use proc_macro2::TokenStream as TokenStream2; use quote::quote; use rtfm_syntax::{ast::App, Context}; use syn::Ident; use crate::{analyze::Analysis, check::Extra, codegen::util}; pub fn codegen( spawner: Context, name: &Ident, app: &App, analysis: &Analysis, extra: &Extra, ) -> TokenStream2 { let sender = spawner.core(app); let spawnee = &app.software_tasks[name]; let priority = spawnee.args.priority; let receiver = spawnee.args.core; let write_instant = if app.uses_schedule(receiver) { let instants = util::instants_ident(name, sender); Some(quote!( #instants.get_unchecked_mut(usize::from(index)).as_mut_ptr().write(instant); )) } else { None }; let t = util::spawn_t_ident(receiver, priority, sender); let fq = util::fq_ident(name, sender); let rq = util::rq_ident(receiver, priority, sender); let (dequeue, enqueue) = if spawner.is_init() { ( quote!(#fq.dequeue()), quote!(#rq.enqueue_unchecked((#t::#name, index));), ) } else { ( quote!((#fq { priority }.lock(|fq| fq.split().1.dequeue()))), quote!((#rq { priority }.lock(|rq| { rq.split().0.enqueue_unchecked((#t::#name, index)) }));), ) }; let device = extra.device; let interrupt = &analysis.interrupts[&receiver][&priority]; let pend = if sender != receiver { quote!( #device::xpend(#receiver, #device::Interrupt::#interrupt); ) } else { quote!( rtfm::pend(#device::Interrupt::#interrupt); ) }; let (_, tupled, _, _) = util::regroup_inputs(&spawnee.inputs); let inputs = util::inputs_ident(name, sender); quote!( unsafe { use rtfm::Mutex as _; let input = #tupled; if let Some(index) = #dequeue { #inputs.get_unchecked_mut(usize::from(index)).as_mut_ptr().write(input); #write_instant #enqueue #pend Ok(()) } else { Err(input) } } ) }