ADD bike-system super-loop with while

.github/workflows/build-test.yml

@@ -1,6 +1,6 @@
 name: Build test application
 on:
-  push:
+  pull_request:
 
 jobs:
   build-cli-v1:
@@ -14,9 +14,11 @@ jobs:
         target: [DISCO_H747I]
         profile: [debug]
         tests: [
+          tests-simple-test-always-succeed,
+          tests-simple-test-test-ptr,
+          advdembsof_library-tests-sensors-hdc1000,
           tests-bike-computer-sensor-device,
-          tests-bike-computer-speedometer,
+          tests-bike-computer-speedometer
-          tests-bike-computer-bike-system,
         ]
 
 

.pre-commit-config.yaml

@@ -1,26 +1,24 @@
-files: ^main.cpp|^static_scheduling|^static_scheduling_with_event|^TESTS
+files: ^main.cpp
 repos:
-  - repo: https://github.com/pre-commit/pre-commit-hooks
+- repo: https://github.com/pre-commit/pre-commit-hooks
   rev: v4.3.0
   hooks:
   -   id: check-yaml
       args: [--allow-multiple-documents]
   -   id: end-of-file-fixer
   -   id: trailing-whitespace
-  - repo: https://github.com/pre-commit/mirrors-clang-format
+- repo: https://github.com/pre-commit/mirrors-clang-format
-    rev: "v14.0.6"
+  rev: 'v14.0.6'
   hooks:
   -   id: clang-format
-  - repo: https://github.com/cpplint/cpplint
+- repo: https://github.com/cpplint/cpplint
-    rev: "1.6.1"
+  rev: '1.6.1'
   hooks:
   -   id: cpplint
-        name: cpplint
+- repo: local
-        entry: cpplint --linelength=90 --filter=-build/include_subdir,-whitespace/indent,-build/namespaces,-build/c++11
-  - repo: local
   hooks:
   -   id: cppcheck
       name: cppcheck
       require_serial: true
-        entry: cppcheck --enable=all --suppress=missingInclude --suppress=missingIncludeSystem --inline-suppr -i mbed-os --std=c++14 --error-exitcode=1
+      entry: cppcheck --enable=all --suppress=missingInclude:* --inline-suppr -i mbed-os --std=c++14 --error-exitcode=1
       language: system

README.md

@@ -22,69 +22,3 @@ Test sensor libraries :
 ```terminal
 mbed test -m DISCO_H747I -t GCC_ARM -n advdembsof_library-tests-sensors-hdc1000 --compile --run
 ```
-
-## Run static scheduling 
-On `.mbedignore` put at the end of the file
-```
-static_scheduling_with_event/*
-```
-
-On main.cpp include `"static_scheduling/bike_system.hpp"` and use : 
-```cpp
-static_scheduling::BikeSystem bikeSystem;
-bikeSystem.start();
-```
-
-## Run static scheduling with event queue
-On `.mbedignore` put at the end of the file : 
-```
-static_scheduling_with_event/*
-```
-
-On main.cpp include `"static_scheduling/bike_system.hpp"` and use : 
-```cpp
-static_scheduling::BikeSystem bikeSystem;
-bikeSystem.startWithEventQueue();
-```
-
-## Run static scheduling with event scheduling
-On `.mbedignore` put at the end of the file
-```
-static_scheduling/*
-```
-
-On main.cpp include `"static_scheduling_with_event/bike_system.hpp"` and use : 
-```cpp
-static_scheduling_with_event::BikeSystem bikeSystem;
-bikeSystem.start();
-```
-
-# Some questions
-## Question 1
-`If you print CPU statistics at the end of every major cycle (in the super-loop), what CPU usage do you observe? How can you explain the observed CPU uptime?`
-
-We observe a 100% usage because on each CPU cycle it compare if time is done. 
-
-## Question 2
-`If you run the program after the change from busy wait to sleep calls, what CPU usage do you observe? How can you explain the observed CPU uptime?`
-
-We can observe only a usage of 75% because the CPU is more on Idle with Thread sleep.
-
-## Question 3
-`If you run the static_scheduling_with_event program, what CPU usage do you observe? How can you explain the observed CPU uptime?`
-
-We observe a light usage of 1% of CPU. The CPU is now sleeping all the time and doing small task only on event. 
-
-## Question 4
-`When you run multiple tests for computing the response time of the reset event, what do you observe? Is there an improvement as compared to the static_scheduling::BikeSystem implementation?`
-
-`    - If you do not press long enough on the push button, the event may be missed and no reset happens.`
-
-`Based on the program itself and on the task scheduling, explain these two behaviors. Explain also why such behaviors may be problematic.`
-
-We notice, that we miss such less event when is event driven (or not at all). But with a static scheduling the response time is still long because the reset task is call with a certain period.
-
-# Issues
-When compile with GCC, the full loop of static scheduling is 2 to 3 ms faster than expected.
-This problem doesn't occur if we compile with ARMC6.
-As the acceptable delta is 2ms and the teacher test is done with GCC, we modify the delta on the test to be 3ms

TESTS/bike-computer/bike-system/main.cpp

@@ -24,16 +24,15 @@
 
 #include <chrono>
 
+#include "static_scheduling/bike_system.hpp"
+
 #include "greentea-client/test_env.h"
 #include "mbed.h"
-#include "static_scheduling/bike_system.hpp"
-#include "static_scheduling_with_event/bike_system.hpp"
 #include "task_logger.hpp"
 #include "unity/unity.h"
 #include "utest/utest.h"
 
-namespace utest {
+using namespace utest::v1;
-namespace v1 {
 
 // test_bike_system handler function
 static void test_bike_system() {
@@ -59,7 +58,7 @@ static void test_bike_system() {
         800000us, 400000us, 1600000us, 800000us, 1600000us, 1600000us};
 
     // allow for 2 msecs offset
-    uint64_t deltaUs = 3000;
+    uint64_t deltaUs = 2000;
     for (uint8_t taskIndex = 0; taskIndex < advembsof::TaskLogger::kNbrOfTasks;
          taskIndex++) {
         TEST_ASSERT_UINT64_WITHIN(
@@ -73,91 +72,17 @@ static void test_bike_system() {
     }
 }
 
