panics better

mission/freeRTOS_rust_helper.c

@@ -2,7 +2,7 @@
 #include "semphr.h"
 #include "task.h"
 
-#define NUMBER_OF_TASKS 300
+#define NUMBER_OF_TASKS 1
 SemaphoreHandle_t taskMutex = NULL;
 StaticSemaphore_t taskMutexDescriptor;
 size_t nextFreeTaskDescriptor = 0;
@@ -13,6 +13,14 @@ void initFreeRTOSHelper() {
   taskMutex = xSemaphoreCreateRecursiveMutexStatic(&taskMutexDescriptor);
 }
 
+const char * getTaskName() {
+    return pcTaskGetName( NULL );
+}
+
+void stopIt() {
+    taskENTER_CRITICAL();
+}
+
 // TODO return some error code?
 void *createTask(TaskFunction_t taskFunction, void *parameter, void *buffer,
                  size_t buffersize) {

mission_rust/src/lib.rs

@@ -24,6 +24,19 @@ use core::panic::PanicInfo;
 
 #[panic_handler]
 fn panic(panic: &PanicInfo<'_>) -> ! {
+    unsafe {
+        stopIt();
+    }
+    sif!("In Task \"");
+    unsafe {
+        let task_name = getTaskName();
+        let mut offset = 0;
+        while *task_name.offset(offset) != 0 {
+            sif!("{}", *task_name.offset(offset) as char);
+            offset = offset + 1;
+        }
+    }
+    sifln!("\":");
     sifln!("{}", panic);
     //TODO: stop RTOS, exit if hosted
     loop {}
@@ -41,6 +54,9 @@ extern "C" {
         buffersize: cty::size_t,
     ) -> *const cty::c_void;
 
+    fn getTaskName() -> *const cty::c_char;
+    fn stopIt();
+
     fn vTaskDelete(handle: *const cty::c_void);
 
     fn task_delay(milliseconds: cty::uint32_t);
@@ -104,18 +120,23 @@ impl<'a, const STACKSIZE: usize> PeriodicTask<'a, STACKSIZE> {
         unsafe {
             instance.task = createTask(task_entry, runner_pointer, stack_pointer, STACKSIZE);
         }
+        if instance.task == 0 as *mut cty::c_void {
+            panic!("could not create Task");
+        }
         instance
     }
 }
 
 impl<'a, const STACKSIZE: usize> Drop for PeriodicTask<'a, STACKSIZE> {
     fn drop(&mut self) {
-        unsafe {vTaskDelete(self.task);}
+        unsafe {
+            vTaskDelete(self.task);
+        }
     }
 }
 
 struct Handler {
-    id: u32
+    id: u32,
 }
 
 impl ExecutableObjectIF for Handler {
@@ -143,22 +164,18 @@ fn panics(a: &mut [i32]) {
     a[4] = 3;
 }
 
-
-
-
-
 fn mission() {
     sifln!("Mission enter");
 
-    let mut h1 = Handler {id: 1};
-    let mut h2 = Handler {id: 2};
+    let mut h1 = Handler { id: 1 };
+    let mut h2 = Handler { id: 2 };
 
     let _t1: PeriodicTask<'_, 512> = PeriodicTask::new(&mut h1);
 
     let _t2: PeriodicTask<'_, 512> = PeriodicTask::new(&mut h2);
 
     sifln!("Mission done delay");
-    unsafe {task_delay(3000);}
-    
+    unsafe {
+        task_delay(3000);
+    }
 }
-