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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="static-super-powers"><a class="header" href="#static-super-powers">'static super-powers</a></h1>
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<p>In <code>#[init]</code> and <code>#[idle]</code> <code>local</code> resources have <code>'static</code> lifetime.</p>
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<p>Useful when pre-allocating and/or splitting resources between tasks, drivers or some other object. This comes in handy when drivers, such as USB drivers, need to allocate memory and when using splittable data structures such as <a href="https://docs.rs/heapless/0.7.5/heapless/spsc/struct.Queue.html"><code>heapless::spsc::Queue</code></a>.</p>
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<p>In the following example two different tasks share a <a href="https://docs.rs/heapless/0.7.5/heapless/spsc/struct.Queue.html"><code>heapless::spsc::Queue</code></a> for lock-free access to the shared queue.</p>
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<pre><code class="language-rust noplayground">//! examples/static.rs
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#![no_main]
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#![no_std]
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#![deny(warnings)]
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#![deny(unsafe_code)]
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#![deny(missing_docs)]
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use panic_semihosting as _;
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#[rtic::app(device = lm3s6965, dispatchers = [UART0])]
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mod app {
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use cortex_m_semihosting::{debug, hprintln};
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use heapless::spsc::{Consumer, Producer, Queue};
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#[shared]
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struct Shared {}
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#[local]
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struct Local {
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p: Producer<'static, u32, 5>,
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c: Consumer<'static, u32, 5>,
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}
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#[init(local = [q: Queue<u32, 5> = Queue::new()])]
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fn init(cx: init::Context) -> (Shared, Local) {
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// q has 'static life-time so after the split and return of `init`
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// it will continue to exist and be allocated
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let (p, c) = cx.local.q.split();
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foo::spawn().unwrap();
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(Shared {}, Local { p, c })
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}
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#[idle(local = [c])]
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fn idle(c: idle::Context) -> ! {
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loop {
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// Lock-free access to the same underlying queue!
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if let Some(data) = c.local.c.dequeue() {
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hprintln!("received message: {}", data);
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// Run foo until data
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if data == 3 {
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debug::exit(debug::EXIT_SUCCESS); // Exit QEMU simulator
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} else {
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foo::spawn().unwrap();
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}
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}
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}
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}
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#[task(local = [p, state: u32 = 0], priority = 1)]
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async fn foo(c: foo::Context) {
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*c.local.state += 1;
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// Lock-free access to the same underlying queue!
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c.local.p.enqueue(*c.local.state).unwrap();
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}
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}</code></pre>
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<p>Running this program produces the expected output.</p>
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<pre><code class="language-console">$ cargo xtask qemu --verbose --example static
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</code></pre>
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<pre><code class="language-console">received message: 1
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received message: 2
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received message: 3
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</code></pre>
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