Merge pull request #40 from vas-dav/logging

Logging

source/shoh/.cproject

@@ -53,6 +53,7 @@
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/shoh/src/threads/user_interface}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/src/threads/rotary}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/src/threads/manager}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/src/threads/logging}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/shoh/src/peripherals}&quot;"/>
 								</option>
 								<option id="com.crt.advproject.cpp.misc.dialect.4036734" name="Language standard" superClass="com.crt.advproject.cpp.misc.dialect" useByScannerDiscovery="true" value="com.crt.advproject.misc.dialect.cpp17" valueType="enumerated"/>
@@ -85,6 +86,7 @@
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/shoh/src/threads/common}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/shoh/src/threads/master}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/shoh/src/threads/user_interface}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/shoh/src/threads/logging}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/shoh/src/peripherals}&quot;"/>
 								</option>
 								<option id="com.crt.advproject.c.misc.dialect.82852045" name="Language standard" superClass="com.crt.advproject.c.misc.dialect" useByScannerDiscovery="true" value="com.crt.advproject.misc.dialect.c17" valueType="enumerated"/>
@@ -105,6 +107,7 @@
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/shoh/src/threads/common}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/shoh/src/threads/master}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/shoh/src/threads/user_interface}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/shoh/src/threads/logging}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/shoh/src/peripherals}&quot;"/>
 								</option>
 								<inputType id="cdt.managedbuild.tool.gnu.assembler.input.1836378919" superClass="cdt.managedbuild.tool.gnu.assembler.input"/>
@@ -255,6 +258,7 @@
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/shoh/src/FreeRTOSCPP}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/shoh/src/threads/common}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/shoh/src/threads/user_interface}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/shoh/src/threads/logging}&quot;"/>
 								</option>
 								<inputType id="cdt.managedbuild.tool.gnu.assembler.input.1117166373" superClass="cdt.managedbuild.tool.gnu.assembler.input"/>
 								<inputType id="com.crt.advproject.assembler.input.2071009798" name="Additional Assembly Source Files" superClass="com.crt.advproject.assembler.input"/>

source/shoh/freertos/FreeRTOSConfig.h

@@ -91,7 +91,8 @@
 #define configUSE_MALLOC_FAILED_HOOK	1
 #define configUSE_APPLICATION_TASK_TAG	0
 #define configUSE_COUNTING_SEMAPHORES	1
-#define configGENERATE_RUN_TIME_STATS	0
+#define configGENERATE_RUN_TIME_STATS	1
+#define configRECORD_STACK_HIGH_ADDRESS 1
 #define configUSE_TICKLESS_IDLE 1 
 
 
@@ -119,6 +120,16 @@ to exclude the API function. */
 #define INCLUDE_vTaskDelay				1
 #define INCLUDE_xTaskGetCurrentTaskHandle 1
 
+/* NOTE: we need to provide implementation of vConfigureTimerForRunTimeStats()
+ * It is called to set up high resolution timer that is needed for accurate runtime
+ * measurement. I assume that we use LPC_SCT1 in unified mode so this function
+ * must set up LPC_SCT1.
+ */
+void vConfigureTimerForRunTimeStats(void);
+#define portCONFIGURE_TIMER_FOR_RUN_TIME_STATS() vConfigureTimerForRunTimeStats()
+/* The value is read directly from the counter register for efficiency and low overhead. */
+#define portGET_RUN_TIME_COUNTER_VALUE() LPC_SCT1->COUNT_U
+
 /* Cortex-M specific definitions. */
 #ifdef __NVIC_PRIO_BITS
 	/* __BVIC_PRIO_BITS will be specified when CMSIS is being used. */

source/shoh/src/main.cpp

@@ -7,9 +7,8 @@
 
 #include "ThreadCommon.h"
 #include "Master.h"
-#include "Rotary.h"
+
-#include "Manager.h"
+
-#include "UserInterface.h"
 
 int main(void)
 {
@@ -18,37 +17,28 @@ int main(void)
 
   retarget_init();
 
