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-rw-r--r--macros/src/codegen/spawn.rs127
1 files changed, 127 insertions, 0 deletions
diff --git a/macros/src/codegen/spawn.rs b/macros/src/codegen/spawn.rs
new file mode 100644
index 00000000..1539e277
--- /dev/null
+++ b/macros/src/codegen/spawn.rs
@@ -0,0 +1,127 @@
+use std::collections::{BTreeMap, HashSet};
+
+use proc_macro2::TokenStream as TokenStream2;
+use quote::quote;
+use rtfm_syntax::ast::App;
+
+use crate::{
+ analyze::Analysis,
+ check::Extra,
+ codegen::{spawn_body, util},
+};
+
+/// Generates all `${ctxt}::Spawn` methods
+pub fn codegen(app: &App, analysis: &Analysis, extra: &Extra) -> Vec<TokenStream2> {
+ let mut items = vec![];
+
+ let mut seen = BTreeMap::<u8, HashSet<_>>::new();
+ for (spawner, spawnees) in app.spawn_callers() {
+ let sender = spawner.core(app);
+ let cfg_sender = util::cfg_core(sender, app.args.cores);
+ let seen = seen.entry(sender).or_default();
+ let mut methods = vec![];
+
+ for name in spawnees {
+ let spawnee = &app.software_tasks[name];
+ let receiver = spawnee.args.core;
+ let cfgs = &spawnee.cfgs;
+ let (args, _, untupled, ty) = util::regroup_inputs(&spawnee.inputs);
+ let args = &args;
+
+ if spawner.is_init() {
+ // `init` uses a special spawn implementation; it doesn't use the `spawn_${name}`
+ // functions which are shared by other contexts
+
+ let body = spawn_body::codegen(spawner, &name, app, analysis, extra);
+
+ let let_instant = if app.uses_schedule(receiver) {
+ let m = extra.monotonic();
+
+ Some(quote!(let instant = unsafe { <#m as rtfm::Monotonic>::zero() };))
+ } else {
+ None
+ };
+
+ methods.push(quote!(
+ #(#cfgs)*
+ fn #name(&self #(,#args)*) -> Result<(), #ty> {
+ #let_instant
+ #body
+ }
+ ));
+ } else {
+ let spawn = util::spawn_ident(name, sender);
+
+ if !seen.contains(name) {
+ // generate a `spawn_${name}_S${sender}` function
+ seen.insert(name);
+
+ let instant = if app.uses_schedule(receiver) {
+ let m = extra.monotonic();
+
+ Some(quote!(, instant: <#m as rtfm::Monotonic>::Instant))
+ } else {
+ None
+ };
+
+ let body = spawn_body::codegen(spawner, &name, app, analysis, extra);
+
+ items.push(quote!(
+ #cfg_sender
+ #(#cfgs)*
+ unsafe fn #spawn(
+ priority: &rtfm::export::Priority
+ #instant
+ #(,#args)*
+ ) -> Result<(), #ty> {
+ #body
+ }
+ ));
+ }
+
+ let (let_instant, instant) = if app.uses_schedule(receiver) {
+ let m = extra.monotonic();
+
+ (
+ Some(if spawner.is_idle() {
+ quote!(let instant = <#m as rtfm::Monotonic>::now();)
+ } else {
+ quote!(let instant = self.instant();)
+ }),
+ Some(quote!(, instant)),
+ )
+ } else {
+ (None, None)
+ };
+
+ methods.push(quote!(
+ #(#cfgs)*
+ #[inline(always)]
+ fn #name(&self #(,#args)*) -> Result<(), #ty> {
+ unsafe {
+ #let_instant
+ #spawn(self.priority() #instant #(,#untupled)*)
+ }
+ }
+ ));
+ }
+ }
+
+ let lt = if spawner.is_init() {
+ None
+ } else {
+ Some(quote!('a))
+ };
+
+ let spawner = spawner.ident(app);
+ debug_assert!(!methods.is_empty());
+ items.push(quote!(
+ #cfg_sender
+ impl<#lt> #spawner::Spawn<#lt> {
+ #(#methods)*
+ }
+ ));
+ }
+
+ items
+}