From f4663b98e4652eba1c49b9781c71f41c1e781ac4 Mon Sep 17 00:00:00 2001
From: James Cotton <peabody124@gmail.com>
Date: Sat, 10 Mar 2012 17:02:38 -0600
Subject: [PATCH] When the event system or object manager has an error store
 the object ID in the SystemStats.

---
 flight/Modules/System/systemmod.c          | 12 +++++++++++-
 flight/UAVObjects/eventdispatcher.c        |  1 +
 flight/UAVObjects/inc/eventdispatcher.h    |  1 +
 flight/UAVObjects/inc/uavobjectmanager.h   |  5 ++++-
 flight/UAVObjects/uavobjectmanager.c       |  6 ++++--
 shared/uavobjectdefinition/systemstats.xml |  3 +++
 6 files changed, 24 insertions(+), 4 deletions(-)

diff --git a/flight/Modules/System/systemmod.c b/flight/Modules/System/systemmod.c
index 0198fb490..bf3ae7b01 100644
--- a/flight/Modules/System/systemmod.c
+++ b/flight/Modules/System/systemmod.c
@@ -457,11 +457,21 @@ static void updateSystemAlarms()
 	EventGetStats(&evStats);
 	UAVObjClearStats();
 	EventClearStats();
-	if (objStats.eventErrors > 0 || evStats.eventErrors > 0) {
+	if (objStats.eventCallbackErrors > 0 || objStats.eventQueueErrors > 0  || evStats.eventErrors > 0) {
 		AlarmsSet(SYSTEMALARMS_ALARM_EVENTSYSTEM, SYSTEMALARMS_ALARM_WARNING);
 	} else {
 		AlarmsClear(SYSTEMALARMS_ALARM_EVENTSYSTEM);
 	}
+	
+	if (objStats.lastCallbackErrorID || objStats.lastQueueErrorID || evStats.lastErrorID) {
+		SystemStatsData sysStats;
+		SystemStatsGet(&sysStats);
+		sysStats.EventSystemWarningID = evStats.lastErrorID;
+		sysStats.ObjectManagerCallbackID = objStats.lastCallbackErrorID;
+		sysStats.ObjectManagerQueueID = objStats.lastQueueErrorID;
+		SystemStatsSet(&sysStats);
+	}
+		
 }
 
 /**
diff --git a/flight/UAVObjects/eventdispatcher.c b/flight/UAVObjects/eventdispatcher.c
index 53a6e039d..61a31c258 100644
--- a/flight/UAVObjects/eventdispatcher.c
+++ b/flight/UAVObjects/eventdispatcher.c
@@ -350,6 +350,7 @@ static int32_t processPeriodicUpdates()
     			{
     				if ( xQueueSend(objEntry->evInfo.queue, &objEntry->evInfo.ev, 0) != pdTRUE ) // do not block if queue is full
     				{
+						stats.lastErrorID = UAVObjGetID(objEntry->evInfo.ev.obj);
     					++stats.eventErrors;
     				}
     			}
diff --git a/flight/UAVObjects/inc/eventdispatcher.h b/flight/UAVObjects/inc/eventdispatcher.h
index 9e378b65a..e1fc7970f 100644
--- a/flight/UAVObjects/inc/eventdispatcher.h
+++ b/flight/UAVObjects/inc/eventdispatcher.h
@@ -31,6 +31,7 @@
  * Event dispatcher statistics
  */
 typedef struct {
+	uint32_t lastErrorID;
 	uint32_t eventErrors;
 } EventStats;
 
diff --git a/flight/UAVObjects/inc/uavobjectmanager.h b/flight/UAVObjects/inc/uavobjectmanager.h
index ac5d34b5c..7045cac97 100644
--- a/flight/UAVObjects/inc/uavobjectmanager.h
+++ b/flight/UAVObjects/inc/uavobjectmanager.h
@@ -120,7 +120,10 @@ typedef void (*UAVObjInitializeCallback)(UAVObjHandle obj, uint16_t instId);
  * Event manager statistics
  */
 typedef struct {
-	uint32_t eventErrors;
+	uint32_t eventQueueErrors;
+	uint32_t eventCallbackErrors;
+	uint32_t lastCallbackErrorID;
+	uint32_t lastQueueErrorID;
 } UAVObjStats;
 
 int32_t UAVObjInitialize();
diff --git a/flight/UAVObjects/uavobjectmanager.c b/flight/UAVObjects/uavobjectmanager.c
index 7d30bee7b..860beedca 100644
--- a/flight/UAVObjects/uavobjectmanager.c
+++ b/flight/UAVObjects/uavobjectmanager.c
@@ -1441,14 +1441,16 @@ static int32_t sendEvent(ObjectList * obj, uint16_t instId,
 			      if (eventEntry->queue != 0) {
 					if (xQueueSend(eventEntry->queue, &msg, 0) != pdTRUE)	// will not block
 					{
-						  ++stats.eventErrors;
+						stats.lastQueueErrorID = UAVObjGetID(obj);
+						  ++stats.eventQueueErrors;
 					}
 			      }
 			      // Invoke callback (from event task) if a valid one is registered
 			      if (eventEntry->cb != 0) {
 					if (EventCallbackDispatch(&msg, eventEntry->cb) != pdTRUE)	// invoke callback from the event task, will not block
 					{
-						  ++stats.eventErrors;
+						  ++stats.eventCallbackErrors;
+						  stats.lastCallbackErrorID = UAVObjGetID(obj);
 					}
 			      }
 		    }
diff --git a/shared/uavobjectdefinition/systemstats.xml b/shared/uavobjectdefinition/systemstats.xml
index 3e6bc1547..c11453d20 100644
--- a/shared/uavobjectdefinition/systemstats.xml
+++ b/shared/uavobjectdefinition/systemstats.xml
@@ -6,6 +6,9 @@
         <field name="IRQStackRemaining" units="bytes" type="uint16" elements="1"/>
         <field name="CPULoad" units="%" type="uint8" elements="1"/>
         <field name="CPUTemp" units="C" type="int8" elements="1"/>
+        <field name="EventSystemWarningID" units="uavoid" type="uint32" elements="1"/>
+        <field name="ObjectManagerCallbackID" units="uavoid" type="uint32" elements="1"/>
+        <field name="ObjectManagerQueueID" units="uavoid" type="uint32" elements="1"/>
         <access gcs="readwrite" flight="readwrite"/>
         <telemetrygcs acked="false" updatemode="manual" period="0"/>
         <telemetryflight acked="false" updatemode="periodic" period="1000"/>