feat(monitor): add tabulate-formatted table output

* Update monitor component for new function which prints task monitor table in a nice, human-readable form using the tabulate component
* Updated example to use new function for testing
* Updated tabulate to latest version
* Updated tabulate and monitor examples to have slightly larger stack and run a little faster
* rebuild docs

components/monitor/CMakeLists.txt

@@ -1,3 +1,3 @@
 idf_component_register(
   INCLUDE_DIRS "include"
-  PRIV_REQUIRES base_component task)
+  PRIV_REQUIRES base_component task tabulate)

components/monitor/example/main/monitor_example.cpp

@@ -42,7 +42,7 @@ extern "C" void app_main(void) {
       tasks[i]->start();
     }
     // now sleep for a while to let the monitor do its thing
-    std::this_thread::sleep_for(10s);
+    std::this_thread::sleep_for(5s);
     //! [TaskMonitor example]
   }
 
@@ -73,13 +73,46 @@ extern "C" void app_main(void) {
       tasks[i]->start();
     }
     // now sleep for a while to let the monitor do its thing
-    for (int i = 0; i < 10; i++) {
+    for (int i = 0; i < 5; i++) {
       fmt::print("{}\n", espp::TaskMonitor::get_latest_info());
       std::this_thread::sleep_for(1s);
     }
     //! [get_latest_info example]
   }
 
+  {
+    //! [get_latest_info_table example]
+    // create threads
+    auto start = std::chrono::high_resolution_clock::now();
+    auto task_fn = [&start](int task_id, auto &, auto &) {
+      auto now = std::chrono::high_resolution_clock::now();
+      auto seconds_since_start = std::chrono::duration<float>(now - start).count();
+      // do some work, but don't print it so that the table is easier to read
+      volatile float x = 2.0f * M_PI * sin(exp(task_id) * seconds_since_start);
+      // sleep
+      std::this_thread::sleep_for(100ms);
+      // don't want to stop the task
+      return false;
+    };
+    std::vector<std::unique_ptr<espp::Task>> tasks;
+    size_t num_tasks = 10;
+    tasks.resize(num_tasks);
+    for (size_t i = 0; i < num_tasks; i++) {
+      std::string task_name = fmt::format("Task {}", i);
+      auto task = espp::Task::make_unique({.name = task_name,
+                                           .callback = std::bind(task_fn, i, _1, _2),
+                                           .stack_size_bytes = 5 * 1024});
+      tasks[i] = std::move(task);
+      tasks[i]->start();
+    }
+    // now sleep for a while to let the monitor do its thing
+    for (int i = 0; i < 5; i++) {
+      espp::TaskMonitor::get_latest_info_table(std::cout);
+      std::this_thread::sleep_for(1s);
+    }
+    //! [get_latest_info_table example]
+  }
+
   fmt::print("Monitor example finished!\n");
 
   // sleep forever

components/monitor/example/sdkconfig.defaults

@@ -1,2 +1,17 @@
 CONFIG_FREERTOS_USE_TRACE_FACILITY=y
 CONFIG_FREERTOS_GENERATE_RUN_TIME_STATS=y
+
+CONFIG_COMPILER_OPTIMIZATION_PERF=y
+# CONFIG_COMPILER_OPTIMIZATION_SIZE=y
+
+CONFIG_FREERTOS_HZ=1000
+
+# ESP32-specific
+#
+CONFIG_ESP_DEFAULT_CPU_FREQ_MHZ_240=y
+CONFIG_ESP_DEFAULT_CPU_FREQ_MHZ=240
+
+# Common ESP-related
+#
+CONFIG_ESP_SYSTEM_EVENT_TASK_STACK_SIZE=4096
+CONFIG_ESP_MAIN_TASK_STACK_SIZE=10240

components/monitor/include/task_monitor.hpp

@@ -1,10 +1,12 @@
 #pragma once
 
 #include <chrono>
+#include <iostream>
 
 #include "sdkconfig.h"
 
 #include "base_component.hpp"
+#include "tabulate.hpp"
 #include "task.hpp"
 