-// test_bike_system_event_queue handler function
+static utest::v1::status_t greentea_setup(const size_t number_of_cases) {
-static void test_bike_system_event_queue() {
+    // Here, we specify the timeout (60s) and the host test (a built-in host test or the
-    // create the BikeSystem instance
+    // name of our Python file)
-    static_scheduling::BikeSystem bikeSystem;
-
-    // run the bike system in a separate thread
-    Thread thread;
-    thread.start(
-        callback(&bikeSystem, &static_scheduling::BikeSystem::startWithEventQueue));
-
-    // let the bike system run for 20 secs
-    ThisThread::sleep_for(20s);
-
-    // stop the bike system
-    bikeSystem.stop();
-
-    // check whether scheduling was correct
-    // Order is kGearTaskIndex, kSpeedTaskIndex, kTemperatureTaskIndex,
-    //          kResetTaskIndex, kDisplayTask1Index, kDisplayTask2Index
-    // When we use the event queue, we do not check the computation time
-    constexpr std::chrono::microseconds taskPeriods[] = {
-        800000us, 400000us, 1600000us, 800000us, 1600000us, 1600000us};
-
-    // allow for 2 msecs offset (with EventQueue)
-    uint64_t deltaUs = 3000;
-    for (uint8_t taskIndex = 0; taskIndex < advembsof::TaskLogger::kNbrOfTasks;
-         taskIndex++) {
-        TEST_ASSERT_UINT64_WITHIN(
-            deltaUs,
-            taskPeriods[taskIndex].count(),
-            bikeSystem.getTaskLogger().getPeriod(taskIndex).count());
-    }
-}
-
-// test_bike_system_with_event handler function
-static void test_bike_system_with_event() {
-    // create the BikeSystem instance
-    static_scheduling_with_event::BikeSystem bikeSystem;
-
-    // run the bike system in a separate thread
-    Thread thread;
-    thread.start(callback(&bikeSystem, &static_scheduling_with_event::BikeSystem::start));
-
-    // let the bike system run for 20 secs
-    ThisThread::sleep_for(20s);
-
-    // stop the bike system
-    bikeSystem.stop();
-
-    // check whether scheduling was correct
-    // Order is kGearTaskIndex, kSpeedTaskIndex, kTemperatureTaskIndex,
-    //          kResetTaskIndex, kDisplayTask1Index, kDisplayTask2Index
-    // When we use event handling, we do not check the computation time
-    constexpr std::chrono::microseconds taskPeriods[] = {
-        800000us, 400000us, 1600000us, 800000us, 1600000us, 1600000us};
-
-    // allow for 2 msecs offset (with EventQueue)
-    uint64_t deltaUs = 3000;
-    for (uint8_t taskIndex = 0; taskIndex < advembsof::TaskLogger::kNbrOfTasks;
-         taskIndex++) {
-        TEST_ASSERT_UINT64_WITHIN(
-            deltaUs,
-            taskPeriods[taskIndex].count(),
-            bikeSystem.getTaskLogger().getPeriod(taskIndex).count());
-    }
-}
-
-static status_t greentea_setup(const size_t number_of_cases) {
-    // Here, we specify the timeout (60s) and the host test (a built-in host test
-    // or the name of our Python file)
     GREENTEA_SETUP(180, "default_auto");
 
     return greentea_test_setup_handler(number_of_cases);
 }
 
 // List of test cases in this file
-static Case cases[] = {
+static Case cases[] = {Case("test bike system", test_bike_system)};
-    Case("test bike system", test_bike_system),
-    Case("test bike system with event queue", test_bike_system_event_queue),
-    Case("test bike system with event handling", test_bike_system_with_event),
-};
 
 static Specification specification(greentea_setup, cases);
 
-};  // namespace v1
+int main() { return !Harness::run(specification); }
-};  // namespace utest
-
-int main() { return !utest::v1::Harness::run(utest::v1::specification); }

TESTS/bike-computer/sensor-device/main.cpp

@@ -29,8 +29,7 @@
 #include "unity/unity.h"
 #include "utest/utest.h"
 
-namespace utest {
+using namespace utest::v1;
-namespace v1 {
 
 // test_hdc1000 test handler function
 static control_t test_sensor_device(const size_t call_count) {
@@ -54,9 +53,9 @@ static control_t test_sensor_device(const size_t call_count) {
     return CaseNext;
 }
 
-static status_t greentea_setup(const size_t number_of_cases) {
+static utest::v1::status_t greentea_setup(const size_t number_of_cases) {
-    // Here, we specify the timeout (60s) and the host test (a built-in host test
+    // Here, we specify the timeout (60s) and the host test (a built-in host test or the
-    // or the name of our Python file)
+    // name of our Python file)
     GREENTEA_SETUP(60, "default_auto");
 
     return greentea_test_setup_handler(number_of_cases);
@@ -66,7 +65,5 @@ static status_t greentea_setup(const size_t number_of_cases) {
 static Case cases[] = {Case("test sensor device", test_sensor_device)};
 
 static Specification specification(greentea_setup, cases);
-};  // namespace v1
-};  // namespace utest
 
-int main() { return !utest::v1::Harness::run(utest::v1::specification); }
+int main() { return !Harness::run(specification); }

TESTS/bike-computer/speedometer/main.cpp

@@ -32,14 +32,13 @@
 #include "unity/unity.h"
 #include "utest/utest.h"
 
+using namespace utest::v1;
+
 // allow for 0.1 km/h difference
 static constexpr float kAllowedSpeedDelta = 0.1f;
 // allow for 1m difference
 static constexpr float kAllowedDistanceDelta = 1.0f / 1000.0;
 
-namespace utest {
-namespace v1 {
-
 // function called by test handler functions for verifying the current speed
 void check_current_speed(const std::chrono::milliseconds& pedalRotationTime,
                          uint8_t traySize,
@@ -76,8 +75,7 @@ float compute_distance(const std::chrono::milliseconds& pedalRotationTime,
     float trayGearRatio = static_cast<float>(traySize) / static_cast<float>(gearSize);
     float distancePerPedalTurn = trayGearRatio * wheelCircumference;
 
-    // distancePerPedalTurn is expressed in m, divide per 1000 for a distance in
+    // distancePerPedalTurn is expressed in m, divide per 1000 for a distance in km
-    // km
     return (distancePerPedalTurn * pedalRotations) / 1000.0;
 }
 
@@ -88,8 +86,7 @@ void check_distance(const std::chrono::milliseconds& pedalRotationTime,
                     float wheelCircumference,
                     const std::chrono::milliseconds& travelTime,
                     float distance) {
-    // distancePerPedalTurn is expressed in m, divide per 1000 for a distance in
+    // distancePerPedalTurn is expressed in m, divide per 1000 for a distance in km
-    // km
     float expectedDistance = compute_distance(
         pedalRotationTime, traySize, gearSize, wheelCircumference, travelTime);
     printf("  Expected distance is %f, current distance is %f\n",
@@ -337,9 +334,9 @@ static control_t test_reset(const size_t call_count) {
     return CaseNext;
 }
 
