feat(task): [BREAKING] Simplify task configuration (#342)

* feat(task): [BREAKING] Simplify task configuration * Rename `Task::AdvancedConfig` to `Task::Config` * Remove `Task::SimpleConfig` * update bindings, rtsp, timer, and ftp components * fix examples * fix remaining examples
esp-cpp · Nov 20, 2024 · bb71669 · bb71669
1 parent d5d2dae
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diff --git a/components/adc/example/main/adc_example.cpp b/components/adc/example/main/adc_example.cpp
@@ -51,8 +51,9 @@ extern "C" void app_main(void) {
       // don't want to stop the task
       return false;
     };
-    auto task = espp::Task(
-        {.name = "Oneshot ADC", .callback = task_fn, .log_level = espp::Logger::Verbosity::INFO});
+    auto task = espp::Task({.callback = task_fn,
+                            .task_config = {.name = "Oneshot ADC"},
+                            .log_level = espp::Logger::Verbosity::INFO});
     task.start();
     //! [oneshot adc example]
     std::this_thread::sleep_for(num_seconds_to_run * 1s);
@@ -97,8 +98,9 @@ extern "C" void app_main(void) {
       // don't want to stop the task
       return false;
     };
-    auto task = espp::Task(
-        {.name = "Read ADC", .callback = task_fn, .log_level = espp::Logger::Verbosity::INFO});
+    auto task = espp::Task({.callback = task_fn,
+                            .task_config = {.name = "Read ADC"},
+                            .log_level = espp::Logger::Verbosity::INFO});
     task.start();
 
     // test stopping and starting the adc

diff --git a/components/adc/include/continuous_adc.hpp b/components/adc/include/continuous_adc.hpp
@@ -63,9 +63,12 @@ class ContinuousAdc : public espp::BaseComponent {
     // and start the task
     using namespace std::placeholders;
     task_ = espp::Task::make_unique(
-        {.name = "ContinuousAdc Task",
-         .callback = std::bind(&ContinuousAdc::update_task, this, _1, _2, _3),
-         .priority = config.task_priority,
+        {.callback = std::bind(&ContinuousAdc::update_task, this, _1, _2, _3),
+         .task_config =
+             {
+                 .name = "ContinuousAdc Task",
+                 .priority = config.task_priority,
+             },
          .log_level = espp::Logger::Verbosity::WARN});
     task_->start();
   }

diff --git a/components/ads1x15/example/main/ads1x15_example.cpp b/components/ads1x15/example/main/ads1x15_example.cpp
@@ -56,9 +56,12 @@ extern "C" void app_main(void) {
       // we don't want to stop, so return false
       return false;
     };
-    auto ads_task = espp::Task::make_unique({.name = "ADS",
-                                             .callback = ads_read_task_fn,
-                                             .stack_size_bytes{4 * 1024},
+    auto ads_task = espp::Task::make_unique({.callback = ads_read_task_fn,
+                                             .task_config =
+                                                 {
+                                                     .name = "ADS",
+                                                     .stack_size_bytes{4 * 1024},
+                                                 },
                                              .log_level = espp::Logger::Verbosity::INFO});
     ads_task->start();
     //! [ads1x15 example]

diff --git a/components/ads7138/example/main/ads7138_example.cpp b/components/ads7138/example/main/ads7138_example.cpp
@@ -124,8 +124,7 @@ extern "C" void app_main(void) {
     gpio_isr_handler_add(ALERT_PIN, gpio_isr_handler, (void *)ALERT_PIN);
 
     // start the gpio task
-    auto alert_task = espp::Task::make_unique(espp::Task::Config{
-        .name = "alert",
+    auto alert_task = espp::Task::make_unique({
         .callback = [&ads](auto &m, auto &cv) -> bool {
           static uint32_t io_num;
           // block until we get a message from the interrupt handler
@@ -156,7 +155,11 @@ extern "C" void app_main(void) {
           // don't want to stop the task
           return false;
         },
-        .stack_size_bytes = 4 * 1024,
+        .task_config =
+            {
+                .name = "alert",
+                .stack_size_bytes = 4 * 1024,
+            },
     });
     alert_task->start();
 
@@ -241,9 +244,12 @@ extern "C" void app_main(void) {
       return false;
     };
 
