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‎README.md

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# Task Scheduler
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### Cooperative multitasking for Arduino, ESPx, STM32 and other microcontrollers
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#### Version 3.1.6: 2020-05-12 [Latest updates](https://github.com/arkhipenko/TaskScheduler/wiki/Latest-Updates)
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#### Version 3.2.0: 2020-08-16 [Latest updates](https://github.com/arkhipenko/TaskScheduler/wiki/Latest-Updates)
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[![arduino-library-badge](https://www.ardu-badge.com/badge/TaskScheduler.svg?)](https://www.ardu-badge.com/TaskScheduler)
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[![arduino-library-badge](https://www.ardu-badge.com/badge/TaskScheduler.svg?)](https://www.ardu-badge.com/TaskScheduler)[![xscode](https://img.shields.io/badge/Available%20on-xs%3Acode-blue?style=?style=plastic&logo=appveyor&logo=data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAAEAAAABACAMAAACdt4HsAAAAGXRFWHRTb2Z0d2FyZQBBZG9iZSBJbWFnZVJlYWR5ccllPAAAAAZQTFRF////////VXz1bAAAAAJ0Uk5T/wDltzBKAAAAlUlEQVR42uzXSwqAMAwE0Mn9L+3Ggtgkk35QwcnSJo9S+yGwM9DCooCbgn4YrJ4CIPUcQF7/XSBbx2TEz4sAZ2q1RAECBAiYBlCtvwN+KiYAlG7UDGj59MViT9hOwEqAhYCtAsUZvL6I6W8c2wcbd+LIWSCHSTeSAAECngN4xxIDSK9f4B9t377Wd7H5Nt7/Xz8eAgwAvesLRjYYPuUAAAAASUVORK5CYII=)](https://xscode.com/arkhipenko/TaskScheduler)
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### OVERVIEW:
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A lightweight implementation of cooperative multitasking (task scheduling) supporting:
@@ -19,6 +19,7 @@ A lightweight implementation of cooperative multitasking (task scheduling) suppo
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11. Overall task timeout
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12. Static and dynamic callback method binding
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13. CPU load / idle statistics for time critical applications
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14. Scheduling options with priotity for original schedule (with and without catchup) and interval
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Scheduling overhead: between `15` and `18` microseconds per scheduling pass (Arduino UNO rev 3 @ `16MHz` clock, single scheduler w/o prioritization)
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‎examples/Scheduler_example26_SCHEDULING_OPTIONS/Scheduler_example26_SCHEDULING_OPTIONS.ino

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/*
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Example of scheduling options:
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t1 - is a default option with priority given to schedule, i.e., scheduler tries
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maintain original schedule and performs task "catch up" to ensure the number
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of iterations that were supposed to happen do happen.
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t2 - is an option with priority given to schedule, but without "catch up"
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the scheduler will try to maintain original schedule, but next task invocation
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is always scheduled to happen in the future
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t3 - is a option with priority given to interval. Task are scheduled always in the
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future from the point of their current invocation start using task's interval.
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*/
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// ==== DEFINES ===================================================================================
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// ==== Debug and Test options ==================
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#define _DEBUG_
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//#define _TEST_
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//===== Debugging macros ========================
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#ifdef _DEBUG_
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#define SerialD Serial
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#define _PM(a) SerialD.print(millis()); SerialD.print(": "); SerialD.println(a)
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#define _PP(a) SerialD.print(a)
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#define _PL(a) SerialD.println(a)
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#define _PX(a) SerialD.println(a, HEX)
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#else
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#define _PM(a)
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#define _PP(a)
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#define _PL(a)
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#define _PX(a)
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#endif
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// ==== INCLUDES ==================================================================================
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// ==== Uncomment desired compile options =================================
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// #define _TASK_TIMECRITICAL // Enable monitoring scheduling overruns
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// #define _TASK_SLEEP_ON_IDLE_RUN // Enable 1 ms SLEEP_IDLE powerdowns between tasks if no callback methods were invoked during the pass
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// #define _TASK_STATUS_REQUEST // Compile with support for StatusRequest functionality - triggering tasks on status change events in addition to time only
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// #define _TASK_WDT_IDS // Compile with support for wdt control points and task ids
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// #define _TASK_LTS_POINTER // Compile with support for local task storage pointer
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// #define _TASK_PRIORITY // Support for layered scheduling priority
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// #define _TASK_MICRO_RES // Support for microsecond resolution
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// #define _TASK_STD_FUNCTION // Support for std::function (ESP8266 and ESP32 ONLY)
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// #define _TASK_DEBUG // Make all methods and variables public for debug purposes
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// #define _TASK_INLINE // Make all methods "inline" - needed to support some multi-tab, multi-file implementations
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// #define _TASK_TIMEOUT // Support for overall task timeout
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// #define _TASK_OO_CALLBACKS // Support for dynamic callback method binding
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// #define _TASK_DEFINE_MILLIS // Force forward declaration of millis() and micros() "C" style
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// #define _TASK_EXPOSE_CHAIN // Methods to access tasks in the task chain
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#define _TASK_SCHEDULING_OPTIONS // Support for multiple scheduling options
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#include <TaskScheduler.h>
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// ==== GLOBALS ===================================================================================
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// ==== Scheduler ==============================
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Scheduler ts;
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void t1CB();
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void t2CB();
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void t3CB();
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// ==== Scheduling defines (cheat sheet) =====================
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/*
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TASK_MILLISECOND
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TASK_SECOND
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TASK_MINUTE
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TASK_HOUR
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TASK_IMMEDIATE
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TASK_FOREVER
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TASK_ONCE
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TASK_NOTIMEOUT
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TASK_SCHEDULE - schedule is a priority, with "catch up" (default)
