mirror/rtic
1
0
Fork 0
mirror of https://github.com/rtic-rs/rtic.git synced 2024-11-23 20:22:51 +01:00
Code Issues Projects Releases Packages Wiki Activity

Now with spawn/schedule from anywhere

Browse source
This commit is contained in:
Emil Fresk 2020-10-11 18:38:38 +02:00
parent c83b15b643
commit 524273c96a
19 changed files with 172 additions and 694 deletions
Show stats Download patch file Download diff file Expand all files Collapse all files

6
examples/schedule.rs
View file

@ -13,7 +13,7 @@ use rtic::cyccnt::{Instant, U32Ext as _};
// NOTE: does NOT work on QEMU!
#[rtic::app(device = lm3s6965, monotonic = rtic::cyccnt::CYCCNT)]
mod app {
#[init(schedule = [foo, bar])]
#[init()]
fn init(mut cx: init::Context) -> init::LateResources {
// Initialize (enable) the monotonic timer (CYCCNT)
cx.core.DCB.enable_trace();
@ -28,10 +28,10 @@ mod app {
hprintln!("init @ {:?}", now).unwrap();
// Schedule `foo` to run 8e6 cycles (clock cycles) in the future
cx.schedule.foo(now + 8_000_000.cycles()).unwrap();
foo::schedule(now + 8_000_000.cycles()).unwrap();
// Schedule `bar` to run 4e6 cycles in the future
cx.schedule.bar(now + 4_000_000.cycles()).unwrap();
bar::schedule(now + 4_000_000.cycles()).unwrap();
init::LateResources {}
}

4
examples/spawn.rs
View file

@ -11,8 +11,10 @@ use panic_semihosting as _;
#[rtic::app(device = lm3s6965)]
mod app {
#[init(spawn = [foo])]
fn init(_c: init::Context) {
fn init(_c: init::Context) -> init::LateResources {
foo::spawn(1, 2).unwrap();
init::LateResources {}
}
#[task()]

10
examples/spawn2.rs
View file

@ -10,12 +10,14 @@ use panic_semihosting as _;
#[rtic::app(device = lm3s6965)]
mod app {
#[init(spawn = [foo, foo2])]
fn init(_c: init::Context) {
#[init]
fn init(_c: init::Context) -> init::LateResources {
foo::spawn(1, 2).unwrap();
init::LateResources {}
}
#[task()]
#[task]
fn foo(_c: foo::Context, x: i32, y: u32) {
hprintln!("foo {}, {}", x, y).unwrap();
if x == 2 {
@ -24,7 +26,7 @@ mod app {
foo2::spawn(2).unwrap();
}
#[task()]
#[task]
fn foo2(_c: foo2::Context, x: i32) {
hprintln!("foo2 {}", x).unwrap();
foo::spawn(x, 0).unwrap();

2
macros/Cargo.toml
View file

@ -21,5 +21,5 @@ proc-macro = true
proc-macro2 = "1"
quote = "1"
syn = "1"
rtic-syntax = { git = "https://github.com/rtic-rs/rtic-syntax", branch = "master", version = "0.4.0" }
rtic-syntax = { path = "../../rtic-syntax", version = "0.4.0" }

1
macros/src/analyze.rs
View file

@ -29,7 +29,6 @@ pub fn app(analysis: P<analyze::Analysis>, app: &App) -> P<Analysis> {
.software_tasks
.values()
.filter_map(|task| Some(task.args.priority))
.chain(analysis.timer_queues.first().map(|tq| tq.priority))
.collect::<BTreeSet<_>>();
if !priorities.is_empty() {

