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Merge #730

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730: Executor and task macro fixes. r=Dirbaio a=Dirbaio

See individual commits.

bors r+

Co-authored-by: Dario Nieuwenhuis <dirbaio@dirbaio.net>
This commit is contained in:
bors[bot] 2022-04-25 20:21:32 +00:00 committed by GitHub
commit a39d796c3d
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GPG key ID: 4AEE18F83AFDEB23
7 changed files with 79 additions and 64 deletions
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67
embassy-macros/src/macros/task.rs
View file

@ -10,12 +10,10 @@ struct Args {
#[darling(default)]
pool_size: Option<usize>,
#[darling(default)]
send: bool,
#[darling(default)]
embassy_prefix: ModulePrefix,
}
pub fn run(args: syn::AttributeArgs, mut f: syn::ItemFn) -> Result<TokenStream, TokenStream> {
pub fn run(args: syn::AttributeArgs, f: syn::ItemFn) -> Result<TokenStream, TokenStream> {
let args = Args::from_list(&args).map_err(|e| e.write_errors())?;
let embassy_prefix = args.embassy_prefix.append("embassy");
@ -35,24 +33,27 @@ pub fn run(args: syn::AttributeArgs, mut f: syn::ItemFn) -> Result<TokenStream,
ctxt.error_spanned_by(&f.sig, "pool_size must be 1 or greater");
}
let mut arg_names: syn::punctuated::Punctuated<syn::Ident, syn::Token![,]> =
syn::punctuated::Punctuated::new();
let mut arg_types = Vec::new();
let mut arg_names = Vec::new();
let mut arg_indexes = Vec::new();
let mut fargs = f.sig.inputs.clone();
for arg in fargs.iter_mut() {
for (i, arg) in fargs.iter_mut().enumerate() {
match arg {
syn::FnArg::Receiver(_) => {
ctxt.error_spanned_by(arg, "task functions must not have receiver arguments");
}
syn::FnArg::Typed(t) => match t.pat.as_mut() {
syn::Pat::Ident(i) => {
arg_names.push(i.ident.clone());
i.mutability = None;
syn::Pat::Ident(id) => {
arg_names.push(id.ident.clone());
arg_types.push(t.ty.clone());
arg_indexes.push(syn::Index::from(i));
id.mutability = None;
}
_ => {
ctxt.error_spanned_by(
arg,
"pattern matching in task arguments is not yet supporteds",
"pattern matching in task arguments is not yet supported",
);
}
},
@ -63,40 +64,38 @@ pub fn run(args: syn::AttributeArgs, mut f: syn::ItemFn) -> Result<TokenStream,
let task_ident = f.sig.ident.clone();
let task_inner_ident = format_ident!("__{}_task", task_ident);
let future_ident = format_ident!("__{}_Future", task_ident);
let pool_ident = format_ident!("__{}_POOL", task_ident);
let new_ts_ident = format_ident!("__{}_NEW_TASKSTORAGE", task_ident);
let mod_ident = format_ident!("__{}_mod", task_ident);
let args_ident = format_ident!("__{}_args", task_ident);
let visibility = &f.vis;
f.sig.ident = task_inner_ident.clone();
let impl_ty = if args.send {
quote!(impl ::core::future::Future + Send + 'static)
} else {
quote!(impl ::core::future::Future + 'static)
};
let attrs = &f.attrs;
let spawn_token = quote!(#embassy_path::executor::SpawnToken);
let task_storage = quote!(#embassy_path::executor::raw::TaskStorage);
let mut task_inner = f;
let visibility = task_inner.vis.clone();
task_inner.vis = syn::Visibility::Inherited;
task_inner.sig.ident = task_inner_ident.clone();
let result = quote! {
#task_inner
#[allow(non_camel_case_types)]
type #future_ident = #impl_ty;
type #args_ident = (#(#arg_types,)*);
#(#attrs)*
#visibility fn #task_ident(#fargs) -> #spawn_token<#future_ident> {
#f
mod #mod_ident {
use #embassy_path::executor::SpawnToken;
use #embassy_path::executor::raw::TaskStorage;
type Fut = impl ::core::future::Future + 'static;
#[allow(non_upper_case_globals)]
#[allow(clippy::declare_interior_mutable_const)]
const #new_ts_ident: #task_storage<#future_ident> = #task_storage::new();
const NEW_TS: TaskStorage<Fut> = TaskStorage::new();
#[allow(non_upper_case_globals)]
static #pool_ident: [#task_storage<#future_ident>; #pool_size] = [#new_ts_ident; #pool_size];
static POOL: [TaskStorage<Fut>; #pool_size] = [NEW_TS; #pool_size];
unsafe { #task_storage::spawn_pool(&#pool_ident, move || #task_inner_ident(#arg_names)) }
pub(super) fn task(args: super::#args_ident) -> SpawnToken<Fut> {
unsafe { TaskStorage::spawn_pool(&POOL, move || super::#task_inner_ident(#(args.#arg_indexes),*)) }
}
}
#visibility fn #task_ident(#fargs) -> #embassy_path::executor::SpawnToken<impl ::core::future::Future + 'static> {
#mod_ident::task((#(#arg_names,)*))
}
};

