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-rw-r--r--macros/src/codegen/module.rs11
-rw-r--r--macros/src/codegen/software_tasks.rs3
-rw-r--r--macros/src/codegen/util.rs54
-rw-r--r--macros/src/syntax/analyze.rs5
-rw-r--r--macros/src/syntax/ast.rs5
-rw-r--r--macros/src/syntax/parse/hardware_task.rs58
-rw-r--r--macros/src/syntax/parse/idle.rs18
-rw-r--r--macros/src/syntax/parse/init.rs22
-rw-r--r--macros/src/syntax/parse/software_task.rs10
-rw-r--r--macros/src/syntax/parse/util.rs30
10 files changed, 141 insertions, 75 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 {
diff --git a/macros/src/syntax/analyze.rs b/macros/src/syntax/analyze.rs
index b70ceb8b..3ed14877 100644
--- a/macros/src/syntax/analyze.rs
+++ b/macros/src/syntax/analyze.rs
@@ -287,6 +287,11 @@ pub(crate) fn app(app: &App) -> Result<Analysis, syn::Error> {
let channel = channels.entry(spawnee_prio).or_default();
channel.tasks.insert(name.clone());
+
+ // All inputs are send as we do not know from where they may be spawned.
+ spawnee.inputs.iter().for_each(|input| {
+ send_types.insert(input.ty.clone());
+ });
}
// No channel should ever be empty
diff --git a/macros/src/syntax/ast.rs b/macros/src/syntax/ast.rs
index da6016ad..27e6773f 100644
--- a/macros/src/syntax/ast.rs
+++ b/macros/src/syntax/ast.rs
@@ -1,6 +1,6 @@
//! Abstract Syntax Tree
-use syn::{Attribute, Expr, Ident, Item, ItemUse, Pat, Path, Stmt, Type};
+use syn::{Attribute, Expr, Ident, Item, ItemUse, Pat, PatType, Path, Stmt, Type};
use crate::syntax::Map;
@@ -205,6 +205,9 @@ pub struct SoftwareTask {
/// The context argument
pub context: Box<Pat>,
+ /// The inputs of this software task
+ pub inputs: Vec<PatType>,
+
/// The statements that make up the task handler
pub stmts: Vec<Stmt>,
diff --git a/macros/src/syntax/parse/hardware_task.rs b/macros/src/syntax/parse/hardware_task.rs
index c13426f4..7f6dfbe4 100644
--- a/macros/src/syntax/parse/hardware_task.rs
+++ b/macros/src/syntax/parse/hardware_task.rs
@@ -15,25 +15,20 @@ impl HardwareTask {
let name = item.sig.ident.to_string();
- if name == "init" || name == "idle" {
- return Err(parse::Error::new(
- span,
- "tasks cannot be named `init` or `idle`",
- ));
- }
-
if valid_signature {
- if let Some(context) = util::parse_inputs(item.sig.inputs, &name) {
- let FilterAttrs { cfgs, attrs, .. } = util::filter_attributes(item.attrs);
+ if let Some((context, Ok(rest))) = util::parse_inputs(item.sig.inputs, &name) {
+ if rest.is_empty() {
+ let FilterAttrs { cfgs, attrs, .. } = util::filter_attributes(item.attrs);
- return Ok(HardwareTask {
- args,
- cfgs,
- attrs,
- context,
- stmts: item.block.stmts,
- is_extern: false,
- });
+ return Ok(HardwareTask {
+ args,
+ cfgs,
+ attrs,
+ context,
+ stmts: item.block.stmts,
+ is_extern: false,
+ });
+ }
}
}
@@ -56,25 +51,20 @@ impl HardwareTask {
let name = item.sig.ident.to_string();
- if name == "init" || name == "idle" {
- return Err(parse::Error::new(
- span,
- "tasks cannot be named `init` or `idle`",
- ));
- }
-
if valid_signature {
- if let Some(context) = util::parse_inputs(item.sig.inputs, &name) {
- let FilterAttrs { cfgs, attrs, .. } = util::filter_attributes(item.attrs);
+ if let Some((context, Ok(rest))) = util::parse_inputs(item.sig.inputs, &name) {
+ if rest.is_empty() {
+ let FilterAttrs { cfgs, attrs, .. } = util::filter_attributes(item.attrs);
- return Ok(HardwareTask {
- args,
- cfgs,
- attrs,
- context,
- stmts: Vec::<Stmt>::new(),
- is_extern: true,
- });
+ return Ok(HardwareTask {
+ args,
+ cfgs,
+ attrs,
+ context,
+ stmts: Vec::<Stmt>::new(),
+ is_extern: true,
+ });
+ }
}
}
diff --git a/macros/src/syntax/parse/idle.rs b/macros/src/syntax/parse/idle.rs
index f049cca8..124c1366 100644
--- a/macros/src/syntax/parse/idle.rs
+++ b/macros/src/syntax/parse/idle.rs
@@ -21,14 +21,16 @@ impl Idle {
let name = item.sig.ident.to_string();
if valid_signature {
- if let Some(context) = util::parse_inputs(item.sig.inputs, &name) {
- return Ok(Idle {
- args,
- attrs: item.attrs,
- context,
- name: item.sig.ident,
- stmts: item.block.stmts,
- });
+ if let Some((context, Ok(rest))) = util::parse_inputs(item.sig.inputs, &name) {
+ if rest.is_empty() {
+ return Ok(Idle {
+ args,
