rtic/examples-runner/src/bin/cancel-reschedule.rs

//! examples/cancel-reschedule.rs

#![deny(unsafe_code)]
#![deny(warnings)]
#![no_main]
#![no_std]

use examples_runner as _;

#[rtic::app(device = examples_runner::pac, dispatchers = [SSI0])]
mod app {
    use examples_runner::{println, exit};
    use systick_monotonic::*;

    #[monotonic(binds = SysTick, default = true)]
    type MyMono = Systick<100>; // 100 Hz / 10 ms granularity

    #[shared]
    struct Shared {}

    #[local]
    struct Local {}

    #[init]
    fn init(cx: init::Context) -> (Shared, Local, init::Monotonics) {
        let systick = cx.core.SYST;

        let mono = Systick::new(systick, 1_000_000);

        println!("init");

        // Schedule `foo` to run 1 second in the future
        foo::spawn_after(1.secs()).unwrap();

        (
            Shared {},
            Local {},
            init::Monotonics(mono), // Give the monotonic to RTIC
        )
    }

    #[task]
    fn foo(_: foo::Context) {
        println!("foo");

        // Schedule `bar` to run 2 seconds in the future (1 second after foo runs)
        let spawn_handle = baz::spawn_after(2.secs()).unwrap();
        bar::spawn_after(1.secs(), spawn_handle, false).unwrap(); // Change to true
    }

    #[task]
    fn bar(_: bar::Context, baz_handle: baz::SpawnHandle, do_reschedule: bool) {
        println!("bar");

        if do_reschedule {
            // Reschedule baz 2 seconds from now, instead of the original 1 second
            // from now.
            baz_handle.reschedule_after(2.secs()).unwrap();
            // Or baz_handle.reschedule_at(/* time */)
        } else {
            // Or cancel it
            baz_handle.cancel().unwrap();
            exit();
        }
    }

    #[task]
    fn baz(_: baz::Context) {
        println!("baz");
        exit();
    }
}