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
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
|
//! RTIC application analysis
use core::cmp;
use std::collections::{BTreeMap, BTreeSet, HashMap};
use indexmap::{IndexMap, IndexSet};
use syn::{Ident, Type};
use crate::syntax::{
ast::{App, LocalResources, TaskLocal},
Set,
};
pub(crate) fn app(app: &App) -> Result<Analysis, syn::Error> {
// Collect all tasks into a vector
type TaskName = String;
type Priority = u8;
// The task list is a Tuple (Name, Shared Resources, Local Resources, Priority, IsAsync)
let task_resources_list: Vec<(TaskName, Vec<&Ident>, &LocalResources, Priority, bool)> =
Some(&app.init)
.iter()
.map(|ht| {
(
"init".to_string(),
Vec::new(),
&ht.args.local_resources,
0,
false,
)
})
.chain(app.idle.iter().map(|ht| {
(
"idle".to_string(),
ht.args
.shared_resources
.iter()
.map(|(v, _)| v)
.collect::<Vec<_>>(),
&ht.args.local_resources,
0,
false,
)
}))
.chain(app.software_tasks.iter().map(|(name, ht)| {
(
name.to_string(),
ht.args
.shared_resources
.iter()
.map(|(v, _)| v)
.collect::<Vec<_>>(),
&ht.args.local_resources,
ht.args.priority,
ht.is_async,
)
}))
.chain(app.hardware_tasks.iter().map(|(name, ht)| {
(
name.to_string(),
ht.args
.shared_resources
.iter()
.map(|(v, _)| v)
.collect::<Vec<_>>(),
&ht.args.local_resources,
ht.args.priority,
false,
)
}))
.collect();
let mut error = vec![];
let mut lf_res_with_error = vec![];
let mut lf_hash = HashMap::new();
// Collect lock free resources
let lock_free: Vec<&Ident> = app
.shared_resources
.iter()
.filter(|(_, r)| r.properties.lock_free)
.map(|(i, _)| i)
.collect();
// Check that lock_free resources are correct
for lf_res in lock_free.iter() {
for (task, tr, _, priority, is_async) in task_resources_list.iter() {
for r in tr {
// Get all uses of resources annotated lock_free
if lf_res == r {
// lock_free resources are not allowed in async tasks
if *is_async {
error.push(syn::Error::new(
r.span(),
format!(
"Lock free shared resource {:?} is used by an async tasks, which is forbidden",
r.to_string(),
),
));
}
// HashMap returns the previous existing object if old.key == new.key
if let Some(lf_res) = lf_hash.insert(r.to_string(), (task, r, priority)) {
// Check if priority differ, if it does, append to
// list of resources which will be annotated with errors
if priority != lf_res.2 {
lf_res_with_error.push(lf_res.1);
lf_res_with_error.push(r);
}
// If the resource already violates lock free properties
if lf_res_with_error.contains(&r) {
lf_res_with_error.push(lf_res.1);
lf_res_with_error.push(r);
}
}
}
}
}
}
// Add error message in the resource struct
for r in lock_free {
if lf_res_with_error.contains(&&r) {
error.push(syn::Error::new(
r.span(),
format!(
"Lock free shared resource {:?} is used by tasks at different priorities",
r.to_string(),
),
));
}
}
// Add error message for each use of the shared resource
for resource in lf_res_with_error.clone() {
error.push(syn::Error::new(
resource.span(),
format!(
"Shared resource {:?} is declared lock free but used by tasks at different priorities",
resource.to_string(),
),
));
}
// Collect local resources
let local: Vec<&Ident> = app.local_resources.iter().map(|(i, _)| i).collect();
let mut lr_with_error = vec![];
let mut lr_hash = HashMap::new();
// Check that local resources are not shared
for lr in local {
for (task, _, local_resources, _, _) in task_resources_list.iter() {
for (name, res) in local_resources.iter() {
// Get all uses of resources annotated lock_free
if lr == name {
match res {
TaskLocal::External => {
// HashMap returns the previous existing object if old.key == new.key
if let Some(lr) = lr_hash.insert(name.to_string(), (task, name)) {
lr_with_error.push(lr.1);
lr_with_error.push(name);
}
}
// If a declared local has the same name as the `#[local]` struct, it's an
// direct error
TaskLocal::Declared(_) => {
lr_with_error.push(lr);
lr_with_error.push(name);
}
}
}
}
}
}
// Add error message for each use of the local resource
for resource in lr_with_error.clone() {
error.push(syn::Error::new(
resource.span(),
format!(
"Local resource {:?} is used by multiple tasks or collides with multiple definitions",
resource.to_string(),
),
));
}
// Check 0-priority async software tasks and idle dependency
for (name, task) in &app.software_tasks {
if task.args.priority == 0 {
// If there is a 0-priority task, there must be no idle
if app.idle.is_some() {
error.push(syn::Error::new(
name.span(),
format!(
"Software task {:?} has priority 0, but `#[idle]` is defined. 0-priority software tasks are only allowed if there is no `#[idle]`.",
name.to_string(),
)
));
}
// 0-priority tasks must be async
if !task.is_async {
error.push(syn::Error::new(
name.span(),
format!(
"Software task {:?} has priority 0, but is not `async`. 0-priority software tasks must be `async`.",
name.to_string(),
)
));
}
}
}
// Collect errors if any and return/halt
if !error.is_empty() {
let mut err = error.get(0).unwrap().clone();
error.iter().for_each(|e| err.combine(e.clone()));
return Err(err);
}
// e. Location of resources
let mut used_shared_resource = IndexSet::new();
let mut ownerships = Ownerships::new();
let mut sync_types = SyncTypes::new();
