Revision 19:2044bb5d7f29, committed 2018-03-28

Comitter:

ihexx

Date:

Wed Mar 28 01:32:01 2018 +0000

Parent:

18:d48324fd3440

Child:

20:202e0046527e

Commit message:

Fully commented listings;

Changed in this revision

--- a/tasks/MailTasks.cpp	Wed Mar 28 00:47:12 2018 +0000
+++ b/tasks/MailTasks.cpp	Wed Mar 28 01:32:01 2018 +0000
@@ -9,10 +9,8 @@
     Thread thread;
     const float freq = 0.2; //hz
     
-    //I/O
     void runTask(){
         
-        
         Timer executionTimer,sleepTimer;
         executionTimer.reset();
         sleepTimer.reset();
@@ -22,12 +20,15 @@
         int tick = 0;
         
         while(1){
+            //Determine scheduling compensators:
+                //1: release time drift 
+                //2: execution time
             sleepTimer.stop();
             executionTimer.start();
             int sleepTime = sleepTimer.read_ms();
             const int drift = ((sleepTime - dynamic_delay) > 0)?
                                         (sleepTime - dynamic_delay) : 0;
-            //Core Loop:
+            //Core Task-----------------
             using namespace mailData;
             mail_t *mail = mailBox.alloc();
             
@@ -40,13 +41,14 @@
             runTimeParams::liveAccess.unlock();
             
             mailBox.put(mail);
-            //End of Core loop
+            //End of Core task
             
             tick++;
             executionTimer.stop();
             int exec_time = executionTimer.read_ms();
             
             #if DEBUG_MODE
+            //Debug Logs (once per dequeue call to avoid memory issues)
             const int debug_log_interval = int(freq/dequeueMail::freq);
             if (!(tick%debug_log_interval)){
                 runTimeParams::debugAccess.lock();
@@ -58,10 +60,12 @@
             }
             #endif
             
+            
             executionTimer.reset();
             sleepTimer.reset();
             sleepTimer.start();
             
+            //compensate for delays
             dynamic_delay = const_delay - (exec_time + drift);
             Thread::wait(dynamic_delay);
         }
@@ -72,15 +76,12 @@
 namespace dequeueMail{
     //Dump contents of feature_7 MAIL queue to the serial connection to the PC
     Thread thread;
-    
     const float freq = 0.05; //hz
     
-    
-    
     Serial pc(USBTX, USBRX); // tx, rx
     
-    
     void runTask(){
+        //init
         Timer executionTimer,sleepTimer;
         executionTimer.reset();
         sleepTimer.reset();
@@ -91,14 +92,16 @@
         pc.printf("speed,acceleration,brake\n\r");
         
         while(true){
-            
+            //Determine scheduling compensators:
+                //1: release time drift 
+                //2: execution time
             sleepTimer.stop();
             executionTimer.start();
             int sleepTime = sleepTimer.read_ms();
             const int drift = ((sleepTime - dynamic_delay) > 0)?
                                         (sleepTime - dynamic_delay) : 0;
             
-            /* Mail */
+            // Mail Dump------------
             using namespace mailData;
             osEvent evt = mailBox.get(1);
             while (evt.status == osEventMail){
@@ -107,15 +110,19 @@
                 mailBox.free(mail);
                 evt = mailBox.get(1);
             }
+            //----------------------
             
             executionTimer.stop();
             int exec_time = executionTimer.read_ms();
             
             #if DEBUG_MODE
+            //Debug Logs (once per dequeue call to avoid memory issues)
             runTimeParams::debugAccess.lock();
             *runTimeParams::debugLog += "Dequeue Mail," + to_string(exec_time) + ","
                         + to_string(sleepTime) + ","
                         + to_string(drift) + "\n\r";
+            
+            //Buffer Swap so other tasks can prempt this one and keep logging
             string * message;
             if (runTimeParams::debugLog == & runTimeParams::debugLogBuffer1){
             runTimeParams::debugLog = & runTimeParams::debugLogBuffer2;
@@ -129,8 +136,6 @@
             runTimeParams::debugAccess.unlock();
             
             pc.printf(message->c_str());
-            
-            
             #endif
             
             executionTimer.reset();

--- a/tasks/core.h	Wed Mar 28 00:47:12 2018 +0000
+++ b/tasks/core.h	Wed Mar 28 01:32:01 2018 +0000
@@ -8,7 +8,7 @@
 #include <sstream>
 
