Undefined Reference to "uxTaskGetSystemState" Upon Any Attempt to Use.

[Fuzzyzilla]

Hello!

I have just started freeRTOS and I wanted to do some debugging of my tasks. I wrote a function to display all task states using "uxTaskGetSystemState()" but any attempt to use this function results in the following error:

C:\Users\...\AppData\Local\Temp\arduino_modified_sketch_317958/sketch_nov20a.ino:3: undefined reference to `uxTaskGetSystemState'

This happens on all computers I've tried it on. All other freeRTOS functions I've tried work fine, just not this one.

What can I do to fix this?

Thanks!

[chegewara]

This function requires configUSE_TRACE_FACILITY=1. You have to check this option in menuconfig:

Code: Select all

menuconfig->Component config->FreeRTOS->Enable FreeRTOS trace facility

[kolban]

If we visit the Github for the ESP-IDF and do a search for uxTaskGetSystemState() we eventually find this source:

https://github.com/espressif/esp-idf/bl ... ks.c#L2287

If we look at the source, we see that it only gets compiled in if the configUSE_TRACE_FACILITY is set to 1.

We can set this in the "make menuconfig" within FreeRTOS > Enable FreeRTOS trace facility.



Switch this on and recompile. If that doesn't help, please post back and we'll try something else.

[Fuzzyzilla]

Thank you both for your answers. Do I have to install ESPIDF to access these options?

Edit: I tried changing the config file manually, that didn't help.
(tried setting CONFIG_FREERTOS_USE_TRACE_FACILITY to 'y' , '1', and 'true' and then recompiling in arduino.)

[chegewara]

Im not sure but maybe try to change this option in sdkconfig.h
It is in sdk/include/config folder

Or change this file and set default value to y
https://github.com/espressif/esp-idf/bl ... onfig#L288

[Fuzzyzilla]

Yeah, I've scanned through the different files changing them to 1, it still doesn't work...

[kolban]

Ahh just noticed that you are using Arduino. It may be that the ESP-IDF distributed with the Arduino version you are using pre-dates the latest ESP-IDF into which this option was recently added. You'd want to check the ESP-IDF commit history and find out what this option was added and then compare that against the ESP-IDF distributed by Arduino. If Arduino ESP-IDF distribution pre-dates that then this suggestion won't work as described and you would either have to find a new solution or wait for the Arduino ESP-IDF distibution to catch up.

[NickJames]

I managed to make this work with the following steps:

[*]run git log in arduino-esp32 to find the latest tagged IDF (3.1 in my case)
[*]checkout that tag in esp-idf
[*]copy sdkconfig from arduino-esp32/tools/sdk/sdkconfig to esp-idf/examples/get-started/blink/sdkconfig
[*]run make menuconfig in esp-idf/examples/get-started/blink, turn on the options mentioned above
[*]make
[*]copy build/freertos/libfreertos.a to Arduino/hardware/expressif/esp32/tools/sdk/lib/
[*]copy build/esp32/libesp32.a to Arduino/hardware/expressif/esp32/tools/sdk/lib/

After doing these steps, I was able to compile this example: https://www.freertos.org/uxTaskGetSystemState.html
with the following changes
[*]use uxTaskGetNumberOfTasks() instead of uxCurrentNumberOfTasks()
[*]hack the task status data out of memory. I've still messed something up because sizeof(TaskStatus_t) evaluates to 36, but the actual struct size in memory was 40. I offset the pointers manually. Please do pardon my language.

Code: Untitled.cpp Select all

void print_shit(void)

{

    char *str = (char *)malloc(sizeof(char) * 2000);

    memset(str, 0, 2000);

    char *pcWriteBuffer = str;



    TaskStatus_t *pxTaskStatusArray;



    volatile UBaseType_t uxArraySize, x;

    unsigned long ulStatsAsPercentage;

    uint32_t ulTotalRunTime;



   /* Make sure the write buffer does not contain a string. */

   *pcWriteBuffer = 0x00;



   /* Take a snapshot of the number of tasks in case it changes while this

   function is executing. */

   uxArraySize = uxTaskGetNumberOfTasks();



   /* Allocate a TaskStatus_t structure for each task.  An array could be

   allocated statically at compile time. */

   Serial.printf("sizeof TaskStatus_t: %d\n", sizeof(TaskStatus_t));

   pxTaskStatusArray = (TaskStatus_t*)pvPortMalloc( uxArraySize * sizeof(TaskStatus_t));

   memset(pxTaskStatusArray, 0, uxArraySize * sizeof(TaskStatus_t));



   if( pxTaskStatusArray != NULL )

