diff options
Diffstat (limited to 'macros/src')
| -rw-r--r-- | macros/src/codegen/dispatchers.rs | 14 | ||||
| -rw-r--r-- | macros/src/codegen/software_tasks.rs | 15 |
2 files changed, 23 insertions, 6 deletions
diff --git a/macros/src/codegen/dispatchers.rs b/macros/src/codegen/dispatchers.rs index cc994402..62df4293 100644 --- a/macros/src/codegen/dispatchers.rs +++ b/macros/src/codegen/dispatchers.rs @@ -10,17 +10,23 @@ pub fn codegen(app: &App, analysis: &Analysis, extra: &Extra) -> Vec<TokenStream let interrupts = &analysis.interrupts; - // Generate executor definition in global scope + // Generate executor definition and priority in global scope for (name, task) in app.software_tasks.iter() { if task.is_async { let type_name = util::internal_task_ident(name, "F"); let exec_name = util::internal_task_ident(name, "EXEC"); + let prio_name = util::internal_task_ident(name, "PRIORITY"); items.push(quote!( type #type_name = impl core::future::Future + 'static; static #exec_name: rtic::RacyCell<rtic::export::executor::AsyncTaskExecutor<#type_name>> = rtic::RacyCell::new(rtic::export::executor::AsyncTaskExecutor::new()); + + // The executors priority, this can be any value - we will overwrite it when we + // start a task + static #prio_name: rtic::RacyCell<rtic::export::Priority> = + unsafe { rtic::RacyCell::new(rtic::export::Priority::new(0)) }; )); } } @@ -92,6 +98,7 @@ pub fn codegen(app: &App, analysis: &Analysis, extra: &Extra) -> Vec<TokenStream let inputs = util::inputs_ident(name); let (_, tupled, pats, _) = util::regroup_inputs(&task.inputs); let exec_name = util::internal_task_ident(name, "EXEC"); + let prio_name = util::internal_task_ident(name, "PRIORITY"); if task.is_async { let executor_run_ident = util::executor_run_ident(name); @@ -108,7 +115,10 @@ pub fn codegen(app: &App, analysis: &Analysis, extra: &Extra) -> Vec<TokenStream .read(); (&mut *#fq.get_mut()).split().0.enqueue_unchecked(index); - let priority = &rtic::export::Priority::new(PRIORITY); + // The async executor needs a static priority + #prio_name.get_mut().write(rtic::export::Priority::new(PRIORITY)); + let priority: &'static _ = &*#prio_name.get(); + (&mut *#exec_name.get_mut()).spawn(#name(#name::Context::new(priority) #(,#pats)*)); #executor_run_ident.store(true, core::sync::atomic::Ordering::Relaxed); } else { diff --git a/macros/src/codegen/software_tasks.rs b/macros/src/codegen/software_tasks.rs index 6d08a221..71869b6e 100644 --- a/macros/src/codegen/software_tasks.rs +++ b/macros/src/codegen/software_tasks.rs @@ -139,17 +139,24 @@ pub fn codegen( let attrs = &task.attrs; let cfgs = &task.cfgs; let stmts = &task.stmts; - let async_marker = if task.is_async { - quote!(async) + let (async_marker, context_lifetime) = if task.is_async { + ( + quote!(async), + if shared_needs_lt || local_needs_lt { + quote!(<'static>) + } else { + quote!() + }, + ) } else { - quote!() + (quote!(), quote!()) }; user_tasks.push(quote!( #(#attrs)* #(#cfgs)* #[allow(non_snake_case)] - #async_marker fn #name(#context: #name::Context #(,#inputs)*) { + #async_marker fn #name(#context: #name::Context #context_lifetime #(,#inputs)*) { use rtic::Mutex as _; use rtic::mutex::prelude::*; |