Taskscheduler Ignores timing when enabled via functions, possible bug.

[dr-mrsthemonarch]

With a minimal example code:

#include <array>
#include <Arduino.h>
#include <TaskScheduler.h>
std::array<std::array<float, 3> , 2> vals = {0}; //imagine this is full of sensor data
String stringRead;
int cs32 = 0;
int cs14 = 1;

void cs14Print();
void cs32Print();
void thingOff();


//Tasks
Task sensor14(500, TASK_FOREVER, &cs14Print); // print every 5ms, gives the most stable print from realtimeserial
Task sensor32(300, TASK_FOREVER, &cs32Print);
Task example(2000, 5, &thingOff); // example so i don't forget method

Scheduler runner;


void cs14Print() {
  taskPrint(cs14);
};

void cs32Print() {
  taskPrint(cs32);
};


void thingOff() {
  if (example.isLastIteration()) {
    sensor14.disable();
    runner.deleteTask(sensor14);
    Serial.println("System removed");
  }
};


void schedularOnOff(int sensorSelect) {
  if (sensorSelect < 5) {
    switch (sensorSelect) {
      case 1:
        sensor14.enable();
        break;
      case 2:
        sensor14.disable();
        //runner.deleteTask(sensor14);
        break;
      case 3:
        sensor32.enable();
        break;
      case 4:
        sensor32.disable();
        //runner.deleteTask(sensor32);
        break;
    }
  }
};
void taskPrint(int pin) {
  Serial.print(vals[pin][0]);
  Serial.print(',');
  Serial.print(vals[pin][1]);
  Serial.print(',');
  Serial.println(vals[pin][2]);
};

void setup() {
  // serial to display data
  Serial.begin(115200);
  delay(100);
  runner.init();
  runner.addTask(sensor14);
  runner.addTask(sensor32);
  delay(1000);
}

void loop() {
  runner.execute();

  if (Serial.available() > 0) {
    stringRead = Serial.readStringUntil('\n');
  }
  schedularOnOff(stringRead.toInt());
}

Within serial, using four inputs, 1, 2, 3, 4 each of the two tasks will be activated, or disabled respectively. I have not used .deleteTask() in my code because I will expect to turn different tasks on and off regularly and they can 'run in the background' until I turn them back on again.

As soon as either 1, or 3 are sent through serial, the tasks immediately print the values of the val array as fast as possible, instead of the 500ms that are programmed. Should one turn off task one with 2, then turn on task two, with 3, then send the input 2 again, the taskscheduler then sends data at a reduced frequency, but not at the correct one.

Is this a bug or my bad programming? Is it not possible to activate and deactivate tasks through functions?

[arkhipenko]

Let's start with eliminating second delay in setup() runner.addTask(sensor14); runner.addTask(sensor32); delay(1000); << === delete this It throws the scheduling off by 1 second and tasks have to catch up. You are right - there is no need to delete Tasks. I rarely do it - only in a true dynamic task environment. I do not see task "example" being added to the scheduler or activated at all. Other than that - should work. Also please read this: #103 regarding scheduling options Still need to update the Wiki on this. Cheers. Anatoli

