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|
use std::collections::{BTreeMap, HashSet};
use proc_macro2::TokenStream as TokenStream2;
use quote::quote;
use rtfm_syntax::ast::App;
use crate::{
analyze::Analysis,
check::Extra,
codegen::{spawn_body, util},
};
/// Generates all `${ctxt}::Spawn` methods
pub fn codegen(app: &App, analysis: &Analysis, extra: &Extra) -> Vec<TokenStream2> {
let mut items = vec![];
let mut seen = BTreeMap::<u8, HashSet<_>>::new();
for (spawner, spawnees) in app.spawn_callers() {
let sender = spawner.core(app);
let cfg_sender = util::cfg_core(sender, app.args.cores);
let seen = seen.entry(sender).or_default();
let mut methods = vec![];
for name in spawnees {
let spawnee = &app.software_tasks[name];
let receiver = spawnee.args.core;
let cfgs = &spawnee.cfgs;
let (args, _, untupled, ty) = util::regroup_inputs(&spawnee.inputs);
let args = &args;
if spawner.is_init() {
// `init` uses a special spawn implementation; it doesn't use the `spawn_${name}`
// functions which are shared by other contexts
let body = spawn_body::codegen(spawner, &name, app, analysis, extra);
let let_instant = if app.uses_schedule(receiver) {
let m = extra.monotonic();
Some(quote!(let instant = unsafe { <#m as rtfm::Monotonic>::zero() };))
} else {
None
};
methods.push(quote!(
#(#cfgs)*
fn #name(&self #(,#args)*) -> Result<(), #ty> {
#let_instant
#body
}
));
} else {
let spawn = util::spawn_ident(name, sender);
if !seen.contains(name) {
// generate a `spawn_${name}_S${sender}` function
seen.insert(name);
let instant = if app.uses_schedule(receiver) {
let m = extra.monotonic();
Some(quote!(, instant: <#m as rtfm::Monotonic>::Instant))
} else {
None
};
let body = spawn_body::codegen(spawner, &name, app, analysis, extra);
items.push(quote!(
#cfg_sender
#(#cfgs)*
unsafe fn #spawn(
priority: &rtfm::export::Priority
#instant
#(,#args)*
) -> Result<(), #ty> {
#body
}
));
}
let (let_instant, instant) = if app.uses_schedule(receiver) {
let m = extra.monotonic();
(
Some(if spawner.is_idle() {
quote!(let instant = <#m as rtfm::Monotonic>::now();)
} else {
quote!(let instant = self.instant();)
}),
Some(quote!(, instant)),
)
} else {
(None, None)
};
methods.push(quote!(
#(#cfgs)*
#[inline(always)]
fn #name(&self #(,#args)*) -> Result<(), #ty> {
unsafe {
#let_instant
#spawn(self.priority() #instant #(,#untupled)*)
}
}
));
}
}
let lt = if spawner.is_init() {
None
} else {
Some(quote!('a))
};
let spawner = spawner.ident(app);
debug_assert!(!methods.is_empty());
items.push(quote!(
#cfg_sender
impl<#lt> #spawner::Spawn<#lt> {
#(#methods)*
}
));
}
items
}
|
