172 lines
4.8 KiB
C++
172 lines
4.8 KiB
C++
// Copyright 2022 Haute école d'ingénierie et d'architecture de Fribourg
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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/****************************************************************************
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* @file bike_system.hpp
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* @author Serge Ayer <serge.ayer@hefr.ch>
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*
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* @brief Bike System header file (static scheduling)
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*
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* @date 2023-08-20
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* @version 1.0.0
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***************************************************************************/
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#pragma once
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// from advembsof
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#include "cpu_logger.hpp"
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#include "display_device.hpp"
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#include "mbed.h"
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#include "task_logger.hpp"
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// from common
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#include "sensor_device.hpp"
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#include "speedometer.hpp"
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// local
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#include "gear_device.hpp"
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#include "pedal_device.hpp"
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#include "reset_device.hpp"
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namespace multi_tasking {
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class BikeSystem {
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public:
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// constructor
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BikeSystem();
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// make the class non copyable
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BikeSystem(BikeSystem&) = delete;
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BikeSystem& operator=(BikeSystem&) = delete;
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// method called in main() for starting the system
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void start();
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// method called for stopping the system
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void stop();
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#if defined(MBED_TEST_MODE)
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const advembsof::TaskLogger& getTaskLogger();
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bike_computer::Speedometer& getSpeedometer();
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GearDevice& getGearDevice();
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void setCallbackGearChage(Callback<void()> cbGearChange);
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Callback<void()> _cbGearChange;
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#endif // defined(MBED_TEST_MODE)
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private:
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// private methods
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void init();
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// Main Thread
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void temperatureTask();
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void displayTask();
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void cpuTask();
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// ISR Thread
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#if defined(MBED_TEST_MODE)
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public:
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#endif
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void onReset();
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#if defined(MBED_TEST_MODE)
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private:
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#endif
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void resetTask();
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// gear Thread
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void gearTask();
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// Speed / Distance Thread
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void speedDistanceTask();
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// GETTER - SETTER
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uint8_t getCurrentGear();
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uint8_t getCurrentGearSize();
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float getCurrentSpeed();
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float getCurrentDistance();
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void setCurrentGear(uint8_t gear);
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// Thread functions
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void dispatch_isr_events();
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void dispatch_events();
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void loop_speed_distance_task();
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void loop_gear_task();
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// timer instance used for loggint task time and used by ResetDevice
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std::chrono::microseconds _resetTime = std::chrono::microseconds::zero();
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std::chrono::microseconds _onGearUpTime = std::chrono::microseconds::zero();
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std::chrono::microseconds _onGearDownTime = std::chrono::microseconds::zero();
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Timer _timer;
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// Event queues
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EventQueue _isrEventQueue;
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EventQueue _eventQueue;
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// Mail
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Mail<pedalMail_t, 16> _mailPedalDevice;
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Mail<gearMail_t, 16> _mailGearDevice;
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// mutex for shared resource
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Mutex _mutexGearSize;
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Mutex _mutexGear;
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Mutex _mutexSpeed;
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Mutex _mutexDistance;
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Mutex _mutexSpeedometer;
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// Tread for isr events
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Thread _isrEventThread;
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Thread _speedDistanceThread;
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Thread _gearTaskThread;
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// data member that represents the device for manipulating the gear
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GearDevice _gearDevice;
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//////////////////////////////////////////////////////////////
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// shared resources between the main thread and the isr thread
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uint8_t _currentGear = bike_computer::kMinGear;
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uint8_t _currentGearSize = bike_computer::kMaxGearSize;
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//////////////////////////////////////////////////////////////
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// data member that represents the device for manipulating the pedal rotation
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// speed/time
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PedalDevice _pedalDevice;
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//////////////////////////////////////////////////////////////
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// shared resources between the main thread and the isr thread
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float _currentSpeed = 0.0f;
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float _traveledDistance = 0.0f;
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//////////////////////////////////////////////////////////////
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// data member that represents the device used for resetting
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ResetDevice _resetDevice;
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// data member that represents the device display
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advembsof::DisplayDevice _displayDevice;
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// data member that represents the device for counting wheel rotations
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bike_computer::Speedometer _speedometer;
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// data member that represents the sensor device
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bike_computer::SensorDevice _sensorDevice;
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float _currentTemperature = 0.0f;
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// used for logging task info
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advembsof::TaskLogger _taskLogger;
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// cpu logger to measure cpu usage
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advembsof::CPULogger _cpuLogger;
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};
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} // namespace multi_tasking
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