fix(task/timer): Update to fix compilation if user disables ESP Task WDT in menuconfig

* Add appropriate guards around watchdog timer implementations for task and timer
* Add comments indicating that the functions do nothing unless CONFIG_ESP_TASK_WDT_EN=y

Author: finger563

components/task/include/task.hpp

@@ -228,13 +228,17 @@ class Task : public espp::BaseComponent {
    * @brief Start the task watchdog for this task.
    * @return true if the watchdog was started, false otherwise.
    * @note This function is only available on ESP
+   * @note This function will do nothing unless CONFIG_ESP_TASK_WDT_EN is
+   *       enabled in the menuconfig. Default is y (enabled).
    */
   bool start_watchdog();
 
   /**
    * @brief Stop the task watchdog for this task.
    * @return true if the watchdog was stopped, false otherwise.
    * @note This function is only available on ESP
+   * @note This function will do nothing unless CONFIG_ESP_TASK_WDT_EN is
+   *       enabled in the menuconfig. Default is y (enabled).
    */
   bool stop_watchdog();
 
@@ -244,6 +248,8 @@ class Task : public espp::BaseComponent {
    * @param panic_on_timeout Whether or not to panic on timeout.
    * @return true if the watchdog was initialized, false otherwise.
    * @note This function is only available on ESP
+   * @note This function will do nothing unless CONFIG_ESP_TASK_WDT_EN is
+   *       enabled in the menuconfig. Default is y (enabled).
    * @note This function will not monitor the idle tasks.
    * @note If the watchdog has not been configured, then this function will call
    *       `esp_task_wdt_init`, otherwise it will then call
@@ -257,6 +263,8 @@ class Task : public espp::BaseComponent {
    * @param panic_on_timeout Whether or not to panic on timeout.
    * @return true if the watchdog was initialized, false otherwise.
    * @note This function is only available on ESP
+   * @note This function will do nothing unless CONFIG_ESP_TASK_WDT_EN is
+   *       enabled in the menuconfig. Default is y (enabled).
    * @note This function will not monitor the idle tasks.
    * @note If the watchdog has not been configured, then this function will call
    *       `esp_task_wdt_init`, otherwise it will then call
@@ -272,6 +280,8 @@ class Task : public espp::BaseComponent {
    * @return std::string containing the task watchdog info, or an empty string
    *         if there was no timeout or there was an error retrieving the info.
    * @note This function is only available on ESP
+   * @note This function will do nothing unless CONFIG_ESP_TASK_WDT_EN is
+   *       enabled in the menuconfig. Default is y (enabled).
    * @note This function will only return info for tasks which are still
    *       registered with the watchdog. If you call this after you have called
    *       stop_watchdog() for a task, then even if the task triggered the
@@ -295,7 +305,7 @@ class Task : public espp::BaseComponent {
    * @note This function is only available on ESP
    */
   static std::string get_info(const Task &task);
-#endif
+#endif // ESP_PLATFORM
 
   /**
    * @brief Get the ID for this Task's thread / task context.

components/task/src/task.cpp

@@ -108,6 +108,10 @@ bool Task::stop() {
 
 #if defined(ESP_PLATFORM)
 bool Task::start_watchdog() {
+#if !CONFIG_ESP_TASK_WDT_EN
+  logger_.debug("Watchdog not enabled in the configuration, cannot start watchdog!");
+  return false;
+#else
   if (!started_) {
     logger_.warn("Task not started, cannot start watchdog!");
     return false;
@@ -131,9 +135,14 @@ bool Task::start_watchdog() {
   // everything is good, set the flag
   watchdog_started_ = true;
   return true;
+#endif // CONFIG_ESP_TASK_WDT_EN
 }
 
 bool Task::stop_watchdog() {
+#if !CONFIG_ESP_TASK_WDT_EN
+  logger_.debug("Watchdog not enabled in the configuration, cannot stop watchdog!");
+  return false;
+#else
   if (!watchdog_started_) {
     logger_.debug("Watchdog already stopped!");
     return false;
@@ -152,9 +161,13 @@ bool Task::stop_watchdog() {
     logger_.error("Failed to stop watchdog for task '{}'", name_);
   }
   return err == ESP_OK;
+#endif // CONFIG_ESP_TASK_WDT_EN
 }
 
 bool Task::configure_task_watchdog(uint32_t timeout_ms, bool panic_on_timeout) {
+#if !CONFIG_ESP_TASK_WDT_EN
+  return false;
+#else
   esp_task_wdt_config_t config;
   memset(&config, 0, sizeof(config));
   config.timeout_ms = timeout_ms;
@@ -171,6 +184,7 @@ bool Task::configure_task_watchdog(uint32_t timeout_ms, bool panic_on_timeout) {
     return false;
   }
   return err == ESP_OK;
+#endif // CONFIG_ESP_TASK_WDT_EN
 }
 
