UPD CI workflow

.pre-commit-config.yaml

@@ -1,4 +1,4 @@
-files: ^main.cpp|^static_scheduling|^static_scheduling_with_event|^TESTS
+files: ^main.cpp
 repos:
 - repo: https://github.com/pre-commit/pre-commit-hooks
   rev: v4.3.0
@@ -8,19 +8,17 @@ repos:
   -   id: end-of-file-fixer
   -   id: trailing-whitespace
 - 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
-    rev: "1.6.1"
+  rev: '1.6.1'
   hooks:
   -   id: cpplint
-        name: cpplint
-        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

@@ -83,8 +83,3 @@ We observe a light usage of 1% of CPU. The CPU is now sleeping all the time and
 `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 +24,16 @@
 
 #include <chrono>
 
-#include "greentea-client/test_env.h"
-#include "mbed.h"
 #include "static_scheduling/bike_system.hpp"
 #include "static_scheduling_with_event/bike_system.hpp"
+
+#include "greentea-client/test_env.h"
+#include "mbed.h"
 #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 +59,7 @@ 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(
@@ -80,8 +80,7 @@ static void test_bike_system_event_queue() {
 
     // run the bike system in a separate thread
     Thread thread;
-    thread.start(
+    thread.start(callback(&bikeSystem, &static_scheduling::BikeSystem::startWithEventQueue));
-        callback(&bikeSystem, &static_scheduling::BikeSystem::startWithEventQueue));
 
     // let the bike system run for 20 secs
     ThisThread::sleep_for(20s);
@@ -97,7 +96,7 @@ static void test_bike_system_event_queue() {
         800000us, 400000us, 1600000us, 800000us, 1600000us, 1600000us};
 
     // allow for 2 msecs offset (with EventQueue)
-    uint64_t deltaUs = 3000;
+    uint64_t deltaUs = 2000;
     for (uint8_t taskIndex = 0; taskIndex < advembsof::TaskLogger::kNbrOfTasks;
          taskIndex++) {
         TEST_ASSERT_UINT64_WITHIN(
@@ -130,7 +129,7 @@ static void test_bike_system_with_event() {
         800000us, 400000us, 1600000us, 800000us, 1600000us, 1600000us};
 
     // allow for 2 msecs offset (with EventQueue)
-    uint64_t deltaUs = 3000;
+    uint64_t deltaUs = 2000;
     for (uint8_t taskIndex = 0; taskIndex < advembsof::TaskLogger::kNbrOfTasks;
          taskIndex++) {
         TEST_ASSERT_UINT64_WITHIN(
@@ -140,9 +139,9 @@ static void test_bike_system_with_event() {
     }
 }
 
-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);
@@ -157,7 +156,4 @@ 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); }

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);
@@ -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);
     }
 
@@ -226,13 +223,14 @@ void test_unique_ptr_swap() {
     TEST_ASSERT_EQUAL(0, Test::_instanceCount);
 }
 
+
+
 /*******************
 * 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
@@ -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/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;

static_scheduling/bike_system.cpp

@@ -57,15 +57,16 @@ static constexpr std::chrono::milliseconds kCPUTaskPeriod                    = 1
 static constexpr std::chrono::milliseconds kCPUTaskDelay 					 = 0ms;
 static constexpr std::chrono::milliseconds kCPUTaskComputationTime			 = 0ms;
 
-BikeSystem::BikeSystem()
+
-    : _gearDevice(_timer),
+BikeSystem::BikeSystem() :
+	_gearDevice(_timer),
     _pedalDevice(_timer),
     _resetDevice(_timer),
-      _displayDevice(),
 	_speedometer(_timer),
-      _sensorDevice(),
+    _cpuLogger(_timer)
-      _taskLogger(),
+{
-      _cpuLogger(_timer) {}
+
+}
 
 void BikeSystem::start() {
     tr_info("Starting Super-Loop without event handling");
@@ -87,6 +88,8 @@ 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();
@@ -94,6 +97,8 @@ 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) {
@@ -103,10 +108,12 @@ void BikeSystem::start() {
         #if !defined(MBED_TEST_MODE)
         	_cpuLogger.printStats();
         #endif
+
     }
 }
 
 void BikeSystem::startWithEventQueue() {
+
     tr_info("Starting Super-Loop with event handling");
 
     init();
@@ -118,8 +125,7 @@ void BikeSystem::startWithEventQueue() {
 	gearEvent.period(kGearTaskPeriod);
 	gearEvent.post();
 