 //Compile Flags
-#define DEBUG_MODE 1
+#define DEBUG_MODE 0
 
 //Inputs-------------------------
 #define PORT_TURN_SIGNAL_SWITCH_RIGHT p17
@@ -52,14 +52,11 @@
 namespace task_group_1{
     //Display, 
     extern Thread thread;
-    extern const float freq; //hz
-
     void runTask();
 }
 namespace task_group_2{
     //Read Accel/Brake, carSimulator
     extern Thread thread;
-    extern const float freq;
     void runTask(); 
 }
 
@@ -76,7 +73,6 @@
     //Send speed, accelerometer and brake values to a 100 element
         //MAIL queue
     extern Thread thread;
-    extern const float freq;
     void runTask();
 }
 namespace dequeueMail{

--- a/tasks/task_group1.cpp	Wed Mar 28 00:47:12 2018 +0000
+++ b/tasks/task_group1.cpp	Wed Mar 28 01:32:01 2018 +0000
@@ -1,9 +1,7 @@
 #include "core.h"
 namespace display{
-    //Display on MBED text display • odometer value • average speed
+    //Display on MBED text display: odometer value, average speed
     const float freq = 2.0f; //hz
-    
-    //I/O
     MCP23017 *port;
     WattBob_TextLCD *lcd;
     
@@ -69,11 +67,8 @@
     }
 namespace turnSignal{
     //Read the two turn indicator switches and flash appropriate
-        //indicator LEDs at a rate of 1Hz. If both switches are switched on
-        //then flash both indicator LEDs at a rate of 2Hz (hazard mode).
+        //indicator LEDs at a rate of 1Hz
     static const float freq = 0.5; //hz
-    
-    //I/O
     DigitalIn lSwitch(PORT_TURN_SIGNAL_SWITCH_LEFT);
     DigitalIn rSwitch(PORT_TURN_SIGNAL_SWITCH_RIGHT);
     
@@ -83,6 +78,9 @@
     static inline void hotLoop(){
         int a = lSwitch.read();
         int b = rSwitch.read();
+        
+        //If both switches are switched on
+        //then flash both indicator LEDs at a rate of 2Hz (hazard mode)
         if(a&&b){
              lLed.period(2.0f);
              rLed.period(2.0f);
@@ -115,12 +113,18 @@
         brakeIndicator::init();
         speedIndicator::init();
         
-        const int const_delay = int((1000.0f/freq)+0.5f);
-        int dynamic_delay = const_delay;
-        int tick = 0;
-        int max_exec_time = 0;
+        const int const_delay = int((1000.0f/freq)+0.5f); //ideal sched delay
+        int dynamic_delay = const_delay; //real sched delay (updated in loop)
+        
+        int tick = 0; //freq subsampler
+        #if DEBUG_MODE
+        int max_exec_time = 0; //for logging
+        #endif
         
         while(true){
+            //Determine scheduling compensators:
+                //1: release time drift 
+                //2: execution time 
             sleepTimer.stop();
             executionTimer.start();
             int sleepTime = sleepTimer.read_ms();
@@ -128,8 +132,7 @@
                                         (sleepTime - dynamic_delay) : 0;
             
             
-            // Run all tasks
-           
+            // Run all tasks--------------
             brakeIndicator::hotLoop();
             
             static const int tick_interval_sIndicator = int((freq/speedIndicator::freq)+0.5f);
@@ -141,15 +144,17 @@
             if (!(tick%tick_interval_tSignal)){
                 turnSignal::hotLoop();
             }
-            
             display::hotLoop();
+            //--------------Completed tasks
             
             tick++;
             executionTimer.stop();
             int exec_time = executionTimer.read_ms();
-            if (exec_time > max_exec_time) max_exec_time=exec_time;
+            
             
             #if DEBUG_MODE
+            //Debug Logs (once per dequeue call to avoid memory issues)
+            if (exec_time > max_exec_time) max_exec_time=exec_time;
             static const int tick_interval_debug_log = int((freq/dequeueMail::freq)+0.5f);
             if (!(tick%tick_interval_debug_log)){
                 runTimeParams::debugAccess.lock();
@@ -161,7 +166,7 @@
             #else
             static const int tick_interval_debug_log = 1;
             #endif
-            
+            //Reset tick count
             static const int tick_LCM = 
                 tick_interval_debug_log*
                 tick_interval_sIndicator*
@@ -169,9 +174,11 @@
                 
             if (tick==tick_LCM) tick=0;
             
+            
             executionTimer.reset();
             sleepTimer.reset();
             sleepTimer.start();
+            //compensate for delays
             dynamic_delay = const_delay - (exec_time + drift);
             Thread::wait(dynamic_delay);
         }   