-static status_t greentea_setup(const size_t number_of_cases) {
+static utest::v1::status_t greentea_setup(const size_t number_of_cases) {
-    // Here, we specify the timeout (60s) and the host test (a built-in host test
+    // Here, we specify the timeout (60s) and the host test (a built-in host test or the
-    // or the name of our Python file)
+    // name of our Python file)
     GREENTEA_SETUP(180, "default_auto");
 
     return greentea_test_setup_handler(number_of_cases);
@@ -353,7 +350,5 @@ static Case cases[] = {
     Case("test speedometer reset", test_reset)};
 
 static Specification specification(greentea_setup, cases);
-};  // namespace v1
-};  // namespace utest
 
-int main() { return !utest::v1::Harness::run(utest::v1::specification); }
+int main() { return !Harness::run(specification); }

TESTS/simple-test/always-succeed/main.cpp

@@ -27,8 +27,7 @@
 #include "unity/unity.h"
 #include "utest/utest.h"
 
-namespace utest {
+using namespace utest::v1;
-namespace v1 {
 
 // test handler function
 static control_t always_succeed(const size_t call_count) {
@@ -39,9 +38,9 @@ static control_t always_succeed(const size_t call_count) {
     return CaseNext;
 }
 
-static status_t greentea_setup(const size_t number_of_cases) {
+static utest::v1::status_t greentea_setup(const size_t number_of_cases) {
-    // Here, we specify the timeout (60s) and the host test (a built-in host test
+    // Here, we specify the timeout (60s) and the host test (a built-in host test or the
-    // or the name of our Python file)
+    // name of our Python file)
     GREENTEA_SETUP(60, "default_auto");
 
     return greentea_test_setup_handler(number_of_cases);
@@ -52,7 +51,4 @@ static Case cases[] = {Case("always succeed test", always_succeed)};
 
 static Specification specification(greentea_setup, cases);
 
-};  // namespace v1
+int main() { return !Harness::run(specification); }
-};  // namespace utest
-
-int main() { return !utest::v1::Harness::run(utest::v1::specification); }

TESTS/simple-test/test-ptr/main.cpp

@@ -24,14 +24,12 @@
  * @version 0.2.0
  ***************************************************************************/
 
-#include "greentea-client/test_env.h"  // NOLINT
+#include "greentea-client/test_env.h"
-#include "mbed.h"                      // NOLINT
+#include "mbed.h"
-#include "unity/unity.h"               // NOLINT
+#include "unity/unity.h"
-#include "utest/utest.h"               // NOLINT
+#include "utest/utest.h"
-
-namespace utest {
-namespace v1 {
 
+using namespace utest::v1;
 struct Test {
     Test() {
         _instanceCount++;
@@ -50,8 +48,7 @@ struct Test {
 uint32_t Test::_instanceCount = 0;
 
 /**
- * Test that a shared pointer correctly manages the lifetime of the underlying
+ * Test that a shared pointer correctly manages the lifetime of the underlying raw pointer
- * raw pointer
  */
 void test_single_sharedptr_lifetime() {
     // Sanity-check value of counter
@@ -69,8 +66,8 @@ void test_single_sharedptr_lifetime() {
 }
 
 /**
- * Test that multiple instances of shared pointers correctly manage the
+ * Test that multiple instances of shared pointers correctly manage the reference count
- * reference count to release the object at the correct point
+ * to release the object at the correct point
  */
 void test_instance_sharing() {
     std::shared_ptr<Test> shared_ptr1(nullptr);
@@ -100,8 +97,8 @@ void test_instance_sharing() {
 }
 
 /**********************
- * UNIQUE PTR EXERCISE *
+* UNIQUE PTR EXERCISE *
- **********************/
+**********************/
 
 /*
  * Check normal lifetime on a unique_ptr
@@ -135,12 +132,12 @@ void test_unique_ptr_transfer() {
     TEST_ASSERT_EQUAL(0, Test::_instanceCount);
 
     {
-        // create p1
+        //create p1
         std::unique_ptr<Test> p1 = std::make_unique<Test>();
         TEST_ASSERT_EQUAL(Test::kMagicNumber, p1->_value);
         TEST_ASSERT_EQUAL(1, Test::_instanceCount);
 
-        // transfer p1 to p2
+        //transfer p1 to p2
         std::unique_ptr<Test> p2 = std::move(p1);
         TEST_ASSERT_EQUAL(Test::kMagicNumber, p2->_value);
         TEST_ASSERT_EQUAL(1, Test::_instanceCount);
@@ -148,7 +145,7 @@ void test_unique_ptr_transfer() {
         p2.reset();
 
         TEST_ASSERT_EQUAL(0, Test::_instanceCount);
-        TEST_ASSERT(!p1);  // cppcheck-suppress accessMoved
+        TEST_ASSERT(!p1);
         TEST_ASSERT(!p2);
     }
 
@@ -163,13 +160,13 @@ void test_unique_ptr_release() {
     TEST_ASSERT_EQUAL(0, Test::_instanceCount);
 
     {
-        // create p1
+        //create p1
         std::unique_ptr<Test> p1 = std::make_unique<Test>();
         TEST_ASSERT_EQUAL(Test::kMagicNumber, p1->_value);
         TEST_ASSERT_EQUAL(1, Test::_instanceCount);
 
-        // transfer and release p1 to p2
+        //transfer and release p1 to p2
-        Test* p2 = p1.release();
+        Test * p2 = p1.release();
         TEST_ASSERT_EQUAL(Test::kMagicNumber, p2->_value);
         TEST_ASSERT_EQUAL(1, Test::_instanceCount);
 
@@ -195,21 +192,21 @@ void test_unique_ptr_swap() {
         const uint32_t number1 = 65;
         const uint32_t number2 = 42;
 
-        // create p1
+        //create p1
         std::unique_ptr<Test> p1 = std::make_unique<Test>();
         TEST_ASSERT_EQUAL(Test::kMagicNumber, p1->_value);
         TEST_ASSERT_EQUAL(1, Test::_instanceCount);
         p1->_value = number1;
         TEST_ASSERT_EQUAL(number1, p1->_value);
 