62
macros/src/check.rs
View file

@ -19,35 +19,7 @@ impl<'a> Extra<'a> {
}
}
pub fn app<'a>(app: &'a App, analysis: &Analysis) -> parse::Result<Extra<'a>> {
// Check that all exceptions are valid; only exceptions with configurable priorities are
// accepted
for (name, task) in &app.hardware_tasks {
let name_s = task.args.binds.to_string();
match &*name_s {
"SysTick" => {
// If the timer queue is used, then SysTick is unavailable
if !analysis.timer_queues.is_empty() {
return Err(parse::Error::new(
name.span(),
"this exception can't be used because it's being used by the runtime",
));
} else {
// OK
}
}
"NonMaskableInt" | "HardFault" => {
return Err(parse::Error::new(
name.span(),
"only exceptions with configurable priority can be used as hardware tasks",
));
}
_ => {}
}
}
pub fn app<'a>(app: &'a App, _analysis: &Analysis) -> parse::Result<Extra<'a>> {
// Check that external (device-specific) interrupts are not named after known (Cortex-M)
// exceptions
for name in app.extern_interrupts.keys() {
@ -76,7 +48,6 @@ pub fn app<'a>(app: &'a App, analysis: &Analysis) -> parse::Result<Extra<'a>> {
first = Some(name);
Some(task.args.priority)
})
.chain(analysis.timer_queues.first().map(|tq| tq.priority))
.collect::<HashSet<_>>();
let need = priorities.len();
@ -141,11 +112,32 @@ pub fn app<'a>(app: &'a App, analysis: &Analysis) -> parse::Result<Extra<'a>> {
}
}
if !&analysis.timer_queues.is_empty() && monotonic.is_none() {
return Err(parse::Error::new(
Span::call_site(),
"a `monotonic` timer must be specified to use the `schedule` API",
));
// Check that all exceptions are valid; only exceptions with configurable priorities are
// accepted
for (name, task) in &app.hardware_tasks {
let name_s = task.args.binds.to_string();
match &*name_s {
"SysTick" => {
// If the timer queue is used, then SysTick is unavailable
if monotonic.is_some() {
return Err(parse::Error::new(
name.span(),
"this exception can't be used because it's being used by the runtime",
));
} else {
// OK
}
}
"NonMaskableInt" | "HardFault" => {
return Err(parse::Error::new(
name.span(),
"only exceptions with configurable priority can be used as hardware tasks",
));
}
_ => {}
}
}
if let Some(device) = device {

16
macros/src/codegen.rs
View file

@ -15,11 +15,11 @@ mod post_init;
mod pre_init;
mod resources;
mod resources_struct;
mod schedule;
mod schedule_body;
// mod schedule;
// mod schedule_body;
mod software_tasks;
mod spawn;
mod spawn_body;
// mod spawn;
// mod spawn_body;
mod timer_queue;
mod util;
@ -116,11 +116,11 @@ pub fn app(app: &App, analysis: &Analysis, extra: &Extra) -> TokenStream2 {
let mod_app_dispatchers = dispatchers::codegen(app, analysis, extra);
let mod_app_spawn = spawn::codegen(app, analysis, extra);
// let mod_app_spawn = spawn::codegen(app, analysis, extra);
let mod_app_timer_queue = timer_queue::codegen(app, analysis, extra);
let mod_app_schedule = schedule::codegen(app, extra);
// let mod_app_schedule = schedule::codegen(app, extra);
let user_imports = app.user_imports.clone();
let user_code = app.user_code.clone();
@ -170,11 +170,11 @@ pub fn app(app: &App, analysis: &Analysis, extra: &Extra) -> TokenStream2 {
#(#mod_app_dispatchers)*
#(#mod_app_spawn)*
// #(#mod_app_spawn)*
#(#mod_app_timer_queue)*
#(#mod_app_schedule)*
// #(#mod_app_schedule)*
#(#mains)*
}

20
macros/src/codegen/dispatchers.rs
View file

@ -60,24 +60,6 @@ pub fn codegen(app: &App, analysis: &Analysis, extra: &Extra) -> Vec<TokenStream
pub static mut #rq: #rq_ty = #rq_expr;
));
if let Some(ceiling) = channel.ceiling {
items.push(quote!(
struct #rq<'a> {
priority: &'a rtic::export::Priority,
}
));
items.push(util::impl_mutex(
extra,
&[],
false,
&rq,
rq_ty,
ceiling,
quote!(&mut #rq),
));
}
let arms = channel
.tasks
.iter()
@ -88,7 +70,7 @@ pub fn codegen(app: &App, analysis: &Analysis, extra: &Extra) -> Vec<TokenStream
let inputs = util::inputs_ident(name);
let (_, tupled, pats, _) = util::regroup_inputs(&task.inputs);
let (let_instant, instant) = if app.uses_schedule() {
let (let_instant, instant) = if extra.monotonic.is_some() {
let instants = util::instants_ident(name);
(

