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 => { 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(..) => { 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(..) => { 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() { if extra.monotonic.is_some() { Some(quote!(core: rtic::Peripherals,)) } else { Some(quote!(core: rtic::export::Peripherals,)) } } else { None }; let priority = if ctxt.is_init() { None } else { Some(quote!(priority: &#lt rtic::export::Priority)) }; let instant = if needs_instant { let m = extra.monotonic.clone().expect("RTIC-ICE: UNREACHABLE"); Some(quote!(, instant: <#m as rtic::Monotonic>::Instant)) } else { None }; 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) } } })); // 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!() } }