WIP generators tasksgenerator-tasks

12 files changed, 348 insertions, 13 deletions

diff --git a/examples/generator.rs b/examples/generator.rs
new file mode 100644
index 00000000..28083480
--- /dev/null
+++ b/examples/generator.rs
@@ -0,0 +1,61 @@
+//! examples/hardware.rs
+
+#![feature(generator_trait)]
+#![feature(generators)]
+#![feature(never_type)]
+#![feature(type_alias_impl_trait)]
+#![deny(unsafe_code)]
+#![deny(warnings)]
+#![no_main]
+#![no_std]
+
+use cortex_m_semihosting::{debug, hprintln};
+use lm3s6965::Interrupt;
+use panic_semihosting as _;
+
+#[rtfm::app(device = lm3s6965)]
+const APP: () = {
+    struct Resources {
+        #[init(0)]
+        x: i64,
+    }
+
+    #[init]
+    fn init(_: init::Context) {
+        hprintln!("init").ok();
+    }
+
+    #[idle]
+    fn idle(_: idle::Context) -> ! {
+        hprintln!("idle").ok();
+
+        rtfm::pend(Interrupt::UART0);
+        hprintln!("C").ok();
+        rtfm::pend(Interrupt::UART0);
+        hprintln!("E").ok();
+        debug::exit(debug::EXIT_SUCCESS);
+
+        loop {}
+    }
+
+    #[task(binds = UART0, priority = 1, resources = [x])]
+    fn uart0(mut cx: uart0::Context) -> impl Generator<Yield = (), Return = !> {
+        hprintln!("A").ok();
+
+        move || loop {
+            hprintln!("B").ok();
+            yield;
+
+            cx.resources.x.lock(|x| {
+                hprintln!("lock").ok();
+                *x += 1;
+            });
+
+            hprintln!("D").ok();
+            yield;
+        }
+    }
+
+    #[task(binds = UART1, priority = 2, resources = [x])]
+    fn uart1(_: uart1::Context) {}
+};
diff --git a/macros/Cargo.toml b/macros/Cargo.toml
index 46598038..9169bf5c 100644
--- a/macros/Cargo.toml
+++ b/macros/Cargo.toml
@@ -21,7 +21,8 @@ proc-macro = true
 proc-macro2 = "1"
 quote = "1"
 syn = "1"
-rtfm-syntax = "0.4.0-beta.2"
+# rtfm-syntax = "0.4.0-beta.2"
+rtfm-syntax = { git = "https://github.com/rtfm-rs/rtfm-syntax", branch = "impl-generator" }
 
 [features]
 heterogeneous = []
diff --git a/macros/src/codegen.rs b/macros/src/codegen.rs
index 02138481..9439467b 100644
--- a/macros/src/codegen.rs
+++ b/macros/src/codegen.rs
@@ -39,7 +39,8 @@ pub fn app(app: &App, analysis: &Analysis, extra: &Extra) -> TokenStream2 {
         let (const_app_init, root_init, user_init, call_init) =
             init::codegen(core, app, analysis, extra);
 
-        let (const_app_post_init, post_init_stmts) = post_init::codegen(core, analysis, extra);
+        let (const_app_post_init, root_post_init, post_init_stmts) =
+            post_init::codegen(core, &app, analysis, extra);
 
         let (const_app_idle, root_idle, user_idle, call_idle) =
             idle::codegen(core, app, analysis, extra);
@@ -53,6 +54,8 @@ pub fn app(app: &App, analysis: &Analysis, extra: &Extra) -> TokenStream2 {
         root.push(quote!(
             #(#root_init)*
 
+            #(#root_post_init)*
+
             #(#root_idle)*
         ));
 
@@ -87,7 +90,8 @@ pub fn app(app: &App, analysis: &Analysis, extra: &Extra) -> TokenStream2 {
         ));
     }
 