-    auto ads_task = espp::Task::make_unique({.name = "ADS",
-                                             .callback = ads_read_task_fn,
-                                             .stack_size_bytes{8 * 1024},
+    auto ads_task = espp::Task::make_unique({.callback = ads_read_task_fn,
+                                             .task_config =
+                                                 {
+                                                     .name = "ADS",
+                                                     .stack_size_bytes{8 * 1024},
+                                                 },
                                              .log_level = espp::Logger::Verbosity::INFO});
     ads_task->start();
     //! [ads7138 example]

diff --git a/components/as5600/example/main/as5600_example.cpp b/components/as5600/example/main/as5600_example.cpp
@@ -61,9 +61,12 @@ extern "C" void app_main(void) {
       // don't want to stop the task
       return false;
     };
-    auto task = espp::Task({.name = "As5600 Task",
-                            .callback = task_fn,
-                            .stack_size_bytes = 5 * 1024,
+    auto task = espp::Task({.callback = task_fn,
+                            .task_config =
+                                {
+                                    .name = "As5600 Task",
+                                    .stack_size_bytes = 5 * 1024,
+                                },
                             .log_level = espp::Logger::Verbosity::WARN});
     fmt::print("%time(s), count, radians, degrees, rpm\n");
     task.start();

diff --git a/components/as5600/include/as5600.hpp b/components/as5600/include/as5600.hpp
@@ -238,8 +238,10 @@ class As5600 : public BasePeripheral<> {
     accumulator_ = count;
     // start the task
     using namespace std::placeholders;
-    task_ = Task::make_unique(
-        {.name = "As5600", .callback = std::bind(&As5600::update_task, this, _1, _2, _3)});
+    task_ = Task::make_unique({
+        .callback = std::bind(&As5600::update_task, this, _1, _2, _3),
+        .task_config = {.name = "As5600"},
+    });
     task_->start();
   }
 

diff --git a/components/aw9523/example/main/aw9523_example.cpp b/components/aw9523/example/main/aw9523_example.cpp
@@ -118,9 +118,12 @@ extern "C" void app_main(void) {
     // don't want to stop the task
     return false;
   };
-  auto task = espp::Task({.name = "Aw9523 Task",
-                          .callback = task_fn,
-                          .stack_size_bytes = 5 * 1024,
+  auto task = espp::Task({.callback = task_fn,
+                          .task_config =
+                              {
+                                  .name = "Aw9523 Task",
+                                  .stack_size_bytes = 5 * 1024,
+                              },
                           .log_level = espp::Logger::Verbosity::WARN});
   fmt::print("%time(s), pin values, r, g, b\n");
   task.start();

diff --git a/components/bldc_haptics/include/bldc_haptics.hpp b/components/bldc_haptics/include/bldc_haptics.hpp
@@ -135,10 +135,13 @@ template <MotorConcept M> class BldcHaptics : public BaseComponent {
     motor_.get().set_motion_control_type(detail::MotionControlType::TORQUE);
     // create the motor task
     motor_task_ = Task::make_unique(
-        {.name = "haptic_motor",
-         .callback = std::bind(&BldcHaptics::motor_task, this, std::placeholders::_1,
+        {.callback = std::bind(&BldcHaptics::motor_task, this, std::placeholders::_1,
                                std::placeholders::_2, std::placeholders::_3),
-         .stack_size_bytes = 1024 * 6,
+         .task_config =
+             {
+                 .name = "haptic_motor",
+                 .stack_size_bytes = 1024 * 6,
+             },
          .log_level = Logger::Verbosity::WARN});
   }
 

diff --git a/components/bldc_motor/example/main/bldc_motor_example.cpp b/components/bldc_motor/example/main/bldc_motor_example.cpp
@@ -182,8 +182,8 @@ extern "C" void app_main(void) {
       return false;
     };
     auto target_task = espp::Task({
-        .name = "Target Task",
         .callback = target_task_fn,
+        .task_config = {.name = "Target Task"},
     });
     target_task.start();
 
@@ -218,9 +218,12 @@ extern "C" void app_main(void) {
       // don't want to stop the task
       return false;
     };
-    auto task = espp::Task({.name = "Logging Task",
-                            .callback = task_fn,
-                            .stack_size_bytes = 5 * 1024,
+    auto task = espp::Task({.callback = task_fn,
+                            .task_config =
+                                {
+                                    .name = "Logging Task",
+                                    .stack_size_bytes = 5 * 1024,
+                                },
                             .log_level = espp::Logger::Verbosity::WARN});
     if (motion_control_type == espp::detail::MotionControlType::VELOCITY ||
         motion_control_type == espp::detail::MotionControlType::VELOCITY_OPENLOOP) {

diff --git a/components/bm8563/example/main/bm8563_example.cpp b/components/bm8563/example/main/bm8563_example.cpp
@@ -67,8 +67,9 @@ extern "C" void app_main(void) {
       }
       return false; // don't stop the task
     };
-    auto task = espp::Task(
-        {.name = "BM8563 Task", .callback = task_fn, .log_level = espp::Logger::Verbosity::WARN});
+    auto task = espp::Task({.callback = task_fn,
+                            .task_config = {.name = "BM8563 Task"},
+                            .log_level = espp::Logger::Verbosity::WARN});
     task.start();
     //! [bm8563 example]
     while (true) {

