1 00:00:01,120 --> 00:00:02,290 Hello, welcome back. 2 00:00:02,920 --> 00:00:11,020 So in this lesson, we going to create our tasks, we configured our system in the previous lesson by 3 00:00:11,020 --> 00:00:19,390 including our Ewart's configuration, and then we cleaned up the system and then we said we're going 4 00:00:19,390 --> 00:00:28,950 to use free ARTUS functions, not the the cube, not the societies functions, I should say. 5 00:00:29,440 --> 00:00:38,770 OK, so we're going to work with our very first function to the very first function as the create task 6 00:00:38,770 --> 00:00:39,310 function. 7 00:00:40,670 --> 00:00:48,110 Or the task created to function as it is written, so this function allows us to create a task. 8 00:00:49,160 --> 00:00:56,720 And the function is quite simple, it takes six argument, the first argument is a pointer to the task 9 00:00:56,720 --> 00:00:57,220 function. 10 00:00:57,500 --> 00:01:01,880 Remember, each task has a function which has an infinite loop. 11 00:01:03,110 --> 00:01:08,230 And it's within this task function, that's what we want a task to perform is pleased. 12 00:01:08,990 --> 00:01:18,670 OK, so the first argument of this state, this task creates function, is appointed to this task function. 13 00:01:18,680 --> 00:01:23,630 I keep saying function the function, let's get to it so that we see that it's not just me messing up 14 00:01:23,630 --> 00:01:24,160 with names. 15 00:01:25,220 --> 00:01:27,590 So to start off, I'm going to come over here. 16 00:01:28,820 --> 00:01:31,700 I'm going to create a task I call the function. 17 00:01:31,700 --> 00:01:34,970 The function here is X task create. 18 00:01:37,060 --> 00:01:37,540 OK. 19 00:01:38,960 --> 00:01:39,350 So. 20 00:01:40,640 --> 00:01:46,250 The first argument has to be our task function, let's say I'm going to have a task called. 21 00:01:47,210 --> 00:01:48,300 Blue lady control. 22 00:01:48,390 --> 00:01:56,000 Let's just see tasks controlling various abilities, so I'll come down here to create a function for 23 00:01:56,000 --> 00:01:58,760 this task, so I'll see void over here. 24 00:01:58,840 --> 00:02:05,480 Task functions have to have to return void, meaning they retain nothing and they have to take a single 25 00:02:05,480 --> 00:02:06,210 parameter. 26 00:02:06,590 --> 00:02:11,810 So I call this V Blue Alyda controller task. 27 00:02:15,420 --> 00:02:22,290 And then I'll see Voight over here and then P v over here parameters. 28 00:02:28,300 --> 00:02:31,330 And then in here, I'm going to have a while, one loop. 29 00:02:34,190 --> 00:02:39,170 OK, so when we execute in this, we'll get stuck here, the only way you come out of this one loop 30 00:02:39,290 --> 00:02:42,920 is when the scheduler switches to the next task. 31 00:02:43,460 --> 00:02:45,290 OK, so this is a task function. 32 00:02:45,410 --> 00:02:47,400 When we say a task function, this is it. 33 00:02:47,630 --> 00:02:52,190 So we're going to create a task for blue led to control Blue Alyda. 34 00:02:52,310 --> 00:02:58,460 We just assuming we have a system that has various leads and each of them is managed by its own task. 35 00:02:58,940 --> 00:03:01,520 OK, so we have this task function here. 36 00:03:03,190 --> 00:03:09,190 So once we've created this function, I'll copy its prototype and bring it to the top here because we 37 00:03:09,190 --> 00:03:14,410 want to access it in the main function and the main function is above this function. 38 00:03:14,560 --> 00:03:17,020 So we have to put a prototype here. 39 00:03:19,300 --> 00:03:27,210 OK, so this is our task function X task create the first document is the name of our task function, 40 00:03:27,220 --> 00:03:31,300 so I'll copy this place, this over here, the second document. 41 00:03:32,310 --> 00:03:37,950 This is a name we can give to this, a string, this will allow us to be able to view it in a certain 42 00:03:37,950 --> 00:03:38,520 debuggers. 