2
macros/src/codegen/hardware_tasks.rs
View file

@ -32,7 +32,7 @@ pub fn codegen(
let mut hardware_tasks_imports = vec![];
for (name, task) in &app.hardware_tasks {
let (let_instant, instant) = if app.uses_schedule() {
let (let_instant, instant) = if extra.monotonic.is_some() {
let m = extra.monotonic();
(

216
macros/src/codegen/module.rs
View file

@ -21,7 +21,7 @@ pub fn codegen(
let mut lt = None;
match ctxt {
Context::Init => {
if app.uses_schedule() {
if extra.monotonic.is_some() {
let m = extra.monotonic();
fields.push(quote!(
@ -67,7 +67,7 @@ pub fn codegen(
Context::Idle => {}
Context::HardwareTask(..) => {
if app.uses_schedule() {
if extra.monotonic.is_some() {
let m = extra.monotonic();
fields.push(quote!(
@ -82,7 +82,7 @@ pub fn codegen(
}
Context::SoftwareTask(..) => {
if app.uses_schedule() {
if extra.monotonic.is_some() {
let m = extra.monotonic();
fields.push(quote!(
@ -132,139 +132,6 @@ pub fn codegen(
values.push(quote!(resources: Resources::new(#priority)));
}
if ctxt.uses_schedule(app) {
let doc = "Tasks that can be `schedule`-d from this context";
if ctxt.is_init() {
items.push(quote!(
#[doc = #doc]
#[derive(Clone, Copy)]
pub struct Schedule {
_not_send: core::marker::PhantomData<*mut ()>,
}
));
fields.push(quote!(
#[doc = #doc]
pub schedule: Schedule
));
values.push(quote!(
schedule: Schedule { _not_send: core::marker::PhantomData }
));
} else {
lt = Some(quote!('a));
items.push(quote!(
#[doc = #doc]
#[derive(Clone, Copy)]
pub struct Schedule<'a> {
priority: &'a rtic::export::Priority,
}
impl<'a> Schedule<'a> {
#[doc(hidden)]
#[inline(always)]
pub unsafe fn priority(&self) -> &rtic::export::Priority {
&self.priority
}
}
));
fields.push(quote!(
#[doc = #doc]
pub schedule: Schedule<'a>
));
values.push(quote!(
schedule: Schedule { priority }
));
}
}
if ctxt.uses_spawn(app) {
let doc = "Tasks that can be `spawn`-ed from this context";
if ctxt.is_init() {
fields.push(quote!(
#[doc = #doc]
pub spawn: Spawn
));
items.push(quote!(
#[doc = #doc]
#[derive(Clone, Copy)]
pub struct Spawn {
_not_send: core::marker::PhantomData<*mut ()>,
}
));
values.push(quote!(spawn: Spawn { _not_send: core::marker::PhantomData }));
} else {
lt = Some(quote!('a));
fields.push(quote!(
#[doc = #doc]
pub spawn: Spawn<'a>
));
let mut instant_method = None;
if ctxt.is_idle() {
items.push(quote!(
#[doc = #doc]
#[derive(Clone, Copy)]
pub struct Spawn<'a> {
priority: &'a rtic::export::Priority,
}
));
values.push(quote!(spawn: Spawn { priority }));
} else {
let instant_field = if app.uses_schedule() {
let m = extra.monotonic();
needs_instant = true;
instant_method = Some(quote!(
pub unsafe fn instant(&self) -> <#m as rtic::Monotonic>::Instant {
self.instant
}
));
Some(quote!(instant: <#m as rtic::Monotonic>::Instant,))
} else {
None
};
items.push(quote!(
/// Tasks that can be spawned from this context
