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Min codegen

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This commit is contained in:
Emil Fresk 2023-01-03 15:10:59 +01:00 committed by Henrik Tjäder
parent 244b085bcb
commit b1ae562d4f
22 changed files with 129 additions and 1694 deletions
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23
macros/src/analyze.rs
View file

@ -10,8 +10,7 @@ use syn::Ident;
/// Extend the upstream `Analysis` struct with our field
pub struct Analysis {
parent: analyze::Analysis,
pub interrupts_normal: BTreeMap<Priority, (Ident, Dispatcher)>,
pub interrupts_async: BTreeMap<Priority, (Ident, Dispatcher)>,
pub interrupts: BTreeMap<Priority, (Ident, Dispatcher)>,
}
impl ops::Deref for Analysis {
@ -30,27 +29,12 @@ pub fn app(analysis: analyze::Analysis, app: &App) -> Analysis {
let priorities = app
.software_tasks
.values()
.filter(|task| !task.is_async)
.map(|task| task.args.priority)
.collect::<BTreeSet<_>>();
let priorities_async = app
.software_tasks
.values()
.filter(|task| task.is_async)
.map(|task| task.args.priority)
.collect::<BTreeSet<_>>();
// map from priorities to interrupts (holding name and attributes)
let interrupts_normal: BTreeMap<Priority, _> = priorities
.iter()
.copied()
.rev()
.map(|p| (p, available_interrupt.pop().expect("UNREACHABLE")))
.collect();
let interrupts_async: BTreeMap<Priority, _> = priorities_async
let interrupts: BTreeMap<Priority, _> = priorities
.iter()
.copied()
.rev()
@ -59,7 +43,6 @@ pub fn app(analysis: analyze::Analysis, app: &App) -> Analysis {
Analysis {
parent: analysis,
interrupts_normal,
interrupts_async,
interrupts,
}
}

29
macros/src/codegen.rs
View file

@ -6,20 +6,20 @@ use crate::syntax::ast::App;
mod assertions;
mod async_dispatchers;
mod dispatchers;
// mod dispatchers;
mod hardware_tasks;
mod idle;
mod init;
mod local_resources;
mod local_resources_struct;
mod module;
mod monotonic;
// mod monotonic;
mod post_init;
mod pre_init;
mod shared_resources;
mod shared_resources_struct;
mod software_tasks;
mod timer_queue;
// mod software_tasks;
// mod timer_queue;
mod util;
#[allow(clippy::too_many_lines)]
@ -92,14 +92,7 @@ pub fn app(app: &App, analysis: &Analysis) -> TokenStream2 {
let (mod_app_hardware_tasks, root_hardware_tasks, user_hardware_tasks) =
hardware_tasks::codegen(app, analysis);
let (mod_app_software_tasks, root_software_tasks, user_software_tasks) =
software_tasks::codegen(app, analysis);
let monotonics = monotonic::codegen(app, analysis);
let mod_app_dispatchers = dispatchers::codegen(app, analysis);
let mod_app_async_dispatchers = async_dispatchers::codegen(app, analysis);
let mod_app_timer_queue = timer_queue::codegen(app, analysis);
let user_imports = &app.user_imports;
let user_code = &app.user_code;
let name = &app.name;
@ -113,8 +106,6 @@ pub fn app(app: &App, analysis: &Analysis) -> TokenStream2 {
/// Always include the device crate which contains the vector table
use #device as #rt_err;
#monotonics
#(#user_imports)*
/// User code from within the module
@ -125,8 +116,6 @@ pub fn app(app: &App, analysis: &Analysis) -> TokenStream2 {
#(#user_hardware_tasks)*
#(#user_software_tasks)*
#(#root)*
#mod_shared_resources
@ -135,9 +124,7 @@ pub fn app(app: &App, analysis: &Analysis) -> TokenStream2 {
#(#root_hardware_tasks)*
#(#root_software_tasks)*
/// App module
/// app module
#(#mod_app)*
#(#mod_app_shared_resources)*
@ -146,14 +133,8 @@ pub fn app(app: &App, analysis: &Analysis) -> TokenStream2 {
#(#mod_app_hardware_tasks)*
#(#mod_app_software_tasks)*
#(#mod_app_dispatchers)*
#(#mod_app_async_dispatchers)*
#(#mod_app_timer_queue)*
#(#mains)*
}
)

5
macros/src/codegen/assertions.rs
View file

@ -16,11 +16,6 @@ pub fn codegen(app: &App, analysis: &Analysis) -> Vec<TokenStream2> {
stmts.push(quote!(rtic::export::assert_sync::<#ty>();));
}
for (_, monotonic) in &app.monotonics {
let ty = &monotonic.ty;
stmts.push(quote!(rtic::export::assert_monotonic::<#ty>();));
}
let device = &app.args.device;
let chunks_name = util::priority_mask_chunks_ident();
let no_basepri_checks: Vec<_> = app

64
macros/src/codegen/async_dispatchers.rs
View file

@ -7,65 +7,47 @@ use quote::quote;
pub fn codegen(app: &App, analysis: &Analysis) -> Vec<TokenStream2> {
let mut items = vec![];
let interrupts = &analysis.interrupts_async;
let interrupts = &analysis.interrupts;
// Generate executor definition and priority in global scope
for (name, task) in app.software_tasks.iter() {
if task.is_async {
let type_name = util::internal_task_ident(name, "F");
let exec_name = util::internal_task_ident(name, "EXEC");
let prio_name = util::internal_task_ident(name, "PRIORITY");
for (name, _) in app.software_tasks.iter() {
let type_name = util::internal_task_ident(name, "F");
let exec_name = util::internal_task_ident(name, "EXEC");
let prio_name = util::internal_task_ident(name, "PRIORITY");
items.push(quote!(
#[allow(non_camel_case_types)]
type #type_name = impl core::future::Future + 'static;
#[allow(non_upper_case_globals)]
static #exec_name:
rtic::RacyCell<rtic::export::executor::AsyncTaskExecutor<#type_name>> =
rtic::RacyCell::new(rtic::export::executor::AsyncTaskExecutor::new());
items.push(quote!(
#[allow(non_camel_case_types)]
type #type_name = impl core::future::Future + 'static;
#[allow(non_upper_case_globals)]
static #exec_name:
rtic::RacyCell<rtic::export::executor::AsyncTaskExecutor<#type_name>> =
rtic::RacyCell::new(rtic::export::executor::AsyncTaskExecutor::new());
// The executors priority, this can be any value - we will overwrite it when we
// start a task
#[allow(non_upper_case_globals)]
static #prio_name: rtic::RacyCell<rtic::export::Priority> =
unsafe { rtic::RacyCell::new(rtic::export::Priority::new(0)) };
));
}
// The executors priority, this can be any value - we will overwrite it when we
// start a task
#[allow(non_upper_case_globals)]
static #prio_name: rtic::RacyCell<rtic::export::Priority> =
unsafe { rtic::RacyCell::new(rtic::export::Priority::new(0)) };
));
}
for (&level, channel) in &analysis.channels {
if channel
.tasks
.iter()
.map(|task_name| !app.software_tasks[task_name].is_async)
.all(|is_not_async| is_not_async)
{
// check if all tasks are not async, if so don't generate this.
continue;
}
let mut stmts = vec![];
let device = &app.args.device;
let enum_ = util::interrupt_ident();
let interrupt = util::suffixed(&interrupts[&level].0.to_string());
for name in channel
.tasks
.iter()
.filter(|name| app.software_tasks[*name].is_async)
{
for name in channel.tasks.iter() {
let exec_name = util::internal_task_ident(name, "EXEC");
let prio_name = util::internal_task_ident(name, "PRIORITY");
let task = &app.software_tasks[name];
// let task = &app.software_tasks[name];
// let cfgs = &task.cfgs;
let (_, tupled, pats, input_types) = util::regroup_inputs(&task.inputs);
let executor_run_ident = util::executor_run_ident(name);
let n = util::capacity_literal(channel.capacity as usize + 1);
let rq = util::rq_async_ident(name);
let (rq_ty, rq_expr) = {
(
quote!(rtic::export::ASYNCRQ<#input_types, #n>),
quote!(rtic::export::ASYNCRQ<(), 2>), // TODO: This needs updating to a counter instead of a queue
quote!(rtic::export::Queue::new()),
)
};
@ -79,13 +61,13 @@ pub fn codegen(app: &App, analysis: &Analysis) -> Vec<TokenStream2> {
stmts.push(quote!(
if !(&*#exec_name.get()).is_running() {
if let Some(#tupled) = rtic::export::interrupt::free(|_| (&mut *#rq.get_mut()).dequeue()) {
if let Some(()) = rtic::export::interrupt::free(|_| (&mut *#rq.get_mut()).dequeue()) {
// The async executor needs a static priority
#prio_name.get_mut().write(rtic::export::Priority::new(PRIORITY));
let priority: &'static _ = &*#prio_name.get();
(&mut *#exec_name.get_mut()).spawn(#name(#name::Context::new(priority) #(,#pats)*));
(&mut *#exec_name.get_mut()).spawn(#name(#name::Context::new(priority)));
#executor_run_ident.store(true, core::sync::atomic::Ordering::Relaxed);
}
}