+ attrs: item.attrs,
+ context,
+ name: item.sig.ident,
+ stmts: item.block.stmts,
+ });
+ }
}
}
diff --git a/macros/src/syntax/parse/init.rs b/macros/src/syntax/parse/init.rs
index 23130c85..0aea20bd 100644
--- a/macros/src/syntax/parse/init.rs
+++ b/macros/src/syntax/parse/init.rs
@@ -25,16 +25,18 @@ impl Init {
if let Ok((user_shared_struct, user_local_struct)) =
util::type_is_init_return(&item.sig.output)
{
- if let Some(context) = util::parse_inputs(item.sig.inputs, &name) {
- return Ok(Init {
- args,
- attrs: item.attrs,
- context,
- name: item.sig.ident,
- stmts: item.block.stmts,
- user_shared_struct,
- user_local_struct,
- });
+ if let Some((context, Ok(rest))) = util::parse_inputs(item.sig.inputs, &name) {
+ if rest.is_empty() {
+ return Ok(Init {
+ args,
+ attrs: item.attrs,
+ context,
+ name: item.sig.ident,
+ stmts: item.block.stmts,
+ user_shared_struct,
+ user_local_struct,
+ });
+ }
}
}
}
diff --git a/macros/src/syntax/parse/software_task.rs b/macros/src/syntax/parse/software_task.rs
index fb9b37c4..769aa653 100644
--- a/macros/src/syntax/parse/software_task.rs
+++ b/macros/src/syntax/parse/software_task.rs
@@ -17,7 +17,7 @@ impl SoftwareTask {
let name = item.sig.ident.to_string();
if valid_signature {
- if let Some(context) = util::parse_inputs(item.sig.inputs, &name) {
+ if let Some((context, Ok(inputs))) = util::parse_inputs(item.sig.inputs, &name) {
let FilterAttrs { cfgs, attrs, .. } = util::filter_attributes(item.attrs);
return Ok(SoftwareTask {
@@ -25,6 +25,7 @@ impl SoftwareTask {
attrs,
cfgs,
context,
+ inputs,
stmts: item.block.stmts,
is_extern: false,
});
@@ -33,7 +34,7 @@ impl SoftwareTask {
Err(parse::Error::new(
span,
- format!("this task handler must have type signature `async fn({name}::Context)`"),
+ format!("this task handler must have type signature `async fn({name}::Context, ..)`"),
))
}
}
@@ -52,7 +53,7 @@ impl SoftwareTask {
let name = item.sig.ident.to_string();
if valid_signature {
- if let Some(context) = util::parse_inputs(item.sig.inputs, &name) {
+ if let Some((context, Ok(inputs))) = util::parse_inputs(item.sig.inputs, &name) {
let FilterAttrs { cfgs, attrs, .. } = util::filter_attributes(item.attrs);
return Ok(SoftwareTask {
@@ -60,6 +61,7 @@ impl SoftwareTask {
attrs,
cfgs,
context,
+ inputs,
stmts: Vec::<Stmt>::new(),
is_extern: true,
});
@@ -68,7 +70,7 @@ impl SoftwareTask {
Err(parse::Error::new(
span,
- format!("this task handler must have type signature `async fn({name}::Context)`"),
+ format!("this task handler must have type signature `async fn({name}::Context, ..)`"),
))
}
}
diff --git a/macros/src/syntax/parse/util.rs b/macros/src/syntax/parse/util.rs
index 900ef9d6..5a5e0c0e 100644
--- a/macros/src/syntax/parse/util.rs
+++ b/macros/src/syntax/parse/util.rs
@@ -3,8 +3,8 @@ use syn::{
parse::{self, ParseStream},
punctuated::Punctuated,
spanned::Spanned,
- Abi, AttrStyle, Attribute, Expr, FnArg, ForeignItemFn, Ident, ItemFn, Pat, Path, PathArguments,
- ReturnType, Token, Type, Visibility,
+ Abi, AttrStyle, Attribute, Expr, FnArg, ForeignItemFn, Ident, ItemFn, Pat, PatType, Path,
+ PathArguments, ReturnType, Token, Type, Visibility,
};
use crate::syntax::{
@@ -231,19 +231,29 @@ pub fn parse_local_resources(content: ParseStream<'_>) -> parse::Result<LocalRes
Ok(resources)
}
-pub fn parse_inputs(inputs: Punctuated<FnArg, Token![,]>, name: &str) -> Option<Box<Pat>> {
+type ParseInputResult = Option<(Box<Pat>, Result<Vec<PatType>, FnArg>)>;
+
+pub fn parse_inputs(inputs: Punctuated<FnArg, Token![,]>, name: &str) -> ParseInputResult {
let mut inputs = inputs.into_iter();
- if let Some(FnArg::Typed(first)) = inputs.next() {
- if type_is_path(&first.ty, &[name, "Context"]) {
- // No more inputs
- if inputs.next().is_none() {
- return Some(first.pat);
+ match inputs.next() {
+ Some(FnArg::Typed(first)) => {
+ if type_is_path(&first.ty, &[name, "Context"]) {
+ let rest = inputs
+ .map(|arg| match arg {
+ FnArg::Typed(arg) => Ok(arg),
+ _ => Err(arg),
+ })
+ .collect::<Result<Vec<_>, _>>();
+
+ Some((first.pat, rest))
+ } else {
+ None
}
}
- }
- None
+ _ => None,
+ }
}
pub fn type_is_bottom(ty: &ReturnType) -> bool {
generated by cgit v1.2.3 (git 2.39.1) at 2025-08-01 12:50:01 +0000