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TASK_SCHEDULE_NC - schedule is a priority, without "catch up"
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TASK_INTERVAL - interval is a priority, without "catch up"
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*/
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// ==== Task definitions ========================
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Task t1_schedule (100 * TASK_MILLISECOND, 10, &t1CB, &ts);
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Task t2_schedule_nc (100 * TASK_MILLISECOND, 10, &t2CB, &ts);
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Task t3_interval (100 * TASK_MILLISECOND, 10, &t3CB, &ts);
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// ==== CODE ======================================================================================
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/**************************************************************************/
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/*!
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@brief Standard Arduino SETUP method - initialize sketch
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@param none
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@returns none
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*/
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/**************************************************************************/
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void setup() {
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// put your setup code here, to run once:
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#if defined(_DEBUG_) || defined(_TEST_)
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Serial.begin(115200);
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delay(1000);
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_PL("Scheduling Options: setup()");
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#endif
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t2_schedule_nc.setSchedulingOption(TASK_SCHEDULE_NC);
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t3_interval.setSchedulingOption(TASK_INTERVAL);
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_PM("t1 start time");
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t1_schedule.enable();
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delay(10);
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_PM("t2 start time");
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t2_schedule_nc.enable();
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delay(10);
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_PM("t3 start time");
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t3_interval.enable();
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delay(333);
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_PM("333 ms delay ended");
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}
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/**************************************************************************/
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/*!
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@brief Standard Arduino LOOP method - using with TaskScheduler there
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should be nothing here but ts.execute()
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@param none
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@returns none
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*/
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/**************************************************************************/
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void loop() {
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ts.execute();
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}
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/**************************************************************************/
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/*!
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@brief Callback method of task1 - explain
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@param none
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@returns none
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*/
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/**************************************************************************/
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void t1CB() {
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_PM("t1CB()");
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// task code
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delay(10);
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}
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/**************************************************************************/
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/*!
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@brief Callback method of task2 - explain
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@param none
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@returns none
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*/
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/**************************************************************************/
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void t2CB() {
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_PM("t2CB()");
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// task code
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delay(10);
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}
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/**************************************************************************/
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/*!
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@brief Callback method of task3 - explain
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@param none
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@returns none
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*/
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/**************************************************************************/
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void t3CB() {
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_PM("t3CB()");
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// task code
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delay(10);
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}

‎examples/Scheduler_template/Scheduler_template.ino

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// #define _TASK_TIMECRITICAL // Enable monitoring scheduling overruns
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// #define _TASK_SLEEP_ON_IDLE_RUN // Enable 1 ms SLEEP_IDLE powerdowns between tasks if no callback methods were invoked during the pass
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// #define _TASK_STATUS_REQUEST // Compile with support for StatusRequest functionality - triggering tasks on status change events in addition to time only
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// #define _TASK_WDT_IDS // Compile with support for wdt control points and task ids
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// #define _TASK_LTS_POINTER // Compile with support for local task storage pointer
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// #define _TASK_PRIORITY // Support for layered scheduling priority
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// #define _TASK_MICRO_RES // Support for microsecond resolution
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// #define _TASK_STD_FUNCTION // Support for std::function (ESP8266 and ESP32 ONLY)
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// #define _TASK_DEBUG // Make all methods and variables public for debug purposes
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// #define _TASK_INLINE // Make all methods "inline" - needed to support some multi-tab, multi-file implementations
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// #define _TASK_TIMEOUT // Support for overall task timeout
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// #define _TASK_OO_CALLBACKS // Support for dynamic callback method binding
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// #define _TASK_DEFINE_MILLIS // Force forward declaration of millis() and micros() "C" style
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// #define _TASK_EXPOSE_CHAIN // Methods to access tasks in the task chain
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#include <TaskScheduler.h>
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/*
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Your code description here
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(c) you, 20XX
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All rights reserved.
