1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
|
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) -> Vec<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");
let prio_name = util::internal_task_ident(name, "PRIORITY");
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());
// The executors priority, this can be any value - we will overwrite it when we
// start a task
#[allow(non_upper_case_globals)]
static #prio_name: rtic::RacyCell<rtic::export::Priority> =
unsafe { rtic::RacyCell::new(rtic::export::Priority::new(0)) };
));
}
for (&level, channel) in &analysis.channels {
let mut stmts = vec![];
let device = &app.args.device;
let enum_ = util::interrupt_ident();
let interrupt = util::suffixed(&interrupts[&level].0.to_string());
for name in channel.tasks.iter() {
let exec_name = util::internal_task_ident(name, "EXEC");
let prio_name = util::internal_task_ident(name, "PRIORITY");
// 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);
let (rq_ty, rq_expr) = {
(
quote!(rtic::export::ASYNCRQ<(), 2>), // TODO: This needs updating to a counter instead of a queue
quote!(rtic::export::Queue::new()),
)
};
items.push(quote!(
#[doc(hidden)]
#[allow(non_camel_case_types)]
#[allow(non_upper_case_globals)]
static #rq: rtic::RacyCell<#rq_ty> = rtic::RacyCell::new(#rq_expr);
));
stmts.push(quote!(
if !(&*#exec_name.get()).is_running() {
if let Some(()) = rtic::export::interrupt::free(|_| (&mut *#rq.get_mut()).dequeue()) {
// The async executor needs a static priority
#prio_name.get_mut().write(rtic::export::Priority::new(PRIORITY));
let priority: &'static _ = &*#prio_name.get();
(&mut *#exec_name.get_mut()).spawn(#name(#name::Context::new(priority)));
#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);
rtic::pend(#device::#enum_::#interrupt);
}) && !rtic::export::interrupt::free(|_| (&*#rq.get_mut()).is_empty()) {
// If the ready queue is not empty and the executor finished, restart this
// dispatch to check if the executor should be restarted.
rtic::pend(#device::#enum_::#interrupt);
}
}
));
}
let doc = format!(
"Interrupt handler to dispatch async tasks at priority {}",
level
);
let attribute = &interrupts[&level].1.attrs;
items.push(quote!(
#[allow(non_snake_case)]
#[doc = #doc]
#[no_mangle]
#(#attribute)*
unsafe fn #interrupt() {
/// The priority of this interrupt handler
const PRIORITY: u8 = #level;
rtic::export::run(PRIORITY, || {
#(#stmts)*
});
}
));
}
items
}
|