-        // create p2
+        //create p2
         std::unique_ptr<Test> p2 = std::make_unique<Test>();
         TEST_ASSERT_EQUAL(Test::kMagicNumber, p2->_value);
         TEST_ASSERT_EQUAL(2, Test::_instanceCount);
         p2->_value = number2;
         TEST_ASSERT_EQUAL(number2, p2->_value);
 
-        // swap
+        //swap
         p1.swap(p2);
 
         TEST_ASSERT_EQUAL(number1, p2->_value);
@@ -226,13 +223,14 @@ void test_unique_ptr_swap() {
     TEST_ASSERT_EQUAL(0, Test::_instanceCount);
 }
 
+
+
 /*******************
- * RAW PTR EXERCISE *
+* RAW PTR EXERCISE *
- *******************/
+*******************/
 
 /**
- * Test that a shared pointer correctly manages the lifetime of the underlying
+ * Test that a shared pointer correctly manages the lifetime of the underlying raw pointer
- * raw pointer
  */
 void test_single_raw_ptr_lifetime() {
     // Sanity-check value of counter
@@ -244,7 +242,7 @@ void test_single_raw_ptr_lifetime() {
         TEST_ASSERT_EQUAL(1, Test::_instanceCount);
         TEST_ASSERT_EQUAL(Test::kMagicNumber, t1._value);
 
-        Test* p1 = &t1;
+        Test * p1 = &t1;
         TEST_ASSERT_EQUAL(1, Test::_instanceCount);
         TEST_ASSERT_EQUAL(Test::kMagicNumber, p1->_value);
 
@@ -262,9 +260,9 @@ void test_single_raw_ptr_lifetime() {
     TEST_ASSERT_EQUAL(0, Test::_instanceCount);
 }
 
-static status_t greentea_setup(const size_t number_of_cases) {
+static utest::v1::status_t greentea_setup(const size_t number_of_cases) {
-    // Here, we specify the timeout (60s) and the host test (a built-in host test
+    // Here, we specify the timeout (60s) and the host test (a built-in host test or the
-    // or the name of our Python file)
+    // name of our Python file)
     GREENTEA_SETUP(60, "default_auto");
     return greentea_test_setup_handler(number_of_cases);
 }
@@ -287,7 +285,4 @@ static Case cases[] = {
 
 static Specification specification(greentea_setup, cases);
 
-};  // namespace v1
+int main() { return !Harness::run(specification); }
-};  // namespace utest
-
-int main() { return !utest::v1::Harness::run(utest::v1::specification); }

common/constants.hpp

@@ -51,10 +51,4 @@ static constexpr std::chrono::milliseconds kMaxPedalRotationTime = 1500ms;
 // definition of pedal rotation time change upon acceleration/deceleration
 static constexpr std::chrono::milliseconds kDeltaPedalRotationTime = 25ms;
 
-static constexpr uint32_t kNbrOfSteps = static_cast<uint32_t>(
-    (
-        bike_computer::kMaxPedalRotationTime - bike_computer::kMinPedalRotationTime
-    ).count() / bike_computer::kDeltaPedalRotationTime.count()
-);
-
 }  // namespace bike_computer

common/speedometer.cpp

@@ -110,7 +110,7 @@ void Speedometer::computeSpeed() {
     // TODO : done
     //Distance run with one pedal turn = tray size / rear gear size * circumference of the wheel
     constexpr float ms_in_hour = static_cast<float>(3600 * 1000);
-    float pedal_rotation_per_hour = ms_in_hour / std::chrono::duration_cast<std::chrono::milliseconds>(_pedalRotationTime).count();
+    float pedal_rotation_per_hour = ms_in_hour / static_cast<float>(_pedalRotationTime.count());
     float gear_ratio = static_cast<float>(kTraySize) / static_cast<float>(this->_gearSize);
     float wheel_dist_km = static_cast<float>(this->kWheelCircumference) / 1000.0;
     this->_currentSpeed = gear_ratio * wheel_dist_km * pedal_rotation_per_hour;

main.cpp

@@ -7,23 +7,26 @@
 
 #include "mbed.h"  // NOLINT
 #include "mbed_trace.h"
-// #include "static_scheduling/bike_system.hpp"
+#include "static_scheduling/bike_system.hpp"
-#include "static_scheduling_with_event/bike_system.hpp"
+
+// Blinking rate in milliseconds
+#define BLINKING_RATE 500ms
 
-#if defined(MBED_CONF_MBED_TRACE_ENABLE)
 #define TRACE_GROUP "MAIN"
-#endif  // MBED_CONF_MBED_TRACE_ENAB
 
 int main() {
-#if defined(MBED_CONF_MBED_TRACE_ENABLE)
+    // Initialise the digital pin LED1 as an output
+
     mbed_trace_init();
-#endif
+    // DigitalOut led(LED1);
+    // tr_debug("Hello world");
 
-    // static_scheduling::BikeSystem bikeSystem;
+    //    while (true) {
-    // bikeSystem.start();
+    //        led = !led;
-    // bikeSystem.startWithEventQueue();
+    //        ThisThread::sleep_for(BLINKING_RATE);
-
+    //        tr_debug("blink");
-    static_scheduling_with_event::BikeSystem bikeSystem;
+    //    }
+    static_scheduling::BikeSystem bikeSystem;
     bikeSystem.start();
 }
 

mbed_app.json

@@ -14,7 +14,6 @@
         "platform.stdio-baud-rate": 115200,
         "platform.default-serial-baud-rate": 115200,
         "platform.stdio-buffered-serial": true,
-        "platform.all-stats-enabled": true,
         "target.printf_lib":"minimal-printf",
         "platform.minimal-printf-enable-floating-point": true,
         "platform.minimal-printf-set-floating-point-max-decimals": 2

static_scheduling/bike_system.cpp

@@ -53,28 +53,30 @@ static constexpr std::chrono::milliseconds kTemperatureTaskComputationTime   = 1
 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()
+// TODO: implement the constructor
-    : _gearDevice(_timer),
+
+BikeSystem::BikeSystem() :
+	_gearDevice(_timer),
     _pedalDevice(_timer),
     _resetDevice(_timer),
-      _displayDevice(),
+	_speedometer(_timer)
-      _speedometer(_timer),
+{
-      _sensorDevice(),
+
-      _taskLogger(),
+}
-      _cpuLogger(_timer) {}
 
 void BikeSystem::start() {
     tr_info("Starting Super-Loop without event handling");
 
     init();
 
