ADD gear event driven

multi_tasking/bike_system.cpp

@@ -28,6 +28,8 @@
 
 #include <chrono>
 
+#include "cmsis_os2.h"
+#include "constants.hpp"
 #include "mbed_trace.h"
 #if MBED_CONF_MBED_TRACE_ENABLE
 #define TRACE_GROUP "BikeSystem"
@@ -58,22 +60,19 @@ static constexpr std::chrono::milliseconds kCPUTaskDelay                     = 0
 static constexpr std::chrono::milliseconds kCPUTaskComputationTime           = 0ms;
 
 BikeSystem::BikeSystem()
-    : _gearDevice(),
+    : _gearDevice(callback(this, &BikeSystem::onGearUp),
+                  callback(this, &BikeSystem::onGearDown)),
       _pedalDevice(),
       _resetDevice(callback(this, &BikeSystem::onReset)),
       _speedometer(_timer),
-      _cpuLogger(_timer) {}
+      _cpuLogger(_timer),
+      _isrEventThread(osPriorityNormal, OS_STACK_SIZE, nullptr, "ISR_Event") {}
 
 void BikeSystem::start() {
     tr_info("Starting Super-Loop with event handling");
 
     init();
 
-    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);
@@ -98,7 +97,9 @@ void BikeSystem::start() {
 
     osStatus status =
         _isrEventThread.start(callback(this, &BikeSystem::dispatch_isr_events));
-    tr_info("Thread %s started with status %d", _isrEventThread.get_name(), status);
+    if (status != osOK) {
+        tr_error("Thread %s started with status %d", _isrEventThread.get_name(), status);
+    }
 
     dispatch_events();
 }
@@ -109,6 +110,19 @@ void BikeSystem::onReset() {
     resetEvent.post();
 }
 
+void BikeSystem::onGearUp() {
+    _onGearUpTime = _timer.elapsed_time();
+    Event<void()> gearUpEvent(&_isrEventQueue, callback(this, &BikeSystem::gearUpTask));
+    gearUpEvent.post();
+}
+
+void BikeSystem::onGearDown() {
+    _onGearDownTime = _timer.elapsed_time();
+    Event<void()> gearDownEvent(&_isrEventQueue,
+                                callback(this, &BikeSystem::gearDownTask));
+    gearDownEvent.post();
+}
+
 #if defined(MBED_TEST_MODE)
 const advembsof::TaskLogger& BikeSystem::getTaskLogger() { return _taskLogger; }
 #endif  // defined(MBED_TEST_MODE)
@@ -120,7 +134,7 @@ void BikeSystem::init() {
     // 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));
+        tr_error("Ffalseailed to initialized the lcd display: %ld", static_cast<int>(rc));
     }
 
     // initialize the sensor device
@@ -130,16 +144,43 @@ void BikeSystem::init() {
     }
 
     // enable/disable task logging
-    _taskLogger.enable(false);
+    _taskLogger.enable(true);
 }
 
-void BikeSystem::gearTask() {
+void BikeSystem::gearUpTask() {
-    // gear task
     auto taskStartTime                     = _timer.elapsed_time();
+    std::chrono::microseconds responseTime = _timer.elapsed_time() - _onGearUpTime;
+    tr_info("Gear up task: response time is %" PRIu64 " usecs", responseTime.count());
 
-    // no need to protect access to data members (single threaded)
+    // CRITICAL SECTION
-    _currentGear     = _gearDevice.getCurrentGear();
+    mutexGear.lock();
-    _currentGearSize = _gearDevice.getCurrentGearSize();
+    if (_currentGear < bike_computer::kMaxGear) {
+        _currentGear++;
+        mutexGearSize.lock();
+        _currentGearSize = bike_computer::kMaxGearSize - _currentGear;
+        mutexGearSize.unlock();
+    }
+    mutexGear.unlock();
+    // END CRITICAL SECTION
+
+    _taskLogger.logPeriodAndExecutionTime(
+        _timer, advembsof::TaskLogger::kGearTaskIndex, taskStartTime);
+}
+void BikeSystem::gearDownTask() {
+    auto taskStartTime                     = _timer.elapsed_time();
+    std::chrono::microseconds responseTime = _timer.elapsed_time() - _onGearDownTime;
+    tr_info("Gear down task: response time is %" PRIu64 " usecs", responseTime.count());
+
+    // CRITICAL SECTION
+    mutexGear.lock();
+    if (_currentGear > bike_computer::kMinGear) {
+        _currentGear--;
+        mutexGearSize.lock();
+        _currentGearSize = bike_computer::kMaxGearSize - _currentGear;
+        mutexGearSize.unlock();
+    }
+    mutexGear.unlock();
+    // END CRITICAL SECTION
 
     _taskLogger.logPeriodAndExecutionTime(
         _timer, advembsof::TaskLogger::kGearTaskIndex, taskStartTime);
@@ -150,7 +191,7 @@ void BikeSystem::speedDistanceTask() {
 
     const auto pedalRotationTime = _pedalDevice.getCurrentRotationTime();
     _speedometer.setCurrentRotationTime(pedalRotationTime);
-    _speedometer.setGearSize(_currentGearSize);
+    _speedometer.setGearSize(getCurrentGearSize());
 