#[derive(Clone, Copy)]
pub struct Spawn<'a> {
#instant_field
priority: &'a rtic::export::Priority,
}
));
let _instant = if needs_instant {
Some(quote!(, instant))
} else {
None
};
values.push(quote!(
spawn: Spawn { priority #_instant }
));
}
items.push(quote!(
impl<'a> Spawn<'a> {
#[doc(hidden)]
#[inline(always)]
pub unsafe fn priority(&self) -> &rtic::export::Priority {
self.priority
}
#instant_method
}
));
}
}
if let Context::Init = ctxt {
let init = &app.inits.first().unwrap();
let late_resources = util::late_resources_ident(&init.name);
@ -283,7 +150,7 @@ pub fn codegen(
};
let core = if ctxt.is_init() {
if app.uses_schedule() {
if extra.monotonic.is_some() {
Some(quote!(core: rtic::Peripherals,))
} else {
Some(quote!(core: rtic::export::Peripherals,))
@ -337,11 +204,6 @@ pub fn codegen(
let rq = util::rq_ident(priority);
let inputs = util::inputs_ident(name);
eprintln!("app name: {}", app.name);
eprintln!("inputs {}", &inputs);
eprintln!("task name: {}", name);
eprintln!("fq {}", fq);
eprintln!("rq {}", rq);
let app_name = &app.name;
let app_path = quote! {crate::#app_name};
@ -349,6 +211,7 @@ pub fn codegen(
let enum_ = util::interrupt_ident();
let interrupt = &analysis.interrupts.get(&priority);
// Spawn caller
items.push(quote!(
#(#cfgs)*
pub fn spawn(#(#args,)*) -> Result<(), #ty> {
@ -357,26 +220,71 @@ pub fn codegen(
let input = #tupled;
if let Some(index) = rtic::export::interrupt::free(|_| #app_path::#fq.dequeue()) {
unsafe {
unsafe {
if let Some(index) = rtic::export::interrupt::free(|_| #app_path::#fq.dequeue()) {
#app_path::#inputs
.get_unchecked_mut(usize::from(index))
.as_mut_ptr()
.write(input);
rtic::export::interrupt::free(|_| {
#app_path::#rq.enqueue_unchecked((#app_path::#t::#name, index));
});
rtic::pend(#device::#enum_::#interrupt);
Ok(())
} else {
Err(input)
}
rtic::export::interrupt::free(|_| {
#app_path::#rq.enqueue_unchecked((#app_path::#t::#name, index));
});
rtic::pend(#device::#enum_::#interrupt);
Ok(())
} else {
Err(input)
}
}));
// Schedule caller
if extra.monotonic.is_some() {
let instants = util::instants_ident(name);
let tq = util::tq_ident();
let m = extra.monotonic();
let t = util::schedule_t_ident();
items.push(quote!(
#(#cfgs)*
pub fn schedule(
instant: <#m as rtic::Monotonic>::Instant
#(,#args)*
) -> Result<(), #ty> {
unsafe {
use rtic::Mutex as _;
let input = #tupled;
if let Some(index) = rtic::export::interrupt::free(|_| #app_path::#fq.dequeue()) {
#app_path::#inputs
.get_unchecked_mut(usize::from(index))
.as_mut_ptr()
.write(input);
#app_path::#instants
.get_unchecked_mut(usize::from(index))
.as_mut_ptr()
.write(instant);
let nr = rtic::export::NotReady {
instant,
index,
task: #app_path::#t::#name,
};
rtic::export::interrupt::free(|_| #app_path::#tq.enqueue_unchecked(nr));
Ok(())
} else {
Err(input)
}
}
}));
}
}
if !items.is_empty() {