…

________________________________ From: DoctorGirlfriend ***@***.***> Sent: Tuesday, March 8, 2022 6:22 PM To: arkhipenko/TaskScheduler ***@***.***> Cc: Subscribed ***@***.***> Subject: [arkhipenko/TaskScheduler] Taskscheduler Ignores timing when enabled via functions, possible bug. (Issue #137) With a minimal example code: #include <array> #include <Arduino.h> #include <TaskScheduler.h> std::array<std::array<float, 3> , 2> vals = {0}; //imagine this is full of sensor data String stringRead; int cs32 = 0; int cs14 = 1; void cs14Print(); void cs32Print(); void thingOff(); //Tasks Task sensor14(500, TASK_FOREVER, &cs14Print); // print every 5ms, gives the most stable print from realtimeserial Task sensor32(300, TASK_FOREVER, &cs32Print); Task example(2000, 5, &thingOff); // example so i don't forget method Scheduler runner; void cs14Print() { taskPrint(cs14); }; void cs32Print() { taskPrint(cs32); }; void thingOff() { if (example.isLastIteration()) { sensor14.disable(); runner.deleteTask(sensor14); Serial.println("System removed"); } }; void schedularOnOff(int sensorSelect) { if (sensorSelect < 5) { switch (sensorSelect) { case 1: sensor14.enable(); break; case 2: sensor14.disable(); //runner.deleteTask(sensor14); break; case 3: sensor32.enable(); break; case 4: sensor32.disable(); //runner.deleteTask(sensor32); break; } } }; void taskPrint(int pin) { Serial.print(vals[pin][0]); Serial.print(','); Serial.print(vals[pin][1]); Serial.print(','); Serial.println(vals[pin][2]); }; void setup() { // serial to display data Serial.begin(115200); delay(100); runner.init(); runner.addTask(sensor14); runner.addTask(sensor32); delay(1000); } void loop() { runner.execute(); if (Serial.available() > 0) { stringRead = Serial.readStringUntil('\n'); } schedularOnOff(stringRead.toInt()); } Within serial, using four inputs, 1, 2, 3, 4 each of the two tasks will be activated, or disabled respectively. I have not used .deleteTask() in my code because I will expect to turn different tasks on and off regularly and they can 'run in the background' until I turn them back on again. As soon as either 1, or 3 are sent through serial, the tasks immediately print the values of the val array as fast as possible, instead of the 500ms that are programmed. Should one turn off task one with 2, then turn on task two, with 3, then send the input 2 again, the taskscheduler then sends data at a reduced frequency, but not at the correct one. Is this a bug or my bad programming? Is it not possible to activate and deactivate tasks through functions? — Reply to this email directly, view it on GitHub<#137>, or unsubscribe<https://github.com/notifications/unsubscribe-auth/AACMMTNYI4MQGFPLOVRUG5DU67OJZANCNFSM5QH25JOA>. Triage notifications on the go with GitHub Mobile for iOS<https://apps.apple.com/app/apple-store/id1477376905?ct=notification-email&mt=8&pt=524675> or Android<https://play.google.com/store/apps/details?id=com.github.android&referrer=utm_campaign%3Dnotification-email%26utm_medium%3Demail%26utm_source%3Dgithub>. You are receiving this because you are subscribed to this thread.Message ID: ***@***.***>

[arkhipenko]

Also, if you want the task to start with a delay, use enableDelayed() method!

[dr-mrsthemonarch]

Hallo! Thank you so much for having a look so fast, yes you're right the example task isn't activated, I forgot to remove that code, it does infact have nothing to do with error. I have removed the delay(1000) and reuploaded. I am using the arduino ide 1.8.15, and the newest taskscheduler library and esp32 boards.

Using this code:

#include <array>
#include <Arduino.h>
#include <TaskScheduler.h>
std::array<std::array<float, 3> , 2> vals = {0}; //imagine this is full of sensor data
String stringRead;
int cs32 = 0;
int cs14 = 1;

void cs14Print();
void cs32Print();
void thingOff();


//Tasks
Task sensor14(500, TASK_FOREVER, &cs14Print); // print every 5ms, gives the most stable print from realtimeserial
Task sensor32(300, TASK_FOREVER, &cs32Print);

Scheduler runner;


void cs14Print() {
  taskPrint(cs14);
};

void cs32Print() {
  taskPrint(cs32);
};


void schedularOnOff(int sensorSelect) {
  if (sensorSelect < 5) {
    switch (sensorSelect) {
      case 1:
        sensor14.enable();
        break;
      case 2:
        sensor14.disable();
        //runner.deleteTask(sensor14);
        break;
      case 3:
        sensor32.enable();
        break;
      case 4:
        sensor32.disable();
        //runner.deleteTask(sensor32);
        break;
    }
  }
};
void taskPrint(int pin) {
  Serial.print(vals[pin][0]);
  Serial.print(',');
  Serial.print(vals[pin][1]);
  Serial.print(',');
  Serial.println(vals[pin][2]);
};

void setup() {
  // serial to display data
  Serial.begin(115200);
  delay(100);
  runner.init();
  runner.addTask(sensor14);
  runner.addTask(sensor32);
  sensor14.enable();
  
}

void loop() {
  runner.execute();

  if (Serial.available() > 0) {
    stringRead = Serial.readStringUntil('\n');
  }
  schedularOnOff(stringRead.toInt());
}

Where sensor14 is enabled, the scheduler does print every 500ms as expected, however if I sent a serial input to disable the task with the value "2" then send the input "1" to reenable, the scheduler is ignored and does not follow the 500 timing anymore, this then infact blocks all serial input and the entire board is blocked indefinitely from any responses.

