first commit

1-Demo/IDF-DEMO/xiaozhi-esp32/main/background_task.cc

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+#include "background_task.h"
+
+#include <esp_log.h>
+#include <esp_task_wdt.h>
+
+#define TAG "BackgroundTask"
+
+BackgroundTask::BackgroundTask(uint32_t stack_size) {
+    xTaskCreate([](void* arg) {
+        BackgroundTask* task = (BackgroundTask*)arg;
+        task->BackgroundTaskLoop();
+    }, "background_task", stack_size, this, 2, &background_task_handle_);
+}
+
+BackgroundTask::~BackgroundTask() {
+    if (background_task_handle_ != nullptr) {
+        vTaskDelete(background_task_handle_);
+    }
+}
+
+bool BackgroundTask::Schedule(std::function<void()> callback) {
+    std::lock_guard<std::mutex> lock(mutex_);
+    if (waiting_for_completion_ > 0) {
+        return false;
+    }
+    if (active_tasks_ >= 30) {
+        int free_sram = heap_caps_get_free_size(MALLOC_CAP_INTERNAL);
+        if (free_sram < 10000) {
+            ESP_LOGW(TAG, "active_tasks_ == %d, free_sram == %u", active_tasks_, free_sram);
+            return false;
+        }
+    }
+    active_tasks_++;
+    background_tasks_.emplace_back([this, cb = std::move(callback)]() {
+        cb();
+        {
+            std::lock_guard<std::mutex> lock(mutex_);
+            active_tasks_--;
+            if (background_tasks_.empty() && active_tasks_ == 0) {
+                condition_variable_.notify_all();
+            }
+        }
+    });
+    condition_variable_.notify_all();
+    return true;
+}
+
+void BackgroundTask::WaitForCompletion() {
+    std::unique_lock<std::mutex> lock(mutex_);
+    waiting_for_completion_++;
+    condition_variable_.wait(lock, [this]() {
+        return background_tasks_.empty() && active_tasks_ == 0;
+    });
+    waiting_for_completion_--;
+}
+
+void BackgroundTask::BackgroundTaskLoop() {
+    ESP_LOGI(TAG, "background_task started");
+    while (true) {
+        std::unique_lock<std::mutex> lock(mutex_);
+        condition_variable_.wait(lock, [this]() { return !background_tasks_.empty(); });
+        
+        std::list<std::function<void()>> tasks = std::move(background_tasks_);
+        lock.unlock();
+
+        for (auto& task : tasks) {
+            task();
+        }
+    }
+}