task.hpp File Reference

Task macros. More...

#include <esp_task.h>
#include <array>

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Macros
#define	CONCAT_DETAIL(A, B)
#define	CONCAT(A, B)
#define	COMMON_TASK_MEMBERS(NAME, PRIORITY, CORE_ID, TIMEOUT)
	Members common for TASK and SHARED_TASK.
#define	TASK(OBJECT, NAME, STACK_SIZE, PRIORITY, CORE_ID, TIMEOUT)
	Create task.
#define	SHARED_TASK(OBJECT, NAME, PRIORITY, CORE_ID, TIMEOUT)
	Create shared task.

Detailed Description

Author

Vincent Hamp

Date

06/06/2025

Macro Definition Documentation

COMMON_TASK_MEMBERS

#define COMMON_TASK_MEMBERS	(		NAME,
			PRIORITY,
			CORE_ID,
			TIMEOUT )

Value:

static constexpr char const* name{NAME};                                     \
static constexpr UBaseType_t priority{PRIORITY};                             \
static constexpr BaseType_t core_id{CORE_ID};                                \
static constexpr TickType_t timeout{TIMEOUT};                                \
static inline StaticTask_t tcb{};                                            \
static inline TaskFunction_t function{NULL};                                 \
static inline TaskHandle_t handle{NULL};                                     \
static void create(TaskFunction_t f = function) {                            \
  handle = xTaskCreateStaticPinnedToCore(function = f,                       \
                                         name,                               \
                                         size(stack),                        \
                                         NULL,                               \
                                         priority,                           \
                                         data(stack),                        \
                                         &tcb,                               \
                                         core_id);                           \
}                                                                            \
static void destroy() {                                                      \
  vTaskDelete(handle);                                                       \
  handle = NULL;                                                             \
}                                                                            \
static void resume() { vTaskResume(handle); }                                \
static void suspend() { vTaskSuspend(handle); }

Parameters

NAME	Descriptive name
PRIORITY	Priority
CORE_ID	Core the task is pinned to
TIMEOUT	Timeout in ms

CONCAT

#define CONCAT	(		A,
			B )

Value:

CONCAT_DETAIL(A, B)

CONCAT_DETAIL

#define CONCAT_DETAIL	(		A,
			B )

Value:

A##B

SHARED_TASK

#define SHARED_TASK	(		OBJECT,
			NAME,
			PRIORITY,
			CORE_ID,
			TIMEOUT )

Value:

struct CONCAT(SharedTask, __LINE__) {                                        \
  COMMON_TASK_MEMBERS(NAME, PRIORITY, CORE_ID, TIMEOUT)                      \
} OBJECT

Parameters

OBJECT	Instance name
NAME	Descriptive name
PRIORITY	Priority
CORE_ID	Core the task is pinned to
TIMEOUT	Timeout in ms

TASK

#define TASK	(		OBJECT,
			NAME,
			STACK_SIZE,
			PRIORITY,
			CORE_ID,
			TIMEOUT )

Value:

struct CONCAT(Task, __LINE__) {                                              \
  static inline std::array<StackType_t, STACK_SIZE> stack{};                 \
  COMMON_TASK_MEMBERS(NAME, PRIORITY, CORE_ID, TIMEOUT)                      \
} OBJECT

Parameters

OBJECT	Instance name
NAME	Descriptive name
STACK_SIZE	Stack size in bytes
PRIORITY	Priority
CORE_ID	Core the task is pinned to
TIMEOUT	Timeout in ms