-    Event<void()> speedDistanceEvent(&eventQueue,
+    Event<void()> speedDistanceEvent(&eventQueue, callback(this, &BikeSystem::speedDistanceTask));
-                                     callback(this, &BikeSystem::speedDistanceTask));
     speedDistanceEvent.delay(kSpeedDistanceTaskDelay);
     speedDistanceEvent.period(kSpeedDistanceTaskPeriod);
     speedDistanceEvent.post();
@@ -134,8 +140,7 @@ void BikeSystem::startWithEventQueue() {
     resetEvent.period(kResetTaskPeriod);
     resetEvent.post();
 
-    Event<void()> temperatureEvent(&eventQueue,
+    Event<void()> temperatureEvent(&eventQueue, callback(this, &BikeSystem::temperatureTask));
-                                   callback(this, &BikeSystem::temperatureTask));
     temperatureEvent.delay(kTemperatureTaskDelay);
     temperatureEvent.period(kTemperatureTaskPeriod);
     temperatureEvent.post();
@@ -190,7 +195,8 @@ void BikeSystem::gearTask() {
     _currentGearSize = _gearDevice.getCurrentGearSize();
 
     _taskLogger.logPeriodAndExecutionTime(
-        _timer, advembsof::TaskLogger::kGearTaskIndex, taskStartTime);
+        _timer, advembsof::TaskLogger::kGearTaskIndex, taskStartTime
+    );
 }
 
 void BikeSystem::speedDistanceTask() {
@@ -205,21 +211,35 @@ void BikeSystem::speedDistanceTask() {
     _traveledDistance = _speedometer.getDistance();
 
     _taskLogger.logPeriodAndExecutionTime(
-        _timer, advembsof::TaskLogger::kSpeedTaskIndex, taskStartTime);
+        _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());
+
+    ThisThread::sleep_for(
+        std::chrono::duration_cast<std::chrono::milliseconds>(
+            kTemperatureTaskComputationTime - (_timer.elapsed_time() - taskStartTime)
+        )
+    );
+
+    // 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 +255,29 @@ 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>(
+    ThisThread::sleep_for(
-        kTemperatureTaskComputationTime - (_timer.elapsed_time() - taskStartTime)));
+        std::chrono::duration_cast<std::chrono::milliseconds>(
+            kDisplayTask1ComputationTime - (_timer.elapsed_time() - taskStartTime)
+        )
+    );
+
+    // simulate task computation by waiting for the required task computation time
+
+//    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 +285,24 @@ void BikeSystem::displayTask2() {
 
     _displayDevice.displayTemperature(_currentTemperature);
 
-    ThisThread::sleep_for(std::chrono::duration_cast<std::chrono::milliseconds>(
+    ThisThread::sleep_for(
-        kDisplayTask2ComputationTime - (_timer.elapsed_time() - taskStartTime)));
+        std::chrono::duration_cast<std::chrono::milliseconds>(
+            kDisplayTask2ComputationTime - (_timer.elapsed_time() - taskStartTime)
+        )
+    );
 
+    // simulate task computation by waiting for the required task computation time
+
+//    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(); }
+void BikeSystem::cpuTask() {
+    _cpuLogger.printStats();
+}
 
 }  // namespace static_scheduling

static_scheduling/bike_system.hpp

@@ -25,9 +25,9 @@
 #pragma once
 
 // from advembsof
-#include "cpu_logger.hpp"
 #include "display_device.hpp"
 #include "task_logger.hpp"
+#include "cpu_logger.hpp"
 
