diff options
Diffstat (limited to 'macros')
| -rw-r--r-- | macros/src/codegen/module.rs | 74 | ||||
| -rw-r--r-- | macros/src/codegen/timer_queue.rs | 11 | ||||
| -rw-r--r-- | macros/src/codegen/util.rs | 5 |
3 files changed, 79 insertions, 11 deletions
diff --git a/macros/src/codegen/module.rs b/macros/src/codegen/module.rs index 75435b54..fb028e01 100644 --- a/macros/src/codegen/module.rs +++ b/macros/src/codegen/module.rs @@ -264,15 +264,64 @@ pub fn codegen( }; let user_imports = &app.user_imports; + let tq_marker = util::mark_internal_ident(&util::timer_queue_marker_ident()); items.push(quote!( /// Holds methods related to this monotonic pub mod #m { + #[allow(unused_imports)] + use #app_path::#tq_marker; + #[allow(unused_imports)] + use #app_path::#t; #( #[allow(unused_imports)] #user_imports )* + pub struct SpawnHandle { + #[doc(hidden)] + marker: u32, + } + + // TODO: remove + impl core::fmt::Debug for SpawnHandle + { + fn fmt(&self, f: &mut core::fmt::Formatter<'_>) -> core::fmt::Result { + let handle = unsafe { &#app_path::#tq as *const _ as u32 }; + f.debug_struct("SpawnHandle") + .field("marker", &self.marker) + .field("handle", &handle) + .finish() + } + } + + impl SpawnHandle { + pub fn cancel(self) -> Result<#ty, ()> { + // TODO: Actually cancel... + // &mut #app_path::#tq; + + Err(()) + } + + #[inline] + pub fn reschedule_after<D>(self, duration: D) -> Result<Self, ()> + where D: rtic::time::duration::Duration + rtic::time::fixed_point::FixedPoint, + D::T: Into<<#app_path::#mono_type as rtic::time::Clock>::T>, + { + self.reschedule_at(#app_path::#m::now() + duration) + } + + pub fn reschedule_at(self, instant: rtic::time::Instant<#app_path::#mono_type>) -> Result<Self, ()> + { + let _ = instant; + + // TODO: Actually reschedule... + // &mut #app_path::#tq; + + Err(()) + } + } + #(#cfgs)* /// Spawns the task after a set duration relative to the current time /// @@ -281,7 +330,7 @@ pub fn codegen( pub fn spawn_after<D>( duration: D #(,#args)* - ) -> Result<(), #ty> + ) -> Result<SpawnHandle, #ty> where D: rtic::time::duration::Duration + rtic::time::fixed_point::FixedPoint, D::T: Into<<#app_path::#mono_type as rtic::time::Clock>::T>, { @@ -300,7 +349,7 @@ pub fn codegen( pub fn spawn_at( instant: rtic::time::Instant<#app_path::#mono_type> #(,#args)* - ) -> Result<(), #ty> { + ) -> Result<SpawnHandle, #ty> { unsafe { let input = #tupled; if let Some(index) = rtic::export::interrupt::free(|_| #app_path::#fq.dequeue()) { @@ -314,13 +363,17 @@ pub fn codegen( .as_mut_ptr() .write(instant); - let nr = rtic::export::NotReady { - instant, - index, - task: #app_path::#t::#name, - }; + rtic::export::interrupt::free(|_| { + let marker = #tq_marker; + let nr = rtic::export::NotReady { + instant, + index, + task: #app_path::#t::#name, + marker, + }; + + #tq_marker = #tq_marker.wrapping_add(1); - rtic::export::interrupt::free(|_| if let Some(mono) = #app_path::#m_ident.as_mut() { #app_path::#tq.enqueue_unchecked( nr, @@ -331,9 +384,10 @@ pub fn codegen( // We can only use the timer queue if `init` has returned, and it // writes the `Some(monotonic)` we are accessing here. core::hint::unreachable_unchecked() - }); + } - Ok(()) + Ok(SpawnHandle { marker }) + }) } else { Err(input) } diff --git a/macros/src/codegen/timer_queue.rs b/macros/src/codegen/timer_queue.rs index 82d0ac98..33905516 100644 --- a/macros/src/codegen/timer_queue.rs +++ b/macros/src/codegen/timer_queue.rs @@ -9,6 +9,15 @@ pub fn codegen(app: &App, analysis: &Analysis, _extra: &Extra) -> Vec<TokenStrea let mut items = vec![]; if !app.monotonics.is_empty() { + // Generate the marker counter used to track for `cancel` and `reschedule` + let tq_marker = util::mark_internal_ident(&util::timer_queue_marker_ident()); + items.push(quote!( + // #[doc = #doc] + #[doc(hidden)] + #[allow(non_camel_case_types)] + static mut #tq_marker: u32 = 0; + )); + let t = util::schedule_t_ident(); // Enumeration of `schedule`-able tasks @@ -32,7 +41,7 @@ pub fn codegen(app: &App, analysis: &Analysis, _extra: &Extra) -> Vec<TokenStrea #[doc(hidden)] #[allow(non_camel_case_types)] #[derive(Clone, Copy)] - enum #t { + pub enum #t { #(#variants,)* } )); diff --git a/macros/src/codegen/util.rs b/macros/src/codegen/util.rs index 6589f62d..9ccdbf78 100644 --- a/macros/src/codegen/util.rs +++ b/macros/src/codegen/util.rs @@ -89,6 +89,11 @@ pub fn interrupt_ident() -> Ident { Ident::new("interrupt", span) } +pub fn timer_queue_marker_ident() -> Ident { + let span = Span::call_site(); + Ident::new("TIMER_QUEUE_MARKER", span) +} + /// Whether `name` is an exception with configurable priority pub fn is_exception(name: &Ident) -> bool { let s = name.to_string(); |