-  printf("Hello there!\r\n");
+  ThreadCommon::ThreadManager *tm = new ThreadCommon::ThreadManager();
-
+  ThreadCommon::QueueManager *qm = new ThreadCommon::QueueManager();
-  ThreadCommon::ThreadManager* manager = new ThreadCommon::ThreadManager;
+  ThreadCommon::CommonManagers *manager = new ThreadCommon::CommonManagers;
-  ThreadCommon::QueueManager* qmanager = new ThreadCommon::QueueManager;
+  manager->tm = tm;
-  //Creating queues
+  manager->qm = qm;
-  qmanager->createQueue(100,
+  manager->tm->createTask(thread_master, "master",
-                        sizeof(Event),
+                        configMINIMAL_STACK_SIZE * 10,tskIDLE_PRIORITY + 1UL,
-                        ThreadCommon::QueueManager::master_event_all);
+                        static_cast<void*>(manager));
-  qmanager->createQueue(20,
-                        sizeof(Event),
-                        ThreadCommon::QueueManager::manager_event_master);
-  qmanager->createQueue(20,
-                        sizeof(UserInterface::InterfaceWithData),
-                        ThreadCommon::QueueManager::ui_event_manager);
-
-  //Creating tasks
-  manager->createTask(thread_master, "master",
-                      configMINIMAL_STACK_SIZE * 10,tskIDLE_PRIORITY + 1UL,
-                      static_cast<void*>(qmanager));
-  manager->createTask(thread_manager, "manager",
-                      configMINIMAL_STACK_SIZE * 10,tskIDLE_PRIORITY + 1UL,
-                      static_cast<void*>(qmanager));
-  manager->createTask(thread_rotary, "rotary",
-                      configMINIMAL_STACK_SIZE * 10,tskIDLE_PRIORITY + 1UL,
-                      static_cast<void*>(qmanager));
-  manager->createTask(thread_user_interface, "user_interface",
-                      configMINIMAL_STACK_SIZE * 10,tskIDLE_PRIORITY + 1UL,
-                      static_cast<void*>(qmanager));
-  
-  // Start the real time kernel with preemption.
   vTaskStartScheduler ();
 
   return 1;
 }
+
+extern "C"
+{
+  void
+  vConfigureTimerForRunTimeStats (void)
+  {
+    Chip_SCT_Init (LPC_SCT1);
+    LPC_SCT1->CONFIG = SCT_CONFIG_32BIT_COUNTER;
+    LPC_SCT1->CTRL_U = SCT_CTRL_PRE_L (255)
+                            | SCT_CTRL_CLRCTR_L; // set prescaler to 256 (255 +
+                                                 // 1), and start timer
+  }
+}

source/shoh/src/peripherals/DigitalIoPin.cpp

@@ -6,6 +6,7 @@
  */
 
 #include "DigitalIoPin.h"
+#include "Log.h"
 
 DigitalIoPin::DigitalIoPin (int port, int pin, bool input, bool pullup,
                             bool invert, bool isr, IRQn_Type isr_index)
@@ -39,6 +40,8 @@ DigitalIoPin::~DigitalIoPin ()
 void
 DigitalIoPin::setIoPin ()
 {
+  LOG_DEBUG("P%d_%d set as %s", _io._port, _io._pin, 
+           _io._input ? "input" : "output");
   bool direction = true;
   if (_io._input)
     {
@@ -62,6 +65,7 @@ DigitalIoPin::setIoPin ()
 void
 DigitalIoPin::setIsr ()
 {
+  LOG_DEBUG("P%d_%d set as ISR", _io._port, _io._pin);
   bool direction = true;
   if (_io._input)
     {

source/shoh/src/peripherals/EEPROMio.cpp

@@ -6,6 +6,7 @@
  */
 
 #include <EEPROMio.h>
+#include "Log.h"
 