43 00:03:38,850 --> 00:03:43,200 So it's supposed to be a string, a human readable name. 44 00:03:43,200 --> 00:03:44,790 You want to recognize this by. 45 00:03:44,790 --> 00:03:46,880 So I call this blue controller. 46 00:03:49,620 --> 00:03:52,940 The deferred argument is stuck. 47 00:03:53,130 --> 00:03:57,450 The amount of stock you want to allocate to this function will pass 100 here. 48 00:03:59,160 --> 00:04:07,830 And then the fourth argument is the argument you want to pass, the argument you want to pass to this 49 00:04:07,830 --> 00:04:10,410 task or the parameters. 50 00:04:10,710 --> 00:04:12,380 Remember Peevey parameters here. 51 00:04:12,660 --> 00:04:16,470 We'll see how to make use of this for arguments later. 52 00:04:16,480 --> 00:04:18,390 But for now, I'm going to pass null. 53 00:04:19,170 --> 00:04:19,620 Right. 54 00:04:20,100 --> 00:04:25,230 And then the next argument, arguments number five, is the task priority. 55 00:04:25,920 --> 00:04:27,680 I'm going to pass one over here. 56 00:04:28,260 --> 00:04:33,330 And then finally, the last argument is a Hando for the task. 57 00:04:33,330 --> 00:04:39,540 You want to create a handle and from the handle, like the name implies, you can use it to reach the 58 00:04:39,540 --> 00:04:43,180 task information and to make that task do other functions. 59 00:04:43,560 --> 00:04:45,810 For now, we're not going to use Hindoos. 60 00:04:45,810 --> 00:04:48,320 So I'm going to pass Nalle over here as well. 61 00:04:50,730 --> 00:04:59,340 Like this, OK, so essentially we've created a task and a task here is going to be executing the content 62 00:04:59,340 --> 00:05:00,560 of this function here. 63 00:05:00,570 --> 00:05:08,010 Code blue ality controller, we've allocated this amount of stock for it and then we've given it this 64 00:05:08,010 --> 00:05:10,890 priority inside this task, blue lairy controller. 65 00:05:10,920 --> 00:05:12,660 I'm going to drop a simple message here. 66 00:05:13,200 --> 00:05:15,690 I'll say printf is the reason we have to include. 67 00:05:15,690 --> 00:05:17,210 Printf printf. 68 00:05:19,620 --> 00:05:21,210 And then I simply see. 69 00:05:31,630 --> 00:05:36,990 OK, I'll see Blue Lady Controller TASC running, OK? 70 00:05:41,560 --> 00:05:42,910 OK, so. 71 00:05:44,160 --> 00:05:48,690 After we've done this, all we have to do is call the task start. 72 00:05:49,200 --> 00:05:57,210 We have to start as scheduled so that our schedule starts, you know, scheduling and managing the tasks, 73 00:05:57,490 --> 00:05:57,880 OK? 74 00:05:58,020 --> 00:05:59,700 So currently we have just one task. 75 00:06:00,270 --> 00:06:03,530 So void task starts scheduler. 76 00:06:08,150 --> 00:06:08,620 OK. 77 00:06:13,420 --> 00:06:14,590 Click over here to build. 78 00:06:18,620 --> 00:06:20,120 No error, no warning. 79 00:06:21,350 --> 00:06:24,830 OK, I'm going to go to the back over here. 80 00:06:29,330 --> 00:06:29,990 uSwitch. 81 00:06:33,450 --> 00:06:37,270 I'm going to open Terrytown to see what we have open in real time. 82 00:06:37,290 --> 00:06:43,110 This is real Tim Aiport over here, as we know, is this boat, right? 83 00:06:43,110 --> 00:06:45,120 And my port eSports number 16. 84 00:06:45,900 --> 00:06:52,380 I'll click open over here and then I'll click run and then I'll minimize this so that we can see the 85 00:06:52,380 --> 00:06:54,420 contents of real Tim. 86 00:06:57,070 --> 00:07:01,720 As you can see, the lead controller task is running, right? 87 00:07:02,450 --> 00:07:06,340 OK, so what can we learn from this? 88 00:07:10,010 --> 00:07:11,300 I'm going to come out here. 89 00:07:17,540 --> 00:07:19,370 As you can see, we have. 90 00:07:20,510 --> 00:07:22,160 We have nothing in our. 91 00:07:25,480 --> 00:07:34,300 OK, and this is actually interesting, right, so we have our hello from SDM 32 printf statements that 92 00:07:34,300 --> 00:07:39,610 existed from our previous previous project when we configured the system. 