Fix codegen when having executor at multiple priorities

The codegen generated code for all executors in all
dispatchers, which caused some weird bugs.
Also the definition of an executor was not generated
globally, this caused use after free errors when having
multiple priority levels.

1 files changed, 28 insertions, 19 deletions

diff --git a/macros/src/codegen/dispatchers.rs b/macros/src/codegen/dispatchers.rs
index 9552451c..cc994402 100644
--- a/macros/src/codegen/dispatchers.rs
+++ b/macros/src/codegen/dispatchers.rs
@@ -10,6 +10,21 @@ pub fn codegen(app: &App, analysis: &Analysis, extra: &Extra) -> Vec<TokenStream
 
     let interrupts = &analysis.interrupts;
 
+    // Generate executor definition in global scope
+    for (name, task) in app.software_tasks.iter() {
+        if task.is_async {
+            let type_name = util::internal_task_ident(name, "F");
+            let exec_name = util::internal_task_ident(name, "EXEC");
+
+            items.push(quote!(
+                type #type_name = impl core::future::Future + 'static;
+                static #exec_name:
+                    rtic::RacyCell<rtic::export::executor::AsyncTaskExecutor<#type_name>> =
+                        rtic::RacyCell::new(rtic::export::executor::AsyncTaskExecutor::new());
+            ));
+        }
+    }
+
     for (&level, channel) in &analysis.channels {
         let mut stmts = vec![];
 
@@ -123,24 +138,17 @@ pub fn codegen(app: &App, analysis: &Analysis, extra: &Extra) -> Vec<TokenStream
             })
             .collect::<Vec<_>>();
 
-        for (name, task) in app.software_tasks.iter() {
-            if task.is_async {
-                let type_name = util::internal_task_ident(name, "F");
-                let exec_name = util::internal_task_ident(name, "EXEC");
-
-                stmts.push(quote!(
-                    type #type_name = impl core::future::Future + 'static;
-                    static #exec_name:
-                        rtic::RacyCell<rtic::export::executor::AsyncTaskExecutor<#type_name>> =
-                            rtic::RacyCell::new(rtic::export::executor::AsyncTaskExecutor::new());
-                ));
-            }
-        }
-
-        let n_executors = app
-            .software_tasks
+        let n_executors = channel
+            .tasks
             .iter()
-            .map(|(_, task)| if task.is_async { 1 } else { 0 })
+            .map(|name| {
+                let task = &app.software_tasks[name];
+                if task.is_async {
+                    1
+                } else {
+                    0
+                }
+            })
             .sum::<usize>()
             .max(1);
 
@@ -165,9 +173,10 @@ pub fn codegen(app: &App, analysis: &Analysis, extra: &Extra) -> Vec<TokenStream
             }
         ));
 
-        for (name, _task) in app.software_tasks.iter().filter_map(|(name, task)| {
+        for name in channel.tasks.iter().filter_map(|name| {
+            let task = &app.software_tasks[name];
             if task.is_async {
-                Some((name, task))
+                Some(name)
             } else {
                 None
             }