improvements for executable module

satrs-core/src/executable.rs

@@ -1,13 +1,13 @@
 //! Task scheduling module
+use alloc::string::String;
 use bus::BusReader;
 use std::boxed::Box;
-use std::error::Error;
 use std::sync::mpsc::TryRecvError;
-use std::thread;
 use std::thread::JoinHandle;
 use std::time::Duration;
 use std::vec;
 use std::vec::Vec;
+use std::{io, thread};
 
 #[derive(Debug, PartialEq, Eq)]
 pub enum OpResult {
@@ -34,47 +34,49 @@ pub trait Executable: Send {
 /// # Arguments
 ///
 /// * `executable`: Executable task
-/// * `task_freq`: Optional frequency of task. Required for periodic and fixed cycle tasks
-/// * `op_code`: Operation code which is passed to the executable task [operation call][Executable::periodic_op]
+/// * `task_freq`: Optional frequency of task. Required for periodic and fixed cycle tasks.
+///    If [None] is passed, no sleeping will be performed.
+/// * `op_code`: Operation code which is passed to the executable task
+///    [operation call][Executable::periodic_op]
 /// * `termination`: Optional termination handler which can cancel threads with a broadcast
-pub fn exec_sched_single<
-    T: Executable<Error = E> + Send + 'static + ?Sized,
-    E: Error + Send + 'static,
->(
+pub fn exec_sched_single<T: Executable<Error = E> + Send + 'static + ?Sized, E: Send + 'static>(
     mut executable: Box<T>,
     task_freq: Option<Duration>,
     op_code: i32,
     mut termination: Option<BusReader<()>>,
-) -> JoinHandle<Result<OpResult, E>> {
+) -> Result<JoinHandle<Result<OpResult, E>>, io::Error> {
     let mut cycle_count = 0;
-    thread::spawn(move || loop {
-        if let Some(ref mut terminator) = termination {
-            match terminator.try_recv() {
-                Ok(_) | Err(TryRecvError::Disconnected) => {
-                    return Ok(OpResult::Ok);
-                }
-                Err(TryRecvError::Empty) => (),
-            }
-        }
-        match executable.exec_type() {
-            ExecutionType::OneShot => {
-                executable.periodic_op(op_code)?;
-                return Ok(OpResult::Ok);
-            }
-            ExecutionType::Infinite => {
-                executable.periodic_op(op_code)?;
-            }
-            ExecutionType::Cycles(cycles) => {
-                executable.periodic_op(op_code)?;
-                cycle_count += 1;
-                if cycle_count == cycles {
-                    return Ok(OpResult::Ok);
+    thread::Builder::new()
+        .name(String::from(executable.task_name()))
+        .spawn(move || loop {
+            if let Some(ref mut terminator) = termination {
+                match terminator.try_recv() {
+                    Ok(_) | Err(TryRecvError::Disconnected) => {
+                        return Ok(OpResult::Ok);
+                    }
+                    Err(TryRecvError::Empty) => (),
                 }
             }
-        }
-        let freq = task_freq.unwrap_or_else(|| panic!("No task frequency specified"));
-        thread::sleep(freq);
-    })
+            match executable.exec_type() {
+                ExecutionType::OneShot => {
+                    executable.periodic_op(op_code)?;
+                    return Ok(OpResult::Ok);
+                }
+                ExecutionType::Infinite => {
+                    executable.periodic_op(op_code)?;
+                }
+                ExecutionType::Cycles(cycles) => {
+                    executable.periodic_op(op_code)?;
+                    cycle_count += 1;
+                    if cycle_count == cycles {
+                        return Ok(OpResult::Ok);
+                    }
+                }
+            }
+            if let Some(freq) = task_freq {
+                thread::sleep(freq);
+            }
+        })
 }
 