93 00:07:40,850 --> 00:07:48,620 Right, but when we check rootin, we don't see any of that executing, so because our scheduler started 94 00:07:48,650 --> 00:07:51,700 this block of code is not reachable, it is unreachable. 95 00:07:52,070 --> 00:07:53,540 So that is why we don't see this. 96 00:07:54,110 --> 00:08:01,850 And more interesting, you don't find anywhere in main function that we are sort of executing this. 97 00:08:02,510 --> 00:08:03,490 We are printing this. 98 00:08:03,740 --> 00:08:08,390 So this shows that we actually execute in the function of the artist. 99 00:08:08,810 --> 00:08:11,330 OK, so I'm going to delete this now. 100 00:08:11,340 --> 00:08:16,580 We're not going to be using one loop here or we have to do is create a task and then a task over. 101 00:08:16,820 --> 00:08:18,260 I'm going to add another task. 102 00:08:18,260 --> 00:08:20,240 I'll make a copy of this task. 103 00:08:21,520 --> 00:08:28,540 Control and then control, easy to copy control of each patient, I'll call this one red alert controller. 104 00:08:31,310 --> 00:08:31,850 And then. 105 00:08:34,300 --> 00:08:40,990 I'll create a task function for this code red alert controller, so I'm simply going to copy this. 106 00:08:42,330 --> 00:08:50,990 Controversy and then I'll change the name here, red alert controller change. 107 00:08:51,030 --> 00:08:58,890 What is going to be printed red the controller and then out its prototype here, control to copy, control 108 00:08:58,890 --> 00:08:59,670 V to paste. 109 00:09:00,570 --> 00:09:05,160 And then the name here, this red light controller. 110 00:09:05,910 --> 00:09:08,730 And then I'm going to add another one controversy. 111 00:09:13,330 --> 00:09:19,750 This one, I'm going to call it Blue Élodie controller, and then this one here is blue. 112 00:09:22,040 --> 00:09:22,550 And then. 113 00:09:24,520 --> 00:09:27,040 Oh, goodness, I'm losing my mind. 114 00:09:27,070 --> 00:09:32,980 We already have blue, so this could be green green LEDs controller. 115 00:09:35,260 --> 00:09:36,670 Green light controller. 116 00:09:37,880 --> 00:09:42,980 And I'm going to make a copy, I'm going to create a task function for this, I'll call this green lady 117 00:09:43,010 --> 00:09:43,620 controller. 118 00:09:44,060 --> 00:09:46,160 So this word red becomes green. 119 00:09:48,140 --> 00:09:55,580 So there is green algae control here, green algae, control of green algae control, I'm going to create 120 00:09:55,580 --> 00:09:59,270 a prototype for this controversy controversy. 121 00:09:59,930 --> 00:10:03,140 And then this is green algae controller. 122 00:10:03,560 --> 00:10:04,580 This has to be up to. 123 00:10:07,100 --> 00:10:15,740 OK, so let's build this and see now we have three tasks, each of them have the task functions to click 124 00:10:15,740 --> 00:10:16,850 over here control. 125 00:10:18,050 --> 00:10:20,340 I'll click over here to build Sloboda. 126 00:10:21,110 --> 00:10:25,400 I'm used to other ideas where you can just, you know, press shortcuts. 127 00:10:25,910 --> 00:10:28,880 This probably has a shortcuts to build, but. 128 00:10:29,840 --> 00:10:34,850 Yeah, so anyway, we've got no error, I'll click over here, Dybbuk. 129 00:10:38,780 --> 00:10:39,440 uSwitch. 130 00:10:40,640 --> 00:10:48,050 This is real time, I'll real to take over here to Claire and then I'll click it play no less you real 131 00:10:48,050 --> 00:10:48,380 to. 132 00:10:52,600 --> 00:10:54,420 Term is not responding. 133 00:10:57,340 --> 00:10:58,930 Let's stop and see what we have. 134 00:11:00,910 --> 00:11:03,940 All you transmutes that's come out. 135 00:11:08,150 --> 00:11:14,600 OK, so real time is not responded in this course was going to happen is we're going to debunk everything 136 00:11:14,600 --> 00:11:15,120 together. 137 00:11:15,500 --> 00:11:23,290 I'm not going to make a clean course where there are no issues and there are no opportunities to debug. 138 00:11:23,300 --> 00:11:24,540 I think that's really useful. 