rtfm-syntax refactor + heterogeneous multi-core support

macros/src/codegen/hardware_tasks.rs

@@ -0,0 +1,121 @@
+use proc_macro2::TokenStream as TokenStream2;
+use quote::quote;
+use rtfm_syntax::{ast::App, Context};
+
+use crate::{
+    analyze::Analysis,
+    check::Extra,
+    codegen::{locals, module, resources_struct, util},
+};
+
+/// Generate support code for hardware tasks (`#[exception]`s and `#[interrupt]`s)
+pub fn codegen(
+    app: &App,
+    analysis: &Analysis,
+    extra: &Extra,
+) -> (
+    // const_app_hardware_tasks -- interrupt handlers and `${task}Resources` constructors
+    Vec<TokenStream2>,
+    // root_hardware_tasks -- items that must be placed in the root of the crate:
+    // - `${task}Locals` structs
+    // - `${task}Resources` structs
+    // - `${task}` modules
+    Vec<TokenStream2>,
+    // user_hardware_tasks -- the `#[task]` functions written by the user
+    Vec<TokenStream2>,
+) {
+    let mut const_app = vec![];
+    let mut root = vec![];
+    let mut user_tasks = vec![];
+
+    for (name, task) in &app.hardware_tasks {
+        let core = task.args.core;
+        let cfg_core = util::cfg_core(core, app.args.cores);
+
+        let (let_instant, instant) = if app.uses_schedule(core) {
+            let m = extra.monotonic();
+
+            (
+                Some(quote!(let instant = <#m as rtfm::Monotonic>::now();)),
+                Some(quote!(, instant)),
+            )
+        } else {
+            (None, None)
+        };
+
+        let locals_new = if task.locals.is_empty() {
+            quote!()
+        } else {
+            quote!(#name::Locals::new(),)
+        };
+
+        let symbol = task.args.binds(name);
+        let priority = task.args.priority;
+
+        const_app.push(quote!(
+            #[allow(non_snake_case)]
+            #[no_mangle]
+            #cfg_core
+            unsafe fn #symbol() {
+                const PRIORITY: u8 = #priority;
+
+                #let_instant
+
+                rtfm::export::run(PRIORITY, || {
+                    crate::#name(
+                        #locals_new
+                        #name::Context::new(&rtfm::export::Priority::new(PRIORITY) #instant)
+                    )
+                });
+            }
+        ));
+
+        let mut needs_lt = false;
+
+        // `${task}Resources`
+        if !task.args.resources.is_empty() {
+            let (item, constructor) = resources_struct::codegen(
+                Context::HardwareTask(name),
+                priority,
+                &mut needs_lt,
+                app,
+                analysis,
+            );
+
+            root.push(item);
+
+            const_app.push(constructor);
+        }
+
+        root.push(module::codegen(
+            Context::HardwareTask(name),
+            needs_lt,
+            app,
+            extra,
+        ));
+
+        // `${task}Locals`
+        let mut locals_pat = None;
+        if !task.locals.is_empty() {
+            let (struct_, pat) = locals::codegen(Context::HardwareTask(name), &task.locals, app);
+
+            root.push(struct_);
+            locals_pat = Some(pat);
+        }
+
+        let attrs = &task.attrs;
+        let context = &task.context;
+        let stmts = &task.stmts;
+        user_tasks.push(quote!(
+            #(#attrs)*
+            #[allow(non_snake_case)]
+            fn #name(#(#locals_pat,)* #context: #name::Context) {
+                use rtfm::Mutex as _;
+
+                #(#stmts)*
+            }
+        ));
+    }
+
+    (const_app, root, user_tasks)
+}