 #include "esp_freertos_hooks.h"
@@ -33,6 +35,9 @@ namespace espp {
  *
  * \section task_monitor_ex2 get_latest_info() Example
  * \snippet monitor_example.cpp get_latest_info example
+ *
+ * \section task_monitor_ex3 get_latest_info_table() Example
+ * \snippet monitor_example.cpp get_latest_info_table example
  */
 class TaskMonitor : public BaseComponent {
 public:
@@ -150,6 +155,38 @@ class TaskMonitor : public BaseComponent {
 #endif
   }
 
+  /**
+   * @brief Print the latest task information in a nice table format.
+   *        This is a static function, so it can be called without having to
+   *        instantiate a TaskMonitor object.
+   * @param os std::ostream to write the table to.
+   * @note This function calls TaskMonitor::get_latest_info() and then formats
+   *       the data into a table using the tabulate library, and then writes
+   *       the table to the provided std::ostream.
+   */
+  static void get_latest_info_table(std::ostream &os) {
+    std::string info = get_latest_info();
+    using namespace tabulate;
+    using Row_t = Table::Row_t;
+    Table table;
+    table.add_row({"Task Name", "CPU %", "High Water Mark", "Priority"});
+
+    std::string task_info;
+    std::istringstream iss(info);
+    while (std::getline(iss, task_info, ';')) {
+      std::istringstream task_iss(task_info);
+      std::string task_data;
+      Row_t row;
+      while (std::getline(task_iss, task_data, ',')) {
+        row.push_back(task_data);
+      }
+      if (row.size() == 4) {
+        table.add_row(row);
+      }
+    }
+    os << table << std::endl;
+  }
+
 protected:
   bool task_callback(std::mutex &m, std::condition_variable &cv) {
     auto start = std::chrono::high_resolution_clock::now();

components/tabulate/example/sdkconfig.defaults

@@ -1,4 +1,15 @@
+CONFIG_COMPILER_OPTIMIZATION_PERF=y
+# CONFIG_COMPILER_OPTIMIZATION_SIZE=y
+
+CONFIG_FREERTOS_HZ=1000
+
+# ESP32-specific
+#
+CONFIG_ESP_DEFAULT_CPU_FREQ_MHZ_240=y
+CONFIG_ESP_DEFAULT_CPU_FREQ_MHZ=240
+
+
 # Common ESP-related
 #
 CONFIG_ESP_SYSTEM_EVENT_TASK_STACK_SIZE=4096
-CONFIG_ESP_MAIN_TASK_STACK_SIZE=8192
+CONFIG_ESP_MAIN_TASK_STACK_SIZE=10240

docs/adc/adc_types.html

@@ -150,7 +150,7 @@
           <li><a href="index.html">ADC APIs</a> &raquo;</li>
       <li>ADC Types</li>
       <li class="wy-breadcrumbs-aside">
-              <a href="https://github.com/esp-cpp/espp/blob/82a5c3ce/docs/en/adc/adc_types.rst" class="fa fa-github"> Edit on GitHub</a>
+              <a href="https://github.com/esp-cpp/espp/blob/d5ae840d/docs/en/adc/adc_types.rst" class="fa fa-github"> Edit on GitHub</a>
       </li>
   </ul>
   <hr/>

docs/adc/ads1x15.html

@@ -151,7 +151,7 @@
           <li><a href="index.html">ADC APIs</a> &raquo;</li>
       <li>ADS1x15 I2C ADC</li>
       <li class="wy-breadcrumbs-aside">
-              <a href="https://github.com/esp-cpp/espp/blob/82a5c3ce/docs/en/adc/ads1x15.rst" class="fa fa-github"> Edit on GitHub</a>
+              <a href="https://github.com/esp-cpp/espp/blob/d5ae840d/docs/en/adc/ads1x15.rst" class="fa fa-github"> Edit on GitHub</a>
       </li>
   </ul>
   <hr/>
@@ -168,7 +168,7 @@ <h2>API Reference<a class="headerlink" href="#api-reference" title="Permalink to
 <section id="header-file">
 <h3>Header File<a class="headerlink" href="#header-file" title="Permalink to this headline"></a></h3>
 <ul class="simple">
-<li><p><a class="reference external" href="https://github.com/esp-cpp/espp/blob/82a5c3ce/components/ads1x15/include/ads1x15.hpp">components/ads1x15/include/ads1x15.hpp</a></p></li>
+<li><p><a class="reference external" href="https://github.com/esp-cpp/espp/blob/d5ae840d/components/ads1x15/include/ads1x15.hpp">components/ads1x15/include/ads1x15.hpp</a></p></li>
 </ul>
 </section>
 <section id="classes">

