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-rw-r--r--macros/src/codegen/async_dispatchers.rs129
1 files changed, 129 insertions, 0 deletions
diff --git a/macros/src/codegen/async_dispatchers.rs b/macros/src/codegen/async_dispatchers.rs
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+++ b/macros/src/codegen/async_dispatchers.rs
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+use crate::syntax::ast::App;
+use crate::{analyze::Analysis, codegen::util};
+use proc_macro2::TokenStream as TokenStream2;
+use quote::quote;
+
+/// Generates task dispatchers
+pub fn codegen(app: &App, analysis: &Analysis) -> Vec<TokenStream2> {
+ let mut items = vec![];
+
+ let interrupts = &analysis.interrupts_async;
+
+ // Generate executor definition and priority 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");
+ let prio_name = util::internal_task_ident(name, "PRIORITY");
+
+ items.push(quote!(
+ #[allow(non_camel_case_types)]
+ type #type_name = impl core::future::Future + 'static;
+ #[allow(non_upper_case_globals)]
+ static #exec_name:
+ rtic::RacyCell<rtic::export::executor::AsyncTaskExecutor<#type_name>> =
+ rtic::RacyCell::new(rtic::export::executor::AsyncTaskExecutor::new());
+
+ // The executors priority, this can be any value - we will overwrite it when we
+ // start a task
+ #[allow(non_upper_case_globals)]
+ static #prio_name: rtic::RacyCell<rtic::export::Priority> =
+ unsafe { rtic::RacyCell::new(rtic::export::Priority::new(0)) };
+ ));
+ }
+ }
+
+ for (&level, channel) in &analysis.channels {
+ if channel
+ .tasks
+ .iter()
+ .map(|task_name| !app.software_tasks[task_name].is_async)
+ .all(|is_not_async| is_not_async)
+ {
+ // check if all tasks are not async, if so don't generate this.
+ continue;
+ }
+
+ let mut stmts = vec![];
+ let device = &app.args.device;
+ let enum_ = util::interrupt_ident();
+ let interrupt = util::suffixed(&interrupts[&level].0.to_string());
+
+ for name in channel
+ .tasks
+ .iter()
+ .filter(|name| app.software_tasks[*name].is_async)
+ {
+ let exec_name = util::internal_task_ident(name, "EXEC");
+ let prio_name = util::internal_task_ident(name, "PRIORITY");
+ let task = &app.software_tasks[name];
+ // let cfgs = &task.cfgs;
+ let (_, tupled, pats, input_types) = util::regroup_inputs(&task.inputs);
+ let executor_run_ident = util::executor_run_ident(name);
+
+ let n = util::capacity_literal(channel.capacity as usize + 1);
+ let rq = util::rq_async_ident(name);
+ let (rq_ty, rq_expr) = {
+ (
+ quote!(rtic::export::ASYNCRQ<#input_types, #n>),
+ quote!(rtic::export::Queue::new()),
+ )
+ };
+
+ items.push(quote!(
+ #[doc(hidden)]
+ #[allow(non_camel_case_types)]
+ #[allow(non_upper_case_globals)]
+ static #rq: rtic::RacyCell<#rq_ty> = rtic::RacyCell::new(#rq_expr);
+ ));
+
+ stmts.push(quote!(
+ if !(&*#exec_name.get()).is_running() {
+ if let Some(#tupled) = rtic::export::interrupt::free(|_| (&mut *#rq.get_mut()).dequeue()) {
+
+ // The async executor needs a static priority
+ #prio_name.get_mut().write(rtic::export::Priority::new(PRIORITY));
+ let priority: &'static _ = &*#prio_name.get();
+
+ (&mut *#exec_name.get_mut()).spawn(#name(#name::Context::new(priority) #(,#pats)*));
+ #executor_run_ident.store(true, core::sync::atomic::Ordering::Relaxed);
+ }
+ }
+
+ if #executor_run_ident.load(core::sync::atomic::Ordering::Relaxed) {
+ #executor_run_ident.store(false, core::sync::atomic::Ordering::Relaxed);
+ if (&mut *#exec_name.get_mut()).poll(|| {
+ #executor_run_ident.store(true, core::sync::atomic::Ordering::Release);
+ rtic::pend(#device::#enum_::#interrupt);
+ }) && !rtic::export::interrupt::free(|_| (&*#rq.get_mut()).is_empty()) {
+ // If the ready queue is not empty and the executor finished, restart this
+ // dispatch to check if the executor should be restarted.
+ rtic::pend(#device::#enum_::#interrupt);
+ }
+ }
+ ));
+ }
+
+ let doc = format!(
+ "Interrupt handler to dispatch async tasks at priority {}",
+ level
+ );
+ let attribute = &interrupts[&level].1.attrs;
+ items.push(quote!(
+ #[allow(non_snake_case)]
+ #[doc = #doc]
+ #[no_mangle]
+ #(#attribute)*
+ unsafe fn #interrupt() {
+ /// The priority of this interrupt handler
+ const PRIORITY: u8 = #level;
+
+ rtic::export::run(PRIORITY, || {
+ #(#stmts)*
+ });
+ }
+ ));
+ }
+
+ items
+}