139 00:11:25,130 --> 00:11:25,580 So. 140 00:11:26,660 --> 00:11:28,920 I I'm coming back here. 141 00:11:28,970 --> 00:11:30,360 I went out of the bag for you. 142 00:11:30,380 --> 00:11:31,770 I'm coming back into the bag for you. 143 00:11:31,790 --> 00:11:33,260 I'm going to click play again. 144 00:11:34,650 --> 00:11:37,290 OK, click here to play. 145 00:11:38,550 --> 00:11:44,880 The reason I'm laughing is because this another learning opportunity, a click here to clean and then 146 00:11:45,630 --> 00:11:46,740 open real time again. 147 00:11:48,030 --> 00:11:49,980 You see, real time is not responding, writes. 148 00:11:51,010 --> 00:11:56,770 I'll come out here, I'll come out again, just bear with me, and what I'm going to do is I'm going 149 00:11:56,770 --> 00:12:03,100 to comment the printf statement in two of the tasks such that just one task has printf. 150 00:12:03,550 --> 00:12:09,100 So we just blew has printf or because we've seen blue before, I'm just going to make sure just read 151 00:12:09,100 --> 00:12:09,580 Hotspring. 152 00:12:09,580 --> 00:12:12,970 If the others do not, I'll click over here to build. 153 00:12:17,320 --> 00:12:18,880 And then I'll click over here, debark. 154 00:12:22,780 --> 00:12:29,470 Switch over here, a school to to OK, this real time, I'll Clarington first. 155 00:12:30,660 --> 00:12:31,260 And then. 156 00:12:32,640 --> 00:12:34,080 I'll quickly over here. 157 00:12:40,590 --> 00:12:44,340 I'm going to restart Realto. 158 00:12:47,420 --> 00:12:48,440 OK, so. 159 00:12:49,330 --> 00:12:51,040 This real iSelect. 160 00:12:53,820 --> 00:12:56,400 This, then Kosilek, this. 161 00:13:06,530 --> 00:13:07,460 You know, play. 162 00:13:12,460 --> 00:13:14,790 OK, real time is not responded. 163 00:13:17,500 --> 00:13:24,260 OK, let's exit this, I would explain the landing opportunity, I meant before that. 164 00:13:24,280 --> 00:13:25,090 Let's see this. 165 00:13:25,690 --> 00:13:28,660 Let's make sure our system is configured properly. 166 00:13:29,080 --> 00:13:31,750 So this is green and red leidy's. 167 00:13:32,880 --> 00:13:33,930 And then the tasks. 168 00:13:39,530 --> 00:13:43,790 All of them have their prototypes, as they ought to have. 169 00:13:51,980 --> 00:13:59,140 And we use them printed only in red red me control controller running, OK. 170 00:14:00,240 --> 00:14:00,720 So. 171 00:14:06,050 --> 00:14:13,100 So one thing we would notice here is all our tasks have the same priority, all of them have a priority 172 00:14:13,100 --> 00:14:13,570 of one. 173 00:14:13,850 --> 00:14:17,880 And in the free AHTO system, the lower the priority number, the higher it is. 174 00:14:18,260 --> 00:14:25,130 So if I change the priority of other tasks, let's say I change blue to two and then green to three, 175 00:14:26,240 --> 00:14:28,540 then task red would have the highest priority. 176 00:14:28,550 --> 00:14:30,320 But currently they all have the highest. 177 00:14:30,890 --> 00:14:32,590 They all have the same priority. 178 00:14:33,110 --> 00:14:40,010 So no one is given preferential treatment over the other and they are all expecting to have access to 179 00:14:40,010 --> 00:14:40,740 the Processo. 180 00:14:41,180 --> 00:14:43,190 So the process of Rosewarne for a bit. 181 00:14:43,190 --> 00:14:47,610 And then he goes on to the next one and then he runs the next one and then he goes on to the third. 182 00:14:48,100 --> 00:14:56,060 OK, but we want to see that reducing this, making sure just enough is left. 183 00:14:57,910 --> 00:15:04,810 We want to see if this allows us making sure just red task issues in print, if this allows us to print 184 00:15:05,020 --> 00:15:10,450 this, if this doesn't allow us to print this, then there are a number of things we can learn from 185 00:15:10,450 --> 00:15:10,750 this. 186 00:15:11,230 --> 00:15:12,640 OK, I'll click to build again. 187 00:15:13,150 --> 00:15:15,670 What is really going to happen. 