docs/adc/ads7138.html

@@ -151,7 +151,7 @@
           <li><a href="index.html">ADC APIs</a> &raquo;</li>
       <li>ADS7138 I2C ADC</li>
       <li class="wy-breadcrumbs-aside">
-              <a href="https://github.com/esp-cpp/espp/blob/82a5c3ce/docs/en/adc/ads7138.rst" class="fa fa-github"> Edit on GitHub</a>
+              <a href="https://github.com/esp-cpp/espp/blob/d5ae840d/docs/en/adc/ads7138.rst" class="fa fa-github"> Edit on GitHub</a>
       </li>
   </ul>
   <hr/>
@@ -173,7 +173,7 @@ <h2>API Reference<a class="headerlink" href="#api-reference" title="Permalink to
 <section id="header-file">
 <h3>Header File<a class="headerlink" href="#header-file" title="Permalink to this headline"></a></h3>
 <ul class="simple">
-<li><p><a class="reference external" href="https://github.com/esp-cpp/espp/blob/82a5c3ce/components/ads7138/include/ads7138.hpp">components/ads7138/include/ads7138.hpp</a></p></li>
+<li><p><a class="reference external" href="https://github.com/esp-cpp/espp/blob/d5ae840d/components/ads7138/include/ads7138.hpp">components/ads7138/include/ads7138.hpp</a></p></li>
 </ul>
 </section>
 <section id="classes">

docs/adc/continuous_adc.html

@@ -151,7 +151,7 @@
           <li><a href="index.html">ADC APIs</a> &raquo;</li>
       <li>Continuous ADC</li>
       <li class="wy-breadcrumbs-aside">
-              <a href="https://github.com/esp-cpp/espp/blob/82a5c3ce/docs/en/adc/continuous_adc.rst" class="fa fa-github"> Edit on GitHub</a>
+              <a href="https://github.com/esp-cpp/espp/blob/d5ae840d/docs/en/adc/continuous_adc.rst" class="fa fa-github"> Edit on GitHub</a>
       </li>
   </ul>
   <hr/>
@@ -173,7 +173,7 @@ <h2>API Reference<a class="headerlink" href="#api-reference" title="Permalink to
 <section id="header-file">
 <h3>Header File<a class="headerlink" href="#header-file" title="Permalink to this headline"></a></h3>
 <ul class="simple">
-<li><p><a class="reference external" href="https://github.com/esp-cpp/espp/blob/82a5c3ce/components/adc/include/continuous_adc.hpp">components/adc/include/continuous_adc.hpp</a></p></li>
+<li><p><a class="reference external" href="https://github.com/esp-cpp/espp/blob/d5ae840d/components/adc/include/continuous_adc.hpp">components/adc/include/continuous_adc.hpp</a></p></li>
 </ul>
 </section>
 <section id="classes">

docs/adc/index.html

@@ -143,7 +143,7 @@
       <li><a href="../index.html" class="icon icon-home"></a> &raquo;</li>
       <li>ADC APIs</li>
       <li class="wy-breadcrumbs-aside">
-              <a href="https://github.com/esp-cpp/espp/blob/82a5c3ce/docs/en/adc/index.rst" class="fa fa-github"> Edit on GitHub</a>
+              <a href="https://github.com/esp-cpp/espp/blob/d5ae840d/docs/en/adc/index.rst" class="fa fa-github"> Edit on GitHub</a>
       </li>
   </ul>
   <hr/>