 static void
 e_memcpy (void *from, void *to, unsigned int n)
@@ -57,6 +58,7 @@ EEPROMio::write_to (uint32_t addr, std::string str)
 {
   std::copy (str.begin (), str.end (), std::begin (buffer));
   eeprom_use (buffer, addr, str.length (), WRITE);
+  LOG_DEBUG("%dB written to EEPROM", str.length ());
 }
 
 void *
@@ -64,6 +66,7 @@ EEPROMio::read_from (uint32_t addr, uint32_t amount)
 {
   eeprom_use (buffer, addr, amount, READ);
   void *data = (void *)buffer;
+  LOG_DEBUG("%dB read from EEPROM", amount);
   return data;
 }
 void
@@ -72,5 +75,6 @@ EEPROMio::write_to (uint32_t addr, void *data, uint32_t size_of_data)
   assert (size_of_data < EEPROM_MAX_BUFER_SIZE);
   e_memcpy (data, buffer, size_of_data);
   eeprom_use (buffer, addr, size_of_data, WRITE);
+  LOG_DEBUG("%dB written to EEPROM", size_of_data);
 }
 

source/shoh/src/peripherals/retarget_uart.cpp

@@ -11,7 +11,7 @@ static LpcDebugUart *dbgu;
 
 void retarget_init()
 {
-	LpcPinMap none = {-1, -1}; // unused pin has negative values in it
+	//LpcPinMap none = {-1, -1}; // unused pin has negative values in it
 	//Sadly, it seems that only USART0 is redirected to USB.
 	//It means that those are pins PIO0_18 and PIO0_19
 	LpcPinMap txpin = { 0, 19 }; // transmit pin that goes to debugger's UART->USB converter

source/shoh/src/threads/common/QueueManager.cpp

@@ -6,6 +6,7 @@
  */
 
 #include "ThreadCommon.h"
+#include "Log.h"
 
 ThreadCommon::QueueManager::QueueManager() {}
 

source/shoh/src/threads/common/ThreadCommon.h

@@ -18,6 +18,7 @@
 
 namespace ThreadCommon
 {
+
     enum RotaryAction 
 	{
 		Right,
@@ -45,7 +46,8 @@ namespace ThreadCommon
                 master_event_all,
                 relay_event_master,
                 manager_event_master,
-                ui_event_manager
+                ui_event_manager,
+                logging_message_all
             };
             QueueManager();
             ~QueueManager() = default;
@@ -70,14 +72,11 @@ namespace ThreadCommon
             std::map <Queue_id, QueueHandle_t> queues;
     };
 
-    /* global variables */
+    typedef struct _CommonManagers
-    /* 'receiver'_'what'_'sender'_q */
+    {
-    /*
+        ThreadManager * tm;
-    extern QueueHandle_t master_event_all_q;
+        QueueManager * qm;
-    extern QueueHandle_t relay_event_master_q;
+    } CommonManagers;
-    extern QueueHandle_t manager_event_master_q;
-    extern QueueHandle_t ui_event_manager_q;
-    */
 }
 