     _currentSpeed     = _speedometer.getCurrentSpeed();
     _traveledDistance = _speedometer.getDistance();
@@ -190,7 +231,7 @@ void BikeSystem::resetTask() {
 void BikeSystem::displayTask1() {
     auto taskStartTime = _timer.elapsed_time();
 
-    _displayDevice.displayGear(_currentGear);
+    _displayDevice.displayGear(getCurrentGear());
     _displayDevice.displaySpeed(_currentSpeed);
     _displayDevice.displayDistance(_traveledDistance);
 
@@ -227,4 +268,28 @@ void BikeSystem::dispatch_events() {
     tr_info("Stop dispatching main events");
 }
 
+uint8_t BikeSystem::getCurrentGear() {
+    uint8_t currentGear;
+
+    // CRITICAL SECTION
+    mutexGear.lock();
+    currentGear = _currentGear;
+    mutexGear.unlock();
+    // END CRITICAL SECTION
+
+    return currentGear;
+}
+
+uint8_t BikeSystem::getCurrentGearSize() {
+    uint8_t currentGearSize;
+
+    // CRITICAL SECTION
+    mutexGearSize.lock();
+    currentGearSize = _currentGearSize;
+    mutexGearSize.unlock();
+    // END CRITICAL SECTION
+
+    return currentGearSize;
+}
+
 }  // namespace multi_tasking

multi_tasking/bike_system.hpp

@@ -67,7 +67,10 @@ class BikeSystem {
     // private methods
     void init();
     void onReset();
-    void gearTask();
+    void onGearUp();
+    void onGearDown();
+    void gearUpTask();
+    void gearDownTask();
     void speedDistanceTask();
     void temperatureTask();
     void resetTask();
@@ -75,13 +78,23 @@ class BikeSystem {
     void displayTask2();
     void cpuTask();
 
+    uint8_t getCurrentGear();
+    uint8_t getCurrentGearSize();
+    void setCurrentGear(uint8_t gear);
+
     // timer instance used for loggint task time and used by ResetDevice
     std::chrono::microseconds _resetTime      = std::chrono::microseconds::zero();
+    std::chrono::microseconds _onGearUpTime   = std::chrono::microseconds::zero();
+    std::chrono::microseconds _onGearDownTime = std::chrono::microseconds::zero();
+
     Timer _timer;
     // data member that represents the device for manipulating the gear
     GearDevice _gearDevice;
+    //////////////////////////////////////////////////////////////
+    // shared resources between the main thread and the isr thread
     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;
@@ -107,9 +120,12 @@ class BikeSystem {
     EventQueue _isrEventQueue;
     EventQueue _eventQueue;
 
+    // mutex for shared resource
+    Mutex mutexGearSize;
+    Mutex mutexGear;
+
     // Tread for isr events
     Thread _isrEventThread;
-    Thread _mainEventThread;
 
     void dispatch_isr_events();
     void dispatch_events();

multi_tasking/gear_device.cpp

@@ -38,27 +38,9 @@
 
 namespace multi_tasking {
 
-GearDevice::GearDevice() {
+GearDevice::GearDevice(Callback<void()> cbOnUp, Callback<void()> cbOnDown) {
-    disco::Joystick::getInstance().setUpCallback(callback(this, &GearDevice::onUp));
+    disco::Joystick::getInstance().setUpCallback(callback(cbOnUp));
-    disco::Joystick::getInstance().setDownCallback(callback(this, &GearDevice::onDown));
+    disco::Joystick::getInstance().setDownCallback(callback(cbOnDown));
-}
-
-uint8_t GearDevice::getCurrentGear() { return core_util_atomic_load_u8(&_currentGear); }
-
-uint8_t GearDevice::getCurrentGearSize() const {
-    return bike_computer::kMaxGearSize - core_util_atomic_load_u8(&_currentGear);
-}
-
-void GearDevice::onUp() {
-    if (_currentGear < bike_computer::kMaxGear) {
-        core_util_atomic_incr_u8(&_currentGear, 1);
-    }
-}
-
-void GearDevice::onDown() {
-    if (_currentGear > bike_computer::kMinGear) {
-        core_util_atomic_decr_u8(&_currentGear, 1);
-    }
 }
 
 }  // namespace multi_tasking

multi_tasking/gear_device.hpp

@@ -26,29 +26,20 @@
 
 #pragma once
 
-#include "constants.hpp"
 #include "mbed.h"
 
 namespace multi_tasking {
 
 class GearDevice {
    public:
-    GearDevice();  // NOLINT(runtime/references)
+    GearDevice(Callback<void()> cbOnUp,
+               Callback<void()> cbOnDown);  // NOLINT(runtime/references)
 
     // make the class non copyable
     GearDevice(GearDevice&)            = delete;
     GearDevice& operator=(GearDevice&) = delete;
 
     // method called for updating the bike system
-    uint8_t getCurrentGear();
-    uint8_t getCurrentGearSize() const;
-
-    void onUp();
-    void onDown();
-
-   private:
-    // data members
-    volatile uint8_t _currentGear = bike_computer::kMinGear;
 };
 
 }  // namespace multi_tasking