   {

      /* Generate raw status information about each task. */

      Serial.printf("Array size before: %d\n", uxArraySize);

      uxArraySize = uxTaskGetSystemState( pxTaskStatusArray,

                                 uxArraySize,

                                 &ulTotalRunTime );

      Serial.printf("Array size after: %d\n", uxArraySize);

      Serial.printf("Total runtime: %d\n", ulTotalRunTime);



      /* For percentage calculations. */

      ulTotalRunTime /= 100UL;



      /* Avoid divide by zero errors. */

      if( ulTotalRunTime > 0 )

      {

         /* For each populated position in the pxTaskStatusArray array,

         format the raw data as human readable ASCII data. */

         Serial.printf("  name        runtime      pct     core         prio\n");

         for( int x = 0; x < uxArraySize; x++ )

         {

            TaskStatus_t *fuckit;

            void *tmp = &pxTaskStatusArray[x];

            void *hmm = tmp + (4 * x);

            fuckit = (TaskStatus_t*)hmm;



                // Serial.printf("Name: %.5s, ulRunTimeCounter: %d\n", fuckit->pcTaskName , fuckit->ulRunTimeCounter);

            /* What percentage of the total run time has the task used?

            This will always be rounded down to the nearest integer.

            ulTotalRunTimeDiv100 has already been divided by 100. */

            ulStatsAsPercentage =

                  fuckit->ulRunTimeCounter / ulTotalRunTime;



            if( ulStatsAsPercentage > 0UL )

            {

               sprintf( pcWriteBuffer, "%30s %10lu %10lu%% %5d %5d\n",

                                 fuckit->pcTaskName,

                                 fuckit->ulRunTimeCounter,

                                 ulStatsAsPercentage, 

                                *((int *)(&fuckit->usStackHighWaterMark)+1),

                                fuckit->uxBasePriority);

            }

            else

            {

               /* If the percentage is zero here then the task has

               consumed less than 1% of the total run time. */

               sprintf( pcWriteBuffer, "%30s %10lu %10s  %5d %5d\n",

                                 fuckit->pcTaskName,

                                 fuckit->ulRunTimeCounter,

                                 "<1%",

                                 *((uint32_t *)(&fuckit->usStackHighWaterMark)+1),

                                 fuckit->uxBasePriority);

            }



            pcWriteBuffer += strlen( ( char * ) pcWriteBuffer );

            // Serial.printf("len: %d, idx: %d\n", pcWriteBuffer - str, x);

         }

         Serial.print(str);

      }



      /* The array is no longer needed, free the memory it consumes. */

    //   vPortFree( pxTaskStatusArray );

    //   free(str);

   }

}

Code: Untitled.txt Select all

		Name        runtime  	   pct	  core  prio

        loopTask    8361337         89%     1     1

           IDLE0    9270465         99%     0     0

           IDLE1      14782        <1%      1     0

       CAN_RX_25     218240          2%     1    24

 100Hz_CAN_send_     144393          1%     1     3

             tiT      11428        <1%      0    18   

 10Hz_CAN_send_t      19815        <1%      1     1

     LED blinker       2382        <1%      0     0

       CAN_WD_BI       4471        <1%      1    10

 1Hz_CAN_send_ta      75161        <1%      1     1

       CAN_RX_24     195768          2%     1    24

         Tmr Svc         36        <1%      0     1

            ipc0       3502        <1%      0    24

   network_event         18        <1%      1    19

       eventTask         23        <1%      0    20

          CAN_RX         27        <1%  2147483647    15

        CAN_LORX         20        <1%      1    19

            mdns        141        <1%      0     1

       esptimer       4469        <1%      0    22

 ACAN2517Handler      60268        <1%  2147483647    24

 ACAN2517Handler     215147          2% 2147483647    24

            ipc1      22592        <1%      1    24

This forum is fine, but BBcode is an awful impediment. Good Night.

[boarchuz]

Looks familiar

I wonder if this is any help to tie up that loose end:
https://github.com/espressif/esp-idf/bl ... ask.h#L176

Possibly CONFIG_FREERTOS_VTASKLIST_INCLUDE_COREID is different between the relevant precompiled file and the sdkconfig that Arduino uses?

[NickJames]

Thanks @boarchuz, adding `-DCONFIG_FREERTOS_VTASKLIST_INCLUDE_COREID` to the `build.extra_flags` in platform.txt was all I needed.

While this approach has provided some very useful information on tasks, it has also unfortunately broken part of the WiFi stack.