docs/adc/oneshot_adc.html

@@ -151,7 +151,7 @@
           <li><a href="index.html">ADC APIs</a> &raquo;</li>
       <li>Oneshot ADC</li>
       <li class="wy-breadcrumbs-aside">
-              <a href="https://github.com/esp-cpp/espp/blob/82a5c3ce/docs/en/adc/oneshot_adc.rst" class="fa fa-github"> Edit on GitHub</a>
+              <a href="https://github.com/esp-cpp/espp/blob/d5ae840d/docs/en/adc/oneshot_adc.rst" class="fa fa-github"> Edit on GitHub</a>
       </li>
   </ul>
   <hr/>
@@ -172,7 +172,7 @@ <h2>API Reference<a class="headerlink" href="#api-reference" title="Permalink to
 <section id="header-file">
 <h3>Header File<a class="headerlink" href="#header-file" title="Permalink to this headline"></a></h3>
 <ul class="simple">
-<li><p><a class="reference external" href="https://github.com/esp-cpp/espp/blob/82a5c3ce/components/adc/include/oneshot_adc.hpp">components/adc/include/oneshot_adc.hpp</a></p></li>
+<li><p><a class="reference external" href="https://github.com/esp-cpp/espp/blob/d5ae840d/components/adc/include/oneshot_adc.hpp">components/adc/include/oneshot_adc.hpp</a></p></li>
 </ul>
 </section>
 <section id="classes">

docs/adc/tla2528.html

@@ -151,7 +151,7 @@
           <li><a href="index.html">ADC APIs</a> &raquo;</li>
       <li>TLA2528 I2C ADC</li>
       <li class="wy-breadcrumbs-aside">
-              <a href="https://github.com/esp-cpp/espp/blob/82a5c3ce/docs/en/adc/tla2528.rst" class="fa fa-github"> Edit on GitHub</a>
+              <a href="https://github.com/esp-cpp/espp/blob/d5ae840d/docs/en/adc/tla2528.rst" class="fa fa-github"> Edit on GitHub</a>
       </li>
   </ul>
   <hr/>
@@ -173,7 +173,7 @@ <h2>API Reference<a class="headerlink" href="#api-reference" title="Permalink to
 <section id="header-file">
 <h3>Header File<a class="headerlink" href="#header-file" title="Permalink to this headline"></a></h3>
 <ul class="simple">
-<li><p><a class="reference external" href="https://github.com/esp-cpp/espp/blob/82a5c3ce/components/tla2528/include/tla2528.hpp">components/tla2528/include/tla2528.hpp</a></p></li>
+<li><p><a class="reference external" href="https://github.com/esp-cpp/espp/blob/d5ae840d/components/tla2528/include/tla2528.hpp">components/tla2528/include/tla2528.hpp</a></p></li>
 </ul>
 </section>
 <section id="classes">

docs/base_component.html

@@ -142,7 +142,7 @@
       <li><a href="index.html" class="icon icon-home"></a> &raquo;</li>
       <li>Base Compoenent</li>
       <li class="wy-breadcrumbs-aside">
-              <a href="https://github.com/esp-cpp/espp/blob/82a5c3ce/docs/en/base_component.rst" class="fa fa-github"> Edit on GitHub</a>
+              <a href="https://github.com/esp-cpp/espp/blob/d5ae840d/docs/en/base_component.rst" class="fa fa-github"> Edit on GitHub</a>
       </li>
   </ul>
   <hr/>
@@ -162,7 +162,7 @@ <h2>API Reference<a class="headerlink" href="#api-reference" title="Permalink to
 <section id="header-file">
 <h3>Header File<a class="headerlink" href="#header-file" title="Permalink to this headline"></a></h3>
 <ul class="simple">
-<li><p><a class="reference external" href="https://github.com/esp-cpp/espp/blob/82a5c3ce/components/base_component/include/base_component.hpp">components/base_component/include/base_component.hpp</a></p></li>
+<li><p><a class="reference external" href="https://github.com/esp-cpp/espp/blob/d5ae840d/components/base_component/include/base_component.hpp">components/base_component/include/base_component.hpp</a></p></li>
 </ul>
 </section>
 <section id="classes">