146
macros/src/codegen/dispatchers.rs
View file

@ -1,146 +0,0 @@
use crate::syntax::ast::App;
use crate::{analyze::Analysis, codegen::util};
use proc_macro2::TokenStream as TokenStream2;
use quote::quote;
/// Generates task dispatchers
pub fn codegen(app: &App, analysis: &Analysis) -> Vec<TokenStream2> {
let mut items = vec![];
let interrupts = &analysis.interrupts_normal;
for (&level, channel) in &analysis.channels {
if channel
.tasks
.iter()
.map(|task_name| app.software_tasks[task_name].is_async)
.all(|is_async| is_async)
{
// check if all tasks are async, if so don't generate this.
continue;
}
let mut stmts = vec![];
let variants = channel
.tasks
.iter()
.filter(|name| !app.software_tasks[*name].is_async)
.map(|name| {
let cfgs = &app.software_tasks[name].cfgs;
quote!(
#(#cfgs)*
#name
)
})
.collect::<Vec<_>>();
// For future use
// let doc = format!(
// "Software tasks to be dispatched at priority level {}",
// level,
// );
let t = util::spawn_t_ident(level);
items.push(quote!(
#[allow(non_snake_case)]
#[allow(non_camel_case_types)]
#[derive(Clone, Copy)]
// #[doc = #doc]
#[doc(hidden)]
pub enum #t {
#(#variants,)*
}
));
let n = util::capacity_literal(channel.capacity as usize + 1);
let rq = util::rq_ident(level);
// let (_, _, _, input_ty) = util::regroup_inputs(inputs);
let (rq_ty, rq_expr) = {
(
quote!(rtic::export::SCRQ<#t, #n>),
quote!(rtic::export::Queue::new()),
)
};
// For future use
// let doc = format!(
// "Queue of tasks ready to be dispatched at priority level {}",
// level
// );
items.push(quote!(
#[doc(hidden)]
#[allow(non_camel_case_types)]
#[allow(non_upper_case_globals)]
static #rq: rtic::RacyCell<#rq_ty> = rtic::RacyCell::new(#rq_expr);
));
let interrupt = util::suffixed(
&interrupts
.get(&level)
.expect("RTIC-ICE: Unable to get interrrupt")
.0
.to_string(),
);
let arms = channel
.tasks
.iter()
.map(|name| {
let task = &app.software_tasks[name];
let cfgs = &task.cfgs;
let fq = util::fq_ident(name);
let inputs = util::inputs_ident(name);
let (_, tupled, pats, _) = util::regroup_inputs(&task.inputs);
if !task.is_async {
quote!(
#(#cfgs)*
#t::#name => {
let #tupled =
(&*#inputs
.get())
.get_unchecked(usize::from(index))
.as_ptr()
.read();
(&mut *#fq.get_mut()).split().0.enqueue_unchecked(index);
let priority = &rtic::export::Priority::new(PRIORITY);
#name(
#name::Context::new(priority)
#(,#pats)*
)
}
)
} else {
quote!()
}
})
.collect::<Vec<_>>();
stmts.push(quote!(
while let Some((task, index)) = (&mut *#rq.get_mut()).split().1.dequeue() {
match task {
#(#arms)*
}
}
));
let doc = format!("Interrupt handler to dispatch tasks at priority {}", level);
let attribute = &interrupts[&level].1.attrs;
items.push(quote!(
#[allow(non_snake_case)]
#[doc = #doc]
#[no_mangle]
#(#attribute)*
unsafe fn #interrupt() {
/// The priority of this interrupt handler
const PRIORITY: u8 = #level;
rtic::export::run(PRIORITY, || {
#(#stmts)*
});
}
));
}
items
}

300
macros/src/codegen/module.rs
View file

@ -102,33 +102,6 @@ pub fn codegen(
values.push(quote!(shared: #name::SharedResources::new(#priority)));
}
if let Context::Init = ctxt {
let monotonic_types: Vec<_> = app
.monotonics
.iter()
.map(|(_, monotonic)| {
let mono = &monotonic.ty;
quote! {#mono}
})
.collect();
let internal_monotonics_ident = util::mark_internal_name("Monotonics");
items.push(quote!(
/// Monotonics used by the system
#[allow(non_snake_case)]
#[allow(non_camel_case_types)]
pub struct #internal_monotonics_ident(
#(pub #monotonic_types),*
);
));
module_items.push(quote!(
#[doc(inline)]
pub use super::#internal_monotonics_ident as Monotonics;
));
}
let doc = match ctxt {
Context::Idle => "Idle loop",
Context::Init => "Initialization function",
@ -192,280 +165,45 @@ pub fn codegen(
if let Context::SoftwareTask(..) = ctxt {
let spawnee = &app.software_tasks[name];
let priority = spawnee.args.priority;
let t = util::spawn_t_ident(priority);
let cfgs = &spawnee.cfgs;
// Store a copy of the task cfgs
task_cfgs = cfgs.clone();
let (args, tupled, untupled, ty) = util::regroup_inputs(&spawnee.inputs);
let args = &args;
let tupled = &tupled;
let fq = util::fq_ident(name);
let rq = util::rq_ident(priority);
let inputs = util::inputs_ident(name);
let device = &app.args.device;
let enum_ = util::interrupt_ident();
let interrupt = if spawnee.is_async {
&analysis
.interrupts_async
.get(&priority)
.expect("RTIC-ICE: interrupt identifer not found")
.0
} else {
&analysis
.interrupts_normal
.get(&priority)
.expect("RTIC-ICE: interrupt identifer not found")
.0
};
let interrupt = &analysis
.interrupts
.get(&priority)
.expect("RTIC-ICE: interrupt identifer not found")
.0;
let internal_spawn_ident = util::internal_task_ident(name, "spawn");
// Spawn caller
if spawnee.is_async {
let rq = util::rq_async_ident(name);
items.push(quote!(
let rq = util::rq_async_ident(name);
items.push(quote!(
#(#cfgs)*
/// Spawns the task directly
#[allow(non_snake_case)]
#[doc(hidden)]
pub fn #internal_spawn_ident(#(#args,)*) -> Result<(), #ty> {
let input = #tupled;
#(#cfgs)*
/// Spawns the task directly
#[allow(non_snake_case)]
#[doc(hidden)]
pub fn #internal_spawn_ident() -> Result<(), ()> {
unsafe {
let r = rtic::export::interrupt::free(|_| (&mut *#rq.get_mut()).enqueue(()));
unsafe {
let r = rtic::export::interrupt::free(|_| (&mut *#rq.get_mut()).enqueue(input));
if r.is_ok() {
rtic::pend(#device::#enum_::#interrupt);
}
r
}
}));
} else {
items.push(quote!(
#(#cfgs)*
/// Spawns the task directly
#[allow(non_snake_case)]
#[doc(hidden)]
pub fn #internal_spawn_ident(#(#args,)*) -> Result<(), #ty> {
let input = #tupled;
unsafe {
if let Some(index) = rtic::export::interrupt::free(|_| (&mut *#fq.get_mut()).dequeue()) {
(&mut *#inputs
.get_mut())
.get_unchecked_mut(usize::from(index))
.as_mut_ptr()
.write(input);
rtic::export::interrupt::free(|_| {
(&mut *#rq.get_mut()).enqueue_unchecked((#t::#name, index));
});
rtic::pend(#device::#enum_::#interrupt);
Ok(())
} else {
Err(input)
}
if r.is_ok() {
rtic::pend(#device::#enum_::#interrupt);
}
}));
}
r
}
}));
module_items.push(quote!(
#(#cfgs)*
#[doc(inline)]
pub use super::#internal_spawn_ident as spawn;
));
// Schedule caller
if !spawnee.is_async {
for (_, monotonic) in &app.monotonics {
let instants = util::monotonic_instants_ident(name, &monotonic.ident);
let monotonic_name = monotonic.ident.to_string();
let tq = util::tq_ident(&monotonic.ident.to_string());
let t = util::schedule_t_ident();
let m = &monotonic.ident;
let m_ident = util::monotonic_ident(&monotonic_name);
let m_isr = &monotonic.args.binds;
let enum_ = util::interrupt_ident();
let spawn_handle_string = format!("{}::SpawnHandle", m);
let (enable_interrupt, pend) = if &*m_isr.to_string() == "SysTick" {
(
quote!(core::mem::transmute::<_, rtic::export::SYST>(()).enable_interrupt()),
quote!(rtic::export::SCB::set_pendst()),
)
} else {
let rt_err = util::rt_err_ident();
(
quote!(rtic::export::NVIC::unmask(#rt_err::#enum_::#m_isr)),
quote!(rtic::pend(#rt_err::#enum_::#m_isr)),
)
};
let tq_marker = &util::timer_queue_marker_ident();
let internal_spawn_handle_ident =
util::internal_monotonics_ident(name, m, "SpawnHandle");
let internal_spawn_at_ident = util::internal_monotonics_ident(name, m, "spawn_at");
let internal_spawn_after_ident =
util::internal_monotonics_ident(name, m, "spawn_after");
if monotonic.args.default {
module_items.push(quote!(
#[doc(inline)]
pub use #m::spawn_after;
#[doc(inline)]
pub use #m::spawn_at;
#[doc(inline)]
pub use #m::SpawnHandle;
));
}
module_items.push(quote!(
pub mod #m {
#[doc(inline)]
pub use super::super::#internal_spawn_after_ident as spawn_after;
#[doc(inline)]
pub use super::super::#internal_spawn_at_ident as spawn_at;
#[doc(inline)]
pub use super::super::#internal_spawn_handle_ident as SpawnHandle;
}
));
items.push(quote!(
#(#cfgs)*
#[allow(non_snake_case)]
#[allow(non_camel_case_types)]
pub struct #internal_spawn_handle_ident {
#[doc(hidden)]
marker: u32,
}
#(#cfgs)*
impl core::fmt::Debug for #internal_spawn_handle_ident {
fn fmt(&self, f: &mut core::fmt::Formatter<'_>) -> core::fmt::Result {
f.debug_struct(#spawn_handle_string).finish()
}
}
#(#cfgs)*
impl #internal_spawn_handle_ident {
pub fn cancel(self) -> Result<#ty, ()> {
rtic::export::interrupt::free(|_| unsafe {
let tq = &mut *#tq.get_mut();
if let Some((_task, index)) = tq.cancel_task_marker(self.marker) {
// Get the message
let msg = (&*#inputs
.get())
.get_unchecked(usize::from(index))
.as_ptr()
.read();
// Return the index to the free queue
(&mut *#fq.get_mut()).split().0.enqueue_unchecked(index);
Ok(msg)
} else {
Err(())
}
})
}
#[inline]
pub fn reschedule_after(
self,
duration: <#m as rtic::Monotonic>::Duration
) -> Result<Self, ()> {
self.reschedule_at(monotonics::#m::now() + duration)
}
pub fn reschedule_at(
self,
instant: <#m as rtic::Monotonic>::Instant
) -> Result<Self, ()> {
rtic::export::interrupt::free(|_| unsafe {
let marker = #tq_marker.get().read();
#tq_marker.get_mut().write(marker.wrapping_add(1));
let tq = (&mut *#tq.get_mut());
tq.update_task_marker(self.marker, marker, instant, || #pend).map(|_| #name::#m::SpawnHandle { marker })
})
}
}
#(#cfgs)*
/// Spawns the task after a set duration relative to the current time
///
/// This will use the time `Instant::new(0)` as baseline if called in `#[init]`,
/// so if you use a non-resetable timer use `spawn_at` when in `#[init]`
#[allow(non_snake_case)]
pub fn #internal_spawn_after_ident(
duration: <#m as rtic::Monotonic>::Duration
#(,#args)*
) -> Result<#name::#m::SpawnHandle, #ty>
{
let instant = monotonics::#m::now();
#internal_spawn_at_ident(instant + duration #(,#untupled)*)
}
#(#cfgs)*
/// Spawns the task at a fixed time instant
#[allow(non_snake_case)]
pub fn #internal_spawn_at_ident(
instant: <#m as rtic::Monotonic>::Instant
#(,#args)*
) -> Result<#name::#m::SpawnHandle, #ty> {
unsafe {
let input = #tupled;
if let Some(index) = rtic::export::interrupt::free(|_| (&mut *#fq.get_mut()).dequeue()) {
(&mut *#inputs
.get_mut())
.get_unchecked_mut(usize::from(index))
.as_mut_ptr()
.write(input);
(&mut *#instants
.get_mut())
.get_unchecked_mut(usize::from(index))
.as_mut_ptr()
.write(instant);
rtic::export::interrupt::free(|_| {
let marker = #tq_marker.get().read();
let nr = rtic::export::TaskNotReady {
task: #t::#name,
index,
instant,
marker,
};
#tq_marker.get_mut().write(#tq_marker.get().read().wrapping_add(1));
let tq = &mut *#tq.get_mut();
tq.enqueue_task_unchecked(
nr,
|| #enable_interrupt,
|| #pend,
(&mut *#m_ident.get_mut()).as_mut());
Ok(#name::#m::SpawnHandle { marker })
})
} else {
Err(input)
}
}
}
));
}
}
}
if items.is_empty() {