-    let (const_app_resources, mod_resources) = resources::codegen(app, analysis, extra);
+    let (const_app_resources, mod_resources, mod_gresources) =
+        resources::codegen(app, analysis, extra);
 
     let (const_app_hardware_tasks, root_hardware_tasks, user_hardware_tasks) =
         hardware_tasks::codegen(app, analysis, extra);
@@ -128,6 +132,8 @@ pub fn app(app: &App, analysis: &Analysis, extra: &Extra) -> TokenStream2 {
 
         #mod_resources
 
+        #mod_gresources
+
         #(#root_hardware_tasks)*
 
         #(#root_software_tasks)*
diff --git a/macros/src/codegen/hardware_tasks.rs b/macros/src/codegen/hardware_tasks.rs
index a9c2a2bd..81f0b62f 100644
--- a/macros/src/codegen/hardware_tasks.rs
+++ b/macros/src/codegen/hardware_tasks.rs
@@ -29,6 +29,46 @@ pub fn codegen(
     let mut user_tasks = vec![];
 
     for (name, task) in &app.hardware_tasks {
+        // TODO split this big conditional to reuse code below
+        if task.is_generator {
+            let symbol = task.args.binds.clone();
+            let gen_i = util::generator_ident(&name.to_string());
+            const_app.push(quote!(
+                #[allow(non_snake_case)]
+                #[no_mangle]
+                unsafe fn #symbol() {
+                    use core::ops::Generator;
+
+                    core::pin::Pin::new_unchecked(&mut *#gen_i.as_mut_ptr()).resume();
+                }
+            ));
+
+            let priority = task.args.priority;
+            // `${task}Resources`
+            if !task.args.resources.is_empty() {
+                let (item, constructor) = resources_struct::codegen(
+                    Context::HardwareTask(name),
+                    priority,
+                    &mut false,
+                    app,
+                    analysis,
+                );
+
+                root.push(item);
+
+                const_app.push(constructor);
+            }
+
+            root.push(module::codegen(
+                Context::HardwareTask(name),
+                false,
+                app,
+                extra,
+            ));
+
+            continue;
+        }
+
         let core = task.args.core;
         let cfg_core = util::cfg_core(core, app.args.cores);
 
diff --git a/macros/src/codegen/locals.rs b/macros/src/codegen/locals.rs
index cbfe05fb..1758c8e7 100644
--- a/macros/src/codegen/locals.rs
+++ b/macros/src/codegen/locals.rs
@@ -20,7 +20,7 @@ pub fn codegen(
 ) {
     assert!(!locals.is_empty());
 
-    let runs_once = ctxt.runs_once();
+    let runs_once = ctxt.runs_once(app);
     let ident = util::locals_ident(ctxt, app);
 
     let mut lt = None;
diff --git a/macros/src/codegen/module.rs b/macros/src/codegen/module.rs
index 5f077a22..3634fcc0 100644
--- a/macros/src/codegen/module.rs
+++ b/macros/src/codegen/module.rs
@@ -111,7 +111,7 @@ pub fn codegen(ctxt: Context, resources_tick: bool, app: &App, extra: &Extra) ->
             pub resources: Resources<#lt>
         ));
 
-        let priority = if ctxt.is_init() {
+        let priority = if ctxt.is_init() || ctxt.is_generator(app) {
             None
         } else {
             Some(quote!(priority))
@@ -281,7 +281,7 @@ pub fn codegen(ctxt: Context, resources_tick: bool, app: &App, extra: &Extra) ->
         None
     };
 
-    let priority = if ctxt.is_init() {
+    let priority = if ctxt.is_init() || ctxt.is_generator(app) {
         None
     } else {
         Some(quote!(priority: &#lt rtfm::export::Priority))
diff --git a/macros/src/codegen/post_init.rs b/macros/src/codegen/post_init.rs
index 19773e45..d4b13181 100644
--- a/macros/src/codegen/post_init.rs
+++ b/macros/src/codegen/post_init.rs
@@ -1,15 +1,29 @@
 use proc_macro2::TokenStream as TokenStream2;
 use quote::quote;
+use rtfm_syntax::{ast::App, Context};
 
-use crate::{analyze::Analysis, check::Extra, codegen::util};
+use crate::{
+    analyze::Analysis,
+    check::Extra,
+    codegen::{locals, util},
+};
 
