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https://github.com/rtic-rs/rtic.git
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Allow spawning non Send/Sync tasks from the same prio using local spawner
This commit is contained in:
Albin Hedman
parent
bbc37ca3fe
commit
578bcbff12
6 changed files with 163 additions and 81 deletions
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@ -1,5 +1,6 @@
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use crate::syntax::{ast::App, Context};
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use crate::{analyze::Analysis, codegen::bindings::interrupt_mod, codegen::util};
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use proc_macro2::TokenStream as TokenStream2;
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use quote::quote;
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@ -112,6 +113,144 @@ pub fn codegen(ctxt: Context, app: &App, analysis: &Analysis) -> TokenStream2 {
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let internal_context_name = util::internal_task_ident(name, "Context");
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let exec_name = util::internal_task_ident(name, "EXEC");
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if let Context::SoftwareTask(t) = ctxt {
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let spawnee = &app.software_tasks[name];
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let priority = spawnee.args.priority;
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let cfgs = &spawnee.cfgs;
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// Store a copy of the task cfgs
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task_cfgs.clone_from(cfgs);
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let pend_interrupt = if priority > 0 {
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let int_mod = interrupt_mod(app);
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let interrupt = &analysis.interrupts.get(&priority).expect("UREACHABLE").0;
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quote!(rtic::export::pend(#int_mod::#interrupt);)
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} else {
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quote!()
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};
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let internal_spawn_ident = util::internal_task_ident(name, "spawn");
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let internal_spawn_helper_ident = util::internal_task_ident(name, "spawn_helper");
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let internal_waker_ident = util::internal_task_ident(name, "waker");
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let from_ptr_n_args = util::from_ptr_n_args_ident(spawnee.inputs.len());
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let (generic_input_args, input_args, input_tupled, input_untupled, input_ty) =
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util::regroup_inputs(&spawnee.inputs);
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// Spawn caller
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items.push(quote!(
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#(#cfgs)*
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/// Spawns the task without checking if the spawner and spawnee are the same priority
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///
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/// SAFETY: The caller needs to check that the spawner and spawnee are the same priority
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#[allow(non_snake_case)]
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#[doc(hidden)]
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pub unsafe fn #internal_spawn_helper_ident(#(#input_args,)*) -> ::core::result::Result<(), #input_ty> {
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// SAFETY: If `try_allocate` succeeds one must call `spawn`, which we do.
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unsafe {
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let exec = rtic::export::executor::AsyncTaskExecutor::#from_ptr_n_args(#name, &#exec_name);
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if exec.try_allocate() {
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exec.spawn(#name(unsafe { #name::Context::new() } #(,#input_untupled)*));
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#pend_interrupt
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Ok(())
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} else {
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Err(#input_tupled)
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}
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}
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}
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/// Spawns the task directly
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#[allow(non_snake_case)]
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#[doc(hidden)]
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pub fn #internal_spawn_ident(#(#generic_input_args,)*) -> ::core::result::Result<(), #input_ty> {
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// SAFETY: The generic args require Send + Sync
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unsafe { #internal_spawn_helper_ident(#(#input_untupled.to()),*) }
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}
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));
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// Waker
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items.push(quote!(
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#(#cfgs)*
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/// Gives waker to the task
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#[allow(non_snake_case)]
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#[doc(hidden)]
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pub fn #internal_waker_ident() -> ::core::task::Waker {
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// SAFETY: #exec_name is a valid pointer to an executor.
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unsafe {
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let exec = rtic::export::executor::AsyncTaskExecutor::#from_ptr_n_args(#name, &#exec_name);
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exec.waker(|| {
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let exec = rtic::export::executor::AsyncTaskExecutor::#from_ptr_n_args(#name, &#exec_name);
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exec.set_pending();
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#pend_interrupt
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})
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}
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}
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));
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module_items.push(quote!{
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#(#cfgs)*
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#[doc(inline)]
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pub use super::#internal_spawn_ident as spawn;
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});
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let tasks_on_same_executor: Vec<_> = app
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.software_tasks
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.iter()
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.filter(|(_, t)| t.args.priority == priority)
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.collect();
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if !tasks_on_same_executor.is_empty() {
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let local_spawner = util::internal_task_ident(t, "LocalSpawner");
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fields.push(quote! {
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/// Used to spawn tasks on the same executor
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///
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/// This is useful for tasks that take args which are !Send/!Sync.