diff --git a/components/chsc6x/example/main/chsc6x_example.cpp b/components/chsc6x/example/main/chsc6x_example.cpp
@@ -64,8 +64,9 @@ extern "C" void app_main(void) {
       }
       return false; // don't stop the task
     };
-    auto task = espp::Task(
-        {.name = "Chsc6x Task", .callback = task_fn, .log_level = espp::Logger::Verbosity::WARN});
+    auto task = espp::Task({.callback = task_fn,
+                            .task_config = {.name = "Chsc6x Task"},
+                            .log_level = espp::Logger::Verbosity::WARN});
     task.start();
     //! [chsc6x example]
     while (true) {

diff --git a/components/controller/example/main/controller_example.cpp b/components/controller/example/main/controller_example.cpp
@@ -52,9 +52,12 @@ extern "C" void app_main(void) {
       // we don't want to stop, so return false
       return false;
     };
-    auto task = espp::Task({.name = "Controller Task",
-                            .callback = task_fn,
-                            .stack_size_bytes = 6 * 1024,
+    auto task = espp::Task({.callback = task_fn,
+                            .task_config =
+                                {
+                                    .name = "Controller Task",
+                                    .stack_size_bytes = 6 * 1024,
+                                },
                             .log_level = espp::Logger::Verbosity::WARN});
     task.start();
     //! [digital controller example]
@@ -155,9 +158,12 @@ extern "C" void app_main(void) {
       // we don't want to stop, so return false
       return false;
     };
-    auto task = espp::Task({.name = "Controller Task",
-                            .callback = task_fn,
-                            .stack_size_bytes = 6 * 1024,
+    auto task = espp::Task({.callback = task_fn,
+                            .task_config =
+                                {
+                                    .name = "Controller Task",
+                                    .stack_size_bytes = 6 * 1024,
+                                },
                             .log_level = espp::Logger::Verbosity::WARN});
     task.start();
     //! [analog controller example]
@@ -217,9 +223,12 @@ extern "C" void app_main(void) {
       // we don't want to stop, so return false
       return false;
     };
-    auto ads_task = espp::Task::make_unique({.name = "ADS",
-                                             .callback = ads_read_task_fn,
-                                             .stack_size_bytes{4 * 1024},
+    auto ads_task = espp::Task::make_unique({.callback = ads_read_task_fn,
+                                             .task_config =
+                                                 {
+                                                     .name = "ADS Task",
+                                                     .stack_size_bytes{4 * 1024},
+                                                 },
                                              .log_level = espp::Logger::Verbosity::INFO});
     ads_task->start();
     // make the read joystick function used by the controller
@@ -285,9 +294,12 @@ extern "C" void app_main(void) {
       // we don't want to stop, return false
       return false;
     };
-    auto task = espp::Task({.name = "Controller Task",
-                            .callback = task_fn,
-                            .stack_size_bytes = 6 * 1024,
+    auto task = espp::Task({.callback = task_fn,
+                            .task_config =
+                                {
+                                    .name = "Controller Task",
+                                    .stack_size_bytes = 6 * 1024,
+                                },
                             .log_level = espp::Logger::Verbosity::WARN});
     task.start();
     //! [i2c analog controller example]

diff --git a/components/cst816/example/main/cst816_example.cpp b/components/cst816/example/main/cst816_example.cpp
@@ -67,8 +67,9 @@ extern "C" void app_main(void) {
       }
       return false; // don't stop the task
     };
-    auto task = espp::Task(
-        {.name = "Cst816 Task", .callback = task_fn, .log_level = espp::Logger::Verbosity::WARN});
+    auto task = espp::Task({.callback = task_fn,
+                            .task_config = {.name = "Cst816 Task"},
+                            .log_level = espp::Logger::Verbosity::WARN});
     task.start();
     //! [cst816 example]
     while (true) {

diff --git a/components/display_drivers/example/main/gui.hpp b/components/display_drivers/example/main/gui.hpp
@@ -18,9 +18,9 @@ class Gui {
     init_ui();
     // now start the gui updater task
     using namespace std::placeholders;
-    task_ = espp::Task::make_unique({.name = "Gui Task",
-                                     .callback = std::bind(&Gui::update, this, _1, _2, _3),
-                                     .stack_size_bytes = 6 * 1024});
+    task_ = espp::Task::make_unique(
+        {.callback = std::bind(&Gui::update, this, _1, _2, _3),
+         .task_config = {.name = "Gui Task", .stack_size_bytes = 6 * 1024}});
     task_->start();
   }
 