I really appreciate looking at this! Is there any other info I can provide? I feel like the error must be some improper implementation on my side with my functions, but I don't know.

[dr-mrsthemonarch]

I have also looked at the scheduling options, modifying the code:

#define _TASK_SCHEDULING_OPTIONS
#include <TaskScheduler.h>

and

void schedularOnOff(int sensorSelect) {
  if (sensorSelect < 5) {
    switch (sensorSelect) {
      case 1:
        sensor14.setSchedulingOption(TASK_SCHEDULE_NC);
        sensor14.enable();
        runner.addTask(sensor14);
        
        break;
      case 2:
        sensor14.disable();
        runner.deleteTask(sensor14);
        break;
      case 3:
        sensor32.enable();
        break;
      case 4:
        sensor32.disable();
        runner.deleteTask(sensor32);
        break;
    }
  }
};

and

void setup() {
  // serial to display data
  Serial.begin(115200);
//  delay(100);
  runner.init();
  sensor14.setSchedulingOption(TASK_SCHEDULE_NC);
  runner.addTask(sensor14);
  runner.addTask(sensor32);
  sensor14.enable();
  
}

Unfortunately does not seem to have an effect.

[arkhipenko]

The mistake is:

void loop() {
  runner.execute();

  if (Serial.available() > 0) {
    stringRead = Serial.readStringUntil('\n');
  }

// since stringRead is never cleared you are constantly enabling (1) or disabling (2)
  schedularOnOff(stringRead.toInt());
}

this works:

void loop() {
  runner.execute();

  if (Serial.available() > 0) {
    stringRead = Serial.readStringUntil('\n');
    schedularOnOff(stringRead.toInt());
  }
}

[arkhipenko]

Silly mistake: void loop() { runner.execute(); if (Serial.available() > 0) { stringRead = Serial.readStringUntil('\n'); } // since stringReadis never cleared you are constantly enabling (1) or disabling (2) schedularOnOff(stringRead.toInt()); } this works: void loop() { runner.execute(); if (Serial.available() > 0) { stringRead = Serial.readStringUntil('\n'); schedularOnOff(stringRead.toInt()); } }

…

________________________________ From: DoctorGirlfriend ***@***.***> Sent: Thursday, March 10, 2022 7:10 AM To: arkhipenko/TaskScheduler ***@***.***> Cc: Anatoli Arkhipenko ***@***.***>; Comment ***@***.***> Subject: Re: [arkhipenko/TaskScheduler] Taskscheduler Ignores timing when enabled via functions, possible bug. (Issue #137) I have also looked at the scheduling options, modifying the code: #define _TASK_SCHEDULING_OPTIONS #include <TaskScheduler.h> and void schedularOnOff(int sensorSelect) { if (sensorSelect < 5) { switch (sensorSelect) { case 1: sensor14.setSchedulingOption(TASK_SCHEDULE_NC); sensor14.enable(); runner.addTask(sensor14); break; case 2: sensor14.disable(); runner.deleteTask(sensor14); break; case 3: sensor32.enable(); break; case 4: sensor32.disable(); runner.deleteTask(sensor32); break; } } }; and void setup() { // serial to display data Serial.begin(115200); // delay(100); runner.init(); sensor14.setSchedulingOption(TASK_SCHEDULE_NC); runner.addTask(sensor14); runner.addTask(sensor32); sensor14.enable(); } Unfortunately does not seem to have an effect. — Reply to this email directly, view it on GitHub<#137 (comment)>, or unsubscribe<https://github.com/notifications/unsubscribe-auth/AACMMTJKXQFHU6CEL7PC5ITU7HRFDANCNFSM5QH25JOA>. Triage notifications on the go with GitHub Mobile for iOS<https://apps.apple.com/app/apple-store/id1477376905?ct=notification-email&mt=8&pt=524675> or Android<https://play.google.com/store/apps/details?id=com.github.android&referrer=utm_campaign%3Dnotification-email%26utm_medium%3Demail%26utm_source%3Dgithub>. You are receiving this because you commented.Message ID: ***@***.***>