||||
|     return isPressed; |     return isPressed; | ||||||
|  |  | ||||||
| } | } | ||||||
|  |  | ||||||
|     std::chrono::microseconds ResetDevice::getPressTime() { | std::chrono::microseconds ResetDevice::getPressTime() { return _pressTime; } | ||||||
|         return _pressTime; |  | ||||||
|     } |  | ||||||
|  |  | ||||||
|     void ResetDevice::onRise() { | void ResetDevice::onRise() { _pressTime = _timer.elapsed_time(); } | ||||||
|         _pressTime = _timer.elapsed_time(); |  | ||||||
|     } |  | ||||||
|  |  | ||||||
|  | }  // namespace static_scheduling | ||||||
|  |  | ||||||
| } |  | ||||||
|   | |||||||
| @@ -63,19 +63,14 @@ static constexpr std::chrono::milliseconds kCPUTaskPeriod 					 = 1600ms; | |||||||
| static constexpr std::chrono::milliseconds kCPUTaskDelay           = 1200ms; | static constexpr std::chrono::milliseconds kCPUTaskDelay           = 1200ms; | ||||||
| static constexpr std::chrono::milliseconds kCPUTaskComputationTime = 100ms; | static constexpr std::chrono::milliseconds kCPUTaskComputationTime = 100ms; | ||||||
|  |  | ||||||
|  | BikeSystem::BikeSystem() | ||||||
| BikeSystem::BikeSystem() : |     : _gearDevice(), | ||||||
| 	_gearDevice(), |  | ||||||
|       _pedalDevice(), |       _pedalDevice(), | ||||||
|       _resetDevice(callback(this, &BikeSystem::onReset)), |       _resetDevice(callback(this, &BikeSystem::onReset)), | ||||||
|       _speedometer(_timer), |       _speedometer(_timer), | ||||||
|     _cpuLogger(_timer) |       _cpuLogger(_timer) {} | ||||||
| { |  | ||||||
|  |  | ||||||
| } |  | ||||||
|  |  | ||||||
| void BikeSystem::start() { | void BikeSystem::start() { | ||||||
|  |  | ||||||
|     tr_info("Starting Super-Loop with event handling"); |     tr_info("Starting Super-Loop with event handling"); | ||||||
|  |  | ||||||
|     init(); |     init(); | ||||||
| @@ -87,7 +82,8 @@ void BikeSystem::start() { | |||||||
|     gearEvent.period(kGearTaskPeriod); |     gearEvent.period(kGearTaskPeriod); | ||||||
|     gearEvent.post(); |     gearEvent.post(); | ||||||
|  |  | ||||||
|     Event<void()> speedDistanceEvent(&eventQueue, callback(this, &BikeSystem::speedDistanceTask)); |     Event<void()> speedDistanceEvent(&eventQueue, | ||||||
|  |                                      callback(this, &BikeSystem::speedDistanceTask)); | ||||||
|     speedDistanceEvent.delay(kSpeedDistanceTaskDelay); |     speedDistanceEvent.delay(kSpeedDistanceTaskDelay); | ||||||
|     speedDistanceEvent.period(kSpeedDistanceTaskPeriod); |     speedDistanceEvent.period(kSpeedDistanceTaskPeriod); | ||||||
|     speedDistanceEvent.post(); |     speedDistanceEvent.post(); | ||||||
| @@ -102,7 +98,8 @@ void BikeSystem::start() { | |||||||
|     resetEvent.period(kResetTaskPeriod); |     resetEvent.period(kResetTaskPeriod); | ||||||
|     resetEvent.post(); |     resetEvent.post(); | ||||||
|  |  | ||||||
|     Event<void()> temperatureEvent(&eventQueue, callback(this, &BikeSystem::temperatureTask)); |     Event<void()> temperatureEvent(&eventQueue, | ||||||
|  |                                    callback(this, &BikeSystem::temperatureTask)); | ||||||
|     temperatureEvent.delay(kTemperatureTaskDelay); |     temperatureEvent.delay(kTemperatureTaskDelay); | ||||||
|     temperatureEvent.period(kTemperatureTaskPeriod); |     temperatureEvent.period(kTemperatureTaskPeriod); | ||||||
|     temperatureEvent.post(); |     temperatureEvent.post(); | ||||||
| @@ -162,8 +159,7 @@ void BikeSystem::gearTask() { | |||||||
|     _currentGearSize = _gearDevice.getCurrentGearSize(); |     _currentGearSize = _gearDevice.getCurrentGearSize(); | ||||||
|  |  | ||||||
|     _taskLogger.logPeriodAndExecutionTime( |     _taskLogger.logPeriodAndExecutionTime( | ||||||
|         _timer, advembsof::TaskLogger::kGearTaskIndex, taskStartTime |         _timer, advembsof::TaskLogger::kGearTaskIndex, taskStartTime); | ||||||