 #endif /*__THREAD_COMMON_H_*/

source/shoh/src/threads/logging/Log.h

@@ -0,0 +1,88 @@
+#ifndef __THREAD_COMMON_LOG_H_
+#define __THREAD_COMMON_LOG_H_
+
+#include "chip.h"
+#include "board.h"
+#include <stdarg.h>
+#include <stdio.h>
+#include "FreeRTOS.h"
+#include "task.h"
+#include "queue.h"
+
+extern QueueHandle_t logging_queue;
+
+/* ================= Settings ================== */
+#define LOG_COLORED_OUTPUT
+#define HIGH_PRIORITY_DEBUG
+#define LOG_DEBUG_MESSAGES 1
+/* ================= Settings ================== */
+
+// internal debug defines
+#ifdef HIGH_PRIORITY_DEBUG
+#include <assert.h>
+#define INT_ASSERT(statement) assert(statement)
+#else
+#define INT_ASSERT(statement) 
+#endif
+
+#ifdef LOG_COLORED_OUTPUT
+#define C_INFO "\x1b[34mINFO\x1b[0m"
+#define C_DEBUG "\x1b[35mDEBUG\x1b[0m"
+#define C_WARN "\x1b[33mWARNING\x1b[0m"
+#define C_ERROR "\x1b[31mERROR\x1b[0m"
+#else
+#define C_INFO "INFO"
+#define C_DEBUG "DEBUG"
+#define C_WARN "WARNING"
+#define C_ERROR "ERROR"
+#endif
+
+#define LOG_BUFFER_MAX_CAP 256
+#define LOG_MESSAGE_MAX_CAP 150
+
+#define _LOG_STREAMOUT(message, message_length)                 \
+    INT_ASSERT(message_length > 0);                             \
+    if (logging_queue) {                                          \
+        xQueueSend(logging_queue, (void*)message, portMAX_DELAY);  \
+    }
+
+static void create_log_line(const char * _status,
+                            const char * _location,
+                            const size_t _line,
+                            const char * _fmt, ...)
+{
+    va_list args;
+    va_start(args, _fmt);
+    char message [LOG_BUFFER_MAX_CAP] = {0};
+    int message_len = vsnprintf(message, LOG_BUFFER_MAX_CAP, _fmt, args);
+    va_end(args);
+    char buffer [LOG_BUFFER_MAX_CAP] = {0};
+    int buffer_len = snprintf(buffer, LOG_BUFFER_MAX_CAP,
+                             "[%s] [File: %s] [Line: %d] %.*s",
+                             _status,
+                             _location,
+                             _line,
+                             message_len,
+                             message);
+    _LOG_STREAMOUT(buffer, buffer_len)
+    
+}
+
+#define LOG_INFO(fmt, ...)                                        \
+    create_log_line(C_INFO, __FILE__, __LINE__, fmt, ##__VA_ARGS__);
+
+#define LOG_WARNING(fmt, ...)                                        \
+    create_log_line(C_WARN, __FILE__, __LINE__, fmt, ##__VA_ARGS__);
+
+#define LOG_ERROR(fmt, ...)                                       \
+    create_log_line(C_ERROR, __FILE__, __LINE__, fmt, ##__VA_ARGS__);
+
+#if LOG_DEBUG_MESSAGES
+#define LOG_DEBUG(fmt, ...)                                        \
+    create_log_line(C_DEBUG, __FILE__, __LINE__, fmt, ##__VA_ARGS__);
+#else
+#define LOG_DEBUG(fmt, ...)
+#endif
+
+
+#endif /* __THREAD_COMMON_LOG_H_ */

source/shoh/src/threads/logging/Logging.cpp

@@ -0,0 +1,38 @@
+/*
+ * Logging.cpp
+ *
+ *  Created on: 12 May 2023
+ *      Author: tylen
+ */
+
+#include "Logging.h"
+#include "ThreadCommon.h"
+#include "Log.h"
+#include "queue.h"
+
+Logging::Logging(ThreadCommon::QueueManager * qm) : _qm(qm) {
+	q = _qm->getQueue(ThreadCommon::QueueManager::logging_message_all);
+}
+
+Logging::~Logging() {
+	// TODO Auto-generated destructor stub
+}
+
+void Logging::taskFunction()
+{
+	for(;;)
+	{
+		char data[LOG_BUFFER_MAX_CAP] = {0};
+		xQueueReceive(q, static_cast<char*>(data), portMAX_DELAY);
+		mutex.lock();
+		printf("%s\n", data);
+		mutex.unlock();
+	}
+}
+
+void thread_logging(void* pvParams)
+{
+	ThreadCommon::CommonManagers * manager = static_cast<ThreadCommon::CommonManagers*>(pvParams);
+	Logging log(manager->qm);
+	log.taskFunction();
+}