docs/base_peripheral.html

@@ -142,7 +142,7 @@
       <li><a href="index.html" class="icon icon-home"></a> &raquo;</li>
       <li>Base Peripheral</li>
       <li class="wy-breadcrumbs-aside">
-              <a href="https://github.com/esp-cpp/espp/blob/82a5c3ce/docs/en/base_peripheral.rst" class="fa fa-github"> Edit on GitHub</a>
+              <a href="https://github.com/esp-cpp/espp/blob/d5ae840d/docs/en/base_peripheral.rst" class="fa fa-github"> Edit on GitHub</a>
       </li>
   </ul>
   <hr/>
@@ -166,7 +166,7 @@ <h2>API Reference<a class="headerlink" href="#api-reference" title="Permalink to
 <section id="header-file">
 <h3>Header File<a class="headerlink" href="#header-file" title="Permalink to this headline"></a></h3>
 <ul class="simple">
-<li><p><a class="reference external" href="https://github.com/esp-cpp/espp/blob/82a5c3ce/components/base_peripheral/include/base_peripheral.hpp">components/base_peripheral/include/base_peripheral.hpp</a></p></li>
+<li><p><a class="reference external" href="https://github.com/esp-cpp/espp/blob/d5ae840d/components/base_peripheral/include/base_peripheral.hpp">components/base_peripheral/include/base_peripheral.hpp</a></p></li>
 </ul>
 </section>
 <section id="classes">

docs/battery/index.html

@@ -138,7 +138,7 @@
       <li><a href="../index.html" class="icon icon-home"></a> &raquo;</li>
       <li>Battery APIs</li>
       <li class="wy-breadcrumbs-aside">
-              <a href="https://github.com/esp-cpp/espp/blob/82a5c3ce/docs/en/battery/index.rst" class="fa fa-github"> Edit on GitHub</a>
+              <a href="https://github.com/esp-cpp/espp/blob/d5ae840d/docs/en/battery/index.rst" class="fa fa-github"> Edit on GitHub</a>
       </li>
   </ul>
   <hr/>

docs/battery/max1704x.html

@@ -146,7 +146,7 @@
           <li><a href="index.html">Battery APIs</a> &raquo;</li>
       <li>MAX1704X</li>
       <li class="wy-breadcrumbs-aside">
-              <a href="https://github.com/esp-cpp/espp/blob/82a5c3ce/docs/en/battery/max1704x.rst" class="fa fa-github"> Edit on GitHub</a>
+              <a href="https://github.com/esp-cpp/espp/blob/d5ae840d/docs/en/battery/max1704x.rst" class="fa fa-github"> Edit on GitHub</a>
       </li>
   </ul>
   <hr/>
@@ -180,7 +180,7 @@ <h2>API Reference<a class="headerlink" href="#api-reference" title="Permalink to
 <section id="header-file">
 <h3>Header File<a class="headerlink" href="#header-file" title="Permalink to this headline"></a></h3>
 <ul class="simple">
-<li><p><a class="reference external" href="https://github.com/esp-cpp/espp/blob/82a5c3ce/components/max1704x/include/max1704x.hpp">components/max1704x/include/max1704x.hpp</a></p></li>
+<li><p><a class="reference external" href="https://github.com/esp-cpp/espp/blob/d5ae840d/components/max1704x/include/max1704x.hpp">components/max1704x/include/max1704x.hpp</a></p></li>
 </ul>
 </section>
 <section id="classes">

docs/bldc/bldc_driver.html

@@ -147,7 +147,7 @@
           <li><a href="index.html">BLDC APIs</a> &raquo;</li>
       <li>BLDC Driver</li>
       <li class="wy-breadcrumbs-aside">
-              <a href="https://github.com/esp-cpp/espp/blob/82a5c3ce/docs/en/bldc/bldc_driver.rst" class="fa fa-github"> Edit on GitHub</a>
+              <a href="https://github.com/esp-cpp/espp/blob/d5ae840d/docs/en/bldc/bldc_driver.rst" class="fa fa-github"> Edit on GitHub</a>
       </li>
   </ul>
   <hr/>
@@ -164,7 +164,7 @@ <h2>API Reference<a class="headerlink" href="#api-reference" title="Permalink to
 <section id="header-file">
 <h3>Header File<a class="headerlink" href="#header-file" title="Permalink to this headline"></a></h3>
 <ul class="simple">
-<li><p><a class="reference external" href="https://github.com/esp-cpp/espp/blob/82a5c3ce/components/bldc_driver/include/bldc_driver.hpp">components/bldc_driver/include/bldc_driver.hpp</a></p></li>
+<li><p><a class="reference external" href="https://github.com/esp-cpp/espp/blob/d5ae840d/components/bldc_driver/include/bldc_driver.hpp">components/bldc_driver/include/bldc_driver.hpp</a></p></li>
 </ul>
 </section>
 <section id="classes">