+    // TODO: implement the super-loop based for implementing the appropriate schedule
+    // Done
     while (true) {
         auto startTime = _timer.elapsed_time();
 
+        // TODO: implement calls to different tasks based on computed schedule
+        // Done
 		gearTask();				// 100ms :    0ms ->  100ms
         speedDistanceTask();	// 200ms :  100ms ->  300ms
         displayTask1();			// 200ms :  300ms ->  500ms
@@ -87,6 +89,8 @@ void BikeSystem::start() {
         speedDistanceTask();	// 200ms : 1300ms -> 1500ms
         resetTask();			// 100ms : 1500ms -> 1600ms
         
+
+
         // register the time at the end of the cyclic schedule period and print the
         // elapsed time for the period
         std::chrono::microseconds endTime = _timer.elapsed_time();
@@ -94,67 +98,17 @@ void BikeSystem::start() {
             std::chrono::duration_cast<std::chrono::milliseconds>(endTime - startTime);
         tr_debug("Repeating cycle time is %" PRIu64 " milliseconds", cycle.count());
 
+        // TODO: implement loop exit when applicable
+        // Done
         bool fStop = false;
         core_util_atomic_load(&fStop);
         if (fStop) {
             break;
         }
 
-#if !defined(MBED_TEST_MODE)
-        _cpuLogger.printStats();
-#endif
     }
 }
 
-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)
@@ -208,18 +162,25 @@ void BikeSystem::speedDistanceTask() {
         _timer, advembsof::TaskLogger::kSpeedTaskIndex, taskStartTime);
 }
 
-void BikeSystem::displayTask1() {
+void BikeSystem::temperatureTask() {
     auto taskStartTime = _timer.elapsed_time();
 
-    _displayDevice.displayGear(_currentGear);
+    tr_warn("Tick1 %" PRIu64, _timer.elapsed_time().count());
-    _displayDevice.displaySpeed(_currentSpeed);
-    _displayDevice.displayDistance(_traveledDistance);
 
-    ThisThread::sleep_for(std::chrono::duration_cast<std::chrono::milliseconds>(
+    // no need to protect access to data members (single threaded)
-        kDisplayTask1ComputationTime - (_timer.elapsed_time() - taskStartTime)));
+    _currentTemperature = _sensorDevice.readTemperature();
+
+    tr_warn("Tick2 %" PRIu64, _timer.elapsed_time().count());
+
+    // simulate task computation by waiting for the required task computation time
+
+    std::chrono::microseconds elapsedTime = std::chrono::microseconds::zero();
+    while (elapsedTime < kTemperatureTaskComputationTime) {
+        elapsedTime = _timer.elapsed_time() - taskStartTime;
+    }
 
     _taskLogger.logPeriodAndExecutionTime(
-        _timer, advembsof::TaskLogger::kDisplayTask1Index, taskStartTime);
+        _timer, advembsof::TaskLogger::kTemperatureTaskIndex, taskStartTime);
 }
 
 void BikeSystem::resetTask() {
@@ -235,17 +196,23 @@ void BikeSystem::resetTask() {
     _taskLogger.logPeriodAndExecutionTime(
         _timer, advembsof::TaskLogger::kResetTaskIndex, taskStartTime);
 }
-void BikeSystem::temperatureTask() {
+
+void BikeSystem::displayTask1() {
     auto taskStartTime = _timer.elapsed_time();
 
-    // no need to protect access to data members (single threaded)
+    _displayDevice.displayGear(_currentGear);
-    _currentTemperature = _sensorDevice.readTemperature();
+    _displayDevice.displaySpeed(_currentSpeed);
+    _displayDevice.displayDistance(_traveledDistance);
 
-    ThisThread::sleep_for(std::chrono::duration_cast<std::chrono::milliseconds>(
+    // simulate task computation by waiting for the required task computation time
-        kTemperatureTaskComputationTime - (_timer.elapsed_time() - taskStartTime)));
+
+    std::chrono::microseconds elapsedTime = std::chrono::microseconds::zero();
+    while (elapsedTime < kDisplayTask1ComputationTime) {
+        elapsedTime = _timer.elapsed_time() - taskStartTime;
+    }
 
     _taskLogger.logPeriodAndExecutionTime(
-        _timer, advembsof::TaskLogger::kTemperatureTaskIndex, taskStartTime);
+        _timer, advembsof::TaskLogger::kDisplayTask1Index, taskStartTime);
 }
 
 void BikeSystem::displayTask2() {
@@ -253,13 +220,14 @@ void BikeSystem::displayTask2() {
 
     _displayDevice.displayTemperature(_currentTemperature);
 
-    ThisThread::sleep_for(std::chrono::duration_cast<std::chrono::milliseconds>(
+    // simulate task computation by waiting for the required task computation time
-        kDisplayTask2ComputationTime - (_timer.elapsed_time() - taskStartTime)));
 
+    std::chrono::microseconds elapsedTime = std::chrono::microseconds::zero();
+    while (elapsedTime < kDisplayTask2ComputationTime) {
+        elapsedTime = _timer.elapsed_time() - taskStartTime;
+    }
     _taskLogger.logPeriodAndExecutionTime(
         _timer, advembsof::TaskLogger::kDisplayTask2Index, taskStartTime);
 }
 
-void BikeSystem::cpuTask() { _cpuLogger.printStats(); }
-
 }  // namespace static_scheduling

static_scheduling/bike_system.hpp

@@ -25,7 +25,6 @@
 #pragma once
 
 // from advembsof
-#include "cpu_logger.hpp"
 #include "display_device.hpp"
 #include "task_logger.hpp"
 
@@ -52,9 +51,6 @@ 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();
 
@@ -71,7 +67,6 @@ class BikeSystem {
     void resetTask();
     void displayTask1();
     void displayTask2();
-    void cpuTask();
 
     // stop flag, used for stopping the super-loop (set in stop())
     bool _stopFlag = false;
@@ -98,9 +93,6 @@ class BikeSystem {
 
     // used for logging task info
     advembsof::TaskLogger _taskLogger;
-
-    // cpu logger to measure cpu usage
-    advembsof::CPULogger _cpuLogger;
 };
 
 }  // namespace static_scheduling

static_scheduling/pedal_device.cpp

@@ -1,25 +1,12 @@
-// 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>
- * @author Yann Sierro <yannsierro.pro@gmail.com>
+* @author Yann Sierro <yannsierro.pro@gmail.com>
- *
+*
- * @brief Pedal Device implementation (static scheduling)
+* @brief Pedal Device implementation (static scheduling)
- * @date 2024-11-09
+* @date 2024-11-09
- * @version 0.1.0
+* @version 0.1.0
- ****************************************************************************/
+****************************************************************************/
 
