handling failed freeRTOS assertion as panic

mission/main.c

@@ -241,6 +241,7 @@ void vApplicationMallocFailedHook(void) {
   timers, and semaphores.  The size of the FreeRTOS heap is set by the
   configTOTAL_HEAP_SIZE configuration constant in FreeRTOSConfig.h. */
   taskDISABLE_INTERRUPTS();
+  //TODO panic
   for (;;)
     ;
 }
@@ -254,6 +255,7 @@ void vApplicationStackOverflowHook(TaskHandle_t pxTask, char *pcTaskName) {
   configCHECK_FOR_STACK_OVERFLOW is defined to 1 or 2.  This hook
   function is called if a stack overflow is detected. */
   taskDISABLE_INTERRUPTS();
+  //TODO panic
   for (;;)
     ;
 }
@@ -277,7 +279,14 @@ void vApplicationIdleHook(void) {
 }
 /*-----------------------------------------------------------*/
 
+void rust_assert_called(const char *pcFile, unsigned long ulLine);
+
+
 void vAssertCalled(const char *pcFile, unsigned long ulLine) {
+
+  rust_assert_called(pcFile, ulLine);
+
+
   volatile unsigned long ul = 0;
 
   (void)pcFile;

mission_rust/src/lib.rs

@@ -21,8 +21,10 @@ fn panic(panic: &PanicInfo<'_>) -> ! {
         osal::stop_it();
     }
     // TODO: Make this unicode-safe
-    sif!("In Task \"");
+    sifln!("");
+    sif!("in task \"");
     unsafe {
+        //TODO is from_ptr safe enough?
         let task_name = core::ffi::CStr::from_ptr(osal::get_task_name());
         let task_name_utf8 = core::str::from_utf8(task_name.to_bytes());
         match task_name_utf8 {
@@ -41,6 +43,25 @@ fn panic(panic: &PanicInfo<'_>) -> ! {
     loop {}
 }
 
+#[no_mangle]
+extern "C" fn rust_assert_called(ptr: *const core::ffi::c_char, line: core::ffi::c_ulong) {
+    let file_name = unsafe {
+        //TODO is from_ptr safe enough?
+        let file_name = core::ffi::CStr::from_ptr(ptr);
+        let file_name_utf8 = core::str::from_utf8(file_name.to_bytes());
+        match file_name_utf8 {
+            Ok(string) => {
+                string
+            }
+            Err(_) => {
+                "Schei<EFBFBD> Encoding"
+            }
+        }
+    };
+
+    panic!("assertion failed at {file_name}:{}", line);
+}
+
 #[no_mangle]
 extern "C" fn rust_main() {
     sifln!("Rust startup 🚀");