|     ); |  | ||||||
| } | } | ||||||
|  |  | ||||||
| void BikeSystem::speedDistanceTask() { | void BikeSystem::speedDistanceTask() { | ||||||
| @@ -177,8 +173,7 @@ void BikeSystem::speedDistanceTask() { | |||||||
|     _traveledDistance = _speedometer.getDistance(); |     _traveledDistance = _speedometer.getDistance(); | ||||||
|  |  | ||||||
|     _taskLogger.logPeriodAndExecutionTime( |     _taskLogger.logPeriodAndExecutionTime( | ||||||
|         _timer, advembsof::TaskLogger::kSpeedTaskIndex, taskStartTime |         _timer, advembsof::TaskLogger::kSpeedTaskIndex, taskStartTime); | ||||||
|     ); |  | ||||||
| } | } | ||||||
|  |  | ||||||
| void BikeSystem::temperatureTask() { | void BikeSystem::temperatureTask() { | ||||||
| @@ -191,11 +186,8 @@ void BikeSystem::temperatureTask() { | |||||||
|  |  | ||||||
|     // tr_warn("Tick2 %" PRIu64, _timer.elapsed_time().count()); |     // tr_warn("Tick2 %" PRIu64, _timer.elapsed_time().count()); | ||||||
|  |  | ||||||
|     ThisThread::sleep_for( |     ThisThread::sleep_for(std::chrono::duration_cast<std::chrono::milliseconds>( | ||||||
|         std::chrono::duration_cast<std::chrono::milliseconds>( |         kTemperatureTaskComputationTime - (_timer.elapsed_time() - taskStartTime))); | ||||||
|             kTemperatureTaskComputationTime - (_timer.elapsed_time() - taskStartTime) |  | ||||||
|         ) |  | ||||||
|     ); |  | ||||||
|  |  | ||||||
|     _taskLogger.logPeriodAndExecutionTime( |     _taskLogger.logPeriodAndExecutionTime( | ||||||
|         _timer, advembsof::TaskLogger::kTemperatureTaskIndex, taskStartTime); |         _timer, advembsof::TaskLogger::kTemperatureTaskIndex, taskStartTime); | ||||||
| @@ -223,11 +215,8 @@ void BikeSystem::displayTask1() { | |||||||
|     _displayDevice.displaySpeed(_currentSpeed); |     _displayDevice.displaySpeed(_currentSpeed); | ||||||
|     _displayDevice.displayDistance(_traveledDistance); |     _displayDevice.displayDistance(_traveledDistance); | ||||||
|  |  | ||||||
|     ThisThread::sleep_for( |     ThisThread::sleep_for(std::chrono::duration_cast<std::chrono::milliseconds>( | ||||||
|         std::chrono::duration_cast<std::chrono::milliseconds>( |         kDisplayTask1ComputationTime - (_timer.elapsed_time() - taskStartTime))); | ||||||
|             kDisplayTask1ComputationTime - (_timer.elapsed_time() - taskStartTime) |  | ||||||
|         ) |  | ||||||
|     ); |  | ||||||
|  |  | ||||||
|     _taskLogger.logPeriodAndExecutionTime( |     _taskLogger.logPeriodAndExecutionTime( | ||||||
|         _timer, advembsof::TaskLogger::kDisplayTask1Index, taskStartTime); |         _timer, advembsof::TaskLogger::kDisplayTask1Index, taskStartTime); | ||||||
| @@ -238,18 +227,13 @@ void BikeSystem::displayTask2() { | |||||||
|  |  | ||||||
|     _displayDevice.displayTemperature(_currentTemperature); |     _displayDevice.displayTemperature(_currentTemperature); | ||||||
|  |  | ||||||
|     ThisThread::sleep_for( |     ThisThread::sleep_for(std::chrono::duration_cast<std::chrono::milliseconds>( | ||||||
|         std::chrono::duration_cast<std::chrono::milliseconds>( |         kDisplayTask2ComputationTime - (_timer.elapsed_time() - taskStartTime))); | ||||||
|             kDisplayTask2ComputationTime - (_timer.elapsed_time() - taskStartTime) |  | ||||||
|         ) |  | ||||||
|     ); |  | ||||||
|  |  | ||||||
|     _taskLogger.logPeriodAndExecutionTime( |     _taskLogger.logPeriodAndExecutionTime( | ||||||
|         _timer, advembsof::TaskLogger::kDisplayTask2Index, taskStartTime); |         _timer, advembsof::TaskLogger::kDisplayTask2Index, taskStartTime); | ||||||
| } | } | ||||||
|  |  | ||||||
| void BikeSystem::cpuTask() { | void BikeSystem::cpuTask() { _cpuLogger.printStats(); } | ||||||
|     _cpuLogger.printStats(); |  | ||||||
| } |  | ||||||
|  |  | ||||||