188 00:15:16,550 --> 00:15:18,580 Let's see a click to go to the debug view. 189 00:15:20,070 --> 00:15:20,760 And this is. 190 00:15:25,350 --> 00:15:26,510 A switch over here. 191 00:15:30,370 --> 00:15:34,730 OK, so whenever we run, we see something a little happen here. 192 00:15:35,440 --> 00:15:37,960 OK, this means our real time is fine. 193 00:15:38,150 --> 00:15:40,870 It's just the firmware given the data. 194 00:15:41,590 --> 00:15:45,580 OK, so we run in by real time. 195 00:15:45,580 --> 00:15:47,140 It's not printing everything. 196 00:15:47,920 --> 00:15:51,990 OK, so I'll let you guess what is happening. 197 00:15:52,510 --> 00:15:55,390 What I'm going to do is I'm going to comment out one task. 198 00:15:56,390 --> 00:16:00,650 I'll comment on screen, OK, we comment on green. 199 00:16:01,610 --> 00:16:03,830 Meaning green no longer exist. 200 00:16:04,220 --> 00:16:08,270 We can leave that task function as it is a click over here to build. 201 00:16:11,120 --> 00:16:14,180 And then click over here to go to the box you. 202 00:16:18,580 --> 00:16:20,050 And then switch over here. 203 00:16:25,240 --> 00:16:27,820 And then I'll click to run the AC. 204 00:16:29,300 --> 00:16:30,860 I open my port here. 205 00:16:40,260 --> 00:16:41,640 OK, see? 206 00:16:44,730 --> 00:16:46,560 Oh, this is my sports. 207 00:16:52,880 --> 00:16:53,310 Right. 208 00:16:53,610 --> 00:16:58,730 So we getting the idea that there's a problem to do with time. 209 00:17:00,010 --> 00:17:09,820 It's as if the task is not getting enough time to print what it's supposed to print, right, to confirm 210 00:17:09,820 --> 00:17:13,630 this, what I'm going to do is I'm going to comment out blue task. 211 00:17:14,780 --> 00:17:19,330 I'm going to comment on blue task such that we just have red task and let's see what would happen. 212 00:17:19,850 --> 00:17:20,980 Click over here to build. 213 00:17:24,700 --> 00:17:26,800 And then go to debulked you over here. 214 00:17:30,420 --> 00:17:30,990 Switch. 215 00:17:34,900 --> 00:17:36,970 And then where is Terrytown? 216 00:17:37,890 --> 00:17:44,880 OK, it's actually started on its own, I'll click over here to run, as you can see, read ality controller 217 00:17:44,890 --> 00:17:46,870 task is running, OK? 218 00:17:46,980 --> 00:17:48,120 So what does this mean? 219 00:17:48,300 --> 00:17:50,400 Does it mean we can have just one task? 220 00:17:51,030 --> 00:17:51,410 Right. 221 00:17:51,420 --> 00:17:56,760 It's necessary that we went through all the roadblocks to get to this rather than me telling you what 222 00:17:56,790 --> 00:17:57,470 has to be done. 223 00:17:58,020 --> 00:17:58,980 What does this mean? 224 00:17:59,120 --> 00:18:03,990 This means that the hardware that we're trying to access takes too much time. 225 00:18:03,990 --> 00:18:12,060 It takes more time than the the tiny piece of time allocated for each task to execute before the scheduler 226 00:18:12,270 --> 00:18:13,830 switches to the next task. 227 00:18:14,970 --> 00:18:21,960 So there's something known as a time slice or a time quanta when you have tasks, multiple tasks of 228 00:18:21,960 --> 00:18:26,240 the same priority, each task will run for a particular time quanta. 229 00:18:26,580 --> 00:18:33,300 And as soon as that timeout occurs, regardless of whether you are done executing something important 230 00:18:33,300 --> 00:18:38,280 or not, the scheduler would pause that task and then go onto the next one. 231 00:18:39,600 --> 00:18:48,180 So because of where you are to requires more time to produce all of what he has to produce or print 232 00:18:48,210 --> 00:18:55,590 out all of what he has to print out, it never gets the amount of time it requires to perfectly print 233 00:18:55,590 --> 00:19:02,280 out its information or to print out all of its information before the scheduler is taken from the task 234 00:19:02,280 --> 00:19:03,780 and then given to another task. 235 00:19:04,350 --> 00:19:07,590 So that is what we just we just experienced. 236 00:19:07,830 --> 00:19:15,240 Later on, we shall see how to assign priorities to tasks such that we know that, OK, each task is 237 00:19:15,240 --> 00:19:17,370 treated with this amount of time. 238 00:19:17,370 --> 00:19:21,630 But this particular task, we want you to give this one priority. 