Adding functional task wrapper

CLC-qthing/SiliconTorch/LambdaTask.cpp

+#include "LambdaTask.hpp"
+
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
+
+
+
+static void taskWrapper(void* body) {
+  std::function<void()>* f = (std::function<void()> *)body;
+  (*f)();
+}
+
+static uint16_t taskID = 0;
+static uint16_t nextID() {
+  return taskID++;  // TODO: increment thread-safe!
+}
+
+SiliconTorch::Util::LambdaTask::LambdaTask(SiliconTorch::Util::Function0 body) : body(body) {
+
+  char taskName[32];
+  sprintf(taskName, "LambdaTask[%d]", nextID());
+
+  // TODO: allow other niceness than one
+  // TODO: allow pinning to other cores than app CPU
+
+  uint8_t priority = 1;
+
+  std::function<void()> _body = [&]() {
+    this->body();
+    this->_running = false;  // TODO: thread safe??? needed?
+    vTaskDelete(NULL);
+  };
+
+  std::function<void()>* __body = new std::function<void()>(_body);
+
+  xTaskCreatePinnedToCore(taskWrapper, taskName, 8192, (void*)__body, priority, &taskHandle, 1);
+
+}
+
+TaskHandle_t SiliconTorch::Util::LambdaTask::getHandle() {
+  return taskHandle;
+}
+
+bool SiliconTorch::Util::LambdaTask::running() {
+  return _running;
+}
+
+// TODO: thread safe??? needed?
+void SiliconTorch::Util::LambdaTask::kill() {
+  if (_running) vTaskDelete(getHandle());
+  _running = false;
+}

CLC-qthing/SiliconTorch/LambdaTask.hpp

+#pragma once
+
+// C++ system level
+#include <functional>
+
+// ESP32 specific
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
+
+
+namespace SiliconTorch {
+  namespace Util {
+
+    typedef std::function<void()> Function0;
+
+
+    // TODO: add destructor which deletes the task!
+
+    class LambdaTask {
+      public:
+        LambdaTask(Function0 body);
+
+        void kill();
+        bool running();
+
+        TaskHandle_t getHandle();
+
+      private:
+
+        bool _running = true;
+
+        Function0 body;
+        TaskHandle_t taskHandle;
+    };
+
+  }
+}