 #include "pedal_device.hpp"
 
@@ -35,19 +22,20 @@
 
 namespace static_scheduling {
 
-static constexpr std::chrono::microseconds kTaskRunTime = 200000us;
+	static constexpr std::chrono::microseconds kTaskRunTime = 200000us;
 
-PedalDevice::PedalDevice(Timer& timer) : _timer(timer), _pedalRotationTime(0) {}
+	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 elapsedTime = std::chrono::microseconds::zero();
     	// we bound the change to one increment/decrement per call
     	bool hasChanged = false;
     	while (elapsedTime < kTaskRunTime) {
 	        if (!hasChanged) {
-            disco::Joystick::State joystickState =
+				disco::Joystick::State joystickState = disco::Joystick::getInstance().getState();
-                disco::Joystick::getInstance().getState();
 
 				switch (joystickState) {
                 	case disco::Joystick::State::LeftPressed:
@@ -71,14 +59,14 @@ std::chrono::milliseconds PedalDevice::getCurrentRotationTime() {
 	        elapsedTime = _timer.elapsed_time() - initialTime;
 	    }
         return _pedalRotationTime;
-}
+    }
 
-void PedalDevice::increaseRotationSpeed() {
+    void PedalDevice::increaseRotationSpeed() {
         _pedalRotationTime -= bike_computer::kDeltaPedalRotationTime;
-}
+    }
 
-void PedalDevice::decreaseRotationSpeed() {
+    void PedalDevice::decreaseRotationSpeed() {
         _pedalRotationTime += bike_computer::kDeltaPedalRotationTime;
-}
+    }
 
-}  // namespace static_scheduling
+}

static_scheduling/pedal_device.hpp

@@ -46,9 +46,9 @@ class PedalDevice {
     void decreaseRotationSpeed();
 
     // data members
-    Timer& _timer;
     std::chrono::milliseconds _pedalRotationTime =
         bike_computer::kInitialPedalRotationTime;
+    Timer& _timer;
 };
 
 }  // namespace static_scheduling

static_scheduling/reset_device.cpp

@@ -1,26 +1,12 @@
-// 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>
- * @author Yann Sierro <yannsierro.pro@gmail.com>
+* @author Yann Sierro <yannsierro.pro@gmail.com>
- *
+*
- * @brief Reset Device implementation (static scheduling)
+* @brief Reset Device implementation (static scheduling)
- * @date 2024-11-12
+* @date 2024-11-12
- * @version 0.1.0
+* @version 0.1.0
- ****************************************************************************/
+****************************************************************************/
 
 #include "reset_device.hpp"
 
@@ -35,36 +21,43 @@
 static constexpr uint8_t kPolarityPressed = 1;
 #endif
 
+
 #if MBED_CONF_MBED_TRACE_ENABLE
-#define TRACE_GROUP "ResetDevice"
+#define TRACE_GROUP "PedalDevice"
 #endif  // MBED_CONF_MBED_TRACE_ENABLE
 
 namespace static_scheduling {
 
-static constexpr std::chrono::microseconds kTaskRunTime = 100000us;
+	static constexpr std::chrono::microseconds kTaskRunTime = 100000us;
 
-ResetDevice::ResetDevice(Timer& timer)
+	ResetDevice::ResetDevice(Timer& timer) : _timer(timer), _resetButton(PUSH_BUTTON) {
-    : _resetButton(PUSH_BUTTON), _timer(timer), _pressTime(0) {
     	_resetButton.rise(callback(this, &ResetDevice::onRise));
-}
+	}
 
-bool ResetDevice::checkReset() {
+	bool ResetDevice::checkReset() {
 		std::chrono::microseconds initialTime = _timer.elapsed_time();
     	std::chrono::microseconds elapsedTime = std::chrono::microseconds::zero();
     	// we bound the change to one increment/decrement per call
     	bool isPressed = false;
     	while (elapsedTime < kTaskRunTime) {
-        if (!isPressed) {
+            if(!isPressed) {
                 isPressed = _resetButton.read() == kPolarityPressed;
             }
             elapsedTime = _timer.elapsed_time() - initialTime;
 		}
 
         return isPressed;
+
+	}
+
+    std::chrono::microseconds ResetDevice::getPressTime() {
+        return _pressTime;
+    }
+
+    void ResetDevice::onRise() {
+        _pressTime = _timer.elapsed_time();
+    }
+
+
+
 }
-
-std::chrono::microseconds ResetDevice::getPressTime() { return _pressTime; }
-
-void ResetDevice::onRise() { _pressTime = _timer.elapsed_time(); }
-
-}  // namespace static_scheduling

