1 files changed, 95 insertions, 0 deletions
diff --git a/macros/src/codegen/schedule.rs b/macros/src/codegen/schedule.rs
new file mode 100644
index 00000000..57f01a2c
--- /dev/null
+++ b/macros/src/codegen/schedule.rs
@@ -0,0 +1,95 @@
+use std::collections::{BTreeMap, HashSet};
+
+use proc_macro2::TokenStream as TokenStream2;
+use quote::quote;
+use rtfm_syntax::ast::App;
+
+use crate::{
+    check::Extra,
+    codegen::{schedule_body, util},
+};
+
+/// Generates all `${ctxt}::Schedule` methods
+pub fn codegen(app: &App, extra: &Extra) -> Vec<TokenStream2> {
+    let mut items = vec![];
+
+    let mut seen = BTreeMap::<u8, HashSet<_>>::new();
+    for (scheduler, schedulees) in app.schedule_callers() {
+        let m = extra.monotonic();
+        let instant = quote!(<#m as rtfm::Monotonic>::Instant);
+
+        let sender = scheduler.core(app);
+        let cfg_sender = util::cfg_core(sender, app.args.cores);
+        let seen = seen.entry(sender).or_default();
+        let mut methods = vec![];
+
+        for name in schedulees {
+            let schedulee = &app.software_tasks[name];
+            let cfgs = &schedulee.cfgs;
+            let (args, _, untupled, ty) = util::regroup_inputs(&schedulee.inputs);
+            let args = &args;
+
+            if scheduler.is_init() {
+                // `init` uses a special `schedule` implementation; it doesn't use the
+                // `schedule_${name}` functions which are shared by other contexts
+
+                let body = schedule_body::codegen(scheduler, &name, app);
+
+                methods.push(quote!(
+                    #(#cfgs)*
+                    fn #name(&self, instant: #instant #(,#args)*) -> Result<(), #ty> {
+                        #body
+                    }
+                ));
+            } else {
+                let schedule = util::schedule_ident(name, sender);
+
+                if !seen.contains(name) {
+                    // generate a `schedule_${name}_S${sender}` function
+                    seen.insert(name);
+
+                    let body = schedule_body::codegen(scheduler, &name, app);
+
+                    items.push(quote!(
+                        #cfg_sender
+                        #(#cfgs)*
+                        unsafe fn #schedule(
+                            priority: &rtfm::export::Priority,
+                            instant: #instant
+                            #(,#args)*
+                        ) -> Result<(), #ty> {
+                            #body
+                        }
+                    ));
+                }
+
+                methods.push(quote!(
+                    #(#cfgs)*
+                    #[inline(always)]
+                    fn #name(&self, instant: #instant #(,#args)*) -> Result<(), #ty> {
+                        unsafe {
+                            #schedule(self.priority(), instant #(,#untupled)*)
+                        }
+                    }
+                ));
+            }
+        }
+
+        let lt = if scheduler.is_init() {
+            None
+        } else {
+            Some(quote!('a))
+        };
+
+        let scheduler = scheduler.ident(app);
+        debug_assert!(!methods.is_empty());
+        items.push(quote!(
+            #cfg_sender
+            impl<#lt> #scheduler::Schedule<#lt> {
+                #(#methods)*
+            }
+        ));
+    }
+
+    items
+}