1 files changed, 81 insertions, 0 deletions
diff --git a/macros/src/codegen/spawn_body.rs b/macros/src/codegen/spawn_body.rs
new file mode 100644
index 00000000..83cb5c0a
--- /dev/null
+++ b/macros/src/codegen/spawn_body.rs
@@ -0,0 +1,81 @@
+use proc_macro2::TokenStream as TokenStream2;
+use quote::quote;
+use rtfm_syntax::{ast::App, Context};
+use syn::Ident;
+
+use crate::{analyze::Analysis, check::Extra, codegen::util};
+
+pub fn codegen(
+    spawner: Context,
+    name: &Ident,
+    app: &App,
+    analysis: &Analysis,
+    extra: &Extra,
+) -> TokenStream2 {
+    let sender = spawner.core(app);
+    let spawnee = &app.software_tasks[name];
+    let priority = spawnee.args.priority;
+    let receiver = spawnee.args.core;
+
+    let write_instant = if app.uses_schedule(receiver) {
+        let instants = util::instants_ident(name, sender);
+
+        Some(quote!(
+            #instants.get_unchecked_mut(usize::from(index)).as_mut_ptr().write(instant);
+        ))
+    } else {
+        None
+    };
+
+    let t = util::spawn_t_ident(receiver, priority, sender);
+    let fq = util::fq_ident(name, sender);
+    let rq = util::rq_ident(receiver, priority, sender);
+    let (dequeue, enqueue) = if spawner.is_init() {
+        (
+            quote!(#fq.dequeue()),
+            quote!(#rq.enqueue_unchecked((#t::#name, index));),
+        )
+    } else {
+        (
+            quote!((#fq { priority }.lock(|fq| fq.split().1.dequeue()))),
+            quote!((#rq { priority }.lock(|rq| {
+                rq.split().0.enqueue_unchecked((#t::#name, index))
+            }));),
+        )
+    };
+
+    let device = extra.device;
+    let interrupt = &analysis.interrupts[&receiver][&priority];
+    let pend = if sender != receiver {
+        quote!(
+            #device::xpend(#receiver, #device::Interrupt::#interrupt);
+        )
+    } else {
+        quote!(
+            rtfm::pend(#device::Interrupt::#interrupt);
+        )
+    };
+
+    let (_, tupled, _, _) = util::regroup_inputs(&spawnee.inputs);
+    let inputs = util::inputs_ident(name, sender);
+    quote!(
+        unsafe {
+            use rtfm::Mutex as _;
+
+            let input = #tupled;
+            if let Some(index) = #dequeue {
+                #inputs.get_unchecked_mut(usize::from(index)).as_mut_ptr().write(input);
+
+                #write_instant
+
+                #enqueue
+
+                #pend
+
+                Ok(())
+            } else {
+                Err(input)
+            }
+        }
+    )
+}