239 00:19:21,640 --> 00:19:23,430 We'll see how to assign priorities. 240 00:19:24,510 --> 00:19:31,800 And even when we start assigning priorities, would still face instances where you would have two tasks, 241 00:19:32,070 --> 00:19:35,400 trying to access the same resource at the same time. 242 00:19:36,390 --> 00:19:42,570 And with that, we would use another ARTUS tool known as semaphores and mutex. 243 00:19:43,020 --> 00:19:49,080 We use them to to enable exclusive access to a particular resource. 244 00:19:49,200 --> 00:19:53,560 And a resource can be an LCD screen that you, outsports, et cetera. 245 00:19:54,000 --> 00:20:01,980 So this simple experiment has shown us some of the issues that we would have to be keeping in mind and 246 00:20:01,980 --> 00:20:04,310 designing our system to conform around. 247 00:20:04,650 --> 00:20:05,050 Right. 248 00:20:05,310 --> 00:20:09,600 So then the question becomes, OK, now we see that we can. 249 00:20:11,060 --> 00:20:17,750 We can print from just one task, this long sentence, so then how do we know the other tasks are executing? 250 00:20:18,200 --> 00:20:23,320 This will introduce us or this brings us to one other debugging tool that we shall use. 251 00:20:23,870 --> 00:20:26,500 This is known as the task profiler. 252 00:20:26,500 --> 00:20:28,340 We're going to create task profilers. 253 00:20:28,490 --> 00:20:32,180 And these are just global variables that we would place in each task. 254 00:20:32,390 --> 00:20:39,560 And when the global variable increments, we know that a task is executed and when the incremental value 255 00:20:39,740 --> 00:20:46,100 of all global variables are the same, then we would know that the tasks executed at the same rate the 256 00:20:46,100 --> 00:20:48,000 order are offered the same amount of time. 257 00:20:48,560 --> 00:20:50,720 So to do that, I'm going to comment. 258 00:20:52,350 --> 00:21:02,700 All of our other tasks here will come up with three tasks over here, so I'm going to I'm going to take 259 00:21:02,700 --> 00:21:03,780 out the prenups. 260 00:21:06,580 --> 00:21:07,090 OK. 261 00:21:08,580 --> 00:21:09,010 Right. 262 00:21:09,330 --> 00:21:16,950 So then I'm going to come over here, I'll use I'll say typedef typedef is used to create a new type 263 00:21:17,130 --> 00:21:19,260 to rename it an already existing type. 264 00:21:19,260 --> 00:21:24,540 So she typed a few into that to underscore T and then I'll see this. 265 00:21:24,540 --> 00:21:26,970 I want to call task profiler. 266 00:21:30,330 --> 00:21:37,920 So now, whenever I want to whenever I want to say you said it to an escort, you could simply use the 267 00:21:37,920 --> 00:21:41,700 word typedef, OK, and we use TYPEDEF to improve readability. 268 00:21:41,880 --> 00:21:47,280 So now I'll come, I'll come down here, say typedef and then I'll say. 269 00:21:52,220 --> 00:21:53,120 Blue Tosk. 270 00:21:55,330 --> 00:22:00,370 Profiler and then I have another one for Red. 271 00:22:03,480 --> 00:22:08,600 We have read, we do have read, and then I'll have another one for Green. 272 00:22:13,210 --> 00:22:18,790 OK, so then what is going to happen is I'm going to copy Blue Task profile up and then I'm going to 273 00:22:18,790 --> 00:22:23,740 drop it inside a blue one and then increment and then red. 274 00:22:23,770 --> 00:22:27,280 I'll drop it inside red and then this increment. 275 00:22:31,100 --> 00:22:33,850 And then green or drop it inside green over here. 276 00:22:35,100 --> 00:22:36,480 Then this increments. 277 00:22:40,610 --> 00:22:44,390 OK, so I'm going to click over here to build. 278 00:22:48,540 --> 00:22:50,280 Oh, goodness, Castle. 279 00:22:50,310 --> 00:22:52,500 I want to build first click over here to build. 280 00:22:55,980 --> 00:22:58,420 OK, we have no warning, no error. 281 00:22:58,620 --> 00:22:59,940 Click here to go to Debugger. 