source/shoh/src/threads/logging/Logging.h

@@ -0,0 +1,27 @@
+/*
+ * Logging.h
+ *
+ *  Created on: 12 May 2023
+ *      Author: tylen
+ */
+
+#ifndef THREADS_LOGGING_LOGGING_H_
+#define THREADS_LOGGING_LOGGING_H_
+
+#include "Fmutex.h"
+#include "ThreadCommon.h"
+
+class Logging {
+public:
+	Logging(ThreadCommon::QueueManager * qm);
+	virtual ~Logging();
+	void taskFunction();
+private:
+	ThreadCommon::QueueManager * _qm;
+	QueueHandle_t q;
+	Fmutex mutex;
+};
+
+void thread_logging(void* pvParams);
+
+#endif /* THREADS_LOGGING_LOGGING_H_ */

source/shoh/src/threads/manager/Manager.cpp

@@ -7,15 +7,17 @@
 
 #include "Manager.h"
 #include "ThreadCommon.h"
+#include "Log.h"
 
 Manager::Manager(ThreadCommon::QueueManager* qm)
 : _qm(qm), _menu{qm}
 {
+	LOG_DEBUG("Creating Manager");
 }
 
 Manager::~Manager() 
 {
-	// TODO Auto-generated destructor stub
+	LOG_ERROR("Deleting Manager");
 }
 
 Event::EventPair Manager::parseEvent(Event* e)
@@ -32,6 +34,7 @@ Event::EventPair Manager::parseEvent(Event* e)
 			return p; 
 		}
 	}
+	LOG_WARNING("Event is empty");
 	return {ERROR_RETURN, Event::Null};
 }
 
@@ -49,6 +52,7 @@ void Manager::taskFunction()
 
 void thread_manager(void* pvParams)
 {
-	Manager m(static_cast<ThreadCommon::QueueManager*>(pvParams));
+	ThreadCommon::CommonManagers * manager = static_cast<ThreadCommon::CommonManagers*>(pvParams);
+	Manager m(manager->qm);
 	m.taskFunction();
 }

source/shoh/src/threads/manager/Menu.cpp

@@ -8,12 +8,14 @@
 #include "Menu.h"
 #include <assert.h>
 #include "UserInterface.h"
+#include "Log.h"
 
 Menu::Menu(ThreadCommon::QueueManager* qm): _qm(qm),
 current(&Menu::sInitView), ext_temp(-99, 99, 1), set_point(-99, 99, 1),
 main_text     ("CURRENT %3d     DESIRED %3d     "),
 set_point_text("CURRENT %3d     DESIRED[%3d]    ")
 {
+    LOG_DEBUG("Creating Menu");
 	this->SetState(&Menu::sInitView);
     ext_temp.setCurrent(0);
     set_point.setCurrent(0);
@@ -21,6 +23,7 @@ set_point_text("CURRENT %3d     DESIRED[%3d]    ")
 