for (prio, name, access) in app.shared_resource_accesses() {
let res = app.shared_resources.get(name).expect("UNREACHABLE");
// (e)
// This shared resource is used
used_shared_resource.insert(name.clone());
// (c)
if let Some(priority) = prio {
if let Some(ownership) = ownerships.get_mut(name) {
match *ownership {
Ownership::Owned { priority: ceiling }
| Ownership::CoOwned { priority: ceiling }
| Ownership::Contended { ceiling }
if priority != ceiling =>
{
*ownership = Ownership::Contended {
ceiling: cmp::max(ceiling, priority),
};
if access.is_shared() {
sync_types.insert(res.ty.clone());
}
}
Ownership::Owned { priority: ceil } if ceil == priority => {
*ownership = Ownership::CoOwned { priority };
}
_ => {}
}
} else {
ownerships.insert(name.clone(), Ownership::Owned { priority });
}
}
}
// Create the list of used local resource Idents
let mut used_local_resource = IndexSet::new();
for (_, _, locals, _, _) in task_resources_list {
for (local, _) in locals {
used_local_resource.insert(local.clone());
}
}
// Most shared resources need to be `Send`
let mut send_types = SendTypes::new();
let owned_by_idle = Ownership::Owned { priority: 0 };
for (name, res) in app.shared_resources.iter() {
// Handle not owned by idle
if ownerships
.get(name)
.map(|ownership| *ownership != owned_by_idle)
.unwrap_or(false)
{
send_types.insert(res.ty.clone());
}
}
// Most local resources need to be `Send` as well
for (name, res) in app.local_resources.iter() {
if let Some(idle) = &app.idle {
// Only Send if not in idle or not at idle prio
if idle.args.local_resources.get(name).is_none()
&& !ownerships
.get(name)
.map(|ownership| *ownership != owned_by_idle)
.unwrap_or(false)
{
send_types.insert(res.ty.clone());
}
} else {
send_types.insert(res.ty.clone());
}
}
let mut channels = Channels::new();
for (name, spawnee) in &app.software_tasks {
let spawnee_prio = spawnee.args.priority;
let channel = channels.entry(spawnee_prio).or_default();
channel.tasks.insert(name.clone());
if !spawnee.args.only_same_priority_spawn {
// Require `Send` if the task can be spawned from other priorities
spawnee.inputs.iter().for_each(|input| {
send_types.insert(input.ty.clone());
});
}
}
// No channel should ever be empty
debug_assert!(channels.values().all(|channel| !channel.tasks.is_empty()));
// Compute channel capacities
for channel in channels.values_mut() {
channel.capacity = channel
.tasks
.iter()
.map(|name| app.software_tasks[name].args.capacity)
.sum();
}
Ok(Analysis {
channels,
shared_resources: used_shared_resource,
local_resources: used_local_resource,
ownerships,
send_types,
sync_types,
})
}
// /// Priority ceiling
// pub type Ceiling = Option<u8>;
/// Task priority
pub type Priority = u8;
/// Resource name
pub type Resource = Ident;
/// Task name
pub type Task = Ident;
/// The result of analyzing an RTIC application
pub struct Analysis {
/// SPSC message channels
pub channels: Channels,
/// Shared resources
///
/// If a resource is not listed here it means that's a "dead" (never
/// accessed) resource and the backend should not generate code for it
pub shared_resources: UsedSharedResource,
/// Local resources
///
/// If a resource is not listed here it means that's a "dead" (never
/// accessed) resource and the backend should not generate code for it
pub local_resources: UsedLocalResource,
/// Resource ownership
pub ownerships: Ownerships,
/// These types must implement the `Send` trait
pub send_types: SendTypes,
/// These types must implement the `Sync` trait
pub sync_types: SyncTypes,
}
/// All channels, keyed by dispatch priority
pub type Channels = BTreeMap<Priority, Channel>;
/// Location of all *used* shared resources
pub type UsedSharedResource = IndexSet<Resource>;
/// Location of all *used* local resources
pub type UsedLocalResource = IndexSet<Resource>;
/// Resource ownership
pub type Ownerships = IndexMap<Resource, Ownership>;
/// These types must implement the `Send` trait
pub type SendTypes = Set<Box<Type>>;
/// These types must implement the `Sync` trait
pub type SyncTypes = Set<Box<Type>>;
/// A channel used to send messages
#[derive(Debug, Default)]
pub struct Channel {
/// The channel capacity
pub capacity: u8,
/// Tasks that can be spawned on this channel
pub tasks: BTreeSet<Task>,
}
/// Resource ownership
#[derive(Clone, Copy, Debug, PartialEq)]
pub enum Ownership {
/// Owned by a single task
Owned {
/// Priority of the task that owns this resource
priority: u8,
},
/// "Co-owned" by more than one task; all of them have the same priority
CoOwned {
/// Priority of the tasks that co-own this resource
priority: u8,
},
/// Contended by more than one task; the tasks have different priorities
Contended {
/// Priority ceiling
ceiling: u8,
},
}
// impl Ownership {
// /// Whether this resource needs to a lock at this priority level
// pub fn needs_lock(&self, priority: u8) -> bool {
// match self {
// Ownership::Owned { .. } | Ownership::CoOwned { .. } => false,
//
// Ownership::Contended { ceiling } => {
// debug_assert!(*ceiling >= priority);
//
// priority < *ceiling
// }
// }
// }
//
// /// Whether this resource is exclusively owned
// pub fn is_owned(&self) -> bool {
// matches!(self, Ownership::Owned { .. })
// }
// }
|