From 15bb0aee985cc5b558cea21e635b1600db5905f5 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Sat, 29 Aug 2020 19:08:10 +0200
Subject: [PATCH] handler ID cached, debug output improved

---
 osal/FreeRTOS/FixedTimeslotTask.cpp | 13 +++++++++----
 tasks/FixedSequenceSlot.cpp         |  2 +-
 tasks/FixedSequenceSlot.h           |  2 ++
 3 files changed, 12 insertions(+), 5 deletions(-)

diff --git a/osal/FreeRTOS/FixedTimeslotTask.cpp b/osal/FreeRTOS/FixedTimeslotTask.cpp
index 404c3c05..309574eb 100644
--- a/osal/FreeRTOS/FixedTimeslotTask.cpp
+++ b/osal/FreeRTOS/FixedTimeslotTask.cpp
@@ -147,13 +147,18 @@ void FixedTimeslotTask::checkMissedDeadline(const TickType_t xLastWakeTime,
 }
 
 void FixedTimeslotTask::handleMissedDeadline() {
-#ifdef DEBUG
-    sif::warning << "FixedTimeslotTask: " << pcTaskGetName(NULL) <<
-            " missed deadline!\n" << std::flush;
-#endif
     if(deadlineMissedFunc != nullptr) {
         this->deadlineMissedFunc();
     }
+
+#ifdef DEBUG
+    object_id_t handlerId = pst.current->handlerId;
+    sif::warning << "FixedTimeslotTask: " << pcTaskGetName(NULL) << " with"
+            << " object ID 0x" << std::setfill('0') << std::setw(8) << std::hex
+            << handlerId <<  " missed deadline!" << std::setfill(' ')
+            << std::dec << std::endl;
+#endif
+
 }
 
 ReturnValue_t FixedTimeslotTask::sleepFor(uint32_t ms) {
diff --git a/tasks/FixedSequenceSlot.cpp b/tasks/FixedSequenceSlot.cpp
index a38734a2..d7aeff0a 100644
--- a/tasks/FixedSequenceSlot.cpp
+++ b/tasks/FixedSequenceSlot.cpp
@@ -4,7 +4,7 @@
 
 FixedSequenceSlot::FixedSequenceSlot(object_id_t handlerId, uint32_t setTime,
 		int8_t setSequenceId, ExecutableObjectIF* executableObject,
-		PeriodicTaskIF* executingTask) :
+		PeriodicTaskIF* executingTask) : handlerId(handlerId),
 		pollingTimeMs(setTime), opcode(setSequenceId) {
     if(executableObject == nullptr) {
         return;
diff --git a/tasks/FixedSequenceSlot.h b/tasks/FixedSequenceSlot.h
index 6ec9ae13..151173e9 100644
--- a/tasks/FixedSequenceSlot.h
+++ b/tasks/FixedSequenceSlot.h
@@ -20,6 +20,8 @@ public:
 			PeriodicTaskIF* executingTask);
 	virtual ~FixedSequenceSlot();
 
+	object_id_t handlerId;
+
 	/**
 	 * @brief	Handler identifies which object is executed in this slot.
 	 */