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|
use proc_macro2::TokenStream as TokenStream2;
use quote::quote;
use rtic_syntax::ast::App;
use crate::{analyze::Analysis, check::Extra, codegen::util};
/// Generates task dispatchers
pub fn codegen(app: &App, analysis: &Analysis, extra: &Extra) -> Vec<TokenStream2> {
let mut items = vec![];
let interrupts = &analysis.interrupts;
for (&level, channel) in &analysis.channels {
let mut stmts = vec![];
let variants = channel
.tasks
.iter()
.map(|name| {
let cfgs = &app.software_tasks[name].cfgs;
quote!(
#(#cfgs)*
#name
)
})
.collect::<Vec<_>>();
let doc = format!(
"Software tasks to be dispatched at priority level {}",
level,
);
let t = util::spawn_t_ident(level);
items.push(quote!(
#[allow(non_camel_case_types)]
#[derive(Clone, Copy)]
#[doc = #doc]
pub enum #t {
#(#variants,)*
}
));
let n = util::capacity_typenum(channel.capacity, true);
let rq = util::rq_ident(level);
let (rq_ty, rq_expr) = {
(
quote!(rtic::export::SCRQ<#t, #n>),
quote!(rtic::export::Queue(unsafe {
rtic::export::iQueue::u8_sc()
})),
)
};
let doc = format!(
"Queue of tasks ready to be dispatched at priority level {}",
level
);
items.push(quote!(
#[doc = #doc]
static mut #rq: #rq_ty = #rq_expr;
));
let arms = channel
.tasks
.iter()
.map(|name| {
let task = &app.software_tasks[name];
let cfgs = &task.cfgs;
let fq = util::fq_ident(name);
let inputs = util::inputs_ident(name);
let (_, tupled, pats, _) = util::regroup_inputs(&task.inputs);
let (let_instant, instant) = if extra.monotonic.is_some() {
let instants = util::instants_ident(name);
(
quote!(
let instant =
#instants.get_unchecked(usize::from(index)).as_ptr().read();
),
quote!(, instant),
)
} else {
(quote!(), quote!())
};
let locals_new = if task.locals.is_empty() {
quote!()
} else {
quote!(#name::Locals::new(),)
};
let app_name = &app.name;
let app_path = quote! {crate::#app_name};
quote!(
#(#cfgs)*
#t::#name => {
let #tupled =
#inputs.get_unchecked(usize::from(index)).as_ptr().read();
#let_instant
#fq.split().0.enqueue_unchecked(index);
let priority = &rtic::export::Priority::new(PRIORITY);
#app_path::#name(
#locals_new
#name::Context::new(priority #instant)
#(,#pats)*
)
}
)
})
.collect::<Vec<_>>();
stmts.push(quote!(
while let Some((task, index)) = #rq.split().1.dequeue() {
match task {
#(#arms)*
}
}
));
let doc = format!("Interrupt handler to dispatch tasks at priority {}", level);
let interrupt = util::suffixed(&interrupts[&level].0.to_string());
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
}
|