diff --git a/components/drv2605/example/main/drv2605_example.cpp b/components/drv2605/example/main/drv2605_example.cpp
@@ -80,9 +80,12 @@ extern "C" void app_main(void) {
       // we don't want to stop, so return false
       return false;
     };
-    auto task = espp::Task::make_unique({.name = "example",
-                                         .callback = task_fn,
-                                         .stack_size_bytes{4 * 1024},
+    auto task = espp::Task::make_unique({.callback = task_fn,
+                                         .task_config =
+                                             {
+                                                 .name = "example",
+                                                 .stack_size_bytes{4 * 1024},
+                                             },
                                          .log_level = espp::Logger::Verbosity::INFO});
     task->start();
     //! [drv2605 example]

diff --git a/components/encoder/example/main/encoder_example.cpp b/components/encoder/example/main/encoder_example.cpp
@@ -34,8 +34,9 @@ extern "C" void app_main(void) {
       // don't want to stop the task
       return false;
     };
-    auto task = espp::Task(
-        {.name = "Abi Encoder", .callback = task_fn, .log_level = espp::Logger::Verbosity::INFO});
+    auto task = espp::Task({.callback = task_fn,
+                            .task_config = {.name = "Abi Encoder"},
+                            .log_level = espp::Logger::Verbosity::INFO});
     task.start();
     //! [abi encoder rotational example]
     std::this_thread::sleep_for(num_seconds_to_run * 1s);
@@ -64,8 +65,9 @@ extern "C" void app_main(void) {
       // don't want to stop the task
       return false;
     };
-    auto task = espp::Task(
-        {.name = "Abi Encoder", .callback = task_fn, .log_level = espp::Logger::Verbosity::INFO});
+    auto task = espp::Task({.callback = task_fn,
+                            .task_config = {.name = "Abi Encoder"},
+                            .log_level = espp::Logger::Verbosity::INFO});
     task.start();
     //! [abi encoder linear example]
     std::this_thread::sleep_for(num_seconds_to_run * 1s);

diff --git a/components/esp-box/src/esp-box.cpp b/components/esp-box/src/esp-box.cpp
@@ -620,11 +620,14 @@ bool EspBox::initialize_sound(uint32_t default_audio_rate) {
 
   using namespace std::placeholders;
   audio_task_ = std::make_unique<espp::Task>(espp::Task::Config{
-      .name = "audio task",
       .callback = std::bind(&EspBox::audio_task_callback, this, _1, _2, _3),
-      .stack_size_bytes = 1024 * 4,
-      .priority = 19,
-      .core_id = 1,
+      .task_config =
+          {
+              .name = "audio task",
+              .stack_size_bytes = 1024 * 4,
+              .priority = 19,
+              .core_id = 1,
+          },
   });
 
   audio_task_->start();

diff --git a/components/esp32-timer-cam/src/esp32-timer-cam.cpp b/components/esp32-timer-cam/src/esp32-timer-cam.cpp
@@ -22,8 +22,8 @@ bool EspTimerCam::initialize_led(float breathing_period) {
   });
   using namespace std::placeholders;
   led_task_ = espp::Task::make_unique(
-      {.name = "breathe",
-       .callback = std::bind(&EspTimerCam::led_task_callback, this, _1, _2, _3)});
+      {.callback = std::bind(&EspTimerCam::led_task_callback, this, _1, _2, _3),
+       .task_config = {.name = "breathe"}});
   set_led_breathing_period(breathing_period);
   return true;
 }

diff --git a/components/event_manager/example/main/event_manager_example.cpp b/components/event_manager/example/main/event_manager_example.cpp
@@ -91,7 +91,7 @@ extern "C" void app_main(void) {
     // we don't want to stop, so return false
     return false;
   };
-  auto task1 = espp::Task({.name = "Task 1", .callback = task_1_fn});
+  auto task1 = espp::Task({.callback = task_1_fn, .task_config = {.name = "Task 1"}});
 
   // Now let's make another task which will have pub/sub as well
   auto task_2_fn = [&](auto &m, auto &cv) {
@@ -160,7 +160,7 @@ extern "C" void app_main(void) {
     // we don't want to stop, so return false
     return false;
   };
-  auto task2 = espp::Task({.name = "Task 2", .callback = task_2_fn});
+  auto task2 = espp::Task({.callback = task_2_fn, .task_config = {.name = "Task 2"}});
 
   // now start the tasks
   task1.start();

diff --git a/components/filters/example/main/filters_example.cpp b/components/filters/example/main/filters_example.cpp
@@ -62,8 +62,8 @@ extern "C" void app_main(void) {
       // don't want to stop the task
       return false;
     };
-    auto task = espp::Task({.name = "Lowpass Filter",
-                            .callback = task_fn,
+    auto task = espp::Task({.callback = task_fn,
+                            .task_config = {.name = "Lowpass Filter"},
                             .log_level = espp::Logger::Verbosity::INFO});
     fmt::print("% time (s), input, simple_lpf_output, lpf_output, "
                "bwf_df1_o1_output, bwf_df1_o2_output, bwf_df2_o2_output, "