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<h1 class="menu-title">Real-Time Interrupt-driven Concurrency</h1>
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<main>
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<h1 id="using-async-software-tasks"><a class="header" href="#using-async-software-tasks">Using <code>async</code> software tasks.</a></h1>
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<p>There have been a few changes to software tasks. They are outlined below.</p>
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<h3 id="software-tasks-must-now-be-async"><a class="header" href="#software-tasks-must-now-be-async">Software tasks must now be <code>async</code>.</a></h3>
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<p>All software tasks are now required to be <code>async</code>.</p>
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<h4 id="required-changes"><a class="header" href="#required-changes">Required changes.</a></h4>
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<p>All of the tasks in your project that do not bind to an interrupt must now be an <code>async fn</code>. For example:</p>
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<pre><code class="language-rust noplayground">#[task(
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local = [ some_resource ],
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shared = [ my_shared_resource ],
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priority = 2
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)]
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fn my_task(cx: my_task::Context) {
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cx.local.some_resource.do_trick();
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cx.shared.my_shared_resource.lock(|s| s.do_shared_thing());
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}</code></pre>
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<p>becomes</p>
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<pre><code class="language-rust noplayground">#[task(
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local = [ some_resource ],
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shared = [ my_shared_resource ],
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priority = 2
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)]
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async fn my_task(cx: my_task::Context) {
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cx.local.some_resource.do_trick();
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cx.shared.my_shared_resource.lock(|s| s.do_shared_thing());
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}</code></pre>
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<h2 id="software-tasks-may-now-run-forever"><a class="header" href="#software-tasks-may-now-run-forever">Software tasks may now run forever</a></h2>
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<p>The new <code>async</code> software tasks are allowed to run forever, on one precondition: <strong>there must be an <code>await</code> within the infinite loop of the task</strong>. An example of such a task:</p>
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<pre><code class="language-rust noplayground">#[task(local = [ my_channel ] )]
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async fn my_task_that_runs_forever(cx: my_task_that_runs_forever::Context) {
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loop {
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let value = cx.local.my_channel.recv().await;
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do_something_with_value(value);
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}
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}</code></pre>
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<h2 id="spawn_after-and-spawn_at-have-been-removed"><a class="header" href="#spawn_after-and-spawn_at-have-been-removed"><code>spawn_after</code> and <code>spawn_at</code> have been removed.</a></h2>
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<p>As discussed in the <a href="./monotonics.html">Migrating to <code>rtic-monotonics</code></a> chapter, <code>spawn_after</code> and <code>spawn_at</code> are no longer available.</p>
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