Diff: tasks/task_group2.cpp

Revision:

19:2044bb5d7f29

Parent:

17:a29ce6fc667c

Child:

20:202e0046527e

--- 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);
         }