 Menu::~Menu() 
 {
+    LOG_DEBUG("Deleting Menu");
 }
 
 void Menu::HandleEventPair (Event::EventPair *ep)
@@ -71,10 +74,11 @@ void Menu::sInitView(const MenuObjEvent &e)
     switch (e.type)
     {
     case MenuObjEvent::eFocus:
+        LOG_DEBUG("enter sInitView");
         this->NotifyAndRefreshUI("Loading...");
         break;
     case MenuObjEvent::eUnFocus:
-        printf("NOTE: leave sInitView\n");
+        LOG_DEBUG("leave sInitView");
         this->NotifyAndRefreshUI("");
         break;
     case MenuObjEvent::eRollClockWise:
@@ -82,10 +86,11 @@ void Menu::sInitView(const MenuObjEvent &e)
     case MenuObjEvent::eRollCClockWise:
         break;
     case MenuObjEvent::eClick:
+        LOG_DEBUG("click sInitView");
         this->SetState(&Menu::sMainView);
         break;
     case MenuObjEvent::eRefresh:
-        printf("NOTE: sInitView handled eRefresh.\n");
+        LOG_DEBUG("refersh sInitView");
         this->SetState(&Menu::sMainView);
         break;
     default:
@@ -99,11 +104,13 @@ void Menu::sMainView(const MenuObjEvent &e)
     switch (e.type)
     {
     case MenuObjEvent::eFocus: 
+        LOG_DEBUG("enter sMainView");
         sprintf(screen_text, main_text, this->ext_temp.getCurrent(),
                                         this->set_point.getCurrent());
         this->NotifyAndRefreshUI(screen_text);
         break;
     case MenuObjEvent::eUnFocus:
+        LOG_DEBUG("leave sMainView");
         this->NotifyAndRefreshUI("");
         break;
     case MenuObjEvent::eRollClockWise:
@@ -111,11 +118,13 @@ void Menu::sMainView(const MenuObjEvent &e)
     case MenuObjEvent::eRollCClockWise:
         break;
     case MenuObjEvent::eClick:
+        LOG_DEBUG("click sMainView");
         this->SetState(&Menu::sSetPointMod);
         break;
     case MenuObjEvent::eRefresh:
         sprintf(screen_text, main_text, this->ext_temp.getCurrent(),
                                         this->set_point.getCurrent());
+        LOG_DEBUG("refresh sMainView");
         this->NotifyAndRefreshUI(screen_text);
         break;
     default:
@@ -129,11 +138,13 @@ void Menu::sSetPointMod(const MenuObjEvent &e)
     switch (e.type)
     {
     case MenuObjEvent::eFocus:
+        LOG_DEBUG("enter sSetPointMod");
         sprintf(screen_text, set_point_text, this->ext_temp.getCurrent(),
                                              this->set_point.getCurrent());
         this->NotifyAndRefreshUI(screen_text);
         break;
     case MenuObjEvent::eUnFocus:
+        LOG_DEBUG("leave sSetPointMod");
         this->NotifyAndRefreshUI("");
         break;
     case MenuObjEvent::eRollClockWise:
@@ -149,9 +160,11 @@ void Menu::sSetPointMod(const MenuObjEvent &e)
         this->NotifyAndRefreshUI(screen_text);
         break;
     case MenuObjEvent::eClick:
+        LOG_DEBUG("click sSetPointMod");
         this->SetState(&Menu::sMainView);
         break;
     case MenuObjEvent::eRefresh:
+        LOG_DEBUG("refresh sSetPointMod");
         sprintf(screen_text, set_point_text, this->ext_temp.getCurrent(),
                                              this->set_point.getCurrent());
         this->NotifyAndRefreshUI(screen_text);

source/shoh/src/threads/master/Master.cpp

@@ -6,6 +6,14 @@
  */
 
 #include "Master.h"
+#include "Log.h"
+#include "ThreadCommon.h"
+#include "Rotary.h"
+#include "Manager.h"
+#include "Logging.h"
+#include "UserInterface.h"
+#include "queue.h"
+#include "Logging.h"
 
 static const char* rotary_direction[] = 
 {
@@ -15,9 +23,11 @@ static const char* rotary_direction[] =
 	"Idle"
 };
 
+QueueHandle_t logging_queue;
+
 Master::Master(ThreadCommon::QueueManager* qm) : _qm(qm)
 {
-
+	LOG_DEBUG("Creating Master");
 }
 
 void Master::HandleEventType(Event* e, Event::EventType type)
@@ -29,6 +39,7 @@ void Master::HandleEventType(Event* e, Event::EventType type)
 		case Event::Rotary:
 			//Comes from rotary, goes to manager
 			_qm->send<Event>(ThreadCommon::QueueManager::manager_event_master, e, 0);
+			LOG_DEBUG("Rotary: %s has been forwarded to manager", rotary_direction[e->getDataOf(type)]);
 			break;
 		case Event::InternalTemp:
 			// TODO remove (deprecated)
@@ -37,10 +48,12 @@ void Master::HandleEventType(Event* e, Event::EventType type)
 			//Comes from sensors, goes to relay & manager
 			_qm->send<Event>(ThreadCommon::QueueManager::relay_event_master, e, 0);
 			_qm->send<Event>(ThreadCommon::QueueManager::manager_event_master, e, 0);
+			LOG_DEBUG("ExtTemp: %d has been forwarded to manager and relay", e->getDataOf(type));
 			break;
 		case Event::SetPoint:
 			//Comes from manager, goes to relay 
 			_qm->send<Event>(ThreadCommon::QueueManager::relay_event_master, e, 0);
+			LOG_DEBUG("SetPoint: %d has been forwarded to relay", e->getDataOf(type));
 			break;
 		default:
 			assert(0);
@@ -71,6 +84,43 @@ void Master::taskFunction() {
 