20
embassy/src/executor/arch/cortex_m.rs
View file

@ -1,7 +1,7 @@
use core::marker::PhantomData;
use core::ptr;
use super::{raw, Spawner};
use super::{raw, SendSpawner, Spawner};
use crate::interrupt::{Interrupt, InterruptExt};
/// Thread mode executor, using WFE/SEV.
@ -107,13 +107,13 @@ impl<I: Interrupt> InterruptExecutor<I> {
/// Start the executor.
///
/// The `init` closure is called from interrupt mode, with a [`Spawner`] that spawns tasks on
/// this executor. Use it to spawn the initial task(s). After `init` returns,
/// the interrupt is configured so that the executor starts running the tasks.
/// Once the executor is started, `start` returns.
/// This initializes the executor, configures and enables the interrupt, and returns.
/// The executor keeps running in the background through the interrupt.
///
/// To spawn more tasks later, you may keep copies of the [`Spawner`] (it is `Copy`),
/// for example by passing it as an argument to the initial tasks.
/// This returns a [`SendSpawner`] you can use to spawn tasks on it. A [`SendSpawner`]
/// is returned instead of a [`Spawner`] because the executor effectively runs in a
/// different "thread" (the interrupt), so spawning tasks on it is effectively
/// sending them.
///
/// This function requires `&'static mut self`. This means you have to store the
/// Executor instance in a place where it'll live forever and grants you mutable
@ -122,16 +122,16 @@ impl<I: Interrupt> InterruptExecutor<I> {
/// - a [Forever](crate::util::Forever) (safe)
/// - a `static mut` (unsafe)
/// - a local variable in a function you know never returns (like `fn main() -> !`), upgrading its lifetime with `transmute`. (unsafe)
pub fn start(&'static mut self, init: impl FnOnce(Spawner) + Send) {
pub fn start(&'static mut self) -> SendSpawner {
self.irq.disable();
init(self.inner.spawner());
self.irq.set_handler(|ctx| unsafe {
let executor = &*(ctx as *const raw::Executor);
executor.poll();
});
self.irq.set_handler_context(&self.inner as *const _ as _);
self.irq.enable();
self.inner.spawner().make_send()
}
}

2
embassy/src/executor/spawner.rs
View file

@ -105,7 +105,6 @@ impl Spawner {
pub fn make_send(&self) -> SendSpawner {
SendSpawner {
executor: self.executor,
not_send: PhantomData,
}
}
}
@ -120,7 +119,6 @@ impl Spawner {
#[derive(Copy, Clone)]
pub struct SendSpawner {
executor: &'static raw::Executor,
not_send: PhantomData<*mut ()>,
}
unsafe impl Send for SendSpawner {}