280
macros/src/codegen/monotonic.rs
View file

@ -1,280 +0,0 @@
use crate::syntax::ast::App;
use proc_macro2::TokenStream as TokenStream2;
use quote::quote;
use crate::{analyze::Analysis, codegen::util};
/// Generates monotonic module dispatchers
pub fn codegen(app: &App, _analysis: &Analysis) -> TokenStream2 {
let mut monotonic_parts: Vec<_> = Vec::new();
let tq_marker = util::timer_queue_marker_ident();
for (_, monotonic) in &app.monotonics {
// let instants = util::monotonic_instants_ident(name, &monotonic.ident);
let monotonic_name = monotonic.ident.to_string();
let tq = util::tq_ident(&monotonic_name);
let m = &monotonic.ident;
let m_ident = util::monotonic_ident(&monotonic_name);
let m_isr = &monotonic.args.binds;
let enum_ = util::interrupt_ident();
let name_str = &m.to_string();
let ident = util::monotonic_ident(name_str);
let doc = &format!(
"This module holds the static implementation for `{}::now()`",
name_str
);
let (enable_interrupt, pend) = if &*m_isr.to_string() == "SysTick" {
(
quote!(core::mem::transmute::<_, rtic::export::SYST>(()).enable_interrupt()),
quote!(rtic::export::SCB::set_pendst()),
)
} else {
let rt_err = util::rt_err_ident();
(
quote!(rtic::export::NVIC::unmask(super::super::#rt_err::#enum_::#m_isr)),
quote!(rtic::pend(super::super::#rt_err::#enum_::#m_isr)),
)
};
let default_monotonic = if monotonic.args.default {
quote!(
#[doc(inline)]
pub use #m::now;
#[doc(inline)]
pub use #m::delay;
#[doc(inline)]
pub use #m::delay_until;
#[doc(inline)]
pub use #m::timeout_at;
#[doc(inline)]
pub use #m::timeout_after;
)
} else {
quote!()
};
monotonic_parts.push(quote! {
#default_monotonic
#[doc = #doc]
#[allow(non_snake_case)]
pub mod #m {
/// Read the current time from this monotonic
pub fn now() -> <super::super::#m as rtic::Monotonic>::Instant {
rtic::export::interrupt::free(|_| {
use rtic::Monotonic as _;
if let Some(m) = unsafe{ &mut *super::super::#ident.get_mut() } {
m.now()
} else {
<super::super::#m as rtic::Monotonic>::zero()
}
})
}
/// Delay
#[inline(always)]
#[allow(non_snake_case)]
pub fn delay(duration: <super::super::#m as rtic::Monotonic>::Duration)
-> DelayFuture {
let until = now() + duration;
DelayFuture { until, waker_storage: None }
}
/// Delay until a specific time
#[inline(always)]
#[allow(non_snake_case)]
pub fn delay_until(instant: <super::super::#m as rtic::Monotonic>::Instant)
-> DelayFuture {
let until = instant;
DelayFuture { until, waker_storage: None }
}
/// Delay future.
#[allow(non_snake_case)]
#[allow(non_camel_case_types)]
pub struct DelayFuture {
until: <super::super::#m as rtic::Monotonic>::Instant,
waker_storage: Option<rtic::export::IntrusiveNode<rtic::export::WakerNotReady<super::super::#m>>>,
}
impl Drop for DelayFuture {
fn drop(&mut self) {
if let Some(waker_storage) = &mut self.waker_storage {
rtic::export::interrupt::free(|_| unsafe {
let tq = &mut *super::super::#tq.get_mut();
tq.cancel_waker_marker(waker_storage.val.marker);
});
}
}
}
impl core::future::Future for DelayFuture {
type Output = ();
fn poll(
mut self: core::pin::Pin<&mut Self>,
cx: &mut core::task::Context<'_>
) -> core::task::Poll<Self::Output> {
let mut s = self.as_mut();
let now = now();
let until = s.until;
let is_ws_none = s.waker_storage.is_none();
if now >= until {
return core::task::Poll::Ready(());
} else if is_ws_none {
rtic::export::interrupt::free(|_| unsafe {
let marker = super::super::#tq_marker.get().read();
super::super::#tq_marker.get_mut().write(marker.wrapping_add(1));
let nr = s.waker_storage.insert(rtic::export::IntrusiveNode::new(rtic::export::WakerNotReady {
waker: cx.waker().clone(),
instant: until,
marker,
}));
let tq = &mut *super::super::#tq.get_mut();
tq.enqueue_waker(
core::mem::transmute(nr), // Transmute the reference to static
|| #enable_interrupt,
|| #pend,
(&mut *super::super::#m_ident.get_mut()).as_mut());
});
}
core::task::Poll::Pending
}
}
/// Timeout future.
#[allow(non_snake_case)]
#[allow(non_camel_case_types)]
pub struct TimeoutFuture<F: core::future::Future> {
future: F,
until: <super::super::#m as rtic::Monotonic>::Instant,
waker_storage: Option<rtic::export::IntrusiveNode<rtic::export::WakerNotReady<super::super::#m>>>,
}
impl<F: core::future::Future> Drop for TimeoutFuture<F> {
fn drop(&mut self) {
if let Some(waker_storage) = &mut self.waker_storage {
rtic::export::interrupt::free(|_| unsafe {
let tq = &mut *super::super::#tq.get_mut();
tq.cancel_waker_marker(waker_storage.val.marker);
});
}
}
}
/// Timeout after
#[allow(non_snake_case)]
#[inline(always)]
pub fn timeout_after<F: core::future::Future>(
future: F,
duration: <super::super::#m as rtic::Monotonic>::Duration
) -> TimeoutFuture<F> {
let until = now() + duration;
TimeoutFuture {
future,
until,
waker_storage: None,
}
}
/// Timeout at
#[allow(non_snake_case)]
#[inline(always)]
pub fn timeout_at<F: core::future::Future>(
future: F,
instant: <super::super::#m as rtic::Monotonic>::Instant
) -> TimeoutFuture<F> {
TimeoutFuture {
future,
until: instant,
waker_storage: None,
}
}
impl<F> core::future::Future for TimeoutFuture<F>
where
F: core::future::Future,
{
type Output = Result<F::Output, super::TimeoutError>;
fn poll(
self: core::pin::Pin<&mut Self>,
cx: &mut core::task::Context<'_>
) -> core::task::Poll<Self::Output> {
// SAFETY: We don't move the underlying pinned value.
let mut s = unsafe { self.get_unchecked_mut() };
let future = unsafe { core::pin::Pin::new_unchecked(&mut s.future) };
let now = now();
let until = s.until;
let is_ws_none = s.waker_storage.is_none();
match future.poll(cx) {
core::task::Poll::Ready(r) => {
if let Some(waker_storage) = &mut s.waker_storage {
rtic::export::interrupt::free(|_| unsafe {
let tq = &mut *super::super::#tq.get_mut();
tq.cancel_waker_marker(waker_storage.val.marker);
});
}
return core::task::Poll::Ready(Ok(r));
}
core::task::Poll::Pending => {
if now >= until {
// Timeout
return core::task::Poll::Ready(Err(super::TimeoutError));
} else if is_ws_none {
rtic::export::interrupt::free(|_| unsafe {
let marker = super::super::#tq_marker.get().read();
super::super::#tq_marker.get_mut().write(marker.wrapping_add(1));
let nr = s.waker_storage.insert(rtic::export::IntrusiveNode::new(rtic::export::WakerNotReady {
waker: cx.waker().clone(),
instant: until,
marker,
}));
let tq = &mut *super::super::#tq.get_mut();
tq.enqueue_waker(
core::mem::transmute(nr), // Transmute the reference to static
|| #enable_interrupt,
|| #pend,
(&mut *super::super::#m_ident.get_mut()).as_mut());
});
}
}
}
core::task::Poll::Pending
}
}
}
});
}
if monotonic_parts.is_empty() {
quote!()
} else {
quote!(
pub use rtic::Monotonic as _;
/// Holds static methods for each monotonic.
pub mod monotonics {
/// A timeout error.
#[derive(Debug)]
pub struct TimeoutError;
#(#monotonic_parts)*
}
)
}
}

