1 files changed, 89 insertions, 0 deletions
diff --git a/rtic/macros/src/codegen/async_dispatchers.rs b/rtic/macros/src/codegen/async_dispatchers.rs
new file mode 100644
index 00000000..a12ad325
--- /dev/null
+++ b/rtic/macros/src/codegen/async_dispatchers.rs
@@ -0,0 +1,89 @@
+use crate::syntax::ast::App;
+use crate::{analyze::Analysis, codegen::util};
+use proc_macro2::TokenStream as TokenStream2;
+use quote::quote;
+
+/// Generates task dispatchers
+pub fn codegen(app: &App, analysis: &Analysis) -> TokenStream2 {
+    let mut items = vec![];
+
+    let interrupts = &analysis.interrupts;
+
+    // Generate executor definition and priority in global scope
+    for (name, _) in app.software_tasks.iter() {
+        let type_name = util::internal_task_ident(name, "F");
+        let exec_name = util::internal_task_ident(name, "EXEC");
+
+        items.push(quote!(
+            #[allow(non_camel_case_types)]
+            type #type_name = impl core::future::Future;
+            #[allow(non_upper_case_globals)]
+            static #exec_name: rtic::export::executor::AsyncTaskExecutor<#type_name> =
+                rtic::export::executor::AsyncTaskExecutor::new();
+        ));
+    }
+
+    for (&level, channel) in &analysis.channels {
+        let mut stmts = vec![];
+
+        let dispatcher_name = if level > 0 {
+            util::suffixed(&interrupts.get(&level).expect("UNREACHABLE").0.to_string())
+        } else {
+            util::zero_prio_dispatcher_ident()
+        };
+
+        let pend_interrupt = if level > 0 {
+            let device = &app.args.device;
+            let enum_ = util::interrupt_ident();
+
+            quote!(rtic::pend(#device::#enum_::#dispatcher_name);)
+        } else {
+            // For 0 priority tasks we don't need to pend anything
+            quote!()
+        };
+
+        for name in channel.tasks.iter() {
+            let exec_name = util::internal_task_ident(name, "EXEC");
+            // TODO: Fix cfg
+            // let task = &app.software_tasks[name];
+            // let cfgs = &task.cfgs;
+
+            stmts.push(quote!(
+                #exec_name.poll(|| {
+                    #exec_name.set_pending();
+                    #pend_interrupt
+                });
+            ));
+        }
+
+        if level > 0 {
+            let doc = format!("Interrupt handler to dispatch async tasks at priority {level}");
+            let attribute = &interrupts.get(&level).expect("UNREACHABLE").1.attrs;
+            items.push(quote!(
+                #[allow(non_snake_case)]
+                #[doc = #doc]
+                #[no_mangle]
+                #(#attribute)*
+                unsafe fn #dispatcher_name() {
+                    /// The priority of this interrupt handler
+                    const PRIORITY: u8 = #level;
+
+                    rtic::export::run(PRIORITY, || {
+                        #(#stmts)*
+                    });
+                }
+            ));
+        } else {
+            items.push(quote!(
+                #[allow(non_snake_case)]
+                unsafe fn #dispatcher_name() -> ! {
+                    loop {
+                        #(#stmts)*
+                    }
+                }
+            ));
+        }
+    }
+
+    quote!(#(#items)*)
+}