Try to add spawn-local

Author: usbalbin

rtic-macros/src/codegen/module.rs

@@ -142,7 +142,7 @@ pub fn codegen(ctxt: Context, app: &App, analysis: &Analysis) -> TokenStream2 {
         pub use super::#internal_context_name as Context;
     ));
 
-    if let Context::SoftwareTask(..) = ctxt {
+    if let Context::SoftwareTask(t) = ctxt {
         let spawnee = &app.software_tasks[name];
         let priority = spawnee.args.priority;
         let cfgs = &spawnee.cfgs;
@@ -163,13 +163,21 @@ pub fn codegen(ctxt: Context, app: &App, analysis: &Analysis) -> TokenStream2 {
         let (input_args, input_tupled, input_untupled, input_ty) =
             util::regroup_inputs(&spawnee.inputs);
 
+        let is_local_task = app.software_tasks[t].args.is_local_task;
+        let unsafety = if is_local_task {
+            // local tasks are only safe to call from the same executor
+            quote! { unsafe }
+        } else {
+            quote! {}
+        };
+
         // Spawn caller
         items.push(quote!(
             #(#cfgs)*
             /// Spawns the task directly
             #[allow(non_snake_case)]
             #[doc(hidden)]
-            pub fn #internal_spawn_ident(#(#input_args,)*) -> ::core::result::Result<(), #input_ty> {
+            pub #unsafety fn #internal_spawn_ident(#(#input_args,)*) -> ::core::result::Result<(), #input_ty> {
                 // SAFETY: If `try_allocate` succeeds one must call `spawn`, which we do.
                 unsafe {
                     let exec = rtic::export::executor::AsyncTaskExecutor::#from_ptr_n_args(#name, &#exec_name);
@@ -204,11 +212,13 @@ pub fn codegen(ctxt: Context, app: &App, analysis: &Analysis) -> TokenStream2 {
             }
         ));
 
-        module_items.push(quote!(
-            #(#cfgs)*
-            #[doc(inline)]
-            pub use super::#internal_spawn_ident as spawn;
-        ));
+        if is_local_task {
+            module_items.push(quote!(
+                #(#cfgs)*
+                #[doc(inline)]
+                pub use super::#internal_spawn_ident as spawn;
+            ));
+        }
 
         module_items.push(quote!(
             #(#cfgs)*

rtic-macros/src/codegen/software_tasks.rs

@@ -47,6 +47,9 @@ pub fn codegen(app: &App, analysis: &Analysis) -> TokenStream2 {
                 async fn #name #generics(#context: #name::Context<#lifetime> #(,#inputs)*) {
                     use rtic::Mutex as _;
                     use rtic::mutex::prelude::*;
+                    mod local_spawn {
+                        //#tasks_with_same_prio
+                    }
 
                     #(#stmts)*
                 }

rtic-macros/src/syntax/analyze.rs

@@ -285,13 +285,16 @@ pub(crate) fn app(app: &App) -> Result<Analysis, syn::Error> {
     for (name, spawnee) in &app.software_tasks {
         let spawnee_prio = spawnee.args.priority;
 
+        // TODO: What is this?
         let channel = channels.entry(spawnee_prio).or_default();
         channel.tasks.insert(name.clone());
 
-        // All inputs are send as we do not know from where they may be spawned.
-        spawnee.inputs.iter().for_each(|input| {
-            send_types.insert(input.ty.clone());
-        });
+        if !spawnee.args.is_local_task {
+            // All inputs are send as we do not know from where they may be spawned.
+            spawnee.inputs.iter().for_each(|input| {
+                send_types.insert(input.ty.clone());
+            });
+        }
     }
 
     // No channel should ever be empty

rtic-macros/src/syntax/ast.rs

@@ -256,6 +256,12 @@ pub struct SoftwareTaskArgs {
 
     /// Shared resources that can be accessed from this context
     pub shared_resources: SharedResources,
+
+    /// Local tasks
+    /// 
+    /// Local tasks can only be spawned from the same executor.
+    /// However they do not require Send and Sync
+    pub is_local_task: bool,
 }
 
 impl Default for SoftwareTaskArgs {
@@ -264,6 +270,7 @@ impl Default for SoftwareTaskArgs {
             priority: 0,
             local_resources: LocalResources::new(),
             shared_resources: SharedResources::new(),
+            is_local_task: false,
         }
     }
 }

rtic-macros/src/syntax/parse.rs

@@ -8,10 +8,7 @@ mod util;
 
 use proc_macro2::TokenStream as TokenStream2;
 use syn::{
-    braced,
-    parse::{self, Parse, ParseStream, Parser},
-    token::Brace,
-    Attribute, Ident, Item, LitInt, Meta, Token,
+    braced, parse::{self, Parse, ParseStream, Parser}, token::Brace, Attribute, Ident, Item, LitBool, LitInt, Meta, Token
 };
 
 use crate::syntax::{
@@ -197,6 +194,7 @@ fn task_args(tokens: TokenStream2) -> parse::Result<Either<HardwareTaskArgs, Sof
         let mut shared_resources = None;
         let mut local_resources = None;
         let mut prio_span = None;
+        let mut is_local_task = None;
 
         loop {
             if input.is_empty() {
@@ -277,6 +275,19 @@ fn task_args(tokens: TokenStream2) -> parse::Result<Either<HardwareTaskArgs, Sof
                     local_resources = Some(util::parse_local_resources(input)?);
                 }
 
+                "is_local_task" => {
+                    if is_local_task.is_some() {
+                        return Err(parse::Error::new(
+                            ident.span(),
+                            "argument appears more than once",
+                        ));
+                    }
+
+                    let lit: LitBool = input.parse()?;
+
+                    is_local_task = Some(lit.value);
+                }
+
                 _ => {
                     return Err(parse::Error::new(ident.span(), "unexpected argument"));
                 }
@@ -291,6 +302,7 @@ fn task_args(tokens: TokenStream2) -> parse::Result<Either<HardwareTaskArgs, Sof
         }
         let shared_resources = shared_resources.unwrap_or_default();
         let local_resources = local_resources.unwrap_or_default();
+        let is_local_task = is_local_task.unwrap_or(false);
 
         Ok(if let Some(binds) = binds {
             // Hardware tasks can't run at anything lower than 1
@@ -317,6 +329,7 @@ fn task_args(tokens: TokenStream2) -> parse::Result<Either<HardwareTaskArgs, Sof
                 priority,
                 shared_resources,
                 local_resources,
+                is_local_task,
             })
         })
     })