 /// This function allows executing multiple tasks as long as the tasks implement the
@@ -86,55 +88,56 @@ pub fn exec_sched_single<
 /// * `task_freq`: Optional frequency of task. Required for periodic and fixed cycle tasks
 /// * `op_code`: Operation code which is passed to the executable task [operation call][Executable::periodic_op]
 /// * `termination`: Optional termination handler which can cancel threads with a broadcast
-pub fn exec_sched_multi<
-    T: Executable<Error = E> + Send + 'static + ?Sized,
-    E: Error + Send + 'static,
->(
+pub fn exec_sched_multi<T: Executable<Error = E> + Send + 'static + ?Sized, E: Send + 'static>(
+    task_name: &'static str,
     mut executable_vec: Vec<Box<T>>,
     task_freq: Option<Duration>,
     op_code: i32,
     mut termination: Option<BusReader<()>>,
-) -> JoinHandle<Result<OpResult, E>> {
+) -> Result<JoinHandle<Result<OpResult, E>>, io::Error> {
     let mut cycle_counts = vec![0; executable_vec.len()];
     let mut removal_flags = vec![false; executable_vec.len()];
-    thread::spawn(move || loop {
-        if let Some(ref mut terminator) = termination {
-            match terminator.try_recv() {
-                Ok(_) | Err(TryRecvError::Disconnected) => {
-                    removal_flags.iter_mut().for_each(|x| *x = true);
+
+    thread::Builder::new()
+        .name(String::from(task_name))
+        .spawn(move || loop {
+            if let Some(ref mut terminator) = termination {
+                match terminator.try_recv() {
+                    Ok(_) | Err(TryRecvError::Disconnected) => {
+                        removal_flags.iter_mut().for_each(|x| *x = true);
+                    }
+                    Err(TryRecvError::Empty) => (),
                 }
-                Err(TryRecvError::Empty) => (),
             }
-        }
-        for (idx, executable) in executable_vec.iter_mut().enumerate() {
-            match executable.exec_type() {
-                ExecutionType::OneShot => {
-                    executable.periodic_op(op_code)?;
-                    removal_flags[idx] = true;
-                }
-                ExecutionType::Infinite => {
-                    executable.periodic_op(op_code)?;
-                }
-                ExecutionType::Cycles(cycles) => {
-                    executable.periodic_op(op_code)?;
-                    cycle_counts[idx] += 1;
-                    if cycle_counts[idx] == cycles {
+            for (idx, executable) in executable_vec.iter_mut().enumerate() {
+                match executable.exec_type() {
+                    ExecutionType::OneShot => {
+                        executable.periodic_op(op_code)?;
                         removal_flags[idx] = true;
                     }
+                    ExecutionType::Infinite => {
+                        executable.periodic_op(op_code)?;
+                    }
+                    ExecutionType::Cycles(cycles) => {
+                        executable.periodic_op(op_code)?;
+                        cycle_counts[idx] += 1;
+                        if cycle_counts[idx] == cycles {
+                            removal_flags[idx] = true;
+                        }
+                    }
                 }
             }
-        }
-        let mut removal_iter = removal_flags.iter();
-        executable_vec.retain(|_| !*removal_iter.next().unwrap());
-        removal_iter = removal_flags.iter();
-        cycle_counts.retain(|_| !*removal_iter.next().unwrap());
-        removal_flags.retain(|&i| !i);
-        if executable_vec.is_empty() {
-            return Ok(OpResult::Ok);
-        }
-        let freq = task_freq.unwrap_or_else(|| panic!("No task frequency specified"));
-        thread::sleep(freq);
-    })
+            let mut removal_iter = removal_flags.iter();
+            executable_vec.retain(|_| !*removal_iter.next().unwrap());
+            removal_iter = removal_flags.iter();
+            cycle_counts.retain(|_| !*removal_iter.next().unwrap());
+            removal_flags.retain(|&i| !i);
+            if executable_vec.is_empty() {
+                return Ok(OpResult::Ok);
+            }
+            let freq = task_freq.unwrap_or_else(|| panic!("No task frequency specified"));
+            thread::sleep(freq);
+        })
 }
 
 #[cfg(test)]
@@ -294,7 +297,8 @@ mod tests {
             Some(Duration::from_millis(100)),
             expected_op_code,
             None,
-        );
+        )
+        .expect("thread creation failed");
         let thread_res = jhandle.join().expect("One Shot Task failed");
         assert!(thread_res.is_ok());
         assert_eq!(thread_res.unwrap(), OpResult::Ok);
@@ -319,7 +323,8 @@ mod tests {
             Some(Duration::from_millis(100)),
             op_code_inducing_failure,
             None,
-        );
+        )
+        .expect("thread creation failed");
         let thread_res = jhandle.join().expect("One Shot Task failed");
         assert!(thread_res.is_err());
         let error = thread_res.unwrap_err();
@@ -356,11 +361,13 @@ mod tests {
             assert_eq!(task.task_name(), ONE_SHOT_TASK_NAME);
         }
         let jhandle = exec_sched_multi(
+            "multi-task-name",
             task_vec,
             Some(Duration::from_millis(100)),
             expected_op_code,
             None,
-        );
+        )
+        .expect("thread creation failed");
         let thread_res = jhandle.join().expect("One Shot Task failed");
         assert!(thread_res.is_ok());
         assert_eq!(thread_res.unwrap(), OpResult::Ok);
@@ -386,7 +393,8 @@ mod tests {
             Some(Duration::from_millis(100)),
             expected_op_code,
             None,
-        );
+        )
+        .expect("thread creation failed");
         let thread_res = jh.join().expect("Cycles Task failed");
         assert!(thread_res.is_ok());
         let data = shared.lock().expect("Locking Mutex failed");
@@ -418,11 +426,13 @@ mod tests {
         let task_vec: Vec<Box<dyn Executable<Error = ExampleError>>> =
             vec![one_shot_task, cycled_task_0, cycled_task_1];
         let jh = exec_sched_multi(
+            "multi-task-name",
             task_vec,
             Some(Duration::from_millis(100)),
             expected_op_code,
             None,
-        );
+        )
+        .expect("thread creation failed");
         let thread_res = jh.join().expect("Cycles Task failed");
         assert!(thread_res.is_ok());
         let data = shared.lock().expect("Locking Mutex failed");
@@ -449,7 +459,8 @@ mod tests {
             Some(Duration::from_millis(20)),
             expected_op_code,
             Some(terminator.add_rx()),
-        );
+        )
+        .expect("thread creation failed");
         thread::sleep(Duration::from_millis(40));
         terminator.broadcast(());
         let thread_res = jh.join().expect("Periodic Task failed");
@@ -485,11 +496,13 @@ mod tests {
         let task_vec: Vec<Box<dyn Executable<Error = ExampleError>>> =
             vec![cycled_task, periodic_task_0, periodic_task_1];
         let jh = exec_sched_multi(
+            "multi-task-name",
             task_vec,
             Some(Duration::from_millis(20)),
             expected_op_code,
             Some(terminator.add_rx()),
-        );
+        )
+        .expect("thread creation failed");
         thread::sleep(Duration::from_millis(60));
         terminator.broadcast(());
         let thread_res = jh.join().expect("Periodic Task failed");