diff options
Diffstat (limited to 'macros/src/codegen/module.rs')
| -rw-r--r-- | macros/src/codegen/module.rs | 212 |
1 files changed, 60 insertions, 152 deletions
diff --git a/macros/src/codegen/module.rs b/macros/src/codegen/module.rs index 526bf491..979c63ca 100644 --- a/macros/src/codegen/module.rs +++ b/macros/src/codegen/module.rs @@ -21,7 +21,7 @@ pub fn codegen( let mut lt = None; match ctxt { Context::Init => { - if app.uses_schedule() { + if extra.monotonic.is_some() { let m = extra.monotonic(); fields.push(quote!( @@ -67,7 +67,7 @@ pub fn codegen( Context::Idle => {} Context::HardwareTask(..) => { - if app.uses_schedule() { + if extra.monotonic.is_some() { let m = extra.monotonic(); fields.push(quote!( @@ -82,7 +82,7 @@ pub fn codegen( } Context::SoftwareTask(..) => { - if app.uses_schedule() { + if extra.monotonic.is_some() { let m = extra.monotonic(); fields.push(quote!( @@ -132,139 +132,6 @@ pub fn codegen( values.push(quote!(resources: Resources::new(#priority))); } - if ctxt.uses_schedule(app) { - let doc = "Tasks that can be `schedule`-d from this context"; - if ctxt.is_init() { - items.push(quote!( - #[doc = #doc] - #[derive(Clone, Copy)] - pub struct Schedule { - _not_send: core::marker::PhantomData<*mut ()>, - } - )); - - fields.push(quote!( - #[doc = #doc] - pub schedule: Schedule - )); - - values.push(quote!( - schedule: Schedule { _not_send: core::marker::PhantomData } - )); - } else { - lt = Some(quote!('a)); - - items.push(quote!( - #[doc = #doc] - #[derive(Clone, Copy)] - pub struct Schedule<'a> { - priority: &'a rtic::export::Priority, - } - - impl<'a> Schedule<'a> { - #[doc(hidden)] - #[inline(always)] - pub unsafe fn priority(&self) -> &rtic::export::Priority { - &self.priority - } - } - )); - - fields.push(quote!( - #[doc = #doc] - pub schedule: Schedule<'a> - )); - - values.push(quote!( - schedule: Schedule { priority } - )); - } - } - - if ctxt.uses_spawn(app) { - let doc = "Tasks that can be `spawn`-ed from this context"; - if ctxt.is_init() { - fields.push(quote!( - #[doc = #doc] - pub spawn: Spawn - )); - - items.push(quote!( - #[doc = #doc] - #[derive(Clone, Copy)] - pub struct Spawn { - _not_send: core::marker::PhantomData<*mut ()>, - } - )); - - values.push(quote!(spawn: Spawn { _not_send: core::marker::PhantomData })); - } else { - lt = Some(quote!('a)); - - fields.push(quote!( - #[doc = #doc] - pub spawn: Spawn<'a> - )); - - let mut instant_method = None; - if ctxt.is_idle() { - items.push(quote!( - #[doc = #doc] - #[derive(Clone, Copy)] - pub struct Spawn<'a> { - priority: &'a rtic::export::Priority, - } - )); - - values.push(quote!(spawn: Spawn { priority })); - } else { - let instant_field = if app.uses_schedule() { - let m = extra.monotonic(); - - needs_instant = true; - instant_method = Some(quote!( - pub unsafe fn instant(&self) -> <#m as rtic::Monotonic>::Instant { - self.instant - } - )); - Some(quote!(instant: <#m as rtic::Monotonic>::Instant,)) - } else { - None - }; - - items.push(quote!( - /// Tasks that can be spawned from this context - #[derive(Clone, Copy)] - pub struct Spawn<'a> { - #instant_field - priority: &'a rtic::export::Priority, - } - )); - - let _instant = if needs_instant { - Some(quote!(, instant)) - } else { - None - }; - values.push(quote!( - spawn: Spawn { priority #_instant } - )); - } - - items.push(quote!( - impl<'a> Spawn<'a> { - #[doc(hidden)] - #[inline(always)] - pub unsafe fn priority(&self) -> &rtic::export::Priority { - self.priority - } - - #instant_method - } - )); - } - } - if let Context::Init = ctxt { let init = &app.inits.first().unwrap(); let late_resources = util::late_resources_ident(&init.name); @@ -283,7 +150,7 @@ pub fn codegen( }; let core = if ctxt.is_init() { - if app.uses_schedule() { + if extra.monotonic.is_some() { Some(quote!(core: rtic::Peripherals,)) } else { Some(quote!(core: rtic::export::Peripherals,)) @@ -337,11 +204,6 @@ pub fn codegen( let rq = util::rq_ident(priority); let inputs = util::inputs_ident(name); - eprintln!("app name: {}", app.name); - eprintln!("inputs {}", &inputs); - eprintln!("task name: {}", name); - eprintln!("fq {}", fq); - eprintln!("rq {}", rq); let app_name = &app.name; let app_path = quote! {crate::#app_name}; @@ -349,6 +211,7 @@ pub fn codegen( let enum_ = util::interrupt_ident(); let interrupt = &analysis.interrupts.get(&priority); + // Spawn caller items.push(quote!( #(#cfgs)* pub fn spawn(#(#args,)*) -> Result<(), #ty> { @@ -357,26 +220,71 @@ pub fn codegen( let input = #tupled; - if let Some(index) = rtic::export::interrupt::free(|_| #app_path::#fq.dequeue()) { - unsafe { + unsafe { + if let Some(index) = rtic::export::interrupt::free(|_| #app_path::#fq.dequeue()) { #app_path::#inputs .get_unchecked_mut(usize::from(index)) .as_mut_ptr() .write(input); - } - rtic::export::interrupt::free(|_| { - #app_path::#rq.enqueue_unchecked((#app_path::#t::#name, index)); - }); + rtic::export::interrupt::free(|_| { + #app_path::#rq.enqueue_unchecked((#app_path::#t::#name, index)); + }); - rtic::pend(#device::#enum_::#interrupt); + rtic::pend(#device::#enum_::#interrupt); - Ok(()) - } else { - Err(input) + Ok(()) + } else { + Err(input) + } } })); + + // Schedule caller + if extra.monotonic.is_some() { + let instants = util::instants_ident(name); + + let tq = util::tq_ident(); + let m = extra.monotonic(); + let t = util::schedule_t_ident(); + + items.push(quote!( + #(#cfgs)* + pub fn schedule( + instant: <#m as rtic::Monotonic>::Instant + #(,#args)* + ) -> Result<(), #ty> { + unsafe { + use rtic::Mutex as _; + + let input = #tupled; + if let Some(index) = rtic::export::interrupt::free(|_| #app_path::#fq.dequeue()) { + #app_path::#inputs + .get_unchecked_mut(usize::from(index)) + .as_mut_ptr() + .write(input); + + #app_path::#instants + .get_unchecked_mut(usize::from(index)) + .as_mut_ptr() + .write(instant); + + let nr = rtic::export::NotReady { + instant, + index, + task: #app_path::#t::#name, + }; + + rtic::export::interrupt::free(|_| #app_path::#tq.enqueue_unchecked(nr)); + + Ok(()) + } else { + Err(input) + } + } + })); + } } if !items.is_empty() { |