 /// Generates code that runs after `#[init]` returns
 pub fn codegen(
     core: u8,
+    app: &App,
     analysis: &Analysis,
     extra: &Extra,
-) -> (Vec<TokenStream2>, Vec<TokenStream2>) {
+) -> (
+    // const_app
+    Vec<TokenStream2>,
+    // root
+    Vec<TokenStream2>,
+    // stmts
+    Vec<TokenStream2>,
+) {
     let mut const_app = vec![];
+    let mut root = vec![];
     let mut stmts = vec![];
 
     // initialize late resources
@@ -22,6 +36,48 @@ pub fn codegen(
         }
     }
 
+    // TODO WIP
+    for (name, task) in &app.hardware_tasks {
+        if task.is_generator {
+            let name_s = name.to_string();
+            let gen_i = util::generator_ident(&name_s);
+            let gen_t = util::generator_type(&name_s);
+            const_app.push(quote!(
+                static mut #gen_i: core::mem::MaybeUninit<#gen_t> =
+                    core::mem::MaybeUninit::uninit();
+            ));
+
+            let (locals_pat, locals_new) = if task.locals.is_empty() {
+                (None, quote!())
+            } else {
+                let (struct_, pat) =
+                    locals::codegen(Context::HardwareTask(name), &task.locals, core, app);
+
+                root.push(struct_);
+
+                (Some(pat), quote!(#name::Locals::new(),))
+            };
+
+            let context = &task.context;
+            let task_stmts = &task.stmts;
+            let locals_pat = locals_pat.iter();
+            root.push(quote!(
+                type #gen_t = impl core::ops::Generator<Yield = (), Return = !>;
+
+                // #[allow(non_snake_case)]
+                fn #name(#(#locals_pat,)* #context: #name::Context) -> #gen_t {
+                    use rtfm::Mutex as _;
+
+                    #(#task_stmts)*
+                }
+            ));
+
+            stmts.push(quote!(
+                #gen_i.as_mut_ptr().write(#name(#locals_new #name::Context::new()));
+            ));
+        }
+    }
+
     if analysis.timer_queues.is_empty() {
         // cross-initialization barriers -- notify *other* cores that their resources have been
         // initialized
@@ -151,5 +207,5 @@ pub fn codegen(
     // enable the interrupts -- this completes the `init`-ialization phase
     stmts.push(quote!(rtfm::export::interrupt::enable();));
 
-    (const_app, stmts)
+    (const_app, root, stmts)
 }
diff --git a/macros/src/codegen/resources.rs b/macros/src/codegen/resources.rs
index 8cb788d1..1af95ada 100644
--- a/macros/src/codegen/resources.rs
+++ b/macros/src/codegen/resources.rs
@@ -17,9 +17,12 @@ pub fn codegen(
     Vec<TokenStream2>,
     // mod_resources -- the `resources` module
     TokenStream2,
+    // mod_gresources -- the `gresources` module
+    TokenStream2,
 ) {
     let mut const_app = vec![];
     let mut mod_resources = vec![];
+    let mut mod_gresources = vec![];
 
     for (name, res, expr, loc) in app.resources(analysis) {
         let cfgs = &res.cfgs;
@@ -77,6 +80,8 @@ pub fn codegen(
         if let Some(Ownership::Contended { ceiling }) = analysis.ownerships.get(name) {
             let cfg_core = util::cfg_core(loc.core().expect("UNREACHABLE"), app.args.cores);
 
+            // TODO generate less code -- we don't always need both `gresources::foo` and
+            // `resources::foo`
             mod_resources.push(quote!(
                 #[allow(non_camel_case_types)]
                 #(#cfgs)*
@@ -114,8 +119,37 @@ pub fn codegen(
                 name,
                 quote!(#ty),
                 *ceiling,
+                ptr.clone(),
+            ));
+
+            mod_gresources.push(quote!(
+                #[allow(non_camel_case_types)]
+                #(#cfgs)*
+                #cfg_core
+                pub struct #name {
+                    _not_send_or_sync: core::marker::PhantomData<*mut ()>,
+                }
+
+                #(#cfgs)*
+                #cfg_core
+                impl #name {
+                    #[inline(always)]
+                    pub unsafe fn new() -> Self {
+                        #name { _not_send_or_sync: core::marker::PhantomData }
+                    }
+                }
+            ));
+
+            const_app.push(util::impl_gmutex(
+                extra,
+                cfgs,
+                cfg_core.as_ref(),
+                name,
+                quote!(#ty),
+                *ceiling,
                 ptr,
             ));
+
         }
     }
 