 // from common
 #include "sensor_device.hpp"

static_scheduling/pedal_device.cpp

@@ -1,16 +1,3 @@
-// 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>
@@ -37,17 +24,18 @@ namespace static_scheduling {
 
 	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() {
+        // 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:
@@ -81,4 +69,4 @@ 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

@@ -1,17 +1,3 @@
-// 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>
@@ -35,6 +21,7 @@
 static constexpr uint8_t kPolarityPressed = 1;
 #endif
 
+
 #if MBED_CONF_MBED_TRACE_ENABLE
 #define TRACE_GROUP "ResetDevice"
 #endif  // MBED_CONF_MBED_TRACE_ENABLE
@@ -43,8 +30,7 @@ namespace static_scheduling {
 
 	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));
 	}
 
@@ -61,10 +47,17 @@ bool ResetDevice::checkReset() {
 		}
 
         return isPressed;
+
 	}
 
-std::chrono::microseconds ResetDevice::getPressTime() { return _pressTime; }
+    std::chrono::microseconds ResetDevice::getPressTime() {
+        return _pressTime;
+    }
 
-void ResetDevice::onRise() { _pressTime = _timer.elapsed_time(); }
+    void ResetDevice::onRise() {
+        _pressTime = _timer.elapsed_time();
+    }
 
-}  // namespace static_scheduling
+
+
+}

static_scheduling_with_event/bike_system.cpp

@@ -63,17 +63,19 @@ static constexpr std::chrono::milliseconds kCPUTaskPeriod          = 1600ms;
 static constexpr std::chrono::milliseconds kCPUTaskDelay 					 = 1200ms;
 static constexpr std::chrono::milliseconds kCPUTaskComputationTime			 =  100ms;
 
-BikeSystem::BikeSystem()
+
-    : _gearDevice(),
+BikeSystem::BikeSystem() :
+	_gearDevice(),
     _pedalDevice(),
     _resetDevice(callback(this, &BikeSystem::onReset)),
-      _displayDevice(),
 	_speedometer(_timer),
-      _sensorDevice(),
+    _cpuLogger(_timer)
-      _taskLogger(),
+{
-      _cpuLogger(_timer) {}
+
+}
 
 void BikeSystem::start() {
+
     tr_info("Starting Super-Loop with event handling");
 
     init();
@@ -85,8 +87,7 @@ void BikeSystem::start() {
 	gearEvent.period(kGearTaskPeriod);
 	gearEvent.post();
 
-    Event<void()> speedDistanceEvent(&eventQueue,
+    Event<void()> speedDistanceEvent(&eventQueue, callback(this, &BikeSystem::speedDistanceTask));
-                                     callback(this, &BikeSystem::speedDistanceTask));
     speedDistanceEvent.delay(kSpeedDistanceTaskDelay);
     speedDistanceEvent.period(kSpeedDistanceTaskPeriod);
     speedDistanceEvent.post();
@@ -101,8 +102,7 @@ void BikeSystem::start() {
     resetEvent.period(kResetTaskPeriod);
     resetEvent.post();
 
-    Event<void()> temperatureEvent(&eventQueue,
+    Event<void()> temperatureEvent(&eventQueue, callback(this, &BikeSystem::temperatureTask));
-                                   callback(this, &BikeSystem::temperatureTask));
     temperatureEvent.delay(kTemperatureTaskDelay);
     temperatureEvent.period(kTemperatureTaskPeriod);
     temperatureEvent.post();
@@ -162,7 +162,8 @@ void BikeSystem::gearTask() {
     _currentGearSize = _gearDevice.getCurrentGearSize();
 
     _taskLogger.logPeriodAndExecutionTime(
-        _timer, advembsof::TaskLogger::kGearTaskIndex, taskStartTime);
+        _timer, advembsof::TaskLogger::kGearTaskIndex, taskStartTime
+    );
 }
 
 void BikeSystem::speedDistanceTask() {
@@ -176,21 +177,28 @@ void BikeSystem::speedDistanceTask() {
     _traveledDistance = _speedometer.getDistance();
 
