diff options
Diffstat (limited to 'macros/src/codegen/module.rs')
| -rw-r--r-- | macros/src/codegen/module.rs | 113 |
1 files changed, 102 insertions, 11 deletions
diff --git a/macros/src/codegen/module.rs b/macros/src/codegen/module.rs index 75435b54..e15aab1c 100644 --- a/macros/src/codegen/module.rs +++ b/macros/src/codegen/module.rs @@ -21,6 +21,33 @@ pub fn codegen( let app_name = &app.name; let app_path = quote! {crate::#app_name}; + let all_task_names: Vec<_> = app + .software_tasks + .iter() + .map(|(name, st)| { + if !st.is_extern { + let cfgs = &st.cfgs; + quote! { + #(#cfgs)* + #[allow(unused_imports)] + use #app_path::#name as #name; + } + } else { + quote!() + } + }) + .chain(app.hardware_tasks.iter().map(|(name, ht)| { + if !ht.is_extern { + quote! { + #[allow(unused_imports)] + use #app_path::#name as #name; + } + } else { + quote!() + } + })) + .collect(); + let mut lt = None; match ctxt { Context::Init => { @@ -202,6 +229,9 @@ pub fn codegen( // Spawn caller items.push(quote!( + + #(#all_task_names)* + #(#cfgs)* /// Spawns the task directly pub fn spawn(#(#args,)*) -> Result<(), #ty> { @@ -247,6 +277,7 @@ pub fn codegen( if monotonic.args.default { items.push(quote!(pub use #m::spawn_after;)); items.push(quote!(pub use #m::spawn_at;)); + items.push(quote!(pub use #m::SpawnHandle;)); } let (enable_interrupt, pend) = if &*m_isr.to_string() == "SysTick" { @@ -264,15 +295,68 @@ pub fn codegen( }; let user_imports = &app.user_imports; + let tq_marker = util::mark_internal_ident(&util::timer_queue_marker_ident()); items.push(quote!( /// Holds methods related to this monotonic pub mod #m { + // #( + // #[allow(unused_imports)] + // use #app_path::#all_task_names as #all_task_names; + // )* + use super::*; + #[allow(unused_imports)] + use #app_path::#tq_marker; + #[allow(unused_imports)] + use #app_path::#t; #( #[allow(unused_imports)] #user_imports )* + pub struct SpawnHandle { + #[doc(hidden)] + marker: u32, + } + + impl SpawnHandle { + pub fn cancel(self) -> Result<#ty, ()> { + rtic::export::interrupt::free(|_| unsafe { + let tq = &mut *#app_path::#tq.as_mut_ptr(); + if let Some((_task, index)) = tq.cancel_marker(self.marker) { + // Get the message + let msg = #app_path::#inputs.get_unchecked(usize::from(index)).as_ptr().read(); + // Return the index to the free queue + #app_path::#fq.split().0.enqueue_unchecked(index); + + Ok(msg) + } else { + Err(()) + } + }) + } + + #[inline] + pub fn reschedule_after<D>(self, duration: D) -> Result<Self, ()> + where D: rtic::time::duration::Duration + rtic::time::fixed_point::FixedPoint, + D::T: Into<<#app_path::#mono_type as rtic::time::Clock>::T>, + { + self.reschedule_at(#app_path::#m::now() + duration) + } + + pub fn reschedule_at(self, instant: rtic::time::Instant<#app_path::#mono_type>) -> Result<Self, ()> + { + rtic::export::interrupt::free(|_| unsafe { + let marker = #tq_marker; + #tq_marker = #tq_marker.wrapping_add(1); + + let tq = &mut *#app_path::#tq.as_mut_ptr(); + + tq.update_marker(self.marker, marker, instant, || #pend).map(|_| SpawnHandle { marker }) + }) + } + } + #(#cfgs)* /// Spawns the task after a set duration relative to the current time /// @@ -281,7 +365,7 @@ pub fn codegen( pub fn spawn_after<D>( duration: D #(,#args)* - ) -> Result<(), #ty> + ) -> Result<SpawnHandle, #ty> where D: rtic::time::duration::Duration + rtic::time::fixed_point::FixedPoint, D::T: Into<<#app_path::#mono_type as rtic::time::Clock>::T>, { @@ -300,7 +384,7 @@ pub fn codegen( pub fn spawn_at( instant: rtic::time::Instant<#app_path::#mono_type> #(,#args)* - ) -> Result<(), #ty> { + ) -> Result<SpawnHandle, #ty> { unsafe { let input = #tupled; if let Some(index) = rtic::export::interrupt::free(|_| #app_path::#fq.dequeue()) { @@ -314,15 +398,21 @@ pub fn codegen( .as_mut_ptr() .write(instant); - let nr = rtic::export::NotReady { - instant, - index, - task: #app_path::#t::#name, - }; + rtic::export::interrupt::free(|_| { + let marker = #tq_marker; + let nr = rtic::export::NotReady { + instant, + index, + task: #app_path::#t::#name, + marker, + }; + + #tq_marker = #tq_marker.wrapping_add(1); + + let tq = unsafe { &mut *#app_path::#tq.as_mut_ptr() }; - rtic::export::interrupt::free(|_| if let Some(mono) = #app_path::#m_ident.as_mut() { - #app_path::#tq.enqueue_unchecked( + tq.enqueue_unchecked( nr, || #enable_interrupt, || #pend, @@ -331,9 +421,10 @@ pub fn codegen( // We can only use the timer queue if `init` has returned, and it // writes the `Some(monotonic)` we are accessing here. core::hint::unreachable_unchecked() - }); + } - Ok(()) + Ok(SpawnHandle { marker }) + }) } else { Err(input) } |