--- a/tasks/task_group2.cpp	Wed Mar 28 00:47:12 2018 +0000
+++ b/tasks/task_group2.cpp	Wed Mar 28 01:32:01 2018 +0000
@@ -1,9 +1,8 @@
 #include "core.h"
 namespace getControls{
-    //I/O
+    //Read Accelerator and Brake
     AnalogIn brake(PORT_BRAKE);
     AnalogIn accel(PORT_ACCEL);
-    
     const float freq = 10.0f;
     
     static inline void hotLoop(){
@@ -15,9 +14,7 @@
 }
 namespace getIgnition{
     //Read engine on/off switch and show current state on a LED
-    static const float freq = 2; //hz
-    
-    //I/O
+    const float freq = 2; //hz
     DigitalIn ignition(PORT_IGNITION);
     DigitalOut led1(IGNITION_LED);
     
@@ -25,22 +22,14 @@
             led1 = ignition.read();
     }
 }
-
 namespace carSimulator{
-    Thread thread;
+    //Compute speed given car controls and timing data
     const float freq = 20.0f;
-    
     static inline void hotLoop(){
-        
-        static int i = 0;
-        const int i_prev = i;
-        i = (i>=3)? 0: i+1;
-        
-        const float friction = 0.1f;
-        
+        const float friction = 0.1f; //constant retardation
         runTimeParams::liveAccess.lock();
         
-        //v2 = at+v1
+        //Check if ignition is on, and don't accelerate if it isn't
         float accel;
         if (getIgnition::ignition.read()){
             accel = runTimeParams::accelForce - 
@@ -50,10 +39,14 @@
             accel= -(runTimeParams::brakeForce+friction);
         }
         
+        static int i = 0; //iterator for speed
+        const int i_prev = i;
+        i = (i>=3)? 0: i+1;
+        //Store to speed array in round robin format
         float tmpSpeed = accel * + runTimeParams::speed[i_prev];
         runTimeParams::speed[i] = (tmpSpeed>0)?tmpSpeed:0;
+        
         runTimeParams::liveAccess.unlock();
-        
         }
 }
 namespace filterSpeed{
@@ -65,7 +58,6 @@
                             runTimeParams::speed[1] +
                             runTimeParams::speed[2])/3;
             runTimeParams::liveAccess.unlock();
-            
     } 
 }
 
@@ -73,24 +65,27 @@
 namespace task_group_2{
     Thread thread;
     const float freq = 20.0f; //hz
-    DigitalOut led2(LED2);
 
     void runTask(){
+        //Init
         Timer executionTimer,sleepTimer;
         executionTimer.reset();
         sleepTimer.reset();
         
-        const int const_delay = int((1000.0f/freq)+0.5f);
-        int dynamic_delay = const_delay;
-        int tick = 0;
-        int max_exec_time = 0;
+        const int const_delay = int((1000.0f/freq)+0.5f); //ideal scheduling rate
+        int dynamic_delay = const_delay; //compensating for release/execution time
+        int tick = 0; //downsample task frequencies
+        
+        #if DEBUG_MODE
+        int max_exec_time = 0; //for logging
+        #endif
+        
         while(true){
-            
-            
+            //Determine scheduling compensators:
+                //1: release time drift 
+                //2: execution time 
             sleepTimer.stop();
             executionTimer.start();
-            
-            
             int sleepTime = sleepTimer.read_ms();
             const int drift = ((sleepTime - dynamic_delay) > 0)?
                                         (sleepTime - dynamic_delay) : 0;
@@ -107,14 +102,16 @@
             
             static const int tick_interval_ignitionLED = int((freq/getIgnition::freq)+0.5f);
             if (!(tick%tick_interval_ignitionLED )) getIgnition::hotLoop();
-            // Completed tasks
+            //-------------Completed tasks
             
             tick++;
             executionTimer.stop();
             int exec_time = executionTimer.read_ms();
-            if (exec_time > max_exec_time) max_exec_time=exec_time;
+            
             
             #if DEBUG_MODE
+            //Debug Logs (once per dequeue call to avoid memory issues)
+            if (exec_time > max_exec_time) max_exec_time=exec_time;
             static const int debug_log_interval = int(freq/dequeueMail::freq);
             if (!(tick%debug_log_interval)){
                 runTimeParams::debugAccess.lock();
@@ -128,6 +125,7 @@
             static const int debug_log_interval = 1;
             #endif
             
+            //Reset tick count
             static const int tick_LCM = 
                 debug_log_interval*
                 tick_interval_ignitionLED*
@@ -139,7 +137,7 @@
             executionTimer.reset();
             sleepTimer.reset();
             sleepTimer.start();
-            
+            //compensate for delays
             dynamic_delay = const_delay -(exec_time + drift);
             Thread::wait(dynamic_delay);
         }