     _taskLogger.logPeriodAndExecutionTime(
-        _timer, advembsof::TaskLogger::kSpeedTaskIndex, taskStartTime);
+        _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());
+
+    ThisThread::sleep_for(
+        std::chrono::duration_cast<std::chrono::milliseconds>(
+            kTemperatureTaskComputationTime - (_timer.elapsed_time() - taskStartTime)
+        )
+    );
 
     _taskLogger.logPeriodAndExecutionTime(
-        _timer, advembsof::TaskLogger::kDisplayTask1Index, taskStartTime);
+        _timer, advembsof::TaskLogger::kTemperatureTaskIndex, taskStartTime);
 }
 
 void BikeSystem::resetTask() {
@@ -208,17 +216,21 @@ void BikeSystem::resetTask() {
         _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>(
+    ThisThread::sleep_for(
-        kTemperatureTaskComputationTime - (_timer.elapsed_time() - taskStartTime)));
+        std::chrono::duration_cast<std::chrono::milliseconds>(
+            kDisplayTask1ComputationTime - (_timer.elapsed_time() - taskStartTime)
+        )
+    );
 
     _taskLogger.logPeriodAndExecutionTime(
-        _timer, advembsof::TaskLogger::kTemperatureTaskIndex, taskStartTime);
+        _timer, advembsof::TaskLogger::kDisplayTask1Index, taskStartTime);
 }
 
 void BikeSystem::displayTask2() {
@@ -226,13 +238,18 @@ void BikeSystem::displayTask2() {
 
     _displayDevice.displayTemperature(_currentTemperature);
 
-    ThisThread::sleep_for(std::chrono::duration_cast<std::chrono::milliseconds>(
+    ThisThread::sleep_for(
-        kDisplayTask2ComputationTime - (_timer.elapsed_time() - taskStartTime)));
+        std::chrono::duration_cast<std::chrono::milliseconds>(
+            kDisplayTask2ComputationTime - (_timer.elapsed_time() - taskStartTime)
+        )
+    );
 
     _taskLogger.logPeriodAndExecutionTime(
         _timer, advembsof::TaskLogger::kDisplayTask2Index, taskStartTime);
 }
 
-void BikeSystem::cpuTask() { _cpuLogger.printStats(); }
+void BikeSystem::cpuTask() {
+    _cpuLogger.printStats();
+}
 
-}  // namespace static_scheduling_with_event
+}  // namespace static_scheduling

static_scheduling_with_event/bike_system.hpp

@@ -25,9 +25,9 @@
 #pragma once
 
 // from advembsof
-#include "cpu_logger.hpp"
 #include "display_device.hpp"
 #include "task_logger.hpp"
+#include "cpu_logger.hpp"
 
 // from common
 #include "sensor_device.hpp"
@@ -108,4 +108,4 @@ class BikeSystem {
     advembsof::CPULogger _cpuLogger;
 };
 
-}  // namespace static_scheduling_with_event
+}  // namespace static_scheduling

static_scheduling_with_event/gear_device.cpp

@@ -38,12 +38,17 @@
 
 namespace static_scheduling_with_event {
 
+
 GearDevice::GearDevice() {
-    disco::Joystick::getInstance().setUpCallback(callback(this, &GearDevice::onUp));
+    disco::Joystick::getInstance().setUpCallback(
-    disco::Joystick::getInstance().setDownCallback(callback(this, &GearDevice::onDown));
+        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::getCurrentGear() {
+    return core_util_atomic_load_u8(&_currentGear);
+}
 
 uint8_t GearDevice::getCurrentGearSize() const {
     return bike_computer::kMaxGearSize - core_util_atomic_load_u8(&_currentGear);
@@ -61,4 +66,4 @@ void GearDevice::onDown() {
     }
 }
 
