rtfm-syntax refactor + heterogeneous multi-core support

1 files changed, 169 insertions, 0 deletions

diff --git a/macros/src/codegen/software_tasks.rs b/macros/src/codegen/software_tasks.rs
new file mode 100644
index 00000000..8b2c0cd5
--- /dev/null
+++ b/macros/src/codegen/software_tasks.rs
@@ -0,0 +1,169 @@
+use proc_macro2::TokenStream as TokenStream2;
+use quote::quote;
+use rtfm_syntax::{ast::App, Context};
+
+use crate::{
+    analyze::Analysis,
+    check::Extra,
+    codegen::{locals, module, resources_struct, util},
+};
+
+pub fn codegen(
+    app: &App,
+    analysis: &Analysis,
+    extra: &Extra,
+) -> (
+    // const_app_software_tasks -- free queues, buffers and `${task}Resources` constructors
+    Vec<TokenStream2>,
+    // root_software_tasks -- items that must be placed in the root of the crate:
+    // - `${task}Locals` structs
+    // - `${task}Resources` structs
+    // - `${task}` modules
+    Vec<TokenStream2>,
+    // user_software_tasks -- the `#[task]` functions written by the user
+    Vec<TokenStream2>,
+) {
+    let mut const_app = vec![];
+    let mut root = vec![];
+    let mut user_tasks = vec![];
+
+    for (name, task) in &app.software_tasks {
+        let receiver = task.args.core;
+
+        let inputs = &task.inputs;
+        let (_, _, _, input_ty) = util::regroup_inputs(inputs);
+
+        let cap = task.args.capacity;
+        let cap_lit = util::capacity_literal(cap);
+        let cap_ty = util::capacity_typenum(cap, true);
+
+        // create free queues and inputs / instants buffers
+        if let Some(free_queues) = analysis.free_queues.get(name) {
+            for (&sender, &ceiling) in free_queues {
+                let cfg_sender = util::cfg_core(sender, app.args.cores);
+                let fq = util::fq_ident(name, sender);
+
+                let (loc, fq_ty, fq_expr) = if receiver == sender {
+                    (
+                        cfg_sender.clone(),
+                        quote!(rtfm::export::SCFQ<#cap_ty>),
+                        quote!(rtfm::export::Queue(unsafe {
+                            rtfm::export::iQueue::u8_sc()
+                        })),
+                    )
+                } else {
+                    (
+                        Some(quote!(#[rtfm::export::shared])),
+                        quote!(rtfm::export::MCFQ<#cap_ty>),
+                        quote!(rtfm::export::Queue(rtfm::export::iQueue::u8())),
+                    )
+                };
+                let loc = &loc;
+
+                const_app.push(quote!(
+                    /// Queue version of a free-list that keeps track of empty slots in
+                    /// the following buffers
+                    #loc
+                    static mut #fq: #fq_ty = #fq_expr;
+                ));
+
+                // Generate a resource proxy if needed
+                if let Some(ceiling) = ceiling {
+                    const_app.push(quote!(
+                        #cfg_sender
+                        struct #fq<'a> {
+                            priority: &'a rtfm::export::Priority,
+                        }
+                    ));
+
+                    const_app.push(util::impl_mutex(
+                        extra,
+                        &[],
+                        cfg_sender.as_ref(),
+                        false,
+                        &fq,
+                        fq_ty,
+                        ceiling,
+                        quote!(&mut #fq),
+                    ));
+                }
+
+                let ref elems = (0..cap)
+                    .map(|_| quote!(core::mem::MaybeUninit::uninit()))
+                    .collect::<Vec<_>>();
+
+                if app.uses_schedule(receiver) {
+                    let m = extra.monotonic();
+                    let instants = util::instants_ident(name, sender);
+
+                    const_app.push(quote!(
+                        #loc
+                        /// Buffer that holds the instants associated to the inputs of a task
+                        static mut #instants:
+                            [core::mem::MaybeUninit<<#m as rtfm::Monotonic>::Instant>; #cap_lit] =
+                            [#(#elems,)*];
+                    ));
+                }
+
+                let inputs = util::inputs_ident(name, sender);
+                const_app.push(quote!(
+                    #loc
+                    /// Buffer that holds the inputs of a task
+                    static mut #inputs: [core::mem::MaybeUninit<#input_ty>; #cap_lit] =
+                        [#(#elems,)*];
+                ));
+            }
+        }
+
+        // `${task}Resources`
+        let mut needs_lt = false;
+        if !task.args.resources.is_empty() {
+            let (item, constructor) = resources_struct::codegen(
+                Context::SoftwareTask(name),
+                task.args.priority,
+                &mut needs_lt,
+                app,
+                analysis,
+            );
+
+            root.push(item);
+
+            const_app.push(constructor);
+        }
+
+        // `${task}Locals`
+        let mut locals_pat = None;
+        if !task.locals.is_empty() {
+            let (struct_, pat) = locals::codegen(Context::SoftwareTask(name), &task.locals, app);
+
+            locals_pat = Some(pat);
+            root.push(struct_);
+        }
+
+        let cfg_receiver = util::cfg_core(receiver, app.args.cores);
+        let context = &task.context;
+        let attrs = &task.attrs;
+        let cfgs = &task.cfgs;
+        let stmts = &task.stmts;
+        user_tasks.push(quote!(
+            #(#attrs)*
+            #(#cfgs)*
+            #cfg_receiver
+            #[allow(non_snake_case)]
+            fn #name(#(#locals_pat,)* #context: #name::Context #(,#inputs)*) {
+                use rtfm::Mutex as _;
+
+                #(#stmts)*
+            }
+        ));
+
+        root.push(module::codegen(
+            Context::SoftwareTask(name),
+            needs_lt,
+            app,
+            extra,
+        ));
+    }
+
+    (const_app, root, user_tasks)
+}