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Functionality:
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Version log:
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20XX-MM-DD:
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v1.0.0 - Initial release
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*/
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// ==== DEFINES ===================================================================================
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// Debug and Test options
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// ==== Debug and Test options ==================
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#define _DEBUG_
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//#define _TEST_
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//===== Debugging macros ========================
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#ifdef _DEBUG_
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#define _PP(a) Serial.print(a);
24-
#define _PL(a) Serial.println(a);
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#define SerialD Serial
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#define _PM(a) SerialD.print(millis()); SerialD.print(": "); SerialD.println(a)
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#define _PP(a) SerialD.print(a)
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#define _PL(a) SerialD.println(a)
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#define _PX(a) SerialD.println(a, HEX)
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#else
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#define _PM(a)
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#define _PP(a)
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#define _PL(a)
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#define _PX(a)
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#endif
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// Scheduler
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// ==== INCLUDES ==================================================================================
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39+
// ==== Uncomment desired compile options =================================
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// #define _TASK_SLEEP_ON_IDLE_RUN // Enable 1 ms SLEEP_IDLE powerdowns between tasks if no callback methods were invoked during the pass
41+
// #define _TASK_TIMECRITICAL // Enable monitoring scheduling overruns
42+
// #define _TASK_STATUS_REQUEST // Compile with support for StatusRequest functionality - triggering tasks on status change events in addition to time only
43+
// #define _TASK_WDT_IDS // Compile with support for wdt control points and task ids
44+
// #define _TASK_LTS_POINTER // Compile with support for local task storage pointer
45+
// #define _TASK_PRIORITY // Support for layered scheduling priority
46+
// #define _TASK_MICRO_RES // Support for microsecond resolution
47+
// #define _TASK_STD_FUNCTION // Support for std::function (ESP8266 and ESP32 ONLY)
48+
// #define _TASK_DEBUG // Make all methods and variables public for debug purposes
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// #define _TASK_INLINE // Make all methods "inline" - needed to support some multi-tab, multi-file implementations
50+
// #define _TASK_TIMEOUT // Support for overall task timeout
51+
// #define _TASK_OO_CALLBACKS // Support for dynamic callback method binding
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// #define _TASK_DEFINE_MILLIS // Force forward declaration of millis() and micros() "C" style
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// #define _TASK_EXPOSE_CHAIN // Methods to access tasks in the task chain
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// #define _TASK_SCHEDULING_OPTIONS // Support for multiple scheduling options
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#include <TaskScheduler.h>
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// ==== GLOBALS ===================================================================================
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// ==== Scheduler ==============================
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Scheduler ts;
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void task1Callback();
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void task2Callback();
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// ==== Scheduling defines (cheat sheet) =====================
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/*
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Scheduling defines:
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TASK_MILLISECOND
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TASK_SECOND
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TASK_MINUTE
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TASK_FOREVER
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TASK_ONCE
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TASK_NOTIMEOUT
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TASK_SCHEDULE - schedule is a priority, with "catch up" (default)
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TASK_SCHEDULE_NC - schedule is a priority, without "catch up"
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TASK_INTERVAL - interval is a priority, without "catch up"
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*/
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// ==== Task definitions ========================
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Task t1 (100 * TASK_MILLISECOND, TASK_FOREVER, &task1Callback, &ts, true);
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Task t2 (TASK_IMMEDIATE, 100, &task2Callback, &ts, true);
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// ==== CODE ======================================================================================
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/**************************************************************************/
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/*!
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@brief Standard Arduino SETUP method - initialize sketch
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@param none
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@returns none
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*/
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/**************************************************************************/
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void setup() {
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// put your setup code here, to run once:
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#if defined(_DEBUG_) || defined(_TEST_)
@@ -59,21 +104,43 @@ void setup() {
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#endif
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}
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/**************************************************************************/
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/*!
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@brief Standard Arduino LOOP method - using with TaskScheduler there
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should be nothing here but ts.execute()
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@param none
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@returns none
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*/
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/**************************************************************************/
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void loop() {
63117
ts.execute();
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}
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/**************************************************************************/
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/*!
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@brief Callback method of task1 - explain
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@param none
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@returns none
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*/
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/**************************************************************************/
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void task1Callback() {
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_PP(millis());
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_PL(": task1Callback()");
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_PM("task1Callback()");
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// task code
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}
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void task2Callback() {
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_PP(millis());
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_PL(": task2Callb()");
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/**************************************************************************/
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/*!
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@brief Callback method of task2 - explain
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@param none
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@returns none
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*/
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/**************************************************************************/
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void task2Callback() {
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_PM("task2Callback()");
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// task code
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}
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