8
macros/src/codegen/pre_init.rs
View file

@ -12,10 +12,10 @@ pub fn codegen(app: &App, analysis: &Analysis, extra: &Extra) -> Vec<TokenStream
stmts.push(quote!(rtic::export::interrupt::disable();));
// Populate the FreeQueue
for fq in &analysis.free_queues {
for fq in &app.software_tasks {
// Get the task name
let name = fq.0;
let task = &app.software_tasks[name];
let task = fq.1;
let cap = task.args.capacity;
let fq_ident = util::fq_ident(name);
@ -81,8 +81,8 @@ pub fn codegen(app: &App, analysis: &Analysis, extra: &Extra) -> Vec<TokenStream
}
// Initialize the SysTick if there exist a TimerQueue
if let Some(tq) = analysis.timer_queues.first() {
let priority = tq.priority;
if extra.monotonic.is_some() {
let priority = analysis.channels.keys().max().unwrap();
// Compile time assert that this priority is supported by the device
stmts.push(quote!(let _ = [(); ((1 << #nvic_prio_bits) - #priority as usize)];));

90
macros/src/codegen/schedule.rs
View file

@ -1,90 +0,0 @@
use std::collections::HashSet;
use proc_macro2::TokenStream as TokenStream2;
use quote::quote;
use rtic_syntax::ast::App;
use crate::{
check::Extra,
codegen::{schedule_body, util},
};
/// Generates all `${ctxt}::Schedule` methods
pub fn codegen(app: &App, extra: &Extra) -> Vec<TokenStream2> {
let mut items = vec![];
let mut seen = HashSet::<_>::new();
for (scheduler, schedulees) in app.schedule_callers() {
let m = extra.monotonic();
let instant = quote!(<#m as rtic::Monotonic>::Instant);
let mut methods = vec![];
for name in schedulees {
let schedulee = &app.software_tasks[name];
let cfgs = &schedulee.cfgs;
let (args, _, untupled, ty) = util::regroup_inputs(&schedulee.inputs);
let args = &args;
if scheduler.is_init() {
// `init` uses a special `schedule` implementation; it doesn't use the
// `schedule_${name}` functions which are shared by other contexts
let body = schedule_body::codegen(scheduler, &name, app);
methods.push(quote!(
#(#cfgs)*
pub fn #name(&self, instant: #instant #(,#args)*) -> Result<(), #ty> {
#body
}
));
} else {
let schedule = util::schedule_ident(name);
if !seen.contains(name) {
// Generate a `schedule_${name}_S${sender}` function
seen.insert(name);
let body = schedule_body::codegen(scheduler, &name, app);
items.push(quote!(
#(#cfgs)*
pub unsafe fn #schedule(
priority: &rtic::export::Priority,
instant: #instant
#(,#args)*
) -> Result<(), #ty> {
#body
}
));
}
methods.push(quote!(
#(#cfgs)*
#[inline(always)]
pub fn #name(&self, instant: #instant #(,#args)*) -> Result<(), #ty> {
unsafe {
#schedule(self.priority(), instant #(,#untupled)*)
}
}
));
}
}
let lt = if scheduler.is_init() {
None
} else {
Some(quote!('a))
};
let scheduler = scheduler.ident(app);
debug_assert!(!methods.is_empty());
items.push(quote!(
impl<#lt> #scheduler::Schedule<#lt> {
#(#methods)*
}
));
}
items
}

59
macros/src/codegen/schedule_body.rs
View file

@ -1,59 +0,0 @@
use proc_macro2::TokenStream as TokenStream2;
use quote::quote;
use rtic_syntax::{ast::App, Context};
use syn::Ident;
use crate::codegen::util;
pub fn codegen(scheduler: Context, name: &Ident, app: &App) -> TokenStream2 {
let schedulee = &app.software_tasks[name];
let fq = util::fq_ident(name);
let tq = util::tq_ident();
let (dequeue, enqueue) = if scheduler.is_init() {
(quote!(#fq.dequeue()), quote!(#tq.enqueue_unchecked(nr);))
} else {
(
quote!((#fq { priority }).lock(|fq| fq.split().1.dequeue())),
quote!((#tq { priority }).lock(|tq| tq.enqueue_unchecked(nr));),
)
};
let write_instant = if app.uses_schedule() {
let instants = util::instants_ident(name);
Some(quote!(
#instants.get_unchecked_mut(usize::from(index)).as_mut_ptr().write(instant);
))
} else {
None
};
let (_, tupled, _, _) = util::regroup_inputs(&schedulee.inputs);
let inputs = util::inputs_ident(name);
let t = util::schedule_t_ident();
quote!(
unsafe {
use rtic::Mutex as _;
let input = #tupled;
if let Some(index) = #dequeue {
#inputs.get_unchecked_mut(usize::from(index)).as_mut_ptr().write(input);
#write_instant
let nr = rtic::export::NotReady {
instant,
index,
task: #t::#name,
};
#enqueue
Ok(())
} else {
Err(input)
}
}
)
}

