diff options
| -rw-r--r-- | rtic-macros/src/syntax/parse.rs | 7 | ||||
| -rw-r--r-- | rtic/CHANGELOG.md | 2 | ||||
| -rw-r--r-- | rtic/examples/async-task.rs | 4 | ||||
| -rw-r--r-- | rtic/examples/common.rs | 4 | ||||
| -rw-r--r-- | rtic/examples/destructure.rs | 4 | ||||
| -rw-r--r-- | rtic/examples/locals.rs | 4 | ||||
| -rw-r--r-- | rtic/examples/not-sync.rs | 4 | ||||
| -rw-r--r-- | rtic/examples/static.rs | 2 |
8 files changed, 19 insertions, 12 deletions
diff --git a/rtic-macros/src/syntax/parse.rs b/rtic-macros/src/syntax/parse.rs index 72eeeaf6..823bd82e 100644 --- a/rtic-macros/src/syntax/parse.rs +++ b/rtic-macros/src/syntax/parse.rs @@ -289,11 +289,13 @@ fn task_args(tokens: TokenStream2) -> parse::Result<Either<HardwareTaskArgs, Sof // Handle comma: , let _: Token![,] = content.parse()?; } - let priority = priority.unwrap_or(1); let shared_resources = shared_resources.unwrap_or_default(); let local_resources = local_resources.unwrap_or_default(); Ok(if let Some(binds) = binds { + // Hardware tasks can't run at anything lower than 1 + let priority = priority.unwrap_or(1); + if priority == 0 { return Err(parse::Error::new( prio_span.unwrap(), @@ -308,6 +310,9 @@ fn task_args(tokens: TokenStream2) -> parse::Result<Either<HardwareTaskArgs, Sof local_resources, }) } else { + // Software tasks start at idle priority + let priority = priority.unwrap_or(0); + Either::Right(SoftwareTaskArgs { priority, shared_resources, diff --git a/rtic/CHANGELOG.md b/rtic/CHANGELOG.md index d1722781..920980cf 100644 --- a/rtic/CHANGELOG.md +++ b/rtic/CHANGELOG.md @@ -13,6 +13,8 @@ For each category, *Added*, *Changed*, *Fixed* add new entries at the top! ### Changed +- Make async task priorities start at 0, instead of 1, to always start at the lowest priority + ## [v1.1.4] - 2023-02-26 ### Added diff --git a/rtic/examples/async-task.rs b/rtic/examples/async-task.rs index b70151a2..1ca18021 100644 --- a/rtic/examples/async-task.rs +++ b/rtic/examples/async-task.rs @@ -53,13 +53,13 @@ mod app { hprintln!("hello from hw"); } - #[task(shared = [a])] + #[task(shared = [a], priority = 1)] async fn async_task(cx: async_task::Context) { let async_task::SharedResources { a: _, .. } = cx.shared; hprintln!("hello from async"); } - #[task] + #[task(priority = 1)] async fn async_task_args(_cx: async_task_args::Context, a: u32, b: i32) { hprintln!("hello from async with args a: {}, b: {}", a, b); } diff --git a/rtic/examples/common.rs b/rtic/examples/common.rs index ed6cb7dd..27ad0ad9 100644 --- a/rtic/examples/common.rs +++ b/rtic/examples/common.rs @@ -62,7 +62,7 @@ mod app { } // `local_to_foo` can only be accessed from this context - #[task(local = [local_to_foo])] + #[task(local = [local_to_foo], priority = 1)] async fn foo(cx: foo::Context) { let local_to_foo = cx.local.local_to_foo; *local_to_foo += 1; @@ -74,7 +74,7 @@ mod app { } // `local_to_bar` can only be accessed from this context - #[task(local = [local_to_bar])] + #[task(local = [local_to_bar], priority = 1)] async fn bar(cx: bar::Context) { let local_to_bar = cx.local.local_to_bar; *local_to_bar += 1; diff --git a/rtic/examples/destructure.rs b/rtic/examples/destructure.rs index b5d564bc..dd1633c0 100644 --- a/rtic/examples/destructure.rs +++ b/rtic/examples/destructure.rs @@ -38,7 +38,7 @@ mod app { } // Direct destructure - #[task(shared = [&a, &b, &c])] + #[task(shared = [&a, &b, &c], priority = 1)] async fn foo(cx: foo::Context) { let a = cx.shared.a; let b = cx.shared.b; @@ -48,7 +48,7 @@ mod app { } // De-structure-ing syntax - #[task(shared = [&a, &b, &c])] + #[task(shared = [&a, &b, &c], priority = 1)] async fn bar(cx: bar::Context) { let bar::SharedResources { a, b, c, .. } = cx.shared; diff --git a/rtic/examples/locals.rs b/rtic/examples/locals.rs index 2408f90c..f01027cf 100644 --- a/rtic/examples/locals.rs +++ b/rtic/examples/locals.rs @@ -62,7 +62,7 @@ mod app { } // `local_to_foo` can only be accessed from this context - #[task(local = [local_to_foo])] + #[task(local = [local_to_foo], priority = 1)] async fn foo(cx: foo::Context) { let local_to_foo = cx.local.local_to_foo; *local_to_foo += 1; @@ -74,7 +74,7 @@ mod app { } // `local_to_bar` can only be accessed from this context - #[task(local = [local_to_bar])] + #[task(local = [local_to_bar], priority = 1)] async fn bar(cx: bar::Context) { let local_to_bar = cx.local.local_to_bar; *local_to_bar += 1; diff --git a/rtic/examples/not-sync.rs b/rtic/examples/not-sync.rs index cd6b0bf5..1a798642 100644 --- a/rtic/examples/not-sync.rs +++ b/rtic/examples/not-sync.rs @@ -54,13 +54,13 @@ mod app { loop {} } - #[task(shared = [&shared])] + #[task(shared = [&shared], priority = 1)] async fn foo(c: foo::Context) { let shared: &NotSync = c.shared.shared; hprintln!("foo a {}", shared.data); } - #[task(shared = [&shared])] + #[task(shared = [&shared], priority = 1)] async fn bar(c: bar::Context) { let shared: &NotSync = c.shared.shared; hprintln!("bar a {}", shared.data); diff --git a/rtic/examples/static.rs b/rtic/examples/static.rs index a98e2e5e..aa39940e 100644 --- a/rtic/examples/static.rs +++ b/rtic/examples/static.rs @@ -51,7 +51,7 @@ mod app { } } - #[task(local = [p, state: u32 = 0])] + #[task(local = [p, state: u32 = 0], priority = 1)] async fn foo(c: foo::Context) { *c.local.state += 1; |