Merge #730

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

See individual commits.

bors r+

Co-authored-by: Dario Nieuwenhuis <[email protected]>

4 files changed, 36 insertions, 18 deletions

diff --git a/examples/nrf/src/bin/multiprio.rs b/examples/nrf/src/bin/multiprio.rs
index e69f87d85..54f6606a9 100644
--- a/examples/nrf/src/bin/multiprio.rs
+++ b/examples/nrf/src/bin/multiprio.rs
@@ -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());
diff --git a/examples/nrf/src/bin/self_spawn.rs b/examples/nrf/src/bin/self_spawn.rs
new file mode 100644
index 000000000..35e73a8dd
--- /dev/null
+++ b/examples/nrf/src/bin/self_spawn.rs
@@ -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)));
+}
diff --git a/examples/stm32f3/src/bin/multiprio.rs b/examples/stm32f3/src/bin/multiprio.rs
index 1c9401549..02380de72 100644
--- a/examples/stm32f3/src/bin/multiprio.rs
+++ b/examples/stm32f3/src/bin/multiprio.rs
@@ -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());
diff --git a/examples/stm32f4/src/bin/multiprio.rs b/examples/stm32f4/src/bin/multiprio.rs
index 1c9401549..02380de72 100644
--- a/examples/stm32f4/src/bin/multiprio.rs
+++ b/examples/stm32f4/src/bin/multiprio.rs
@@ -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());