 bool Task::configure_task_watchdog(const std::chrono::milliseconds &timeout,
@@ -179,6 +193,10 @@ bool Task::configure_task_watchdog(const std::chrono::milliseconds &timeout,
 }
 
 std::string Task::get_watchdog_info(std::error_code &ec) {
+#if !CONFIG_ESP_TASK_WDT_EN
+  ec = std::make_error_code(std::errc::operation_not_supported);
+  return "";
+#else
   std::string info = "";
   auto err = esp_task_wdt_print_triggered_tasks(
       [](void *arg, const char *msg) {
@@ -192,8 +210,9 @@ std::string Task::get_watchdog_info(std::error_code &ec) {
     ec = std::make_error_code(std::errc::io_error);
   }
   return info;
+#endif // CONFIG_ESP_TASK_WDT_EN
 }
-#endif
+#endif // ESP_PLATFORM
 
 void Task::notify_and_join() {
   {
@@ -256,7 +275,7 @@ void Task::thread_function() {
       started_ = false;
       break;
     }
-#if defined(ESP_PLATFORM)
+#if defined(ESP_PLATFORM) && CONFIG_ESP_TASK_WDT_EN
     // check if the watchdog is enabled
     if (watchdog_started_) {
       auto err = esp_task_wdt_reset();

components/timer/include/high_resolution_timer.hpp

@@ -74,11 +74,15 @@ class HighResolutionTimer : public espp::BaseComponent {
   /// Start the watchdog timer
   /// @return True if the watchdog timer was started successfully, false
   ///         otherwise
+  /// @note This function will do nothing unless CONFIG_ESP_TASK_WDT_EN is
+  ///       enabled in the menuconfig. Default is y (enabled).
   bool start_watchdog();
 
   /// Stop the watchdog timer
   /// @return True if the watchdog timer was stopped successfully, false
   ///         otherwise
+  /// @note This function will do nothing unless CONFIG_ESP_TASK_WDT_EN is
+  ///       enabled in the menuconfig. Default is y (enabled).
   bool stop_watchdog();
 
   /// Check if the timer is running

components/timer/include/timer.hpp

@@ -122,6 +122,8 @@ class Timer : public BaseComponent {
   /// @brief Start the task watchdog for the timer.
   /// @return true if the watchdog was started, false otherwise.
   /// @note This function is only available on ESP
+  /// @note This function is only available if CONFIG_ESP_TASK_WDT_EN is enabled
+  ///       in the menuconfig. Default is y (enabled).
   /// @see stop_watchdog()
   /// @see Task::start_watchdog()
   /// @see Task::stop_watchdog()
@@ -130,11 +132,13 @@ class Timer : public BaseComponent {
   /// @brief Stop the task watchdog for the timer.
   /// @return true if the watchdog was stopped, false otherwise.
   /// @note This function is only available on ESP
+  /// @note This function is only available if CONFIG_ESP_TASK_WDT_EN is enabled
+  ///       in the menuconfig. Default is y (enabled).
   /// @see start_watchdog()
   /// @see Task::start_watchdog()
   /// @see Task::stop_watchdog()
   bool stop_watchdog();
-#endif
+#endif // ESP_PLATFORM || _DOXYGEN_
 
   /// @brief Set the period of the timer.
   /// @details Sets the period of the timer.

components/timer/src/high_resolution_timer.cpp

@@ -60,6 +60,10 @@ bool HighResolutionTimer::start(uint64_t period_us, bool oneshot) {
 }
 
 bool HighResolutionTimer::start_watchdog() {
+#if !CONFIG_ESP_TASK_WDT_EN
+  logger_.debug("Watchdog timer not enabled in sdkconfig");
+  return false;
+#else
   if (wdt_handle_) {
     logger_.debug("Watchdog timer already running");
     return false;
@@ -75,9 +79,14 @@ bool HighResolutionTimer::start_watchdog() {
     return false;
   }
   return true;
+#endif // CONFIG_ESP_TASK_WDT_EN
 }
 
 bool HighResolutionTimer::stop_watchdog() {
+#if !CONFIG_ESP_TASK_WDT_EN
+  logger_.debug("Watchdog timer not enabled in sdkconfig");
+  return false;
+#else
   if (!wdt_handle_) {
     logger_.debug("Watchdog timer not running");
     return false;
@@ -89,6 +98,7 @@ bool HighResolutionTimer::stop_watchdog() {
   }
   wdt_handle_ = nullptr;
   return true;
+#endif // CONFIG_ESP_TASK_WDT_EN
 }
 
 bool HighResolutionTimer::oneshot(uint64_t timeout_us) { return start(timeout_us, true); }
@@ -157,7 +167,9 @@ void HighResolutionTimer::handle_timer_callback() {
   if (callback_) {
     callback_();
   }
+#if CONFIG_ESP_TASK_WDT_EN
   if (wdt_handle_) {
     esp_task_wdt_reset_user(wdt_handle_);
   }
+#endif // CONFIG_ESP_TASK_WDT_EN
 }