static_scheduling_with_event/bike_system.cpp

@@ -1,238 +0,0 @@
-// 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 bike_system.cpp
- * @author Serge Ayer <serge.ayer@hefr.ch>
- * @author Rémi Heredero <remi@heredero.ch>
- * @author Yann Sierro <yannsierro.pro@gmail.com>
- *
- * @brief Bike System implementation (static scheduling)
- *
- * @date 2023-11-15
- * @version 1.1.0
- ***************************************************************************/
-
-#include "bike_system.hpp"
-
-#include <chrono>
-
-#include "mbed_trace.h"
-#if MBED_CONF_MBED_TRACE_ENABLE
-#define TRACE_GROUP "BikeSystem"
-#endif  // MBED_CONF_MBED_TRACE_ENABLE
-
-namespace static_scheduling_with_event {
-
-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)),
-      _displayDevice(),
-      _speedometer(_timer),
-      _sensorDevice(),
-      _taskLogger(),
-      _cpuLogger(_timer) {}
-
-void BikeSystem::start() {
-    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::onReset() {
-    _resetTime = _timer.elapsed_time();
-    core_util_atomic_store_bool(&_resetFlag, true);
-}
-
-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)
-
-void BikeSystem::init() {
-    // start the timer
-    _timer.start();
-
-    // 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));
-    }
-
-    // initialize the sensor device
-    bool present = _sensorDevice.init();
-    if (!present) {
-        tr_error("Sensor not present or initialization failed");
-    }
-
-    // enable/disable task logging
-    _taskLogger.enable(true);
-}
-
-void BikeSystem::gearTask() {
-    // gear task
-    auto taskStartTime = _timer.elapsed_time();
-
-    // no need to protect access to data members (single threaded)
-    _currentGear     = _gearDevice.getCurrentGear();
-    _currentGearSize = _gearDevice.getCurrentGearSize();
-
-    _taskLogger.logPeriodAndExecutionTime(
-        _timer, advembsof::TaskLogger::kGearTaskIndex, taskStartTime);
-}
-
-void BikeSystem::speedDistanceTask() {
-    auto taskStartTime = _timer.elapsed_time();
-
-    const auto pedalRotationTime = _pedalDevice.getCurrentRotationTime();
-    _speedometer.setCurrentRotationTime(pedalRotationTime);
-    _speedometer.setGearSize(_currentGearSize);
-
-    _currentSpeed     = _speedometer.getCurrentSpeed();
-    _traveledDistance = _speedometer.getDistance();
-
-    _taskLogger.logPeriodAndExecutionTime(
-        _timer, advembsof::TaskLogger::kSpeedTaskIndex, taskStartTime);
-}
-  
-void BikeSystem::displayTask1() {
-    auto taskStartTime = _timer.elapsed_time();
-
-    _displayDevice.displayGear(_currentGear);
-    _displayDevice.displaySpeed(_currentSpeed);
-    _displayDevice.displayDistance(_traveledDistance);
-
-    ThisThread::sleep_for(std::chrono::duration_cast<std::chrono::milliseconds>(
-        kDisplayTask1ComputationTime - (_timer.elapsed_time() - taskStartTime)));
-
-    _taskLogger.logPeriodAndExecutionTime(
-        _timer, advembsof::TaskLogger::kDisplayTask1Index, taskStartTime);
-}
-
-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);
-    }
-
-    _taskLogger.logPeriodAndExecutionTime(
-        _timer, advembsof::TaskLogger::kResetTaskIndex, taskStartTime);
-}
-
-void BikeSystem::temperatureTask() {
-    auto taskStartTime = _timer.elapsed_time();
-
-    // no need to protect access to data members (single threaded)
-    _currentTemperature = _sensorDevice.readTemperature();
-
-    ThisThread::sleep_for(std::chrono::duration_cast<std::chrono::milliseconds>(
-        kTemperatureTaskComputationTime - (_timer.elapsed_time() - taskStartTime)));
-
-    _taskLogger.logPeriodAndExecutionTime(
-        _timer, advembsof::TaskLogger::kTemperatureTaskIndex, taskStartTime);
-}
-
-void BikeSystem::displayTask2() {
-    auto taskStartTime = _timer.elapsed_time();
-
-    _displayDevice.displayTemperature(_currentTemperature);
-
-    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(); }
-
-}  // namespace static_scheduling_with_event

static_scheduling_with_event/bike_system.hpp

@@ -1,111 +0,0 @@
-// 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 bike_system.hpp
- * @author Serge Ayer <serge.ayer@hefr.ch>
- *
- * @brief Bike System header file (static scheduling)
- *
- * @date 2023-08-20
- * @version 1.0.0
- ***************************************************************************/
-
-#pragma once
-
-// from advembsof
-#include "cpu_logger.hpp"
-#include "display_device.hpp"
-#include "task_logger.hpp"
-
-// from common
-#include "sensor_device.hpp"
-#include "speedometer.hpp"
-
-// local
-#include "gear_device.hpp"
-#include "pedal_device.hpp"
-#include "reset_device.hpp"
-
-namespace static_scheduling_with_event {
-
-class BikeSystem {
-   public:
-    // constructor
-    BikeSystem();
-
-    // make the class non copyable
-    BikeSystem(BikeSystem&)            = delete;
-    BikeSystem& operator=(BikeSystem&) = delete;
-
-    // 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();
-
-#if defined(MBED_TEST_MODE)
-    const advembsof::TaskLogger& getTaskLogger();
-#endif  // defined(MBED_TEST_MODE)
-
-   private:
-    // private methods
-    void init();
-    void onReset();
-    void gearTask();
-    void speedDistanceTask();
-    void temperatureTask();
-    void resetTask();
-    void displayTask1();
-    void displayTask2();
-    void cpuTask();
-
-    // stop flag, used for stopping the super-loop (set in stop())
-    bool _stopFlag = false;
-
-    std::chrono::microseconds _resetTime = std::chrono::microseconds::zero();
-    volatile bool _resetFlag             = false;
-
-    // timer instance used for loggint task time and used by ResetDevice
-    Timer _timer;
-    // data member that represents the device for manipulating the gear
-    GearDevice _gearDevice;
-    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;
-    float _currentSpeed     = 0.0f;
-    float _traveledDistance = 0.0f;
-    // data member that represents the device used for resetting
-    ResetDevice _resetDevice;
-    // data member that represents the device display
-    advembsof::DisplayDevice _displayDevice;
-    // data member that represents the device for counting wheel rotations
-    bike_computer::Speedometer _speedometer;
-    // data member that represents the sensor device
-    bike_computer::SensorDevice _sensorDevice;
-    float _currentTemperature = 0.0f;
-
-    // used for logging task info
-    advembsof::TaskLogger _taskLogger;
-
-    // cpu logger to measure cpu usage
-    advembsof::CPULogger _cpuLogger;
-};
-
-}  // namespace static_scheduling_with_event

static_scheduling_with_event/gear_device.cpp

@@ -1,64 +0,0 @@
-// 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 gear_device.cpp
- * @author Serge Ayer <serge.ayer@hefr.ch>
- * @author Rémi Heredero <remi@heredero.ch>
- * @author Yann Sierro <yannsierro.pro@gmail.com>
- *
- * @brief Gear Device implementation (static scheduling)
- *
- * @date 2023-11-17
- * @version 1.1.0
- ***************************************************************************/
-
-#include "gear_device.hpp"
-
-// from disco_h747i/wrappers
-#include <chrono>
-
-#include "joystick.hpp"
-#include "mbed_trace.h"
-
-#if MBED_CONF_MBED_TRACE_ENABLE
-#define TRACE_GROUP "GearDevice"
-#endif  // MBED_CONF_MBED_TRACE_ENABLE
-
-namespace static_scheduling_with_event {
-
-GearDevice::GearDevice() {
-    disco::Joystick::getInstance().setUpCallback(callback(this, &GearDevice::onUp));
-    disco::Joystick::getInstance().setDownCallback(callback(this, &GearDevice::onDown));
-}
-
-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 static_scheduling_with_event