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

@ -1,7 +1,6 @@
use crate::syntax::ast::App;
use proc_macro2::{Span, TokenStream as TokenStream2};
use proc_macro2::TokenStream as TokenStream2;
use quote::quote;
use syn::Index;
use crate::{analyze::Analysis, codegen::util};
@ -43,23 +42,6 @@ pub fn codegen(app: &App, analysis: &Analysis) -> Vec<TokenStream2> {
}
}
for (i, (monotonic, _)) in app.monotonics.iter().enumerate() {
// For future use
// let doc = format!(" RTIC internal: {}:{}", file!(), line!());
// stmts.push(quote!(#[doc = #doc]));
#[allow(clippy::cast_possible_truncation)]
let idx = Index {
index: i as u32,
span: Span::call_site(),
};
stmts.push(quote!(monotonics.#idx.reset();));
// Store the monotonic
let name = util::monotonic_ident(&monotonic.to_string());
stmts.push(quote!(#name.get_mut().write(Some(monotonics.#idx));));
}
// Enable the interrupts -- this completes the `init`-ialization phase
stmts.push(quote!(rtic::export::interrupt::enable();));

68
macros/src/codegen/pre_init.rs
View file

@ -13,20 +13,6 @@ pub fn codegen(app: &App, analysis: &Analysis) -> Vec<TokenStream2> {
// Disable interrupts -- `init` must run with interrupts disabled
stmts.push(quote!(rtic::export::interrupt::disable();));
// Populate the FreeQueue
for (name, task) in &app.software_tasks {
if task.is_async {
continue;
}
let cap = task.args.capacity;
let fq_ident = util::fq_ident(name);
stmts.push(quote!(
(0..#cap).for_each(|i| (&mut *#fq_ident.get_mut()).enqueue_unchecked(i));
));
}
stmts.push(quote!(
// To set the variable in cortex_m so the peripherals cannot be taken multiple times
let mut core: rtic::export::Peripherals = rtic::export::Peripherals::steal().into();
@ -42,11 +28,7 @@ pub fn codegen(app: &App, analysis: &Analysis) -> Vec<TokenStream2> {
stmts.push(quote!(let _ = #rt_err::#interrupt::#name;));
}
let interrupt_ids = analysis
.interrupts_normal
.iter()
.map(|(p, (id, _))| (p, id))
.chain(analysis.interrupts_async.iter().map(|(p, (id, _))| (p, id)));
let interrupt_ids = analysis.interrupts.iter().map(|(p, (id, _))| (p, id));
// Unmask interrupts and set their priorities
for (&priority, name) in interrupt_ids.chain(app.hardware_tasks.values().filter_map(|task| {
@ -101,53 +83,5 @@ pub fn codegen(app: &App, analysis: &Analysis) -> Vec<TokenStream2> {
);));
}
// Initialize monotonic's interrupts
for (_, monotonic) in &app.monotonics {
let priority = if let Some(prio) = monotonic.args.priority {
quote! { #prio }
} else {
quote! { (1 << #nvic_prio_bits) }
};
let binds = &monotonic.args.binds;
let name = &monotonic.ident;
let es = format!(
"Maximum priority used by monotonic '{}' is more than supported by hardware",
name
);
// Compile time assert that this priority is supported by the device
stmts.push(quote!(
const _: () = if (1 << #nvic_prio_bits) < #priority as usize { ::core::panic!(#es); };
));
let mono_type = &monotonic.ty;
if &*binds.to_string() == "SysTick" {
stmts.push(quote!(
core.SCB.set_priority(
rtic::export::SystemHandler::SysTick,
rtic::export::logical2hw(#priority, #nvic_prio_bits),
);
// Always enable monotonic interrupts if they should never be off
if !<#mono_type as rtic::Monotonic>::DISABLE_INTERRUPT_ON_EMPTY_QUEUE {
core::mem::transmute::<_, rtic::export::SYST>(())
.enable_interrupt();
}
));
} else {
stmts.push(quote!(
core.NVIC.set_priority(
#rt_err::#interrupt::#binds,
rtic::export::logical2hw(#priority, #nvic_prio_bits),
);
// Always enable monotonic interrupts if they should never be off
if !<#mono_type as rtic::Monotonic>::DISABLE_INTERRUPT_ON_EMPTY_QUEUE {
rtic::export::NVIC::unmask(#rt_err::#interrupt::#binds);
}
));
}
}
stmts
}

6
macros/src/codegen/shared_resources.rs
View file

@ -111,11 +111,7 @@ pub fn codegen(
};
// Computing mapping of used interrupts to masks
let interrupt_ids = analysis
.interrupts_normal
.iter()
.map(|(p, (id, _))| (p, id))
.chain(analysis.interrupts_async.iter().map(|(p, (id, _))| (p, id)));
let interrupt_ids = analysis.interrupts.iter().map(|(p, (id, _))| (p, id));
let mut prio_to_masks = HashMap::new();
let device = &app.args.device;