-}  // namespace static_scheduling_with_event
+}  // namespace static_scheduling

static_scheduling_with_event/gear_device.hpp

@@ -33,7 +33,7 @@ namespace static_scheduling_with_event {
 
 class GearDevice {
    public:
-    GearDevice();  // NOLINT(runtime/references)
+    explicit GearDevice();  // NOLINT(runtime/references)
 
     // make the class non copyable
     GearDevice(GearDevice&)            = delete;
@@ -51,4 +51,4 @@ class GearDevice {
     volatile uint8_t _currentGear = bike_computer::kMinGear;
 };
 
-}  // namespace static_scheduling_with_event
+}  // namespace static_scheduling

static_scheduling_with_event/pedal_device.cpp

@@ -1,17 +1,3 @@
-// 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>
@@ -37,15 +23,18 @@
 namespace static_scheduling_with_event {
 
 	PedalDevice::PedalDevice() {
-    disco::Joystick::getInstance().setLeftCallback(callback(this, &PedalDevice::onLeft));
+		disco::Joystick::getInstance().setLeftCallback(
+            callback(this, &PedalDevice::onLeft)
+        );
         disco::Joystick::getInstance().setRightCallback(
-        callback(this, &PedalDevice::onRight));
+            callback(this, &PedalDevice::onRight)
+        );
 	}
 
+
     std::chrono::milliseconds PedalDevice::getCurrentRotationTime() {
         uint32_t currentStep = core_util_atomic_load_u32(&_currentStep);
-    return bike_computer::kMinPedalRotationTime +
+        return bike_computer::kMinPedalRotationTime + currentStep * bike_computer::kDeltaPedalRotationTime;
-           currentStep * bike_computer::kDeltaPedalRotationTime;
     }
 
     void PedalDevice::increaseRotationSpeed() {
@@ -62,8 +51,12 @@ void PedalDevice::decreaseRotationSpeed() {
         }
     }
 
-void PedalDevice::onLeft() { decreaseRotationSpeed(); }
+    void PedalDevice::onLeft() {
+        decreaseRotationSpeed();
+    }
 
-void PedalDevice::onRight() { increaseRotationSpeed(); }
+    void PedalDevice::onRight() {
+        increaseRotationSpeed();
+    }
 
-}  // namespace static_scheduling_with_event
+}

static_scheduling_with_event/pedal_device.hpp

@@ -51,9 +51,10 @@ class PedalDevice {
 
     // data members
     volatile uint32_t _currentStep = static_cast<uint32_t>(
-        (bike_computer::kInitialPedalRotationTime - bike_computer::kMinPedalRotationTime)
+        (
-            .count() /
+            bike_computer::kInitialPedalRotationTime - bike_computer::kMinPedalRotationTime
-        bike_computer::kDeltaPedalRotationTime.count());
+        ).count() / bike_computer::kDeltaPedalRotationTime.count()
+    );
 };
 
-}  // namespace static_scheduling_with_event
+}  // namespace static_scheduling

static_scheduling_with_event/reset_device.cpp

@@ -1,17 +1,3 @@
-// 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>
@@ -35,6 +21,7 @@
 static constexpr uint8_t kPolarityPressed = 1;
 #endif
 
+
 #if MBED_CONF_MBED_TRACE_ENABLE
 #define TRACE_GROUP "ResetDevice"
 #endif  // MBED_CONF_MBED_TRACE_ENABLE
@@ -45,4 +32,5 @@ ResetDevice::ResetDevice(Callback<void()> cb) : _resetButton(PUSH_BUTTON) {
     	_resetButton.fall(cb);
 	}
 
-}  // namespace static_scheduling_with_event
+
+}

static_scheduling_with_event/reset_device.hpp

@@ -39,9 +39,10 @@ class ResetDevice {
     ResetDevice& operator=(ResetDevice&) = delete;
 
    private:
+
     // data members
     // instance representing the reset button
     InterruptIn _resetButton;
 };
 
-}  // namespace static_scheduling_with_event
+}  // namespace static_scheduling