Handle user hardware and software tasks and some resources

3 files changed, 46 insertions, 3 deletions

diff --git a/macros/src/codegen/hardware_tasks.rs b/macros/src/codegen/hardware_tasks.rs
index 7f14b5e1..4f60876a 100644
--- a/macros/src/codegen/hardware_tasks.rs
+++ b/macros/src/codegen/hardware_tasks.rs
@@ -23,10 +23,13 @@ pub fn codegen(
     Vec<TokenStream2>,
     // user_hardware_tasks -- the `#[task]` functions written by the user
     Vec<TokenStream2>,
+    // user_hardware_tasks_imports -- the imports for `#[task]` functions written by the user
+    Vec<TokenStream2>,
 ) {
     let mut const_app = vec![];
     let mut root = vec![];
     let mut user_tasks = vec![];
+    let mut hardware_tasks_imports = vec![];
 
     for (name, task) in &app.hardware_tasks {
         let (let_instant, instant) = if app.uses_schedule() {
@@ -78,6 +81,13 @@ pub fn codegen(
                 analysis,
             );
 
+            // Add resources to imports
+            let name_res = format_ident!("{}Resources", name);
+            hardware_tasks_imports.push(quote!(
+                #[allow(non_snake_case)]
+                use super::#name_res;
+            ));
+
             root.push(item);
 
             const_app.push(constructor);
@@ -112,7 +122,14 @@ pub fn codegen(
                 #(#stmts)*
             }
         ));
+
+        hardware_tasks_imports.push(quote!(
+            #(#attrs)*
+            #[allow(non_snake_case)]
+            use super::#name;
+        ));
+
     }
 
-    (const_app, root, user_tasks)
+    (const_app, root, user_tasks, hardware_tasks_imports)
 }
diff --git a/macros/src/codegen/resources.rs b/macros/src/codegen/resources.rs
index 4196ee7a..80e63c79 100644
--- a/macros/src/codegen/resources.rs
+++ b/macros/src/codegen/resources.rs
@@ -14,9 +14,12 @@ pub fn codegen(
     Vec<TokenStream2>,
     // mod_resources -- the `resources` module
     TokenStream2,
+    // mod_resources_imports -- the `resources` module imports
+    Vec<TokenStream2>,
 ) {
     let mut const_app = vec![];
     let mut mod_resources = vec![];
+    let mut mod_resources_imports = vec![];
 
     for (name, res, expr, _) in app.resources(analysis) {
         let cfgs = &res.cfgs;
@@ -82,6 +85,13 @@ pub fn codegen(
                 )
             };
 
+            mod_resources_imports.push(quote!(
+                #[allow(non_camel_case_types)]
+                #(#cfgs)*
+                #cfg_core
+                use super::#name;
+            ));
+
             const_app.push(util::impl_mutex(
                 extra,
                 cfgs,
@@ -104,5 +114,5 @@ pub fn codegen(
         })
     };
 
-    (const_app, mod_resources)
+    (const_app, mod_resources, mod_resources_imports)
 }
diff --git a/macros/src/codegen/software_tasks.rs b/macros/src/codegen/software_tasks.rs
index b56db419..07edd1db 100644
--- a/macros/src/codegen/software_tasks.rs
+++ b/macros/src/codegen/software_tasks.rs
@@ -22,10 +22,13 @@ pub fn codegen(
     Vec<TokenStream2>,
     // user_software_tasks -- the `#[task]` functions written by the user
     Vec<TokenStream2>,
+    // user_software_tasks_imports -- the imports for `#[task]` functions written by the user
+    Vec<TokenStream2>,
 ) {
     let mut const_app = vec![];
     let mut root = vec![];
     let mut user_tasks = vec![];
+    let mut software_tasks_imports = vec![];
 
     for (name, task) in &app.software_tasks {
         let inputs = &task.inputs;
@@ -112,6 +115,13 @@ pub fn codegen(
                 analysis,
             );
 
+            // Add resources to imports
+            let name_res = format_ident!("{}Resources", name);
+            software_tasks_imports.push(quote!(
+                #[allow(non_snake_case)]
+                use super::#name_res;
+            ));
+
             root.push(item);
 
             const_app.push(constructor);
@@ -141,6 +151,12 @@ pub fn codegen(
                 #(#stmts)*
             }
         ));
+        software_tasks_imports.push(quote!(
+            #(#attrs)*
+            #(#cfgs)*
+            #[allow(non_snake_case)]
+            use super::#name;
+        ));
 
         root.push(module::codegen(
             Context::SoftwareTask(name),
@@ -150,5 +166,5 @@ pub fn codegen(
         ));
     }
 
-    (const_app, root, user_tasks)
+    (const_app, root, user_tasks, software_tasks_imports)
 }