static_scheduling_with_event/gear_device.hpp

@@ -1,54 +0,0 @@
-// 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 gear_device.hpp
- * @author Serge Ayer <serge.ayer@hefr.ch>
- * @author Rémi Heredero <remi@heredero.ch>
- * @author Yann Sierro <yannsierro.pro@gmail.com>
- *
- * @brief Gear Device header file (static scheduling)
- *
- * @date 2023-11-17
- * @version 1.1.0
- ***************************************************************************/
-
-#pragma once
-
-#include "constants.hpp"
-#include "mbed.h"
-
-namespace static_scheduling_with_event {
-
-class GearDevice {
-   public:
-    GearDevice();  // 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 static_scheduling_with_event

static_scheduling_with_event/pedal_device.cpp

@@ -1,69 +0,0 @@
-// 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
- * @author Rémi Heredero <remi@heredero.ch>
- * @author Yann Sierro <yannsierro.pro@gmail.com>
- *
- * @brief Pedal Device implementation (static scheduling)
- * @date 2024-11-17
- * @version 1.1.0
- ****************************************************************************/
-
-#include "pedal_device.hpp"
-
-// from disco_h747i/wrappers
-#include <chrono>
-
-#include "joystick.hpp"
-#include "mbed_trace.h"
-
-#if MBED_CONF_MBED_TRACE_ENABLE
-#define TRACE_GROUP "PedalDevice"
-#endif  // MBED_CONF_MBED_TRACE_ENABLE
-
-namespace static_scheduling_with_event {
-
-PedalDevice::PedalDevice() {
-    disco::Joystick::getInstance().setLeftCallback(callback(this, &PedalDevice::onLeft));
-    disco::Joystick::getInstance().setRightCallback(
-        callback(this, &PedalDevice::onRight));
-}
-
-std::chrono::milliseconds PedalDevice::getCurrentRotationTime() {
-    uint32_t currentStep = core_util_atomic_load_u32(&_currentStep);
-    return bike_computer::kMinPedalRotationTime +
-           currentStep * bike_computer::kDeltaPedalRotationTime;
-}
-
-void PedalDevice::increaseRotationSpeed() {
-    uint32_t currentStep = core_util_atomic_load_u32(&_currentStep);
-    if (currentStep > 0) {
-        core_util_atomic_decr_u32(&_currentStep, 1);
-    }
-}
-
-void PedalDevice::decreaseRotationSpeed() {
-    uint32_t currentStep = core_util_atomic_load_u32(&_currentStep);
-    if (currentStep < bike_computer::kNbrOfSteps) {
-        core_util_atomic_incr_u32(&_currentStep, 1);
-    }
-}
-
-void PedalDevice::onLeft() { decreaseRotationSpeed(); }
-
-void PedalDevice::onRight() { increaseRotationSpeed(); }
-
-}  // namespace static_scheduling_with_event

static_scheduling_with_event/pedal_device.hpp

@@ -1,59 +0,0 @@
-// 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.hpp
- * @author Serge Ayer <serge.ayer@hefr.ch>
- * @author Rémi Heredero <remi@heredero.ch>
- * @author Yann Sierro <yannsierro.pro@gmail.com>
- *
- * @brief Pedal System header file (static scheduling)
- *
- * @date 2023-11-17
- * @version 1.1.0
- ***************************************************************************/
-
-#pragma once
-
-#include "constants.hpp"
-#include "mbed.h"
-
-namespace static_scheduling_with_event {
-
-class PedalDevice {
-   public:
-    PedalDevice();  // NOLINT(runtime/references)
-
-    // make the class non copyable
-    PedalDevice(PedalDevice&)            = delete;
-    PedalDevice& operator=(PedalDevice&) = delete;
-
-    // method called for updating the bike system
-    std::chrono::milliseconds getCurrentRotationTime();
-
-   private:
-    // private methods
-    void onLeft();
-    void onRight();
-    void increaseRotationSpeed();
-    void decreaseRotationSpeed();
-
-    // data members
-    volatile uint32_t _currentStep = static_cast<uint32_t>(
-        (bike_computer::kInitialPedalRotationTime - bike_computer::kMinPedalRotationTime)
-            .count() /
-        bike_computer::kDeltaPedalRotationTime.count());
-};
-
-}  // namespace static_scheduling_with_event

static_scheduling_with_event/reset_device.cpp

@@ -1,48 +0,0 @@
-// 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
- * @author Rémi Heredero <remi@heredero.ch>
- * @author Yann Sierro <yannsierro.pro@gmail.com>
- *
- * @brief Reset Device implementation (static scheduling with event)
- * @date 2024-11-17
- * @version 1.1.0
- ****************************************************************************/
-
-#include "reset_device.hpp"
-
-// from disco_h747i/wrappers
-#include <chrono>
-
-#include "joystick.hpp"
-#include "mbed_trace.h"
-
-#if defined(TARGET_DISCO_H747I)
-#define PUSH_BUTTON BUTTON1
-static constexpr uint8_t kPolarityPressed = 1;
-#endif
-
-#if MBED_CONF_MBED_TRACE_ENABLE
-#define TRACE_GROUP "ResetDevice"
-#endif  // MBED_CONF_MBED_TRACE_ENABLE
-
-namespace static_scheduling_with_event {
-
-ResetDevice::ResetDevice(Callback<void()> cb) : _resetButton(PUSH_BUTTON) {
-    _resetButton.fall(cb);
-}
-
-}  // namespace static_scheduling_with_event

static_scheduling_with_event/reset_device.hpp

@@ -1,47 +0,0 @@
-// 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.hpp
- * @author Serge Ayer <serge.ayer@hefr.ch>
- * @author Rémi Heredero <remi@heredero.ch>
- * @author Yann Sierro <yannsierro.pro@gmail.com>
- *
- * @brief ResetDevice header file (static scheduling with event)
- *
- * @date 2023-11-17
- * @version 1.1.0
- ***************************************************************************/
-
-#pragma once
-
-#include "mbed.h"
-
-namespace static_scheduling_with_event {
-
-class ResetDevice {
-   public:
-    explicit ResetDevice(Callback<void()> cb);  // NOLINT(runtime/references)
-
-    // make the class non copyable
-    ResetDevice(ResetDevice&)            = delete;
-    ResetDevice& operator=(ResetDevice&) = delete;
-
-   private:
-    // data members
-    // instance representing the reset button
-    InterruptIn _resetButton;
-};
-
-}  // namespace static_scheduling_with_event