From 0285b522f10a0a8500117c300f05acffede41499 Mon Sep 17 00:00:00 2001
From: Rune Harlyk <rune@harlyk.dk>
Date: Sun, 14 Sep 2025 19:46:42 +0200
Subject: [PATCH] =?UTF-8?q?=F0=9F=8E=A8=20Replaces=20delay=20with=20vTaskD?=
 =?UTF-8?q?elay?=
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---
 esp32/include/peripherals/gesture.h   |  4 ++--
 esp32/include/task_manager.h          |  2 +-
 esp32/src/peripherals/peripherals.cpp |  2 +-
 esp32/src/system_service.cpp          | 12 ++++++------
 esp32/src/wifi_service.cpp            |  2 +-
 esp32/test/gait_performance.cpp       |  2 +-
 6 files changed, 12 insertions(+), 12 deletions(-)

diff --git a/esp32/include/peripherals/gesture.h b/esp32/include/peripherals/gesture.h
index bd91864..fc138ef 100644
--- a/esp32/include/peripherals/gesture.h
+++ b/esp32/include/peripherals/gesture.h
@@ -49,12 +49,12 @@ class PAJ7620U2 {
         uint8_t f1 = 0, f0 = 0, t0 = 0;
         if (readReg(REG_GES_FLAG_1, &f1, 1) != 1) return eGestureNone;
         if (f1) {
-            delay(highRate ? QUIT_MS / 5 : QUIT_MS);
+            vTaskDelay(highRate ? QUIT_MS / 5 : QUIT_MS / portTICK_PERIOD_MS);
             return eGestureWave;
         }
         if (readReg(REG_GES_FLAG_0, &f0, 1) != 1) return eGestureNone;
         if (!highRate) {
-            delay(ENTRY_MS);
+            vTaskDelay(ENTRY_MS / portTICK_PERIOD_MS);
             if (readReg(REG_GES_FLAG_0, &t0, 1) == 1) f0 |= t0;
         }
         if (f0 & 0x01) return eGestureRight;
diff --git a/esp32/include/task_manager.h b/esp32/include/task_manager.h
index f26c677..c2925cf 100644
--- a/esp32/include/task_manager.h
+++ b/esp32/include/task_manager.h
@@ -172,7 +172,7 @@ class CPUBurnerTask {
                 esp_task_wdt_reset();
             }
 
-            delay(idle_time);
+            vTaskDelay(idle_time / portTICK_PERIOD_MS);
         }
     }
 
diff --git a/esp32/src/peripherals/peripherals.cpp b/esp32/src/peripherals/peripherals.cpp
index 0c109fd..b9a2bae 100644
--- a/esp32/src/peripherals/peripherals.cpp
+++ b/esp32/src/peripherals/peripherals.cpp
@@ -120,7 +120,7 @@ bool Peripherals::readGesture() {
 void Peripherals::readSonar() {
 #if FT_ENABLED(USE_USS)
     _left_distance = _left_sonar->ping_cm();
-    delay(50);
+    vTaskDelay(50 / portTICK_PERIOD_MS);
     _right_distance = _right_sonar->ping_cm();
 #endif
 }
diff --git a/esp32/src/system_service.cpp b/esp32/src/system_service.cpp
index c34ed63..6f58098 100644
--- a/esp32/src/system_service.cpp
+++ b/esp32/src/system_service.cpp
@@ -49,11 +49,11 @@ void restart() {
     xTaskCreate(
         [](void *pvParameters) {
             for (;;) {
-                delay(250);
+                vTaskDelay(250 / portTICK_PERIOD_MS);
                 MDNS.end();
-                delay(100);
+                vTaskDelay(100 / portTICK_PERIOD_MS);
                 WiFi.disconnect(true);
-                delay(500);
+                vTaskDelay(500 / portTICK_PERIOD_MS);
                 ESP.restart();
             }
         },
@@ -64,11 +64,11 @@ void sleep() {
     xTaskCreate(
         [](void *pvParameters) {
             for (;;) {
-                delay(250);
+                vTaskDelay(250 / portTICK_PERIOD_MS);
                 MDNS.end();
-                delay(100);
+                vTaskDelay(100 / portTICK_PERIOD_MS);
                 WiFi.disconnect(true);
-                delay(500);
+                vTaskDelay(500 / portTICK_PERIOD_MS);
 
                 uint64_t bitmask = (uint64_t)1 << (WAKEUP_PIN_NUMBER);
 
diff --git a/esp32/src/wifi_service.cpp b/esp32/src/wifi_service.cpp
index 0ce1434..8b3f682 100644
--- a/esp32/src/wifi_service.cpp
+++ b/esp32/src/wifi_service.cpp
@@ -26,7 +26,7 @@ void WiFiService::begin() {
 
     if (state().wifiSettings.size() == 1) {
         configureNetwork(state().wifiSettings[0]);
-        delay(500);
+        vTaskDelay(500 / portTICK_PERIOD_MS);
     }
 }
 
diff --git a/esp32/test/gait_performance.cpp b/esp32/test/gait_performance.cpp
index 839472f..21e892c 100644
--- a/esp32/test/gait_performance.cpp
+++ b/esp32/test/gait_performance.cpp
@@ -27,7 +27,7 @@ void test_gaitPlanner_calculateStep_time() {
 }
 
 void setup() {
-    delay(2000); // Allow time for Serial to initialize if running on an ESP32
+    vTaskDelay(2000 / portTICK_PERIOD_MS); // Allow time for Serial to initialize if running on an ESP32
     UNITY_BEGIN();
     RUN_TEST(test_gaitPlanner_calculateStep_time);
     UNITY_END();