From f29b08190d426baee864c2caf2adf8da002b5179 Mon Sep 17 00:00:00 2001
From: Per Lindgren <per.lindgren@ltu.se>
Date: Thu, 11 Mar 2021 12:42:08 +0100
Subject: [PATCH] added spawn_at

---
 examples/spawn_at.rs | 53 ++++++++++++++++++++++++++++++++++++++++++++
 1 file changed, 53 insertions(+)
 create mode 100644 examples/spawn_at.rs

diff --git a/examples/spawn_at.rs b/examples/spawn_at.rs
new file mode 100644
index 0000000000..233c53faf2
--- /dev/null
+++ b/examples/spawn_at.rs
@@ -0,0 +1,53 @@
+//! examples/schedule.rs
+
+#![deny(unsafe_code)]
+#![deny(warnings)]
+#![no_main]
+#![no_std]
+
+use panic_semihosting as _;
+
+// NOTE: does NOT work on QEMU!
+#[rtic::app(device = lm3s6965, dispatchers = [SSI0])]
+mod app {
+    use cortex_m_semihosting::hprintln;
+    use dwt_systick_monotonic::{
+        consts::{U0, U8},
+        DwtSystick,
+    };
+    use rtic::time::duration::Seconds;
+
+    #[monotonic(binds = SysTick, default = true)]
+    type MyMono = DwtSystick<U8, U0, U0>; // 8 MHz
+
+    #[init()]
+    fn init(cx: init::Context) -> (init::LateResources, init::Monotonics) {
+        let mut dcb = cx.core.DCB;
+        let dwt = cx.core.DWT;
+        let systick = cx.core.SYST;
+
+        let mono = DwtSystick::new(&mut dcb, dwt, systick, 8_000_000);
+
+        hprintln!("init").unwrap();
+
+        // Schedule `foo` to run 1 second in the future
+        foo::spawn_after(Seconds(1_u32)).unwrap();
+
+        // Schedule `bar` to run 2 seconds in the future
+        bar::spawn_after(Seconds(2_u32)).unwrap();
+
+        (init::LateResources {}, init::Monotonics(mono))
+    }
+
+    #[task]
+    fn foo(_: foo::Context) {
+        let now = MyMono::now();
+        bar::spawn_at(now + Seconds(1_u32)).unwrap();
+        hprintln!("foo").unwrap();
+    }
+
+    #[task]
+    fn bar(_: bar::Context) {
+        hprintln!("bar").unwrap();
+    }
+}