@@ -129,5 +163,13 @@ pub fn codegen(
         })
     };
 
-    (const_app, mod_resources)
+    let mod_gresources = if mod_gresources.is_empty() {
+        quote!()
+    } else {
+        quote!(mod gresources {
+            #(#mod_gresources)*
+        })
+    };
+
+    (const_app, mod_resources, mod_gresources)
 }
diff --git a/macros/src/codegen/resources_struct.rs b/macros/src/codegen/resources_struct.rs
index 07a60616..17503a66 100644
--- a/macros/src/codegen/resources_struct.rs
+++ b/macros/src/codegen/resources_struct.rs
@@ -4,6 +4,7 @@ use rtfm_syntax::{ast::App, Context};
 
 use crate::{analyze::Analysis, codegen::util};
 
+// TODO need to do something different when generators are involved
 pub fn codegen(
     ctxt: Context,
     priority: u8,
@@ -63,6 +64,67 @@ pub fn codegen(
                     #name: &mut #name
                 ));
             }
+        } else if ctxt.is_generator(app) {
+            let ownership = &analysis.ownerships[name];
+
+            if ownership.needs_lock(priority) {
+                if mut_.is_none() {
+                    // mod gresourcesd
+                    unimplemented!()
+                } else {
+                    // resource proxy
+                    fields.push(quote!(
+                        #(#cfgs)*
+                        pub #name: gresources::#name
+                    ));
+
+                    values.push(quote!(
+                        #(#cfgs)*
+                        #name: gresources::#name::new()
+
+                    ));
+
+                    continue;
+                }
+            } else {
+                let lt = if ctxt.runs_once(app) {
+                    quote!('static)
+                } else {
+                    lt = Some(quote!('a));
+                    quote!('a)
+                };
+
+                if ownership.is_owned() || mut_.is_none() {
+                    fields.push(quote!(
+                        #(#cfgs)*
+                        pub #name: &#lt #mut_ #ty
+                    ));
+                } else {
+                    fields.push(quote!(
+                        #(#cfgs)*
+                        pub #name: &#lt mut #ty
+                    ));
+                }
+            }
+
+            let is_late = expr.is_none();
+            if is_late {
+                let expr = if mut_.is_some() {
+                    quote!(&mut *#name.as_mut_ptr())
+                } else {
+                    quote!(&*#name.as_ptr())
+                };
+
+                values.push(quote!(
+                    #(#cfgs)*
+                    #name: #expr
+                ));
+            } else {
+                values.push(quote!(
+                    #(#cfgs)*
+                    #name: &#mut_ #name
+                ));
+            }
         } else {
             let ownership = &analysis.ownerships[name];
 
@@ -92,7 +154,7 @@ pub fn codegen(
                     continue;
                 }
             } else {
-                let lt = if ctxt.runs_once() {
+                let lt = if ctxt.runs_once(app) {
                     quote!('static)
                 } else {
                     lt = Some(quote!('a));
@@ -161,7 +223,7 @@ pub fn codegen(
         }
     );
 
-    let arg = if ctxt.is_init() {
+    let arg = if ctxt.is_init() || ctxt.is_generator(app) {
         None
     } else {
         Some(quote!(priority: &#lt rtfm::export::Priority))
diff --git a/macros/src/codegen/util.rs b/macros/src/codegen/util.rs
index 207272dc..3ee55bfa 100644
--- a/macros/src/codegen/util.rs
+++ b/macros/src/codegen/util.rs
@@ -91,6 +91,43 @@ pub fn impl_mutex(
     )
 }
 
