use proc_macro2::TokenStream as TokenStream2; use quote::quote; use rtic_syntax::{ast::App, Context}; use crate::{analyze::Analysis, check::Extra, codegen::util}; pub fn codegen( ctxt: Context, resources_tick: bool, app: &App, analysis: &Analysis, extra: &Extra, ) -> TokenStream2 { let mut items = vec![]; let mut fields = vec![]; let mut values = vec![]; // Used to copy task cfgs to the whole module let mut task_cfgs = vec![]; let name = ctxt.ident(app); let mut needs_instant = false; let mut lt = None; match ctxt { Context::Init => { // TODO: What fields are needed? // if let Some(m) = &extra.monotonic { // fields.push(quote!( // /// System start time = `Instant(0 /* cycles */)` // pub start: <#m as rtic::Monotonic>::Instant // )); // values.push(quote!(start: <#m as rtic::Monotonic>::zero())); // fields.push(quote!( // /// Core (Cortex-M) peripherals minus the SysTick // pub core: rtic::Peripherals // )); // } else { // fields.push(quote!( // /// Core (Cortex-M) peripherals // pub core: rtic::export::Peripherals // )); // } if extra.peripherals { let device = &extra.device; fields.push(quote!( /// Device peripherals pub device: #device::Peripherals )); values.push(quote!(device: #device::Peripherals::steal())); } lt = Some(quote!('a)); fields.push(quote!( /// Critical section token for init pub cs: rtic::export::CriticalSection<#lt> )); values.push(quote!(cs: rtic::export::CriticalSection::new())); values.push(quote!(core)); } Context::Idle => {} Context::HardwareTask(..) => { // TODO: What fields are needed for monotonic? // if let Some(m) = &extra.monotonic { // fields.push(quote!( // /// Time at which this handler started executing // pub start: <#m as rtic::Monotonic>::Instant // )); // values.push(quote!(start: instant)); // needs_instant = true; // } } Context::SoftwareTask(..) => { // TODO: What fields are needed for monotonic? // if let Some(m) = &extra.monotonic { // fields.push(quote!( // /// The time at which this task was scheduled to run // pub scheduled: <#m as rtic::Monotonic>::Instant // )); // values.push(quote!(scheduled: instant)); // needs_instant = true; // } } } if ctxt.has_locals(app) { let ident = util::locals_ident(ctxt, app); items.push(quote!( #[doc(inline)] pub use super::#ident as Locals; )); } if ctxt.has_resources(app) { let ident = util::resources_ident(ctxt, app); let lt = if resources_tick { lt = Some(quote!('a)); Some(quote!('a)) } else { None }; items.push(quote!( #[doc(inline)] pub use super::#ident as Resources; )); fields.push(quote!( /// Resources this task has access to pub resources: Resources<#lt> )); let priority = if ctxt.is_init() { None } else { Some(quote!(priority)) }; values.push(quote!(resources: Resources::new(#priority))); } if let Context::Init = ctxt { let init = &app.inits.first().unwrap(); let late_resources = util::late_resources_ident(&init.name); let monotonics = util::monotonics_ident(&init.name); items.push(quote!( #[doc(inline)] pub use super::#late_resources as LateResources; )); items.push(quote!( #[doc(inline)] pub use super::#monotonics as Monotonics; )); } let doc = match ctxt { Context::Idle => "Idle loop", Context::Init => "Initialization function", Context::HardwareTask(_) => "Hardware task", Context::SoftwareTask(_) => "Software task", }; let core = if ctxt.is_init() { Some(quote!(core: rtic::export::Peripherals,)) } else { None }; let priority = if ctxt.is_init() { None } else { Some(quote!(priority: &#lt rtic::export::Priority)) }; // TODO: What is needed for the new monotonic? // let instant = if needs_instant { // let m = extra.monotonic.clone().expect("RTIC-ICE: UNREACHABLE"); // Some(quote!(, instant: <#m as rtic::Monotonic>::Instant)) // } else { // None // }; let instant = quote!(); items.push(quote!( /// Execution context pub struct Context<#lt> { #(#fields,)* } impl<#lt> Context<#lt> { #[inline(always)] pub unsafe fn new(#core #priority #instant) -> Self { Context { #(#values,)* } } } )); // not sure if this is the right way, maybe its backwards, // that spawn_module should put in in root 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 app_name = &app.name; let app_path = quote! {crate::#app_name}; let device = &extra.device; let enum_ = util::interrupt_ident(); let interrupt = &analysis .interrupts .get(&priority) .expect("RTIC-ICE: interrupt identifer not found") .0; // Spawn caller items.push(quote!( #(#cfgs)* pub fn spawn(#(#args,)*) -> Result<(), #ty> { // #let_instant // do we need it? use rtic::Mutex as _; use rtic::mutex_prelude::*; let input = #tupled; 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) } } })); // TODO: Needs updating for new monotonic. // // Schedule caller // if let Some(m) = &extra.monotonic { // let instants = util::instants_ident(name); // let tq = util::tq_ident(); // 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 _; // use rtic::mutex_prelude::*; // 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() { let user_imports = &app.user_imports; quote!( #[allow(non_snake_case)] #(#task_cfgs)* #[doc = #doc] pub mod #name { #( #[allow(unused_imports)] #user_imports )* #(#items)* } ) } else { quote!() } }