docs/bldc/bldc_motor.html

@@ -149,7 +149,7 @@
           <li><a href="index.html">BLDC APIs</a> &raquo;</li>
       <li>BLDC Motor</li>
       <li class="wy-breadcrumbs-aside">
-              <a href="https://github.com/esp-cpp/espp/blob/82a5c3ce/docs/en/bldc/bldc_motor.rst" class="fa fa-github"> Edit on GitHub</a>
+              <a href="https://github.com/esp-cpp/espp/blob/d5ae840d/docs/en/bldc/bldc_motor.rst" class="fa fa-github"> Edit on GitHub</a>
       </li>
   </ul>
   <hr/>
@@ -180,7 +180,7 @@ <h2>API Reference<a class="headerlink" href="#api-reference" title="Permalink to
 <section id="header-file">
 <h3>Header File<a class="headerlink" href="#header-file" title="Permalink to this headline"></a></h3>
 <ul class="simple">
-<li><p><a class="reference external" href="https://github.com/esp-cpp/espp/blob/82a5c3ce/components/bldc_motor/include/bldc_motor.hpp">components/bldc_motor/include/bldc_motor.hpp</a></p></li>
+<li><p><a class="reference external" href="https://github.com/esp-cpp/espp/blob/d5ae840d/components/bldc_motor/include/bldc_motor.hpp">components/bldc_motor/include/bldc_motor.hpp</a></p></li>
 </ul>
 </section>
 <section id="classes">
@@ -652,13 +652,13 @@ <h4>Example Usage<a class="headerlink" href="#classespp_1_1BldcMotor_1bldc_motor
 <section id="id1">
 <h3>Header File<a class="headerlink" href="#id1" title="Permalink to this headline"></a></h3>
 <ul class="simple">
-<li><p><a class="reference external" href="https://github.com/esp-cpp/espp/blob/82a5c3ce/components/bldc_motor/include/bldc_types.hpp">components/bldc_motor/include/bldc_types.hpp</a></p></li>
+<li><p><a class="reference external" href="https://github.com/esp-cpp/espp/blob/d5ae840d/components/bldc_motor/include/bldc_types.hpp">components/bldc_motor/include/bldc_types.hpp</a></p></li>
 </ul>
 </section>
 <section id="id2">
 <h3>Header File<a class="headerlink" href="#id2" title="Permalink to this headline"></a></h3>
 <ul class="simple">
-<li><p><a class="reference external" href="https://github.com/esp-cpp/espp/blob/82a5c3ce/components/bldc_motor/include/sensor_direction.hpp">components/bldc_motor/include/sensor_direction.hpp</a></p></li>
+<li><p><a class="reference external" href="https://github.com/esp-cpp/espp/blob/d5ae840d/components/bldc_motor/include/sensor_direction.hpp">components/bldc_motor/include/sensor_direction.hpp</a></p></li>
 </ul>
 </section>
 </section>

docs/bldc/index.html

@@ -139,7 +139,7 @@
       <li><a href="../index.html" class="icon icon-home"></a> &raquo;</li>
       <li>BLDC APIs</li>
       <li class="wy-breadcrumbs-aside">
-              <a href="https://github.com/esp-cpp/espp/blob/82a5c3ce/docs/en/bldc/index.rst" class="fa fa-github"> Edit on GitHub</a>
+              <a href="https://github.com/esp-cpp/espp/blob/d5ae840d/docs/en/bldc/index.rst" class="fa fa-github"> Edit on GitHub</a>
       </li>
   </ul>
   <hr/>