+/// Generates a `Mutex` implementation for a resource seen from a generator task
+pub fn impl_gmutex(
+    extra: &Extra,
+    cfgs: &[Attribute],
+    cfg_core: Option<&TokenStream2>,
+    name: &Ident,
+    ty: TokenStream2,
+    ceiling: u8,
+    ptr: TokenStream2,
+) -> TokenStream2 {
+    let path = quote!(gresources::#name);
+
+    let device = extra.device;
+    quote!(
+        #(#cfgs)*
+        #cfg_core
+        impl rtfm::Mutex for #path {
+            type T = #ty;
+
+            #[inline(always)]
+            fn lock<R>(&mut self, f: impl FnOnce(&mut #ty) -> R) -> R {
+                /// Priority ceiling
+                const CEILING: u8 = #ceiling;
+
+                unsafe {
+                    rtfm::export::glock(
+                        #ptr,
+                        CEILING,
+                        #device::NVIC_PRIO_BITS,
+                        f,
+                    )
+                }
+            }
+        }
+    )
+}
+
 /// Generates an identifier for a cross-initialization barrier
 pub fn init_barrier(initializer: Core) -> Ident {
     Ident::new(&format!("IB{}", initializer), Span::call_site())
@@ -323,3 +360,11 @@ pub fn suffixed(name: &str, core: u8) -> Ident {
 pub fn tq_ident(core: Core) -> Ident {
     Ident::new(&format!("TQ{}", core), Span::call_site())
 }
+
+pub fn generator_ident(task: &str) -> Ident {
+    Ident::new(&format!("{}S", task), Span::call_site())
+}
+
+pub fn generator_type(task: &str) -> Ident {
+    Ident::new(&format!("{}T", task), Span::call_site())
+}
diff --git a/macros/src/lib.rs b/macros/src/lib.rs
index 54282e1e..9bace086 100644
--- a/macros/src/lib.rs
+++ b/macros/src/lib.rs
@@ -209,6 +209,7 @@ pub fn app(args: TokenStream, input: TokenStream) -> TokenStream {
     settings.parse_cores = cfg!(feature = "heterogeneous") || cfg!(feature = "homogeneous");
     settings.parse_extern_interrupt = true;
     settings.parse_schedule = true;
+    settings.parse_impl_generator = true;
 
     let (app, analysis) = match rtfm_syntax::parse(args, input, settings) {
         Err(e) => return e.to_compile_error().into(),
diff --git a/src/export.rs b/src/export.rs
index 96c444bf..44eb5348 100644
--- a/src/export.rs
+++ b/src/export.rs
@@ -5,7 +5,7 @@ use core::{
 
 pub use crate::tq::{NotReady, TimerQueue};
 #[cfg(armv7m)]
-pub use cortex_m::register::basepri;
+pub use cortex_m::register::{basepri, basepri_max};
 pub use cortex_m::{
     asm::wfi,
     interrupt,
@@ -145,6 +145,25 @@ pub unsafe fn lock<T, R>(
     }
 }
 
+#[cfg(armv7m)]
+#[inline(always)]
+pub unsafe fn glock<T, R>(
+    ptr: *mut T,
+    ceiling: u8,
+    nvic_prio_bits: u8,
+    f: impl FnOnce(&mut T) -> R,
+) -> R {
+    if ceiling == (1 << nvic_prio_bits) {
+        interrupt::free(|_| f(&mut *ptr))
+    } else {
+        let current = basepri::read();
+        basepri_max::write(logical2hw(ceiling, nvic_prio_bits));
+        let r = f(&mut *ptr);
+        basepri::write(logical2hw(current, nvic_prio_bits));
+        r
+    }
+}
+
 #[cfg(not(armv7m))]
 #[inline(always)]
 pub unsafe fn lock<T, R>(
@@ -166,6 +185,8 @@ pub unsafe fn lock<T, R>(
     }
 }
 
+// TODO glock for ARMv6-M
+
 #[inline]
 pub fn logical2hw(logical: u8, nvic_prio_bits: u8) -> u8 {
     ((1 << nvic_prio_bits) - logical) << (8 - nvic_prio_bits)