87
macros/src/codegen/software_tasks.rs
View file

@ -39,71 +39,50 @@ pub fn codegen(
let cap_ty = util::capacity_typenum(cap, true);
// Create free queues and inputs / instants buffers
if let Some(&ceiling) = analysis.free_queues.get(name) {
let fq = util::fq_ident(name);
let fq = util::fq_ident(name);
let (fq_ty, fq_expr, mk_uninit): (_, _, Box<dyn Fn() -> Option<_>>) = {
(
quote!(rtic::export::SCFQ<#cap_ty>),
quote!(rtic::export::Queue(unsafe {
rtic::export::iQueue::u8_sc()
})),
Box::new(|| util::link_section_uninit(true)),
)
};
mod_app.push(quote!(
/// Queue version of a free-list that keeps track of empty slots in
/// the following buffers
pub static mut #fq: #fq_ty = #fq_expr;
));
let (fq_ty, fq_expr, mk_uninit): (_, _, Box<dyn Fn() -> Option<_>>) = {
(
quote!(rtic::export::SCFQ<#cap_ty>),
quote!(rtic::export::Queue(unsafe {
rtic::export::iQueue::u8_sc()
})),
Box::new(|| util::link_section_uninit(true)),
)
};
mod_app.push(quote!(
/// Queue version of a free-list that keeps track of empty slots in
/// the following buffers
pub static mut #fq: #fq_ty = #fq_expr;
));
// Generate a resource proxy if needed
if let Some(ceiling) = ceiling {
mod_app.push(quote!(
struct #fq<'a> {
priority: &'a rtic::export::Priority,
}
));
let ref elems = (0..cap)
.map(|_| quote!(core::mem::MaybeUninit::uninit()))
.collect::<Vec<_>>();
mod_app.push(util::impl_mutex(
extra,
&[],
false,
&fq,
fq_ty,
ceiling,
quote!(&mut #fq),
));
}
let ref elems = (0..cap)
.map(|_| quote!(core::mem::MaybeUninit::uninit()))
.collect::<Vec<_>>();
if app.uses_schedule() {
let m = extra.monotonic();
let instants = util::instants_ident(name);
let uninit = mk_uninit();
mod_app.push(quote!(
#uninit
/// Buffer that holds the instants associated to the inputs of a task
pub static mut #instants:
[core::mem::MaybeUninit<<#m as rtic::Monotonic>::Instant>; #cap_lit] =
[#(#elems,)*];
));
}
if extra.monotonic.is_some() {
let m = extra.monotonic();
let instants = util::instants_ident(name);
let uninit = mk_uninit();
let inputs = util::inputs_ident(name);
mod_app.push(quote!(
#uninit
/// Buffer that holds the inputs of a task
pub static mut #inputs: [core::mem::MaybeUninit<#input_ty>; #cap_lit] =
/// Buffer that holds the instants associated to the inputs of a task
pub static mut #instants:
[core::mem::MaybeUninit<<#m as rtic::Monotonic>::Instant>; #cap_lit] =
[#(#elems,)*];
));
}
let uninit = mk_uninit();
let inputs_ident = util::inputs_ident(name);
mod_app.push(quote!(
#uninit
/// Buffer that holds the inputs of a task
pub static mut #inputs_ident: [core::mem::MaybeUninit<#input_ty>; #cap_lit] =
[#(#elems,)*];
));
// `${task}Resources`
let mut needs_lt = false;
if !task.args.resources.is_empty() {

121
macros/src/codegen/spawn.rs
View file

@ -1,121 +0,0 @@
use std::collections::HashSet;
use proc_macro2::TokenStream as TokenStream2;
use quote::quote;
use rtic_syntax::ast::App;
use crate::{
analyze::Analysis,
check::Extra,
codegen::{spawn_body, util},
};
/// Generates all `${ctxt}::Spawn` methods
pub fn codegen(app: &App, analysis: &Analysis, extra: &Extra) -> Vec<TokenStream2> {
let mut items = vec![];
let mut seen = HashSet::<_>::new();
for (spawner, spawnees) in app.spawn_callers() {
let mut methods = vec![];
for name in spawnees {
let spawnee = &app.software_tasks[name];
let cfgs = &spawnee.cfgs;
let (args, _, untupled, ty) = util::regroup_inputs(&spawnee.inputs);
let args = &args;
if spawner.is_init() {
// `init` uses a special spawn implementation; it doesn't use the `spawn_${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() {
let m = extra.monotonic();
Some(quote!(let instant = unsafe { <#m as rtic::Monotonic>::zero() };))
} else {
None
};
methods.push(quote!(
#(#cfgs)*
pub fn #name(&self #(,#args)*) -> Result<(), #ty> {
#let_instant
#body
}
));
} else {
let spawn = util::spawn_ident(name);
if !seen.contains(name) {
// Generate a `spawn_${name}_S${sender}` function
seen.insert(name);
let instant = if app.uses_schedule() {
let m = extra.monotonic();
Some(quote!(, instant: <#m as rtic::Monotonic>::Instant))
} else {
None
};
let body = spawn_body::codegen(spawner, &name, app, analysis, extra);
items.push(quote!(
#(#cfgs)*
unsafe fn #spawn(
priority: &rtic::export::Priority
#instant
#(,#args)*
) -> Result<(), #ty> {
#body
}
));
}
let (let_instant, instant) = if app.uses_schedule() {
let m = extra.monotonic();
(
Some(if spawner.is_idle() {
quote!(let instant = <#m as rtic::Monotonic>::now();)
} else {
quote!(let instant = self.instant();)
}),
Some(quote!(, instant)),
)
} else {
(None, None)
};
methods.push(quote!(
#(#cfgs)*
#[inline(always)]
pub 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!(
impl<#lt> #spawner::Spawn<#lt> {
#(#methods)*
}
));
}
items
}