179
macros/src/codegen/software_tasks.rs
View file

@ -1,179 +0,0 @@
use crate::syntax::{ast::App, Context};
use crate::{
analyze::Analysis,
codegen::{local_resources_struct, module, shared_resources_struct, util},
};
use proc_macro2::TokenStream as TokenStream2;
use quote::quote;
pub fn codegen(
app: &App,
analysis: &Analysis,
) -> (
// mod_app_software_tasks -- free queues, buffers and `${task}Resources` constructors
Vec<TokenStream2>,
// root_software_tasks -- items that must be placed in the root of the crate:
// - `${task}Locals` structs
// - `${task}Resources` structs
// - `${task}` modules
Vec<TokenStream2>,
// user_software_tasks -- the `#[task]` functions written by the user
Vec<TokenStream2>,
) {
let mut mod_app = vec![];
let mut root = vec![];
let mut user_tasks = vec![];
// Any task
for (name, task) in app.software_tasks.iter() {
let inputs = &task.inputs;
let (_, _, _, input_ty) = util::regroup_inputs(inputs);
let cap = task.args.capacity;
let cap_lit = util::capacity_literal(cap as usize);
let cap_lit_p1 = util::capacity_literal(cap as usize + 1);
if !task.is_async {
// Create free queues and inputs / instants buffers
let fq = util::fq_ident(name);
#[allow(clippy::redundant_closure)]
let (fq_ty, fq_expr, mk_uninit): (_, _, Box<dyn Fn() -> Option<_>>) = {
(
quote!(rtic::export::SCFQ<#cap_lit_p1>),
quote!(rtic::export::Queue::new()),
Box::new(|| Some(util::link_section_uninit())),
)
};
mod_app.push(quote!(
// /// Queue version of a free-list that keeps track of empty slots in
// /// the following buffers
#[allow(non_camel_case_types)]
#[allow(non_upper_case_globals)]
#[doc(hidden)]
static #fq: rtic::RacyCell<#fq_ty> = rtic::RacyCell::new(#fq_expr);
));
let elems = &(0..cap)
.map(|_| quote!(core::mem::MaybeUninit::uninit()))
.collect::<Vec<_>>();
for (_, monotonic) in &app.monotonics {
let instants = util::monotonic_instants_ident(name, &monotonic.ident);
let mono_type = &monotonic.ty;
let uninit = mk_uninit();
// For future use
// let doc = format!(" RTIC internal: {}:{}", file!(), line!());
mod_app.push(quote!(
#uninit
// /// Buffer that holds the instants associated to the inputs of a task
// #[doc = #doc]
#[allow(non_camel_case_types)]
#[allow(non_upper_case_globals)]
#[doc(hidden)]
static #instants:
rtic::RacyCell<[core::mem::MaybeUninit<<#mono_type as rtic::Monotonic>::Instant>; #cap_lit]> =
rtic::RacyCell::new([#(#elems,)*]);
));
}
let uninit = mk_uninit();
let inputs_ident = util::inputs_ident(name);
// Buffer that holds the inputs of a task
mod_app.push(quote!(
#uninit
#[allow(non_camel_case_types)]
#[allow(non_upper_case_globals)]
#[doc(hidden)]
static #inputs_ident: rtic::RacyCell<[core::mem::MaybeUninit<#input_ty>; #cap_lit]> =
rtic::RacyCell::new([#(#elems,)*]);
));
}
if task.is_async {
let executor_ident = util::executor_run_ident(name);
mod_app.push(quote!(
#[allow(non_camel_case_types)]
#[allow(non_upper_case_globals)]
#[doc(hidden)]
static #executor_ident: core::sync::atomic::AtomicBool =
core::sync::atomic::AtomicBool::new(false);
));
}
let inputs = &task.inputs;
// `${task}Resources`
let mut shared_needs_lt = false;
let mut local_needs_lt = false;
// `${task}Locals`
if !task.args.local_resources.is_empty() {
let (item, constructor) = local_resources_struct::codegen(
Context::SoftwareTask(name),
&mut local_needs_lt,
app,
);
root.push(item);
mod_app.push(constructor);
}
if !task.args.shared_resources.is_empty() {
let (item, constructor) = shared_resources_struct::codegen(
Context::SoftwareTask(name),
&mut shared_needs_lt,
app,
);
root.push(item);
mod_app.push(constructor);
}
if !&task.is_extern {
let context = &task.context;
let attrs = &task.attrs;
let cfgs = &task.cfgs;
let stmts = &task.stmts;
let (async_marker, context_lifetime) = if task.is_async {
(
quote!(async),
if shared_needs_lt || local_needs_lt {
quote!(<'static>)
} else {
quote!()
},
)
} else {
(quote!(), quote!())
};
user_tasks.push(quote!(
#(#attrs)*
#(#cfgs)*
#[allow(non_snake_case)]
#async_marker fn #name(#context: #name::Context #context_lifetime #(,#inputs)*) {
use rtic::Mutex as _;
use rtic::mutex::prelude::*;
#(#stmts)*
}
));
}
root.push(module::codegen(
Context::SoftwareTask(name),
shared_needs_lt,
local_needs_lt,
app,
analysis,
));
}
(mod_app, root, user_tasks)
}

170
macros/src/codegen/timer_queue.rs
View file

@ -1,170 +0,0 @@
use crate::syntax::ast::App;
use crate::{analyze::Analysis, codegen::util};
use proc_macro2::TokenStream as TokenStream2;
use quote::quote;
/// Generates timer queues and timer queue handlers
#[allow(clippy::too_many_lines)]
pub fn codegen(app: &App, analysis: &Analysis) -> Vec<TokenStream2> {
let mut items = vec![];
if !app.monotonics.is_empty() {
// Generate the marker counter used to track for `cancel` and `reschedule`
let tq_marker = util::timer_queue_marker_ident();
items.push(quote!(
// #[doc = #doc]
#[doc(hidden)]
#[allow(non_camel_case_types)]
#[allow(non_upper_case_globals)]
static #tq_marker: rtic::RacyCell<u32> = rtic::RacyCell::new(0);
));
let t = util::schedule_t_ident();
// Enumeration of `schedule`-able tasks
{
let variants = app
.software_tasks
.iter()
.filter(|(_, task)| !task.is_async)
.map(|(name, task)| {
let cfgs = &task.cfgs;
quote!(
#(#cfgs)*
#name
)
})
.collect::<Vec<_>>();
// For future use
// let doc = "Tasks that can be scheduled".to_string();
items.push(quote!(
// #[doc = #doc]
#[doc(hidden)]
#[allow(non_camel_case_types)]
#[derive(Clone, Copy)]
pub enum #t {
#(#variants,)*
}
));
}
}
for (_, monotonic) in &app.monotonics {
let monotonic_name = monotonic.ident.to_string();
let tq = util::tq_ident(&monotonic_name);
let t = util::schedule_t_ident();
let mono_type = &monotonic.ty;
let m_ident = util::monotonic_ident(&monotonic_name);
// Static variables and resource proxy
{
// For future use
// let doc = &format!("Timer queue for {}", monotonic_name);
let cap: usize = app
.software_tasks
.iter()
.map(|(_name, task)| task.args.capacity as usize)
.sum();
let n_task = util::capacity_literal(cap);
let tq_ty = quote!(rtic::export::TimerQueue<#mono_type, #t, #n_task>);
// For future use
// let doc = format!(" RTIC internal: {}:{}", file!(), line!());
items.push(quote!(
#[doc(hidden)]
#[allow(non_camel_case_types)]
#[allow(non_upper_case_globals)]
static #tq: rtic::RacyCell<#tq_ty> = rtic::RacyCell::new(
rtic::export::TimerQueue {
task_queue: rtic::export::SortedLinkedList::new_u16(),
waker_queue: rtic::export::IntrusiveSortedLinkedList::new(),
}
);
));
let mono = util::monotonic_ident(&monotonic_name);
// For future use
// let doc = &format!("Storage for {}", monotonic_name);
items.push(quote!(
#[doc(hidden)]
#[allow(non_camel_case_types)]
#[allow(non_upper_case_globals)]
static #mono: rtic::RacyCell<Option<#mono_type>> = rtic::RacyCell::new(None);
));
}
// Timer queue handler
{
let enum_ = util::interrupt_ident();
let rt_err = util::rt_err_ident();
let arms = app
.software_tasks
.iter()
.filter(|(_, task)| !task.is_async)
.map(|(name, task)| {
let cfgs = &task.cfgs;
let priority = task.args.priority;
let rq = util::rq_ident(priority);
let rqt = util::spawn_t_ident(priority);
// The interrupt that runs the task dispatcher
let interrupt = &analysis.interrupts_normal.get(&priority).expect("RTIC-ICE: interrupt not found").0;
let pend = {
quote!(
rtic::pend(#rt_err::#enum_::#interrupt);
)
};
quote!(
#(#cfgs)*
#t::#name => {
rtic::export::interrupt::free(|_|
(&mut *#rq.get_mut()).split().0.enqueue_unchecked((#rqt::#name, index))
);
#pend
}
)
})
.collect::<Vec<_>>();
let bound_interrupt = &monotonic.args.binds;
let disable_isr = if &*bound_interrupt.to_string() == "SysTick" {
quote!(core::mem::transmute::<_, rtic::export::SYST>(()).disable_interrupt())
} else {
quote!(rtic::export::NVIC::mask(#rt_err::#enum_::#bound_interrupt))
};
items.push(quote!(
#[no_mangle]
#[allow(non_snake_case)]
unsafe fn #bound_interrupt() {
while let Some((task, index)) = rtic::export::interrupt::free(|_|
if let Some(mono) = (&mut *#m_ident.get_mut()).as_mut() {
(&mut *#tq.get_mut()).dequeue(|| #disable_isr, mono)
} else {
// We can only use the timer queue if `init` has returned, and it
// writes the `Some(monotonic)` we are accessing here.
core::hint::unreachable_unchecked()
})
{
match task {
#(#arms)*
}
}
rtic::export::interrupt::free(|_| if let Some(mono) = (&mut *#m_ident.get_mut()).as_mut() {
mono.on_interrupt();
});
}
));
}
}
items
}