10
examples/nrf/src/bin/multiprio.rs
View file

@ -124,17 +124,15 @@ fn main() -> ! {
let irq = interrupt::take!(SWI1_EGU1);
irq.set_priority(interrupt::Priority::P6);
let executor = EXECUTOR_HIGH.put(InterruptExecutor::new(irq));
executor.start(|spawner| {
unwrap!(spawner.spawn(run_high()));
});
let spawner = executor.start();
unwrap!(spawner.spawn(run_high()));
// Medium-priority executor: SWI0_EGU0, priority level 7
let irq = interrupt::take!(SWI0_EGU0);
irq.set_priority(interrupt::Priority::P7);
let executor = EXECUTOR_MED.put(InterruptExecutor::new(irq));
executor.start(|spawner| {
unwrap!(spawner.spawn(run_med()));
});
let spawner = executor.start();
unwrap!(spawner.spawn(run_med()));
// Low priority executor: runs in thread mode, using WFE/SEV
let executor = EXECUTOR_LOW.put(Executor::new());

24
examples/nrf/src/bin/self_spawn.rs Normal file
View file

@ -0,0 +1,24 @@
#![no_std]
#![no_main]
#![feature(type_alias_impl_trait)]
use defmt::{info, unwrap};
use embassy::executor::Spawner;
use embassy::time::{Duration, Timer};
use embassy_nrf::Peripherals;
use defmt_rtt as _; // global logger
use panic_probe as _;
#[embassy::task(pool_size = 2)]
async fn my_task(spawner: Spawner, n: u32) {
Timer::after(Duration::from_secs(1)).await;
info!("Spawning self! {}", n);
unwrap!(spawner.spawn(my_task(spawner, n + 1)));
}
#[embassy::main]
async fn main(spawner: Spawner, _p: Peripherals) {
info!("Hello World!");
unwrap!(spawner.spawn(my_task(spawner, 0)));
}

10
examples/stm32f3/src/bin/multiprio.rs
View file

@ -124,17 +124,15 @@ fn main() -> ! {
let irq = interrupt::take!(UART4);
irq.set_priority(interrupt::Priority::P6);
let executor = EXECUTOR_HIGH.put(InterruptExecutor::new(irq));
executor.start(|spawner| {
unwrap!(spawner.spawn(run_high()));
});
let spawner = executor.start();
unwrap!(spawner.spawn(run_high()));
// Medium-priority executor: SWI0_EGU0, priority level 7
let irq = interrupt::take!(UART5);
irq.set_priority(interrupt::Priority::P7);
let executor = EXECUTOR_MED.put(InterruptExecutor::new(irq));
executor.start(|spawner| {
unwrap!(spawner.spawn(run_med()));
});
let spawner = executor.start();
unwrap!(spawner.spawn(run_med()));
// Low priority executor: runs in thread mode, using WFE/SEV
let executor = EXECUTOR_LOW.put(Executor::new());

10
examples/stm32f4/src/bin/multiprio.rs
View file

@ -124,17 +124,15 @@ fn main() -> ! {
let irq = interrupt::take!(UART4);
irq.set_priority(interrupt::Priority::P6);
let executor = EXECUTOR_HIGH.put(InterruptExecutor::new(irq));
executor.start(|spawner| {
unwrap!(spawner.spawn(run_high()));
});
let spawner = executor.start();
unwrap!(spawner.spawn(run_high()));
// Medium-priority executor: SWI0_EGU0, priority level 7
let irq = interrupt::take!(UART5);
irq.set_priority(interrupt::Priority::P7);
let executor = EXECUTOR_MED.put(InterruptExecutor::new(irq));
executor.start(|spawner| {
unwrap!(spawner.spawn(run_med()));
});
let spawner = executor.start();
unwrap!(spawner.spawn(run_med()));
// Low priority executor: runs in thread mode, using WFE/SEV
let executor = EXECUTOR_LOW.put(Executor::new());