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pub local_spawner: #local_spawner
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});
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let tasks = tasks_on_same_executor
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.iter()
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.map(|(ident, task)| {
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// Copied mostly from software_tasks.rs
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let internal_spawn_ident = util::internal_task_ident(ident, "spawn_helper");
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let attrs = &task.attrs;
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let cfgs = &task.cfgs;
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let generics = if task.is_bottom {
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quote!()
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} else {
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quote!(<'a>)
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};
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let (_generic_input_args, input_args, _input_tupled, input_untupled, input_ty) = util::regroup_inputs(&task.inputs);
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quote! {
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#(#attrs)*
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#(#cfgs)*
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#[allow(non_snake_case)]
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pub(super) fn #ident #generics(&self #(,#input_args)*) -> ::core::result::Result<(), #input_ty> {
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// SAFETY: This is safe to call since this can only be called
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// from the same executor
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unsafe { #internal_spawn_ident(#(#input_untupled,)*) }
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}
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}
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})
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.collect::<Vec<_>>();
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values.push(quote!(local_spawner: #local_spawner { _p: core::marker::PhantomData }));
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items.push(quote! {
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struct #local_spawner {
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_p: core::marker::PhantomData<*mut ()>,
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}
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impl #local_spawner {
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#(#tasks)*
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}
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});
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}
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module_items.push(quote!(
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#(#cfgs)*
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#[doc(inline)]
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pub use super::#internal_waker_ident as waker;
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));
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}
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items.push(quote!(
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#(#cfgs)*
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/// Execution context
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@ -142,81 +281,6 @@ pub fn codegen(ctxt: Context, app: &App, analysis: &Analysis) -> TokenStream2 {
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pub use super::#internal_context_name as Context;
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));
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if let Context::SoftwareTask(..) = ctxt {
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let spawnee = &app.software_tasks[name];
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let priority = spawnee.args.priority;
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let cfgs = &spawnee.cfgs;
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// Store a copy of the task cfgs
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task_cfgs.clone_from(cfgs);
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let pend_interrupt = if priority > 0 {
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let int_mod = interrupt_mod(app);
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let interrupt = &analysis.interrupts.get(&priority).expect("UREACHABLE").0;
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quote!(rtic::export::pend(#int_mod::#interrupt);)
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} else {
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quote!()
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};
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let internal_spawn_ident = util::internal_task_ident(name, "spawn");
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let internal_waker_ident = util::internal_task_ident(name, "waker");
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let from_ptr_n_args = util::from_ptr_n_args_ident(spawnee.inputs.len());
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let (input_args, input_tupled, input_untupled, input_ty) =
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util::regroup_inputs(&spawnee.inputs);
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// Spawn caller
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items.push(quote!(
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#(#cfgs)*
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/// Spawns the task directly
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#[allow(non_snake_case)]
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#[doc(hidden)]
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pub fn #internal_spawn_ident(#(#input_args,)*) -> ::core::result::Result<(), #input_ty> {
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// SAFETY: If `try_allocate` succeeds one must call `spawn`, which we do.
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unsafe {
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let exec = rtic::export::executor::AsyncTaskExecutor::#from_ptr_n_args(#name, &#exec_name);
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if exec.try_allocate() {
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exec.spawn(#name(unsafe { #name::Context::new() } #(,#input_untupled)*));
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#pend_interrupt
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Ok(())
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} else {
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Err(#input_tupled)
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}
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}
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}
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));
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// Waker
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items.push(quote!(
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#(#cfgs)*
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/// Gives waker to the task
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#[allow(non_snake_case)]
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#[doc(hidden)]
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pub fn #internal_waker_ident() -> ::core::task::Waker {
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// SAFETY: #exec_name is a valid pointer to an executor.
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unsafe {
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let exec = rtic::export::executor::AsyncTaskExecutor::#from_ptr_n_args(#name, &#exec_name);
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exec.waker(|| {
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let exec = rtic::export::executor::AsyncTaskExecutor::#from_ptr_n_args(#name, &#exec_name);
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exec.set_pending();
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#pend_interrupt
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})
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}
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}
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));
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module_items.push(quote!(
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#(#cfgs)*
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#[doc(inline)]
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pub use super::#internal_spawn_ident as spawn;
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));
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module_items.push(quote!(
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#(#cfgs)*
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#[doc(inline)]
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pub use super::#internal_waker_ident as waker;
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));
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}
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if items.is_empty() {
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quote!()
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} else {
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