111
macros/src/codegen/util.rs
View file

@ -3,20 +3,10 @@ use core::sync::atomic::{AtomicUsize, Ordering};
use crate::syntax::{ast::App, Context};
use proc_macro2::{Span, TokenStream as TokenStream2};
use quote::quote;
use syn::{Attribute, Ident, LitInt, PatType};
use syn::{Attribute, Ident};
const RTIC_INTERNAL: &str = "__rtic_internal";
/// Turns `capacity` into an unsuffixed integer literal
pub fn capacity_literal(capacity: usize) -> LitInt {
LitInt::new(&capacity.to_string(), Span::call_site())
}
/// Identifier for the free queue
pub fn fq_ident(task: &Ident) -> Ident {
mark_internal_name(&format!("{}_FQ", task))
}
/// Generates a `Mutex` implementation
pub fn impl_mutex(
app: &App,
@ -60,30 +50,16 @@ pub fn impl_mutex(
)
}
/// Generates an identifier for the `INPUTS` buffer (`spawn` & `schedule` API)
pub fn inputs_ident(task: &Ident) -> Ident {
mark_internal_name(&format!("{}_INPUTS", task))
}
/// Generates an identifier for the `EXECUTOR_RUN` atomics (`async` API)
pub fn executor_run_ident(task: &Ident) -> Ident {
mark_internal_name(&format!("{}_EXECUTOR_RUN", task))
}
/// Generates an identifier for the `INSTANTS` buffer (`schedule` API)
pub fn monotonic_instants_ident(task: &Ident, monotonic: &Ident) -> Ident {
mark_internal_name(&format!("{}_{}_INSTANTS", task, monotonic))
}
pub fn interrupt_ident() -> Ident {
let span = Span::call_site();
Ident::new("interrupt", span)
}
pub fn timer_queue_marker_ident() -> Ident {
mark_internal_name("TIMER_QUEUE_MARKER")
}
/// Whether `name` is an exception with configurable priority
pub fn is_exception(name: &Ident) -> bool {
let s = name.to_string();
@ -106,11 +82,6 @@ pub fn mark_internal_name(name: &str) -> Ident {
Ident::new(&format!("{}_{}", RTIC_INTERNAL, name), Span::call_site())
}
/// Generate an internal identifier for monotonics
pub fn internal_monotonics_ident(task: &Ident, monotonic: &Ident, ident_name: &str) -> Ident {
mark_internal_name(&format!("{}_{}_{}", task, monotonic, ident_name,))
}
/// Generate an internal identifier for tasks
pub fn internal_task_ident(task: &Ident, ident_name: &str) -> Ident {
mark_internal_name(&format!("{}_{}", task, ident_name))
@ -129,55 +100,6 @@ pub fn link_section_uninit() -> TokenStream2 {
quote!(#[link_section = #section])
}
// Regroups the inputs of a task
//
// `inputs` could be &[`input: Foo`] OR &[`mut x: i32`, `ref y: i64`]
pub fn regroup_inputs(
inputs: &[PatType],
) -> (
// args e.g. &[`_0`], &[`_0: i32`, `_1: i64`]
Vec<TokenStream2>,
// tupled e.g. `_0`, `(_0, _1)`
TokenStream2,
// untupled e.g. &[`_0`], &[`_0`, `_1`]
Vec<TokenStream2>,
// ty e.g. `Foo`, `(i32, i64)`
TokenStream2,
) {
if inputs.len() == 1 {
let ty = &inputs[0].ty;
(
vec![quote!(_0: #ty)],
quote!(_0),
vec![quote!(_0)],
quote!(#ty),
)
} else {
let mut args = vec![];
let mut pats = vec![];
let mut tys = vec![];
for (i, input) in inputs.iter().enumerate() {
let i = Ident::new(&format!("_{}", i), Span::call_site());
let ty = &input.ty;
args.push(quote!(#i: #ty));
pats.push(quote!(#i));
tys.push(quote!(#ty));
}
let tupled = {
let pats = pats.clone();
quote!((#(#pats,)*))
};
let ty = quote!((#(#tys,)*));
(args, tupled, pats, ty)
}
}
/// Get the ident for the name of the task
pub fn get_task_name(ctxt: Context, app: &App) -> Ident {
let s = match ctxt {
@ -230,48 +152,17 @@ pub fn local_resources_ident(ctxt: Context, app: &App) -> Ident {
mark_internal_name(&s)
}
/// Generates an identifier for a ready queue
///
/// There may be several task dispatchers, one for each priority level.
/// The ready queues are SPSC queues
pub fn rq_ident(priority: u8) -> Ident {
mark_internal_name(&format!("P{}_RQ", priority))
}
/// Generates an identifier for a ready queue, async task version
pub fn rq_async_ident(async_task_name: &Ident) -> Ident {
mark_internal_name(&format!("ASYNC_TACK_{}_RQ", async_task_name))
}
/// Generates an identifier for the `enum` of `schedule`-able tasks
pub fn schedule_t_ident() -> Ident {
mark_internal_name("SCHED_T")
}
/// Generates an identifier for the `enum` of `spawn`-able tasks
///
/// This identifier needs the same structure as the `RQ` identifier because there's one ready queue
/// for each of these `T` enums
pub fn spawn_t_ident(priority: u8) -> Ident {
mark_internal_name(&format!("P{}_T", priority))
}
/// Suffixed identifier
pub fn suffixed(name: &str) -> Ident {
let span = Span::call_site();
Ident::new(name, span)
}
/// Generates an identifier for a timer queue
pub fn tq_ident(name: &str) -> Ident {
mark_internal_name(&format!("TQ_{}", name))
}
/// Generates an identifier for monotonic timer storage
pub fn monotonic_ident(name: &str) -> Ident {
mark_internal_name(&format!("MONOTONIC_STORAGE_{}", name))
}
pub fn static_shared_resource_ident(name: &Ident) -> Ident {
mark_internal_name(&format!("shared_resource_{}", name))
}

57
macros/src/syntax/analyze.rs
View file

@ -16,19 +16,11 @@ pub(crate) fn app(app: &App) -> Result<Analysis, syn::Error> {
type TaskName = String;
type Priority = u8;
// The task list is a Tuple (Name, Shared Resources, Local Resources, Priority, IsAsync)
let task_resources_list: Vec<(TaskName, Vec<&Ident>, &LocalResources, Priority, bool)> =
// The task list is a Tuple (Name, Shared Resources, Local Resources, Priority)
let task_resources_list: Vec<(TaskName, Vec<&Ident>, &LocalResources, Priority)> =
Some(&app.init)
.iter()
.map(|ht| {
(
"init".to_string(),
Vec::new(),
&ht.args.local_resources,
0,
false,
)
})
.map(|ht| ("init".to_string(), Vec::new(), &ht.args.local_resources, 0))
.chain(app.idle.iter().map(|ht| {
(
"idle".to_string(),
@ -39,7 +31,6 @@ pub(crate) fn app(app: &App) -> Result<Analysis, syn::Error> {
.collect::<Vec<_>>(),
&ht.args.local_resources,
0,
false,
)
}))
.chain(app.software_tasks.iter().map(|(name, ht)| {
@ -52,7 +43,6 @@ pub(crate) fn app(app: &App) -> Result<Analysis, syn::Error> {
.collect::<Vec<_>>(),
&ht.args.local_resources,
ht.args.priority,
ht.is_async,
)
}))
.chain(app.hardware_tasks.iter().map(|(name, ht)| {
@ -65,7 +55,6 @@ pub(crate) fn app(app: &App) -> Result<Analysis, syn::Error> {
.collect::<Vec<_>>(),
&ht.args.local_resources,
ht.args.priority,
false,
)
}))
.collect();
@ -84,21 +73,20 @@ pub(crate) fn app(app: &App) -> Result<Analysis, syn::Error> {
// Check that lock_free resources are correct
for lf_res in lock_free.iter() {
for (task, tr, _, priority, is_async) in task_resources_list.iter() {
for (task, tr, _, priority) in task_resources_list.iter() {
for r in tr {
// Get all uses of resources annotated lock_free
if lf_res == r {
// lock_free resources are not allowed in async tasks
if *is_async {
error.push(syn::Error::new(
error.push(syn::Error::new(
r.span(),
format!(
"Lock free shared resource {:?} is used by an async tasks, which is forbidden",
r.to_string(),
),
));
}
// TODO: Should this be removed?
// HashMap returns the previous existing object if old.key == new.key
if let Some(lf_res) = lf_hash.insert(r.to_string(), (task, r, priority)) {
// Check if priority differ, if it does, append to
@ -150,7 +138,7 @@ pub(crate) fn app(app: &App) -> Result<Analysis, syn::Error> {
// Check that local resources are not shared
for lr in local {
for (task, _, local_resources, _, _) in task_resources_list.iter() {
for (task, _, local_resources, _) in task_resources_list.iter() {
for (name, res) in local_resources.iter() {
// Get all uses of resources annotated lock_free
if lr == name {
@ -193,18 +181,7 @@ pub(crate) fn app(app: &App) -> Result<Analysis, syn::Error> {
error.push(syn::Error::new(
name.span(),
format!(
"Software task {:?} has priority 0, but `#[idle]` is defined. 0-priority software tasks are only allowed if there is no `#[idle]`.",
name.to_string(),
)
));
}
// 0-priority tasks must be async
if !task.is_async {
error.push(syn::Error::new(
name.span(),
format!(
"Software task {:?} has priority 0, but is not `async`. 0-priority software tasks must be `async`.",
"Async task {:?} has priority 0, but `#[idle]` is defined. 0-priority async tasks are only allowed if there is no `#[idle]`.",
name.to_string(),
)
));
@ -263,7 +240,7 @@ pub(crate) fn app(app: &App) -> Result<Analysis, syn::Error> {
// Create the list of used local resource Idents
let mut used_local_resource = IndexSet::new();
for (_, _, locals, _, _) in task_resources_list {
for (_, _, locals, _) in task_resources_list {
for (local, _) in locals {
used_local_resource.insert(local.clone());
}
@ -307,27 +284,11 @@ pub(crate) fn app(app: &App) -> Result<Analysis, syn::Error> {
let channel = channels.entry(spawnee_prio).or_default();
channel.tasks.insert(name.clone());
if !spawnee.args.only_same_priority_spawn {
// Require `Send` if the task can be spawned from other priorities
spawnee.inputs.iter().for_each(|input| {
send_types.insert(input.ty.clone());
});
}
}
// No channel should ever be empty
debug_assert!(channels.values().all(|channel| !channel.tasks.is_empty()));
// Compute channel capacities
for channel in channels.values_mut() {
channel.capacity = channel
.tasks
.iter()
.map(|name| app.software_tasks[name].args.capacity)
.sum();
}
Ok(Analysis {
channels,
shared_resources: used_shared_resource,

