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|
use proc_macro2::TokenStream as TokenStream2;
use quote::quote;
use rtfm_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![];
for (&receiver, dispatchers) in &analysis.channels {
let interrupts = &analysis.interrupts[&receiver];
for (&level, channels) in dispatchers {
let mut stmts = vec![];
for (&sender, channel) in channels {
let cfg_sender = util::cfg_core(sender, app.args.cores);
let variants = channel
.tasks
.iter()
.map(|name| {
let cfgs = &app.software_tasks[name].cfgs;
quote!(
#(#cfgs)*
#name
)
})
.collect::<Vec<_>>();
let doc = format!(
"Software tasks spawned from core #{} to be dispatched at priority level {} by core #{}",
sender, level, receiver,
);
let t = util::spawn_t_ident(receiver, level, sender);
items.push(quote!(
#[allow(non_camel_case_types)]
#[derive(Clone, Copy)]
#[doc = #doc]
enum #t {
#(#variants,)*
}
));
let n = util::capacity_typenum(channel.capacity, true);
let rq = util::rq_ident(receiver, level, sender);
let (rq_attr, rq_ty, rq_expr) = if sender == receiver {
(
cfg_sender.clone(),
quote!(rtfm::export::SCRQ<#t, #n>),
quote!(rtfm::export::Queue(unsafe {
rtfm::export::iQueue::u8_sc()
})),
)
} else {
let shared = if cfg!(feature = "heterogeneous") {
Some(quote!(#[rtfm::export::shared]))
} else {
None
};
(
shared,
quote!(rtfm::export::MCRQ<#t, #n>),
quote!(rtfm::export::Queue(rtfm::export::iQueue::u8())),
)
};
let doc = format!(
"Queue of tasks sent by core #{} ready to be dispatched by core #{} at priority level {}",
sender,
receiver,
level
);
items.push(quote!(
#[doc = #doc]
#rq_attr
static mut #rq: #rq_ty = #rq_expr;
));
if let Some(ceiling) = channel.ceiling {
items.push(quote!(
#cfg_sender
struct #rq<'a> {
priority: &'a rtfm::export::Priority,
}
));
items.push(util::impl_mutex(
extra,
&[],
cfg_sender.as_ref(),
false,
&rq,
rq_ty,
ceiling,
quote!(&mut #rq),
));
}
let arms = channel
.tasks
.iter()
.map(|name| {
let task = &app.software_tasks[name];
let cfgs = &task.cfgs;
let fq = util::fq_ident(name, sender);
let inputs = util::inputs_ident(name, sender);
let (_, tupled, pats, _) = util::regroup_inputs(&task.inputs);
let (let_instant, instant) = if app.uses_schedule(receiver) {
let instants = util::instants_ident(name, sender);
(
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(),)
};
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 = &rtfm::export::Priority::new(PRIORITY);
#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 used by core #{} to dispatch tasks at priority {}",
receiver, level
);
let cfg_receiver = util::cfg_core(receiver, app.args.cores);
let interrupt = util::suffixed(&interrupts[&level].to_string(), receiver);
items.push(quote!(
#[allow(non_snake_case)]
#[doc = #doc]
#[no_mangle]
#cfg_receiver
unsafe fn #interrupt() {
/// The priority of this interrupt handler
const PRIORITY: u8 = #level;
rtfm::export::run(PRIORITY, || {
#(#stmts)*
});
}
));
}
}
items
}
|