| }  // namespace static_scheduling | }  // namespace static_scheduling_with_event | ||||||
|   | |||||||
| @@ -25,9 +25,9 @@ | |||||||
| #pragma once | #pragma once | ||||||
|  |  | ||||||
| // from advembsof | // from advembsof | ||||||
|  | #include "cpu_logger.hpp" | ||||||
| #include "display_device.hpp" | #include "display_device.hpp" | ||||||
| #include "task_logger.hpp" | #include "task_logger.hpp" | ||||||
| #include "cpu_logger.hpp" |  | ||||||
|  |  | ||||||
| // from common | // from common | ||||||
| #include "sensor_device.hpp" | #include "sensor_device.hpp" | ||||||
| @@ -108,4 +108,4 @@ class BikeSystem { | |||||||
|     advembsof::CPULogger _cpuLogger; |     advembsof::CPULogger _cpuLogger; | ||||||
| }; | }; | ||||||
|  |  | ||||||
| }  // namespace static_scheduling | }  // namespace static_scheduling_with_event | ||||||
|   | |||||||
| @@ -38,17 +38,12 @@ | |||||||
|  |  | ||||||
| namespace static_scheduling_with_event { | namespace static_scheduling_with_event { | ||||||
|  |  | ||||||
|  |  | ||||||
| GearDevice::GearDevice() { | GearDevice::GearDevice() { | ||||||
|     disco::Joystick::getInstance().setUpCallback( |     disco::Joystick::getInstance().setUpCallback(callback(this, &GearDevice::onUp)); | ||||||
|         callback(this, &GearDevice::onUp)); |     disco::Joystick::getInstance().setDownCallback(callback(this, &GearDevice::onDown)); | ||||||
|     disco::Joystick::getInstance().setDownCallback( |  | ||||||
|         callback(this, &GearDevice::onDown)); |  | ||||||
| } | } | ||||||
|  |  | ||||||
| uint8_t GearDevice::getCurrentGear() { | uint8_t GearDevice::getCurrentGear() { return core_util_atomic_load_u8(&_currentGear); } | ||||||
|     return core_util_atomic_load_u8(&_currentGear); |  | ||||||
| } |  | ||||||
|  |  | ||||||
| uint8_t GearDevice::getCurrentGearSize() const { | uint8_t GearDevice::getCurrentGearSize() const { | ||||||
|     return bike_computer::kMaxGearSize - core_util_atomic_load_u8(&_currentGear); |     return bike_computer::kMaxGearSize - core_util_atomic_load_u8(&_currentGear); | ||||||
| @@ -66,4 +61,4 @@ void GearDevice::onDown() { | |||||||
|     } |     } | ||||||
| } | } | ||||||
|  |  | ||||||
| }  // namespace static_scheduling | }  // namespace static_scheduling_with_event | ||||||
|   | |||||||
| @@ -33,7 +33,7 @@ namespace static_scheduling_with_event { | |||||||
|  |  | ||||||
| class GearDevice { | class GearDevice { | ||||||
|    public: |    public: | ||||||
|     explicit GearDevice();  // NOLINT(runtime/references) |     GearDevice();  // NOLINT(runtime/references) | ||||||
|  |  | ||||||
|     // make the class non copyable |     // make the class non copyable | ||||||
|     GearDevice(GearDevice&)            = delete; |     GearDevice(GearDevice&)            = delete; | ||||||
| @@ -51,4 +51,4 @@ class GearDevice { | |||||||
|     volatile uint8_t _currentGear = bike_computer::kMinGear; |     volatile uint8_t _currentGear = bike_computer::kMinGear; | ||||||
| }; | }; | ||||||
|  |  | ||||||
| }  // namespace static_scheduling | }  // namespace static_scheduling_with_event | ||||||
|   | |||||||
| @@ -1,3 +1,17 @@ | |||||||
|  | // 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 pedal_device.cpp |  * @file pedal_device.cpp | ||||||
|  * @author Rémi Heredero <remi@heredero.ch> |  * @author Rémi Heredero <remi@heredero.ch> | ||||||
| @@ -23,18 +37,15 @@ | |||||||
| namespace static_scheduling_with_event { | namespace static_scheduling_with_event { | ||||||
|  |  | ||||||
| PedalDevice::PedalDevice() { | PedalDevice::PedalDevice() { | ||||||
| 		disco::Joystick::getInstance().setLeftCallback( |     disco::Joystick::getInstance().setLeftCallback(callback(this, &PedalDevice::onLeft)); | ||||||
|             callback(this, &PedalDevice::onLeft) |  | ||||||
|         ); |  | ||||||
|     disco::Joystick::getInstance().setRightCallback( |     disco::Joystick::getInstance().setRightCallback( | ||||||
