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|
use proc_macro2::TokenStream as TokenStream2;
use quote::quote;
use rtfm_syntax::{ast::App, Context};
use crate::{
analyze::Analysis,
check::Extra,
codegen::{locals, module, resources_struct, util},
};
/// Generate support code for hardware tasks (`#[exception]`s and `#[interrupt]`s)
pub fn codegen(
app: &App,
analysis: &Analysis,
extra: &Extra,
) -> (
// const_app_hardware_tasks -- interrupt handlers and `${task}Resources` constructors
Vec<TokenStream2>,
// root_hardware_tasks -- items that must be placed in the root of the crate:
// - `${task}Locals` structs
// - `${task}Resources` structs
// - `${task}` modules
Vec<TokenStream2>,
// user_hardware_tasks -- the `#[task]` functions written by the user
Vec<TokenStream2>,
) {
let mut const_app = vec![];
let mut root = vec![];
let mut user_tasks = vec![];
for (name, task) in &app.hardware_tasks {
// per: debug
// println!("// -- name -- {:?}", name);
// println!("// -- task -- {:?}", task);
let core = task.args.core;
let cfg_core = util::cfg_core(core, app.args.cores);
let (let_instant, instant) = if app.uses_schedule(core) {
let m = extra.monotonic();
(
Some(quote!(let instant = <#m as rtfm::Monotonic>::now();)),
Some(quote!(, instant)),
)
} else {
(None, None)
};
let locals_new = if task.locals.is_empty() {
quote!()
} else {
quote!(#name::Locals::new(),)
};
let symbol = if cfg!(feature = "homogeneous") {
util::suffixed(&task.args.binds.to_string(), core)
} else {
task.args.binds.clone()
};
let priority = task.args.priority;
let section = util::link_section("text", core);
if task.is_generator {
let gen_static = util::gen_static_ident(&name);
let gen_type = util::gen_type_ident(&name);
const_app.push(quote!(
#[allow(non_snake_case)]
#[no_mangle]
#section
#cfg_core
unsafe fn #symbol() {
const PRIORITY: u8 = #priority;
#let_instant
rtfm::export::run(PRIORITY, || {
// TODO: Remove trace
hprintln!("interrupt dispatch").unwrap();
// TODO: possible compiler bug
// core::pin::Pin::new(#gen_static.as_mut_ptr()).resume();
let mut g: &mut dyn Generator<Yield = (), Return = !> = &mut *#gen_static.as_mut_ptr();
core::pin::Pin::new_unchecked(&mut *g).resume();
});
}
));
} else {
const_app.push(quote!(
#[allow(non_snake_case)]
#[no_mangle]
#section
#cfg_core
unsafe fn #symbol() {
const PRIORITY: u8 = #priority;
#let_instant
rtfm::export::run(PRIORITY, || {
crate::#name(
#locals_new
#name::Context::new(&rtfm::export::Priority::new(PRIORITY) #instant)
)
});
}
));
}
let mut needs_lt = false;
// `${task}Resources`
if !task.args.resources.is_empty() {
let (item, constructor) = resources_struct::codegen(
Context::HardwareTask(name),
priority,
&mut needs_lt,
app,
analysis,
);
root.push(item);
const_app.push(constructor);
}
root.push(module::codegen(
Context::HardwareTask(name),
needs_lt,
app,
extra,
));
// `${task}Locals`
let mut locals_pat = None;
if !task.locals.is_empty() {
let (struct_, pat) = locals::codegen(
Context::HardwareTask(name),
&task.locals,
core,
app,
);
root.push(struct_);
locals_pat = Some(pat);
}
let attrs = &task.attrs;
let context = &task.context;
let stmts = &task.stmts;
let section = util::link_section("text", core);
// XXX shouldn't this have a cfg_core?
let locals_pat = locals_pat.iter();
if task.is_generator {
// exapmle expansion
// type GeneratorFoo = impl Generator<Yield = (), Return = !>;
// static mut GENERATOR_FOO: MaybeUninit<GeneratorFoo> = MaybeUninit::uninit();
// #[allow(non_snake_case)]
// fn foo(ctx: foo::Context) -> GeneratorFoo {
// use rtfm::Mutex as _;
// move || loop { yield }
// }
let gen_type = util::gen_type_ident(&name);
let gen_static = util::gen_static_ident(&name);
user_tasks.push(quote!(
type #gen_type = impl Generator<Yield = (), Return = !>;
));
user_tasks.push(quote!(
static mut #gen_static : core::mem::MaybeUninit<#gen_type> = core::mem::MaybeUninit::uninit();
));
user_tasks.push(quote!(
#(#attrs)*
#[allow(non_snake_case)]
#section
fn #name(#(#locals_pat,)* #context: #name::Context) -> #gen_type {
use rtfm::Mutex as _;
#(#stmts)*
}
));
} else {
// generate ordinary task
user_tasks.push(quote!(
#(#attrs)*
#[allow(non_snake_case)]
#section
fn #name(#(#locals_pat,)* #context: #name::Context) {
use rtfm::Mutex as _;
#(#stmts)*
}
));
}
}
(const_app, root, user_tasks)
}
|