282 00:23:08,700 --> 00:23:11,930 As the debugger opening, OK, it's opening up. 283 00:23:13,610 --> 00:23:14,270 uSwitch. 284 00:23:19,180 --> 00:23:25,210 So what we want to do is come over here, we have live expressions window here, we want to put our 285 00:23:25,210 --> 00:23:27,520 global variables here to observe them. 286 00:23:28,920 --> 00:23:35,640 In other ideas, like how you vision, this is known as the watch window, OK, so to put this in that 287 00:23:35,640 --> 00:23:42,600 live expression, I'm going to copy this global variable Code Blue Task profile, copy this and then 288 00:23:42,600 --> 00:23:48,030 I'll come to live expressions and then I'll paste our hits, enter and then I'll copy Red. 289 00:23:48,360 --> 00:23:57,840 Copy this, a paste or hit enter and then I'll copy Green copy this or paste and then I'll hit enter 290 00:23:58,140 --> 00:23:59,430 and then I'll click here to run. 291 00:24:00,210 --> 00:24:07,170 As you can see, the variables are incrementing and they have almost the same value, meaning each task 292 00:24:07,170 --> 00:24:11,790 is given the same amount of time to execute because they have the same priority as we saw. 293 00:24:12,180 --> 00:24:17,390 So this is another way of knowing whether your task is executed or not executed. 294 00:24:17,550 --> 00:24:18,660 These are simple ways. 295 00:24:19,110 --> 00:24:24,600 Of course, they are more elaborate ways of measuring the Arktos time, using other proofs. 296 00:24:25,410 --> 00:24:33,140 But this will suffice for someone who just has the board and wants to do some simple tests to know whether 297 00:24:33,150 --> 00:24:35,460 a task is functioning or not functioning. 298 00:24:36,000 --> 00:24:40,680 OK, so we've seen how to profile in this lesson. 299 00:24:41,130 --> 00:24:48,930 We also learned that when the hardware you are accessing requires more time than the amount of time 300 00:24:48,930 --> 00:24:52,080 allocated to the task, you might not get it to work. 301 00:24:53,300 --> 00:24:59,990 So that is what happened with we trying to print the sentence using the Ewart's in all of our tasks, 302 00:25:00,860 --> 00:25:04,160 no single task had enough time to bring the sentence. 303 00:25:04,400 --> 00:25:05,820 So that's the lesson here. 304 00:25:06,660 --> 00:25:12,950 OK, and also I want to reiterate that you find it essential that we went through this process together, 305 00:25:13,340 --> 00:25:19,550 hitting the roadblocks and coming back to test other things, to comment out on the part of the system 306 00:25:19,790 --> 00:25:21,850 to see what the cause could be. 307 00:25:22,400 --> 00:25:25,700 I could have cut to this bit out of the the lesson. 308 00:25:25,700 --> 00:25:31,670 I could have just edited this bits out and then given you a perfect lesson with this is how you create 309 00:25:31,670 --> 00:25:32,570 a single tax. 310 00:25:33,260 --> 00:25:35,650 This is how you create a single task, I should say. 311 00:25:35,870 --> 00:25:41,300 And then when you put all you add in the three tasks, it wouldn't work. 312 00:25:41,330 --> 00:25:42,140 So we do this. 313 00:25:42,140 --> 00:25:45,860 I could have done all of that, but rather we saw it together. 314 00:25:45,890 --> 00:25:47,880 So I hope you appreciate it this week. 315 00:25:47,900 --> 00:25:49,460 I don't want some of you to complain. 316 00:25:49,470 --> 00:25:50,990 There's so many fixing of errors. 317 00:25:51,380 --> 00:25:58,090 I mean, I really hope you see this points to some, if you like, getting me in the reviews. 318 00:25:58,100 --> 00:25:59,480 So that is why I'm saying this. 319 00:25:59,480 --> 00:26:03,710 If you are not one of those people, that is fine, but it needs to be stated. 320 00:26:04,260 --> 00:26:05,750 OK, so have a nice day. 321 00:26:05,750 --> 00:26:10,070 If you have any questions, of course you can leave it in the questions and answers area. 322 00:26:10,220 --> 00:26:11,190 And I'll see you later. 323 00:26:11,390 --> 00:26:12,100 Have a nice day.