Starting to implement async task codgen

examples/async-task.rs

@@ -0,0 +1,210 @@
+#![no_main]
+#![no_std]
+#![feature(type_alias_impl_trait)]
+
+use core::future::Future;
+use core::pin::Pin;
+use core::task::{Context, Poll, Waker};
+
+use cortex_m_semihosting::{debug, hprintln};
+use panic_semihosting as _;
+use systick_monotonic::*;
+
+// NOTES:
+//
+// - Async tasks cannot have `#[lock_free]` resources, as they can interleve and each async
+//   task can have a mutable reference stored.
+// - Spawning an async task equates to it being polled at least once.
+// - ...
+
+#[rtic::app(device = lm3s6965, dispatchers = [SSI0, UART0], peripherals = true)]
+mod app {
+    use crate::*;
+
+    pub type AppInstant = <Systick<100> as rtic::Monotonic>::Instant;
+    pub type AppDuration = <Systick<100> as rtic::Monotonic>::Duration;
+
+    #[shared]
+    struct Shared {
+        s: u32,
+    }
+
+    #[local]
+    struct Local {}
+
+    #[monotonic(binds = SysTick, default = true)]
+    type MyMono = Systick<100>;
+
+    #[init]
+    fn init(cx: init::Context) -> (Shared, Local, init::Monotonics) {
+        hprintln!("init").unwrap();
+
+        (
+            Shared { s: 0 },
+            Local {},
+            init::Monotonics(Systick::new(cx.core.SYST, 12_000_000)),
+        )
+    }
+
+    #[idle]
+    fn idle(_: idle::Context) -> ! {
+        // debug::exit(debug::EXIT_SUCCESS);
+        loop {
+            // hprintln!("idle");
+            cortex_m::asm::wfi(); // put the MCU in sleep mode until interrupt occurs
+        }
+    }
+
+    #[task(priority = 2)]
+    async fn task(cx: task::Context) {
+        hprintln!("delay long time").ok();
+
+        let fut = Delay::spawn(2500.millis());
+
+        hprintln!("we have just created the future").ok();
+        fut.await;
+        hprintln!("long delay done").ok();
+
+        hprintln!("delay short time").ok();
+        delay(500.millis()).await;
+        hprintln!("short delay done").ok();
+
+        hprintln!("test timeout").ok();
+        let res = timeout(NeverEndingFuture {}, 1.secs()).await;
+        hprintln!("timeout done: {:?}", res).ok();
+
+        hprintln!("test timeout 2").ok();
+        let res = timeout(delay(500.millis()), 1.secs()).await;
+        hprintln!("timeout done 2: {:?}", res).ok();
+
+        debug::exit(debug::EXIT_SUCCESS);
+    }
+
+    #[task(capacity = 12)]
+    fn delay_handler(_: delay_handler::Context, waker: Waker) {
+        waker.wake();
+    }
+}
+
+// Delay
+
+pub struct Delay {
+    until: crate::app::AppInstant,
+}
+
+impl Delay {
+    pub fn spawn(duration: crate::app::AppDuration) -> Self {
+        let until = crate::app::monotonics::now() + duration;
+
+        Delay { until }
+    }
+}
+
+#[inline(always)]
+pub fn delay(duration: crate::app::AppDuration) -> Delay {
+    Delay::spawn(duration)
+}
+
+impl Future for Delay {
+    type Output = ();
+
+    fn poll(mut self: Pin<&mut Self>, cx: &mut Context<'_>) -> Poll<Self::Output> {
+        let s = self.as_mut();
+        let now = crate::app::monotonics::now();
+
+        hprintln!("    poll Delay").ok();
+
+        if now >= s.until {
+            Poll::Ready(())
+        } else {
+            let waker = cx.waker().clone();
+            crate::app::delay_handler::spawn_after(s.until - now, waker).ok();
+
+            Poll::Pending
+        }
+    }
+}
+
+//=============
+// Timeout future
+
+#[derive(Copy, Clone, Debug)]
+pub struct TimeoutError;
+
+pub struct Timeout<F: Future> {
+    future: F,
+    until: crate::app::AppInstant,
+    cancel_handle: Option<crate::app::delay_handler::SpawnHandle>,
+}
+
+impl<F> Timeout<F>
+where
+    F: Future,
+{
+    pub fn timeout(future: F, duration: crate::app::AppDuration) -> Self {
+        let until = crate::app::monotonics::now() + duration;
+        Self {
+            future,
+            until,
+            cancel_handle: None,
+        }
+    }
+}
+
+#[inline(always)]
+pub fn timeout<F: Future>(future: F, duration: crate::app::AppDuration) -> Timeout<F> {
+    Timeout::timeout(future, duration)
+}
+
+impl<F> Future for Timeout<F>
+where
+    F: Future,
+{
+    type Output = Result<F::Output, TimeoutError>;
+
+    fn poll(self: Pin<&mut Self>, cx: &mut Context<'_>) -> Poll<Self::Output> {
+        let now = crate::app::monotonics::now();
+
+        // SAFETY: We don't move the underlying pinned value.
+        let mut s = unsafe { self.get_unchecked_mut() };
+        let future = unsafe { Pin::new_unchecked(&mut s.future) };
+
+        hprintln!("    poll Timeout").ok();
+
+        match future.poll(cx) {
+            Poll::Ready(r) => {
+                if let Some(ch) = s.cancel_handle.take() {
+                    ch.cancel().ok();
+                }
+
+                Poll::Ready(Ok(r))
+            }
+            Poll::Pending => {
+                if now >= s.until {
+                    Poll::Ready(Err(TimeoutError))
+                } else if s.cancel_handle.is_none() {
+                    let waker = cx.waker().clone();
+                    let sh = crate::app::delay_handler::spawn_after(s.until - now, waker)
+                        .expect("Internal RTIC bug, this should never fail");
+                    s.cancel_handle = Some(sh);
+
+                    Poll::Pending
+                } else {
+                    Poll::Pending
+                }
+            }
+        }
+    }
+}
+
+pub struct NeverEndingFuture {}
+
+impl Future for NeverEndingFuture {
+    type Output = ();
+
+    fn poll(self: Pin<&mut Self>, _: &mut Context<'_>) -> Poll<Self::Output> {
+        // Never finish
+        hprintln!("    polling NeverEndingFuture").ok();
+        Poll::Pending
+    }
+}

macros/Cargo.toml

@@ -22,7 +22,8 @@ proc-macro2 = "1"
 proc-macro-error = "1"
 quote = "1"
 syn = "1"
-rtic-syntax = "1.0.2"
+# rtic-syntax = "1.0.2"
+rtic-syntax = { git = "https://github.com/rtic-rs/rtic-syntax.git", branch = "async-tasks" } #"1.0.0"
 
 [features]
 debugprint = []

macros/src/codegen/software_tasks.rs

@@ -27,7 +27,13 @@ pub fn codegen(
     let mut root = vec![];
     let mut user_tasks = vec![];
 
-    for (name, task) in &app.software_tasks {
+    // Async tasks
+    for (name, task) in app.software_tasks.iter().filter(|(_, task)| task.is_async) {
+        // todo
+    }
+
+    // Non-async tasks
+    for (name, task) in app.software_tasks.iter().filter(|(_, task)| !task.is_async) {
         let inputs = &task.inputs;
         let (_, _, _, input_ty) = util::regroup_inputs(inputs);