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|
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 + 'static;
#[allow(non_upper_case_globals)]
static #exec_name:
rtic::RacyCell<rtic::export::executor::AsyncTaskExecutor<#type_name>> =
rtic::RacyCell::new(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");
// let task = &app.software_tasks[name];
// let cfgs = &task.cfgs;
let executor_run_ident = util::executor_run_ident(name);
let rq = util::rq_async_ident(name);
items.push(quote!(
#[doc(hidden)]
#[allow(non_camel_case_types)]
#[allow(non_upper_case_globals)]
static #rq: core::sync::atomic::AtomicBool = core::sync::atomic::AtomicBool::new(false);
));
stmts.push(quote!(
if !(&*#exec_name.get()).is_running() {
// TODO Fix this to be compare and swap
if #rq.load(core::sync::atomic::Ordering::Relaxed) {
#rq.store(false, core::sync::atomic::Ordering::Relaxed);
(&mut *#exec_name.get_mut()).spawn(#name(#name::Context::new()));
#executor_run_ident.store(true, core::sync::atomic::Ordering::Relaxed);
}
}
if #executor_run_ident.load(core::sync::atomic::Ordering::Relaxed) {
#executor_run_ident.store(false, core::sync::atomic::Ordering::Relaxed);
if (&mut *#exec_name.get_mut()).poll(|| {
#executor_run_ident.store(true, core::sync::atomic::Ordering::Release);
#pend_interrupt
}) && #rq.load(core::sync::atomic::Ordering::Relaxed) {
// If the ready queue is not empty and the executor finished, restart this
// dispatch to check if the executor should be restarted.
#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, || {
// Have the acquire/release semantics outside the checks to no overdo it
core::sync::atomic::fence(core::sync::atomic::Ordering::Acquire);
#(#stmts)*
core::sync::atomic::fence(core::sync::atomic::Ordering::Release);
});
}
));
} else {
items.push(quote!(
#[allow(non_snake_case)]
unsafe fn #dispatcher_name() -> ! {
loop {
// Have the acquire/release semantics outside the checks to no overdo it
core::sync::atomic::fence(core::sync::atomic::Ordering::Acquire);
#(#stmts)*
core::sync::atomic::fence(core::sync::atomic::Ordering::Release);
}
}
));
}
}
quote!(#(#items)*)
}
|