76
macros/src/codegen/spawn_body.rs
View file

@ -1,76 +0,0 @@
use proc_macro2::TokenStream as TokenStream2;
use quote::quote;
use rtic_syntax::{ast::App, Context};
use syn::Ident;
use crate::{analyze::Analysis, check::Extra, codegen::util};
pub fn codegen(
spawner: Context,
name: &Ident,
app: &App,
analysis: &Analysis,
extra: &Extra,
) -> TokenStream2 {
let spawnee = &app.software_tasks[name];
let priority = spawnee.args.priority;
let write_instant = if app.uses_schedule() {
let instants = util::instants_ident(name);
Some(quote!(
#instants.get_unchecked_mut(usize::from(index)).as_mut_ptr().write(instant);
))
} else {
None
};
let t = util::spawn_t_ident(priority);
let fq = util::fq_ident(name);
let rq = util::rq_ident(priority);
let (dequeue, enqueue) = if spawner.is_init() {
(
quote!(#fq.dequeue()),
quote!(#rq.enqueue_unchecked((#t::#name, index));),
)
} else {
(
quote!((#fq { priority }.lock(|fq| fq.split().1.dequeue()))),
quote!((#rq { priority }.lock(|rq| {
rq.split().0.enqueue_unchecked((#t::#name, index))
}));),
)
};
let device = extra.device;
let enum_ = util::interrupt_ident();
let interrupt = &analysis.interrupts.get(&priority);
let pend = {
quote!(
rtic::pend(#device::#enum_::#interrupt);
)
};
let (_, tupled, _, _) = util::regroup_inputs(&spawnee.inputs);
let inputs = util::inputs_ident(name);
quote!(
unsafe {
use rtic::Mutex as _;
let input = #tupled;
if let Some(index) = #dequeue {
#inputs.get_unchecked_mut(usize::from(index)).as_mut_ptr().write(input);
#write_instant
#enqueue
#pend
Ok(())
} else {
Err(input)
}
}
)
}