|             callback(this, &PedalDevice::onRight) |         callback(this, &PedalDevice::onRight)); | ||||||
|         ); |  | ||||||
| } | } | ||||||
|  |  | ||||||
|  |  | ||||||
| std::chrono::milliseconds PedalDevice::getCurrentRotationTime() { | std::chrono::milliseconds PedalDevice::getCurrentRotationTime() { | ||||||
|     uint32_t currentStep = core_util_atomic_load_u32(&_currentStep); |     uint32_t currentStep = core_util_atomic_load_u32(&_currentStep); | ||||||
|         return bike_computer::kMinPedalRotationTime + currentStep * bike_computer::kDeltaPedalRotationTime; |     return bike_computer::kMinPedalRotationTime + | ||||||
|  |            currentStep * bike_computer::kDeltaPedalRotationTime; | ||||||
| } | } | ||||||
|  |  | ||||||
| void PedalDevice::increaseRotationSpeed() { | void PedalDevice::increaseRotationSpeed() { | ||||||
| @@ -51,12 +62,8 @@ namespace static_scheduling_with_event { | |||||||
|     } |     } | ||||||
| } | } | ||||||
|  |  | ||||||
|     void PedalDevice::onLeft() { | void PedalDevice::onLeft() { decreaseRotationSpeed(); } | ||||||
|         decreaseRotationSpeed(); |  | ||||||
|     } |  | ||||||
|  |  | ||||||
|     void PedalDevice::onRight() { | void PedalDevice::onRight() { increaseRotationSpeed(); } | ||||||
|         increaseRotationSpeed(); |  | ||||||
|     } |  | ||||||
|  |  | ||||||
| } | }  // namespace static_scheduling_with_event | ||||||
|   | |||||||
| @@ -51,10 +51,9 @@ class PedalDevice { | |||||||
|  |  | ||||||
|     // data members |     // data members | ||||||
|     volatile uint32_t _currentStep = static_cast<uint32_t>( |     volatile uint32_t _currentStep = static_cast<uint32_t>( | ||||||
|         ( |         (bike_computer::kInitialPedalRotationTime - bike_computer::kMinPedalRotationTime) | ||||||
|             bike_computer::kInitialPedalRotationTime - bike_computer::kMinPedalRotationTime |             .count() / | ||||||
|         ).count() / bike_computer::kDeltaPedalRotationTime.count() |         bike_computer::kDeltaPedalRotationTime.count()); | ||||||
|     ); |  | ||||||
| }; | }; | ||||||
|  |  | ||||||
| }  // namespace static_scheduling | }  // namespace static_scheduling_with_event | ||||||
|   | |||||||
| @@ -1,3 +1,17 @@ | |||||||
|  | // 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 reset_device.cpp |  * @file reset_device.cpp | ||||||
|  * @author Rémi Heredero <remi@heredero.ch> |  * @author Rémi Heredero <remi@heredero.ch> | ||||||
| @@ -21,7 +35,6 @@ | |||||||
| static constexpr uint8_t kPolarityPressed = 1; | static constexpr uint8_t kPolarityPressed = 1; | ||||||
| #endif | #endif | ||||||
|  |  | ||||||
|  |  | ||||||
| #if MBED_CONF_MBED_TRACE_ENABLE | #if MBED_CONF_MBED_TRACE_ENABLE | ||||||
| #define TRACE_GROUP "ResetDevice" | #define TRACE_GROUP "ResetDevice" | ||||||
| #endif  // MBED_CONF_MBED_TRACE_ENABLE | #endif  // MBED_CONF_MBED_TRACE_ENABLE | ||||||
| @@ -32,5 +45,4 @@ namespace static_scheduling_with_event { | |||||||
|     _resetButton.fall(cb); |     _resetButton.fall(cb); | ||||||
| } | } | ||||||
|  |  | ||||||
|  | }  // namespace static_scheduling_with_event | ||||||
| } |  | ||||||
|   | |||||||
| @@ -39,10 +39,9 @@ class ResetDevice { | |||||||
|     ResetDevice& operator=(ResetDevice&) = delete; |     ResetDevice& operator=(ResetDevice&) = delete; | ||||||
|  |  | ||||||
|    private: |    private: | ||||||
|  |  | ||||||
|     // data members |     // data members | ||||||
|     // instance representing the reset button |     // instance representing the reset button | ||||||
|     InterruptIn _resetButton; |     InterruptIn _resetButton; | ||||||
| }; | }; | ||||||
|  |  | ||||||
| }  // namespace static_scheduling | }  // namespace static_scheduling_with_event | ||||||
|   | |||||||
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