 
 void thread_master(void* pvParams) {
-	Master m(static_cast<ThreadCommon::QueueManager*>(pvParams));
+	ThreadCommon::CommonManagers * manager = static_cast<ThreadCommon::CommonManagers*>(pvParams);
+
+	manager->qm->createQueue(5,
+							LOG_BUFFER_MAX_CAP,
+							ThreadCommon::QueueManager::logging_message_all);
+	logging_queue = manager->qm->getQueue(ThreadCommon::QueueManager::logging_message_all);
+	manager->tm->createTask(thread_logging, "logging",
+							configMINIMAL_STACK_SIZE * 10,tskIDLE_PRIORITY + 1UL,
+							static_cast<void*>(manager));
+
+	LOG_INFO("Logging Active");
+	LOG_INFO("Started the real time kernel with preemption");
+	LOG_INFO("Master Started");
+	Master m(manager->qm);
+	LOG_INFO("Master is creating queues");
+	manager->qm->createQueue(100,
+							sizeof(Event),
+							ThreadCommon::QueueManager::master_event_all);
+	manager->qm->createQueue(20,
+							sizeof(Event),
+							ThreadCommon::QueueManager::manager_event_master);
+	manager->qm->createQueue(20,
+							sizeof(UserInterface::InterfaceWithData),
+							ThreadCommon::QueueManager::ui_event_manager);
+	LOG_INFO("Master created queues");
+
+
+	LOG_INFO("Master is creating tasks");
+	manager->tm->createTask(thread_manager, "manager",
+							configMINIMAL_STACK_SIZE * 10,tskIDLE_PRIORITY + 1UL,
+							static_cast<void*>(manager));
+	manager->tm->createTask(thread_rotary, "rotary",
+							configMINIMAL_STACK_SIZE * 10,tskIDLE_PRIORITY + 1UL,
+							static_cast<void*>(manager));
+	manager->tm->createTask(thread_user_interface, "user_interface",
+							configMINIMAL_STACK_SIZE * 10,tskIDLE_PRIORITY + 1UL,
+							static_cast<void*>(manager));
+	LOG_INFO("Master created tasks");
 	m.taskFunction();
 }

source/shoh/src/threads/master/Master.h

@@ -10,6 +10,8 @@
 
 #include "chip.h"
 #include "board.h"
+#include "FreeRTOS.h"
+#include "task.h"
 #include "ThreadCommon.h"
 #include "Event.h"
 #include "task.h"

source/shoh/src/threads/rotary/Rotary.cpp

@@ -8,6 +8,7 @@
 #include "Rotary.h"
 #include "board.h"
 #include "queue.h"
+#include "Log.h"
 
 static QueueHandle_t * p_rotary_isr_q;
 
@@ -20,6 +21,10 @@ extern "C"
 	portBASE_TYPE xHigherPriorityWoken = pdFALSE;
 	uint8_t data = ThreadCommon::RotaryAction::Right;
 	xQueueSendFromISR (*p_rotary_isr_q, &data,  &xHigherPriorityWoken);
+	if(!xHigherPriorityWoken)
+	{
+		LOG_WARNING("[PIN_INT0_IRQn] portEND_SWITCHING_ISR called with False value");
+	}
 	portEND_SWITCHING_ISR(xHigherPriorityWoken);
   }
 
