1 files changed, 129 insertions, 0 deletions
diff --git a/macros/src/codegen/async_dispatchers.rs b/macros/src/codegen/async_dispatchers.rs
new file mode 100644
index 00000000..8b0e928b
--- /dev/null
+++ b/macros/src/codegen/async_dispatchers.rs
@@ -0,0 +1,129 @@
+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
+}