50
macros/src/syntax/ast.rs
View file

@ -1,6 +1,6 @@
//! Abstract Syntax Tree
use syn::{Attribute, Expr, Ident, Item, ItemUse, Pat, PatType, Path, Stmt, Type};
use syn::{Attribute, Expr, Ident, Item, ItemUse, Pat, Path, Stmt, Type};
use crate::syntax::Map;
@ -20,9 +20,6 @@ pub struct App {
/// The `#[idle]` function
pub idle: Option<Idle>,
/// Monotonic clocks
pub monotonics: Map<Monotonic>,
/// Resources shared between tasks defined in `#[shared]`
pub shared_resources: Map<SharedResource>,
@ -38,7 +35,7 @@ pub struct App {
/// Hardware tasks: `#[task(binds = ..)]`s
pub hardware_tasks: Map<HardwareTask>,
/// Software tasks: `#[task]`
/// Async software tasks: `#[task]`
pub software_tasks: Map<SoftwareTask>,
}
@ -192,38 +189,7 @@ pub struct LocalResource {
pub ty: Box<Type>,
}
/// Monotonic
#[derive(Debug)]
#[non_exhaustive]
pub struct Monotonic {
/// `#[cfg]` attributes like `#[cfg(debug_assertions)]`
pub cfgs: Vec<Attribute>,
/// The identifier of the monotonic
pub ident: Ident,
/// The type of this monotonic
pub ty: Box<Type>,
/// Monotonic args
pub args: MonotonicArgs,
}
/// Monotonic metadata
#[derive(Debug)]
#[non_exhaustive]
pub struct MonotonicArgs {
/// The interrupt or exception that this monotonic is bound to
pub binds: Ident,
/// The priority of this monotonic
pub priority: Option<u8>,
/// If this is the default monotonic
pub default: bool,
}
/// A software task
/// An async software task
#[derive(Debug)]
#[non_exhaustive]
pub struct SoftwareTask {
@ -239,26 +205,17 @@ pub struct SoftwareTask {
/// The context argument
pub context: Box<Pat>,
/// The inputs of this software task
pub inputs: Vec<PatType>,
/// The statements that make up the task handler
pub stmts: Vec<Stmt>,
/// The task is declared externally
pub is_extern: bool,
/// If the task is marked as `async`
pub is_async: bool,
}
/// Software task metadata
#[derive(Debug)]
#[non_exhaustive]
pub struct SoftwareTaskArgs {
/// The task capacity: the maximum number of pending messages that can be queued
pub capacity: u8,
/// The priority of this task
pub priority: u8,
@ -275,7 +232,6 @@ pub struct SoftwareTaskArgs {
impl Default for SoftwareTaskArgs {
fn default() -> Self {
Self {
capacity: 1,
priority: 1,
local_resources: LocalResources::new(),
shared_resources: SharedResources::new(),

121
macros/src/syntax/parse.rs
View file

@ -2,7 +2,6 @@ mod app;
mod hardware_task;
mod idle;
mod init;
mod monotonic;
mod resource;
mod software_task;
mod util;
@ -11,15 +10,12 @@ use proc_macro2::TokenStream as TokenStream2;
use syn::{
braced, parenthesized,
parse::{self, Parse, ParseStream, Parser},
token::{self, Brace},
Ident, Item, LitBool, LitInt, Path, Token,
token::Brace,
Ident, Item, LitInt, Token,
};
use crate::syntax::{
ast::{
App, AppArgs, HardwareTaskArgs, IdleArgs, InitArgs, MonotonicArgs, SoftwareTaskArgs,
TaskLocal,
},
ast::{App, AppArgs, HardwareTaskArgs, IdleArgs, InitArgs, SoftwareTaskArgs, TaskLocal},
Either,
};
@ -388,7 +384,6 @@ fn task_args(tokens: TokenStream2) -> parse::Result<Either<HardwareTaskArgs, Sof
})
} else {
Either::Right(SoftwareTaskArgs {
capacity: capacity.unwrap_or(1),
priority,
shared_resources,
local_resources,
@ -398,113 +393,3 @@ fn task_args(tokens: TokenStream2) -> parse::Result<Either<HardwareTaskArgs, Sof
})
.parse2(tokens)
}
fn monotonic_args(path: Path, tokens: TokenStream2) -> parse::Result<MonotonicArgs> {
(|input: ParseStream<'_>| -> parse::Result<MonotonicArgs> {
let mut binds = None;
let mut priority = None;
let mut default = None;
if !input.peek(token::Paren) {
return Err(parse::Error::new(
path.segments.first().unwrap().ident.span(),
"expected opening ( in #[monotonic( ... )]",
));
}
let content;
parenthesized!(content in input);
if !content.is_empty() {
loop {
// Parse identifier name
let ident: Ident = content.parse()?;
// Handle equal sign
let _: Token![=] = content.parse()?;
match &*ident.to_string() {
"binds" => {
if binds.is_some() {
return Err(parse::Error::new(
ident.span(),
"argument appears more than once",
));
}
// Parse identifier name
let ident = content.parse()?;
binds = Some(ident);
}
"priority" => {
if priority.is_some() {
return Err(parse::Error::new(
ident.span(),
"argument appears more than once",
));
}
// #lit
let lit: LitInt = content.parse()?;
if !lit.suffix().is_empty() {
return Err(parse::Error::new(
lit.span(),
"this literal must be unsuffixed",
));
}
let value = lit.base10_parse::<u8>().ok();
if value.is_none() || value == Some(0) {
return Err(parse::Error::new(
lit.span(),
"this literal must be in the range 1...255",
));
}
priority = Some(value.unwrap());
}
"default" => {
if default.is_some() {
return Err(parse::Error::new(
ident.span(),
"argument appears more than once",
));
}
let lit: LitBool = content.parse()?;
default = Some(lit.value);
}
_ => {
return Err(parse::Error::new(ident.span(), "unexpected argument"));
}
}
if content.is_empty() {
break;
}
// Handle comma: ,
let _: Token![,] = content.parse()?;
}
}
let binds = if let Some(r) = binds {
r
} else {
return Err(parse::Error::new(
content.span(),
"`binds = ...` is missing",
));
};
let default = default.unwrap_or(false);
Ok(MonotonicArgs {
binds,
priority,
default,
})
})
.parse2(tokens)
}

