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<ol class="chapter"><li class="chapter-item expanded affix "><a href="../preface.html">Preface</a></li><li class="chapter-item expanded affix "><li class="spacer"></li><li class="chapter-item expanded "><a href="../starting_a_project.html"><strong aria-hidden="true">1.</strong> Starting a new project</a></li><li class="chapter-item expanded "><a href="../by-example.html"><strong aria-hidden="true">2.</strong> RTIC by example</a></li><li><ol class="section"><li class="chapter-item expanded "><a href="../by-example/app.html"><strong aria-hidden="true">2.1.</strong> The app</a></li><li class="chapter-item expanded "><a href="../by-example/hardware_tasks.html"><strong aria-hidden="true">2.2.</strong> Hardware tasks</a></li><li class="chapter-item expanded "><a href="../by-example/software_tasks.html"><strong aria-hidden="true">2.3.</strong> Software tasks & spawn</a></li><li class="chapter-item expanded "><a href="../by-example/resources.html"><strong aria-hidden="true">2.4.</strong> Resources</a></li><li class="chapter-item expanded "><a href="../by-example/app_init.html"><strong aria-hidden="true">2.5.</strong> The init task</a></li><li class="chapter-item expanded "><a href="../by-example/app_idle.html"><strong aria-hidden="true">2.6.</strong> The idle task</a></li><li class="chapter-item expanded "><a href="../by-example/channel.html"><strong aria-hidden="true">2.7.</strong> Channel based communication</a></li><li class="chapter-item expanded "><a href="../by-example/delay.html"><strong aria-hidden="true">2.8.</strong> Delay and Timeout using Monotonics</a></li><li class="chapter-item expanded "><a href="../by-example/app_minimal.html"><strong aria-hidden="true">2.9.</strong> The minimal app</a></li><li class="chapter-item expanded "><a href="../by-example/tips/index.html"><strong aria-hidden="true">2.10.</strong> Tips & Tricks</a></li><li><ol class="section"><li class="chapter-item expanded "><a href="../by-example/tips/destructureing.html"><strong aria-hidden="true">2.10.1.</strong> Resource de-structure-ing</a></li><li class="chapter-item expanded "><a href="../by-example/tips/indirection.html"><strong aria-hidden="true">2.10.2.</strong> Avoid copies when message passing</a></li><li class="chapter-item expanded "><a href="../by-example/tips/static_lifetimes.html"><strong aria-hidden="true">2.10.3.</strong> 'static super-powers</a></li><li class="chapter-item expanded "><a href="../by-example/tips/view_code.html"><strong aria-hidden="true">2.10.4.</strong> Inspecting generated code</a></li></ol></li></ol></li><li class="chapter-item expanded "><a href="../monotonic_impl.html"><strong aria-hidden="true">3.</strong> Monotonics & the Timer Queue</a></li><li class="chapter-item expanded "><a href="../rtic_vs.html"><strong aria-hidden="true">4.</strong> RTIC vs. the world</a></li><li class="chapter-item expanded "><a href="../rtic_and_embassy.html"><strong aria-hidden="true">5.</strong> RTIC and Embassy</a></li><li class="chapter-item expanded "><a href="../awesome_rtic.html"><strong aria-hidden="true">6.</strong> Awesome RTIC examples</a></li><li class="chapter-item expanded affix "><li class="spacer"></li><li class="chapter-item expanded "><a href="../migration_v1_v2.html"><strong aria-hidden="true">7.</strong> Migrating from v1.0.x to v2.0.0</a></li><li><ol class="section"><li class="chapter-item expanded "><a href="../migration_v1_v2/monotonics.html"><strong aria-hidden="true">7.1.</strong> Migrating to rtic-monotonics</a></li><li class="chapter-item expanded "><a href="../migration_v1_v2/async_tasks.html" class="active"><strong aria-hidden="true">7.2.</strong> Software tasks must now be async</a></li><li class="chapter-item expanded "><a href="../migration_v1_v2/rtic-sync.html"><strong aria-hidden="true">7.3.</strong> Using and understanding rtic-sync</a></li><li class="chapter-item expanded "><a href="../migration_v1_v2/complete_example.html"><strong aria-hidden="true">7.4.</strong> A code example on migration</a></li></ol></li><li class="chapter-item expanded "><li class="spacer"></li><li class="chap
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<h1 id="using-async-software-tasks"><a class="header" href="#using-async-software-tasks">Using <code>async</code> software tasks.</a></h1>
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<p>There have been a few changes to software tasks. They are outlined below.</p>
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<h3 id="software-tasks-must-now-be-async"><a class="header" href="#software-tasks-must-now-be-async">Software tasks must now be <code>async</code>.</a></h3>
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<p>All software tasks are now required to be <code>async</code>.</p>
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<h4 id="required-changes"><a class="header" href="#required-changes">Required changes.</a></h4>
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<p>All of the tasks in your project that do not bind to an interrupt must now be an <code>async fn</code>. For example:</p>
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<pre><code class="language-rust noplayground">#[task(
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local = [ some_resource ],
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shared = [ my_shared_resource ],
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priority = 2
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)]
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fn my_task(cx: my_task::Context) {
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cx.local.some_resource.do_trick();
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cx.shared.my_shared_resource.lock(|s| s.do_shared_thing());
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}</code></pre>
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<p>becomes</p>
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<pre><code class="language-rust noplayground">#[task(
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local = [ some_resource ],
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shared = [ my_shared_resource ],
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priority = 2
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)]
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async fn my_task(cx: my_task::Context) {
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cx.local.some_resource.do_trick();
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cx.shared.my_shared_resource.lock(|s| s.do_shared_thing());
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}</code></pre>
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<h2 id="software-tasks-may-now-run-forever"><a class="header" href="#software-tasks-may-now-run-forever">Software tasks may now run forever</a></h2>
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<p>The new <code>async</code> software tasks are allowed to run forever, on one precondition: <strong>there must be an <code>await</code> within the infinite loop of the task</strong>. An example of such a task:</p>
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<pre><code class="language-rust noplayground">#[task(local = [ my_channel ] )]
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async fn my_task_that_runs_forever(cx: my_task_that_runs_forever::Context) {
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loop {
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let value = cx.local.my_channel.recv().await;
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do_something_with_value(value);
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}
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}</code></pre>
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<h2 id="spawn_after-and-spawn_at-have-been-removed"><a class="header" href="#spawn_after-and-spawn_at-have-been-removed"><code>spawn_after</code> and <code>spawn_at</code> have been removed.</a></h2>
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<p>As discussed in the <a href="./monotonics.html">Migrating to <code>rtic-monotonics</code></a> chapter, <code>spawn_after</code> and <code>spawn_at</code> are no longer available.</p>
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