69
macros/src/codegen/timer_queue.rs
View file

@ -8,16 +8,16 @@ use crate::{analyze::Analysis, check::Extra, codegen::util};
pub fn codegen(app: &App, analysis: &Analysis, extra: &Extra) -> Vec<TokenStream2> {
let mut items = vec![];
if let Some(timer_queue) = &analysis.timer_queues.first() {
if extra.monotonic.is_some() {
let t = util::schedule_t_ident();
// Enumeration of `schedule`-able tasks
{
let variants = timer_queue
.tasks
let variants = app
.software_tasks
.iter()
.map(|name| {
let cfgs = &app.software_tasks[name].cfgs;
.map(|(name, task)| {
let cfgs = &task.cfgs;
quote!(
#(#cfgs)*
@ -31,7 +31,7 @@ pub fn codegen(app: &App, analysis: &Analysis, extra: &Extra) -> Vec<TokenStream
#[doc = #doc]
#[allow(non_camel_case_types)]
#[derive(Clone, Copy)]
enum #t {
pub enum #t {
#(#variants,)*
}
));
@ -43,42 +43,31 @@ pub fn codegen(app: &App, analysis: &Analysis, extra: &Extra) -> Vec<TokenStream
{
let doc = format!("Timer queue");
let m = extra.monotonic();
let n = util::capacity_typenum(timer_queue.capacity, false);
let cap = app
.software_tasks
.iter()
.map(|(_name, task)| task.args.capacity)
.sum();
let n = util::capacity_typenum(cap, false);
let tq_ty = quote!(rtic::export::TimerQueue<#m, #t, #n>);
items.push(quote!(
#[doc = #doc]
static mut #tq: #tq_ty = rtic::export::TimerQueue(
pub static mut #tq: #tq_ty = rtic::export::TimerQueue(
rtic::export::BinaryHeap(
rtic::export::iBinaryHeap::new()
)
);
struct #tq<'a> {
priority: &'a rtic::export::Priority,
}
));
items.push(util::impl_mutex(
extra,
&[],
false,
&tq,
tq_ty,
timer_queue.ceiling,
quote!(&mut #tq),
));
}
// Timer queue handler
{
let device = extra.device;
let arms = timer_queue
.tasks
let arms = app
.software_tasks
.iter()
.map(|name| {
let task = &app.software_tasks[name];
.map(|(name, task)| {
let cfgs = &task.cfgs;
let priority = task.args.priority;
let rq = util::rq_ident(priority);
@ -95,9 +84,7 @@ pub fn codegen(app: &App, analysis: &Analysis, extra: &Extra) -> Vec<TokenStream
quote!(
#(#cfgs)*
#t::#name => {
(#rq { priority: &rtic::export::Priority::new(PRIORITY) }).lock(|rq| {
rq.split().0.enqueue_unchecked((#rqt::#name, index))
});
rtic::export::interrupt::free(|_| #rq.split().0.enqueue_unchecked((#rqt::#name, index)));
#pend
}
@ -105,30 +92,18 @@ pub fn codegen(app: &App, analysis: &Analysis, extra: &Extra) -> Vec<TokenStream
})
.collect::<Vec<_>>();
let priority = timer_queue.priority;
let sys_tick = util::suffixed("SysTick");
items.push(quote!(
#[no_mangle]
unsafe fn #sys_tick() {
use rtic::Mutex as _;
/// The priority of this handler
const PRIORITY: u8 = #priority;
rtic::export::run(PRIORITY, || {
while let Some((task, index)) = (#tq {
// NOTE dynamic priority is always the static priority at this point
priority: &rtic::export::Priority::new(PRIORITY),
})
// NOTE `inline(always)` produces faster and smaller code
.lock(#[inline(always)]
|tq| tq.dequeue())
{
match task {
#(#arms)*
}
while let Some((task, index)) = rtic::export::interrupt::free(|_| #tq.dequeue())
{
match task {
#(#arms)*
}
});
}
}
));
}

16
macros/src/codegen/util.rs
View file

@ -207,23 +207,9 @@ pub fn rq_ident(priority: u8) -> Ident {
Ident::new(&format!("P{}_RQ", priority), Span::call_site())
}
/// Generates an identifier for a "schedule" function
///
/// The methods of the `Schedule` structs invoke these functions.
pub fn schedule_ident(name: &Ident) -> Ident {
Ident::new(&format!("schedule_{}", name.to_string()), Span::call_site())
}
/// Generates an identifier for the `enum` of `schedule`-able tasks
pub fn schedule_t_ident() -> Ident {
Ident::new(&format!("T"), Span::call_site())
}
/// Generates an identifier for a "spawn" function
///
/// The methods of the `Spawn` structs invoke these functions.
pub fn spawn_ident(name: &Ident) -> Ident {
Ident::new(&format!("spawn_{}", name.to_string()), Span::call_site())
Ident::new(&format!("SCHED_T"), Span::call_site())
}
/// Generates an identifier for the `enum` of `spawn`-able tasks

1
macros/src/lib.rs
View file

@ -207,7 +207,6 @@ pub fn app(args: TokenStream, input: TokenStream) -> TokenStream {
settings.optimize_priorities = true;
settings.parse_binds = true;
settings.parse_extern_interrupt = true;
settings.parse_schedule = true;
let (app, analysis) = match rtic_syntax::parse(args, input, settings) {
Err(e) => return e.to_compile_error().into(),