diff options
Diffstat (limited to 'macros/src/codegen/spawn.rs')
-rw-r--r-- | macros/src/codegen/spawn.rs | 127 |
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 +} |