@@ -30,6 +35,10 @@ extern "C"
 	portBASE_TYPE xHigherPriorityWoken = pdFALSE;
 	uint8_t data = ThreadCommon::RotaryAction::Left;
 	xQueueSendFromISR (*p_rotary_isr_q, &data,  &xHigherPriorityWoken);
+	if(!xHigherPriorityWoken)
+	{
+		LOG_WARNING("[PIN_INT1_IRQn] portEND_SWITCHING_ISR called with False value");
+	}
 	portEND_SWITCHING_ISR(xHigherPriorityWoken);
   }
 
@@ -40,16 +49,23 @@ extern "C"
 	portBASE_TYPE xHigherPriorityWoken = pdFALSE;
 	uint8_t data = ThreadCommon::RotaryAction::Press;
 	xQueueSendFromISR (*p_rotary_isr_q, &data,  &xHigherPriorityWoken);
+	if(!xHigherPriorityWoken)
+	{
+		LOG_WARNING("[PIN_INT2_IRQn] portEND_SWITCHING_ISR called with False value");
+	}
 	portEND_SWITCHING_ISR(xHigherPriorityWoken);
   }
 }
 
 Rotary::Rotary(ThreadCommon::QueueManager* qm) : _qm(qm) 
 {
-
+	LOG_DEBUG("Creating Rotary");
 }
 
-Rotary::~Rotary() {}
+Rotary::~Rotary() 
+{
+	LOG_ERROR("Deleting Rotary");
+}
 
 void Rotary::taskFunction()
 {
@@ -70,6 +86,7 @@ void thread_rotary(void* pvParams)
 	QueueHandle_t rotary_isr_q = xQueueCreate(15, sizeof(char));
 	p_rotary_isr_q = &rotary_isr_q;
 
-	Rotary r(static_cast<ThreadCommon::QueueManager*>(pvParams));
+	ThreadCommon::CommonManagers * manager = static_cast<ThreadCommon::CommonManagers*>(pvParams);
+	Rotary r(manager->qm);
 	r.taskFunction();
 }

source/shoh/src/threads/user_interface/UserInterface.cpp

@@ -5,16 +5,19 @@
  */
 
 #include "UserInterface.h"
+#include "Log.h"
 #include <cstring>
 
 UserInterface::UserInterface(ThreadCommon::QueueManager* qm) :
 _qm(qm), lcd1(nullptr)
 {
+	LOG_DEBUG("Creating UserInterface");
 	this->initLCD1();
 }
 
 UserInterface::~UserInterface()
 {
+	LOG_ERROR("Deleting UserInterface");
 	delete this->lcd1;
 	delete this->lcd1_rs;
 	delete this->lcd1_en;
@@ -45,7 +48,7 @@ void UserInterface::handleEvent(InterfaceWithData* ui_data)
 		break;
 	default:
 		//Should never happen.
-		printf("WARNING: [UserInterface::handleEvent] executed default case.\n");
+		LOG_ERROR("[UserInterface::handleEvent] executed default case");
 		break;
 	}
 }
@@ -57,13 +60,16 @@ void UserInterface::handleEvent(InterfaceWithData* ui_data)
 void UserInterface::handleLCD(LiquidCrystal *lcd, const char *str)
 {
 	//Interpret empty string as clear.
-	if(!strlen(str))
+	if(!strlen(str)){
 		lcd->clear();
+		LOG_DEBUG("Clear up LCD");
 	//Print the text otherwise.
+	}
 	else
 	{
 		lcd->setCursor(0, 0);
 		lcd->print(str);
+		LOG_DEBUG("Printing [%s] on LCD", str);
 	}
 }
 
@@ -92,6 +98,7 @@ void UserInterface::initLCD1()
 
 void thread_user_interface(void* pvParams)
 {
-	UserInterface ui(static_cast<ThreadCommon::QueueManager*>(pvParams));
+	ThreadCommon::CommonManagers * manager = static_cast<ThreadCommon::CommonManagers*>(pvParams);
+	UserInterface ui(manager->qm);
 	ui.taskFunction();
 }