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now with codegen

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This commit is contained in:
Per Lindgren 2020-10-27 01:54:47 +01:00
parent b163e3ec27
commit 72f78ce4db
2 changed files with 86 additions and 68 deletions
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85
examples/async_systick3.rs
View file

@ -13,7 +13,7 @@ use core::pin::Pin;
// use core::ptr;
// use core::ptr::NonNull;
// use core::sync::atomic::{AtomicPtr, AtomicU32, Ordering};
use core::task::{Context, Poll, RawWaker, RawWakerVTable, Waker};
use core::task::{Context, Poll, Waker};
use rtic::async_util::Task;
use cortex_m_semihosting::{debug, hprintln};
@ -46,64 +46,28 @@ mod app {
#[idle]
fn idle(_: idle::Context) -> ! {
// debug::exit(debug::EXIT_SUCCESS);
let mut i = 0;
loop {
hprintln!("idle").ok();
i += 1;
hprintln!("idle {}", i).ok();
if i == 3 {
debug::exit(debug::EXIT_SUCCESS);
}
cortex_m::asm::wfi(); // put the MCU in sleep mode until interrupt occurs
}
}
#[task(resources = [systick])]
async fn foo(mut cx: foo::Context) {
// BEGIN BOILERPLATE
type F = impl Future + 'static;
fn create(cx: foo::Context<'static>) -> F {
task(cx)
}
async fn foo(cx: foo::Context) {
hprintln!("foo task").ok();
let mut systick = cx.resources.systick;
static mut TASK: Task<F> = Task::new();
hprintln!("delay long time").ok();
timer_delay(&mut systick, 5000000).await;
hprintln!("foo trampoline").ok();
unsafe {
match TASK {
Task::Idle | Task::Done(_) => {
hprintln!("foo spawn task").ok();
TASK.spawn(|| create(mem::transmute(cx)));
}
_ => {}
};
hprintln!("foo trampoline poll").ok();
TASK.poll(|| {
let _ = foo::spawn();
});
match TASK {
Task::Done(ref r) => {
hprintln!("foo trampoline done").ok();
// hprintln!("r = {:?}", mem::transmute::<_, &u32>(r)).ok();
}
_ => {
hprintln!("foo trampoline running").ok();
}
}
}
// END BOILERPLATE
async fn task(mut cx: foo::Context<'static>) {
hprintln!("foo task").ok();
hprintln!("prepare two futures").ok();
let d1 = timer_delay(&mut cx.resources.systick, 5000000);
let d2 = timer_delay(&mut cx.resources.systick, 1000000);
//let pair = futures::future::join(d1, d2);
hprintln!("foo task resumed").ok();
hprintln!("delay short time").ok();
timer_delay(&mut cx.resources.systick, 1000000).await;
hprintln!("foo task resumed").ok();
}
hprintln!("delay short time").ok();
timer_delay(&mut systick, 1000000).await;
hprintln!("foo task resumed").ok();
}
// RTIC task bound to the HW SysTick interrupt
@ -131,7 +95,7 @@ mod app {
use core::cmp::Ordering;
use heapless::binary_heap::{BinaryHeap, Max};
use heapless::consts::U8;
use heapless::Vec;
// use heapless::Vec;
pub enum State {
Started,
@ -189,25 +153,24 @@ impl<'a, T: Mutex<T = Systick>> Future for Timer<'a, T> {
s.syst.enable_counter();
s.syst.enable_interrupt();
s.state = State::Started;
s.queue.push(Timeout {
time: t,
waker: cx.waker().clone(),
});
s.queue
.push(Timeout {
time: t,
waker: cx.waker().clone(),
})
.ok();
});
match s.state {
State::Done => Poll::Ready(()),
State::Started => {
// s.waker = Some(cx.waker().clone());
Poll::Pending
}
State::Started => Poll::Pending,
}
})
}
}
fn timer_delay<'a, T: Mutex<T = Systick>>(systick: &'a mut T, t: u32) -> Timer<'a, T> {
hprintln!("timer_delay {}", t);
hprintln!("timer_delay {}", t).ok();
Timer {
request: Some(t),
systick,

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

@ -99,26 +99,81 @@ pub fn codegen(
root.push(struct_);
}
if !&task.is_extern {
if task.is_async {
// generate preamble for async task
let context = &task.context;
let attrs = &task.attrs;
let cfgs = &task.cfgs;
let stmts = &task.stmts;
let locals_pat = locals_pat.iter();
let locals_pat2 = locals_pat.clone();
// TODO, should we require the user to give <'static>
// (not feasible today, as RTIC lends out a non static lifetime of cx)
user_tasks.push(quote!(
#(#attrs)*
#(#cfgs)*
#[allow(non_snake_case)]
fn #name(#(#locals_pat,)* #context: #name::Context #(,#inputs)*) {
use rtic::Mutex as _;
type F = impl Future + 'static;
fn create(cx: #name::Context<'static>) -> F {
task(cx)
}
#(#stmts)*
static mut TASK: Task<F> = Task::new();
unsafe {
match TASK {
Task::Idle | Task::Done(_) => {
// TODO, soundness - reject tasks with &mut T resources?
TASK.spawn(|| create(mem::transmute(cx)));
}
_ => {}
};
TASK.poll(|| {
// TODO, should we panic here on error?
let _ = foo::spawn();
});
match TASK {
Task::Done(ref _r) => {
// TODO, how to deal with return value?
}
_ => {}
}
}
#(#attrs)*
#(#cfgs)*
#[allow(non_snake_case)]
// TODO, should we require the user to give <'static>
// (now we auto generate it)
async fn task(#(#locals_pat2,)* #context: #name::Context<'static> #(,#inputs)*) {
use rtic::Mutex as _;
#(#stmts)*
}
}
));
}
))
} else {
// emit task with attributes if not extern
if !&task.is_extern {
let context = &task.context;
let attrs = &task.attrs;
let cfgs = &task.cfgs;
let stmts = &task.stmts;
let locals_pat = locals_pat.iter();
user_tasks.push(quote!(
#(#attrs)*
#(#cfgs)*
#[allow(non_snake_case)]
fn #name(#(#locals_pat,)* #context: #name::Context #(,#inputs)*) {
use rtic::Mutex as _;
if &task.is_async {
eprintln!("")
#(#stmts)*
}
));
}
}
root.push(module::codegen(