58
macros/src/syntax/parse/app.rs
View file

@ -5,14 +5,14 @@ use proc_macro2::TokenStream as TokenStream2;
use syn::{
parse::{self, ParseStream, Parser},
spanned::Spanned,
Expr, ExprArray, Fields, ForeignItem, Ident, Item, LitBool, Path, Token, Type, Visibility,
Expr, ExprArray, Fields, ForeignItem, Ident, Item, LitBool, Path, Token, Visibility,
};
use super::Input;
use crate::syntax::{
ast::{
App, AppArgs, Dispatcher, Dispatchers, HardwareTask, Idle, IdleArgs, Init, InitArgs,
LocalResource, Monotonic, MonotonicArgs, SharedResource, SoftwareTask,
LocalResource, SharedResource, SoftwareTask,
},
parse::{self as syntax_parse, util},
Either, Map, Set,
@ -150,7 +150,6 @@ impl App {
let mut shared_resources = Map::new();
let mut local_resources_ident = None;
let mut local_resources = Map::new();
let mut monotonics = Map::new();
let mut hardware_tasks = Map::new();
let mut software_tasks = Map::new();
let mut user_imports = vec![];
@ -158,7 +157,6 @@ impl App {
let mut seen_idents = HashSet::<Ident>::new();
let mut bindings = HashSet::<Ident>::new();
let mut monotonic_types = HashSet::<Type>::new();
let mut check_binding = |ident: &Ident| {
if bindings.contains(ident) {
@ -186,19 +184,6 @@ impl App {
Ok(())
};
let mut check_monotonic = |ty: &Type| {
if monotonic_types.contains(ty) {
return Err(parse::Error::new(
ty.span(),
"this type is already used by another monotonic",
));
} else {
monotonic_types.insert(ty.clone());
}
Ok(())
};
for mut item in input.items {
match item {
Item::Fn(mut item) => {
@ -448,44 +433,6 @@ impl App {
// Store the user provided use-statements
user_imports.push(itemuse_.clone());
}
Item::Type(ref mut type_item) => {
// Match types with the attribute #[monotonic]
if let Some(pos) = type_item
.attrs
.iter()
.position(|attr| util::attr_eq(attr, "monotonic"))
{
let span = type_item.ident.span();
if monotonics.contains_key(&type_item.ident) {
return Err(parse::Error::new(
span,
"`#[monotonic(...)]` on a specific type must appear at most once",
));
}
if type_item.vis != Visibility::Inherited {
return Err(parse::Error::new(
type_item.span(),
"this item must have inherited / private visibility",
));
}
check_monotonic(&*type_item.ty)?;
let m = type_item.attrs.remove(pos);
let args = MonotonicArgs::parse(m)?;
check_binding(&args.binds)?;
let monotonic = Monotonic::parse(args, type_item, span)?;
monotonics.insert(type_item.ident.clone(), monotonic);
}
// All types are passed on
user_code.push(item.clone());
}
_ => {
// Anything else within the module should not make any difference
user_code.push(item.clone());
@ -524,7 +471,6 @@ impl App {
name: input.ident,
init,
idle,
monotonics,
shared_resources,
local_resources,
user_imports,

44
macros/src/syntax/parse/hardware_task.rs
View file

@ -23,19 +23,17 @@ impl HardwareTask {
}
if valid_signature {
if let Some((context, Ok(rest))) = util::parse_inputs(item.sig.inputs, &name) {
if rest.is_empty() {
let FilterAttrs { cfgs, attrs, .. } = util::filter_attributes(item.attrs);
if let Some(context) = util::parse_inputs(item.sig.inputs, &name) {
let FilterAttrs { cfgs, attrs, .. } = util::filter_attributes(item.attrs);
return Ok(HardwareTask {
args,
cfgs,
attrs,
context,
stmts: item.block.stmts,
is_extern: false,
});
}
return Ok(HardwareTask {
args,
cfgs,
attrs,
context,
stmts: item.block.stmts,
is_extern: false,
});
}
}
@ -69,19 +67,17 @@ impl HardwareTask {
}
if valid_signature {
if let Some((context, Ok(rest))) = util::parse_inputs(item.sig.inputs, &name) {
if rest.is_empty() {
let FilterAttrs { cfgs, attrs, .. } = util::filter_attributes(item.attrs);
if let Some(context) = util::parse_inputs(item.sig.inputs, &name) {
let FilterAttrs { cfgs, attrs, .. } = util::filter_attributes(item.attrs);
return Ok(HardwareTask {
args,
cfgs,
attrs,
context,
stmts: Vec::<Stmt>::new(),
is_extern: true,
});
}
return Ok(HardwareTask {
args,
cfgs,
attrs,
context,
stmts: Vec::<Stmt>::new(),
is_extern: true,
});
}
}

18
macros/src/syntax/parse/idle.rs
View file

@ -21,16 +21,14 @@ impl Idle {
let name = item.sig.ident.to_string();
if valid_signature {
if let Some((context, Ok(rest))) = util::parse_inputs(item.sig.inputs, &name) {
if rest.is_empty() {
return Ok(Idle {
args,
attrs: item.attrs,
context,
name: item.sig.ident,
stmts: item.block.stmts,
});
}
if let Some(context) = util::parse_inputs(item.sig.inputs, &name) {
return Ok(Idle {
args,
attrs: item.attrs,
context,
name: item.sig.ident,
stmts: item.block.stmts,
});
}
}

22
macros/src/syntax/parse/init.rs
View file

@ -25,18 +25,16 @@ impl Init {
if let Ok((user_shared_struct, user_local_struct)) =
util::type_is_init_return(&item.sig.output, &name)
{
if let Some((context, Ok(rest))) = util::parse_inputs(item.sig.inputs, &name) {
if rest.is_empty() {
return Ok(Init {
args,
attrs: item.attrs,
context,
name: item.sig.ident,
stmts: item.block.stmts,
user_shared_struct,
user_local_struct,
});
}
if let Some(context) = util::parse_inputs(item.sig.inputs, &name) {
return Ok(Init {
args,
attrs: item.attrs,
context,
name: item.sig.ident,
stmts: item.block.stmts,
user_shared_struct,
user_local_struct,
});
}
}
}

26
macros/src/syntax/parse/software_task.rs
View file

@ -8,17 +8,16 @@ use crate::syntax::{
impl SoftwareTask {
pub(crate) fn parse(args: SoftwareTaskArgs, item: ItemFn) -> parse::Result<Self> {
let valid_signature =
util::check_fn_signature(&item, true) && util::type_is_unit(&item.sig.output);
let valid_signature = util::check_fn_signature(&item, true)
&& util::type_is_unit(&item.sig.output)
&& item.sig.asyncness.is_some();
let span = item.sig.ident.span();
let name = item.sig.ident.to_string();
let is_async = item.sig.asyncness.is_some();
if valid_signature {
if let Some((context, Ok(inputs))) = util::parse_inputs(item.sig.inputs, &name) {
if let Some(context) = util::parse_inputs(item.sig.inputs, &name) {
let FilterAttrs { cfgs, attrs, .. } = util::filter_attributes(item.attrs);
return Ok(SoftwareTask {
@ -26,10 +25,8 @@ impl SoftwareTask {
attrs,
cfgs,
context,
inputs,
stmts: item.block.stmts,
is_extern: false,
is_async,
});
}
}
@ -37,7 +34,7 @@ impl SoftwareTask {
Err(parse::Error::new(
span,
&format!(
"this task handler must have type signature `(async) fn({}::Context, ..)`",
"this task handler must have type signature `async fn({}::Context)`",
name
),
))
@ -49,17 +46,16 @@ impl SoftwareTask {
args: SoftwareTaskArgs,
item: ForeignItemFn,
) -> parse::Result<Self> {
let valid_signature =
util::check_foreign_fn_signature(&item, true) && util::type_is_unit(&item.sig.output);
let valid_signature = util::check_foreign_fn_signature(&item, true)
&& util::type_is_unit(&item.sig.output)
&& item.sig.asyncness.is_some();
let span = item.sig.ident.span();
let name = item.sig.ident.to_string();
let is_async = item.sig.asyncness.is_some();
if valid_signature {
if let Some((context, Ok(inputs))) = util::parse_inputs(item.sig.inputs, &name) {
if let Some(context) = util::parse_inputs(item.sig.inputs, &name) {
let FilterAttrs { cfgs, attrs, .. } = util::filter_attributes(item.attrs);
return Ok(SoftwareTask {
@ -67,10 +63,8 @@ impl SoftwareTask {
attrs,
cfgs,
context,
inputs,
stmts: Vec::<Stmt>::new(),
is_extern: true,
is_async,
});
}
}
@ -78,7 +72,7 @@ impl SoftwareTask {
Err(parse::Error::new(
span,
&format!(
"this task handler must have type signature `(async) fn({}::Context, ..)`",
"this task handler must have type signature `async fn({}::Context)`",
name
),
))

26
macros/src/syntax/parse/util.rs
View file

@ -3,8 +3,8 @@ use syn::{
parse::{self, ParseStream},
punctuated::Punctuated,
spanned::Spanned,
Abi, AttrStyle, Attribute, Expr, FnArg, ForeignItemFn, Ident, ItemFn, Pat, PatType, Path,
PathArguments, ReturnType, Token, Type, Visibility,
Abi, AttrStyle, Attribute, Expr, FnArg, ForeignItemFn, Ident, ItemFn, Pat, Path, PathArguments,
ReturnType, Token, Type, Visibility,
};
use crate::syntax::{
@ -231,29 +231,23 @@ pub fn parse_local_resources(content: ParseStream<'_>) -> parse::Result<LocalRes
Ok(resources)
}
type ParseInputResult = Option<(Box<Pat>, Result<Vec<PatType>, FnArg>)>;
pub fn parse_inputs(inputs: Punctuated<FnArg, Token![,]>, name: &str) -> ParseInputResult {
pub fn parse_inputs(inputs: Punctuated<FnArg, Token![,]>, name: &str) -> Option<Box<Pat>> {
let mut inputs = inputs.into_iter();
match inputs.next() {
Some(FnArg::Typed(first)) => {
if type_is_path(&first.ty, &[name, "Context"]) {
let rest = inputs
.map(|arg| match arg {
FnArg::Typed(arg) => Ok(arg),
_ => Err(arg),
})
.collect::<Result<Vec<_>, _>>();
Some((first.pat, rest))
} else {
None
// No more inputs
if inputs.next().is_none() {
return Some(first.pat);
}
}
}
_ => None,
_ => {}
}
None
}
pub fn type_is_bottom(ty: &ReturnType) -> bool {