3 files changed, 60 insertions, 8 deletions

diff --git a/macros/src/codegen/module.rs b/macros/src/codegen/module.rs
index 19cf2417..666bd042 100644
--- a/macros/src/codegen/module.rs
+++ b/macros/src/codegen/module.rs
@@ -146,6 +146,8 @@ pub fn codegen(ctxt: Context, app: &App, analysis: &Analysis) -> TokenStream2 {
         };
 
         let internal_spawn_ident = util::internal_task_ident(name, "spawn");
+        let (input_args, input_tupled, input_untupled, input_ty) =
+            util::regroup_inputs(&spawnee.inputs);
 
         // Spawn caller
         items.push(quote!(
@@ -153,17 +155,18 @@ pub fn codegen(ctxt: Context, app: &App, analysis: &Analysis) -> TokenStream2 {
             /// Spawns the task directly
             #[allow(non_snake_case)]
             #[doc(hidden)]
-            pub fn #internal_spawn_ident() -> Result<(), ()> {
+            pub fn #internal_spawn_ident(#(#input_args,)*) -> Result<(), #input_ty> {
                 if #exec_name.try_reserve() {
+                    // This unsafe is protected by `try_reserve`, see its documentation for details
                     unsafe {
-                        // TODO: Add args here
-                        #exec_name.spawn_unchecked(#name(#name::Context::new()));
+                        #exec_name.spawn_unchecked(#name(#name::Context::new() #(,#input_untupled)*));
                     }
+
                     #pend_interrupt
 
                     Ok(())
                 } else {
-                    Err(())
+                    Err(#input_tupled)
                 }
             }
         ));
diff --git a/macros/src/codegen/software_tasks.rs b/macros/src/codegen/software_tasks.rs
index b9232832..34fc851a 100644
--- a/macros/src/codegen/software_tasks.rs
+++ b/macros/src/codegen/software_tasks.rs
@@ -36,12 +36,13 @@ pub fn codegen(app: &App, analysis: &Analysis) -> TokenStream2 {
             let attrs = &task.attrs;
             let cfgs = &task.cfgs;
             let stmts = &task.stmts;
+            let inputs = &task.inputs;
 
             user_tasks.push(quote!(
                 #(#attrs)*
                 #(#cfgs)*
                 #[allow(non_snake_case)]
-                async fn #name(#context: #name::Context<'static>) {
+                async fn #name<'a>(#context: #name::Context<'a> #(,#inputs)*) {
                     use rtic::Mutex as _;
                     use rtic::mutex::prelude::*;
 
diff --git a/macros/src/codegen/util.rs b/macros/src/codegen/util.rs
index 0558d9d1..e121487c 100644
--- a/macros/src/codegen/util.rs
+++ b/macros/src/codegen/util.rs
@@ -1,9 +1,8 @@
-use core::sync::atomic::{AtomicUsize, Ordering};
-
 use crate::syntax::{ast::App, Context};
+use core::sync::atomic::{AtomicUsize, Ordering};
 use proc_macro2::{Span, TokenStream as TokenStream2};
 use quote::quote;
-use syn::{Attribute, Ident};
+use syn::{Attribute, Ident, PatType};
 
 const RTIC_INTERNAL: &str = "__rtic_internal";
 
@@ -94,6 +93,55 @@ pub fn link_section_uninit() -> TokenStream2 {
     quote!(#[link_section = #section])
 }
 
+/// Regroups the inputs of a task
+///
+/// `inputs` could be &[`input: Foo`] OR &[`mut x: i32`, `ref y: i64`]
+pub fn regroup_inputs(
+    inputs: &[PatType],
+) -> (
+    // args e.g. &[`_0`],  &[`_0: i32`, `_1: i64`]
+    Vec<TokenStream2>,
+    // tupled e.g. `_0`, `(_0, _1)`
+    TokenStream2,
+    // untupled e.g. &[`_0`], &[`_0`, `_1`]
+    Vec<TokenStream2>,
+    // ty e.g. `Foo`, `(i32, i64)`
+    TokenStream2,
+) {
+    if inputs.len() == 1 {
+        let ty = &inputs[0].ty;
+
+        (
+            vec![quote!(_0: #ty)],
+            quote!(_0),
+            vec![quote!(_0)],
+            quote!(#ty),
+        )
+    } else {
+        let mut args = vec![];
+        let mut pats = vec![];
+        let mut tys = vec![];
+
+        for (i, input) in inputs.iter().enumerate() {
+            let i = Ident::new(&format!("_{}", i), Span::call_site());
+            let ty = &input.ty;
+
+            args.push(quote!(#i: #ty));
+
+            pats.push(quote!(#i));
+
+            tys.push(quote!(#ty));
+        }
+
+        let tupled = {
+            let pats = pats.clone();
+            quote!((#(#pats,)*))
+        };
+        let ty = quote!((#(#tys,)*));
+        (args, tupled, pats, ty)
+    }
+}
+
 /// Get the ident for the name of the task
 pub fn get_task_name(ctxt: Context, app: &App) -> Ident {
     let s = match ctxt {