mirror of
https://github.com/rtic-rs/rtic.git
synced 2024-11-23 20:22:51 +01:00
reduce memory overhead
by storing indices (u8) in the queues instead of pointers (*mut u8) in the binary heap we store the baseline inline along with the index and the task name. Before we stored a pointer to the message and had to lookup the baseline when comparing two nodes in the heap.
This commit is contained in:
Jorge Aparicio
parent
6de27b9a64
commit
0cc456ba80
10 changed files with 227 additions and 233 deletions
|
|
@ -52,7 +52,7 @@ required-features = ["timer-queue"]
|
|||
[dependencies]
|
||||
cortex-m = "0.4.0"
|
||||
cortex-m-rtfm-macros = { path = "macros", version = "0.3.1" }
|
||||
heapless = "0.3.5"
|
||||
heapless = "0.3.6"
|
||||
typenum = "1.10.0"
|
||||
|
||||
[target.'cfg(target_arch = "x86_64")'.dev-dependencies]
|
||||
|
|
@ -71,4 +71,4 @@ cm7-r0p1 = ["cortex-m/cm7-r0p1"]
|
|||
timer-queue = ["cortex-m-rtfm-macros/timer-queue"]
|
||||
|
||||
[profile.release]
|
||||
lto = true
|
||||
lto = true
|
||||
|
|
@ -1,3 +1,11 @@
|
|||
// # Pointers (old)
|
||||
//
|
||||
// ~40~ 32 bytes .bss
|
||||
//
|
||||
// # Indices (new)
|
||||
//
|
||||
// 12 bytes .bss
|
||||
|
||||
#![deny(unsafe_code)]
|
||||
#![deny(warnings)]
|
||||
#![feature(proc_macro)]
|
||||
|
|
|
|||
|
|
@ -1,16 +1,36 @@
|
|||
// 52 bytes .bss
|
||||
// # Pointers (old)
|
||||
//
|
||||
// ~52~ 48 bytes .bss
|
||||
//
|
||||
// # -Os
|
||||
//
|
||||
// init
|
||||
// a(bl=8000000, now=8000180, input=0)
|
||||
// a(bl=16000000, now=16000180, input=1)
|
||||
// a(bl=24000000, now=24000180, input=2)
|
||||
//
|
||||
// # -O3
|
||||
//
|
||||
// init
|
||||
// a(bl=8000000, now=8000168, input=0)
|
||||
// a(bl=16000000, now=16000168, input=1)
|
||||
// a(bl=24000000, now=24000168, input=2)
|
||||
//
|
||||
// # Indices (new)
|
||||
//
|
||||
// 32 bytes .bss
|
||||
//
|
||||
// ## -O3
|
||||
//
|
||||
// init
|
||||
// a(bl=8000000, now=8000170, input=0)
|
||||
// a(bl=16000000, now=16000170, input=1)
|
||||
//
|
||||
// ## -Os
|
||||
//
|
||||
// init
|
||||
// a(bl=8000000, now=8000179, input=0)
|
||||
// a(bl=16000000, now=16000179, input=1)
|
||||
|
||||
#![deny(unsafe_code)]
|
||||
#![deny(warnings)]
|
||||
|
|
|
|||
|
|
@ -1,6 +1,9 @@
|
|||
// 104 bytes .bss
|
||||
// # Pointers (old)
|
||||
//
|
||||
// ~104~ 88 bytes .bss
|
||||
//
|
||||
// ## -Os
|
||||
//
|
||||
// # -Os
|
||||
// a(bl=16000000, now=16000248, input=0)
|
||||
// b(bl=24000000, now=24000251, input=0)
|
||||
// a(bl=32000000, now=32000248, input=1)
|
||||
|
|
@ -11,8 +14,9 @@
|
|||
// a(bl=80000000, now=80000248, input=4)
|
||||
// b(bl=96000000, now=96000283, input=3)
|
||||
// a(bl=96000000, now=96002427, input=5)
|
||||
|
||||
// # -O3
|
||||
//
|
||||
// ## -O3
|
||||
//
|
||||
// init
|
||||
// a(bl=16000000, now=16000231, input=0)
|
||||
// b(bl=24000000, now=24000230, input=0)
|
||||
|
|
@ -24,6 +28,37 @@
|
|||
// a(bl=80000000, now=80000231, input=4)
|
||||
// b(bl=96000000, now=96000259, input=3)
|
||||
// a(bl=96000000, now=96002397, input=5)
|
||||
//
|
||||
// # Indices (new)
|
||||
//
|
||||
// 56 bytes .bss
|
||||
//
|
||||
// ## -O3
|
||||
//
|
||||
// a(bl=16000000, now=16000215, input=0)
|
||||
// b(bl=24000000, now=24000214, input=0)
|
||||
// a(bl=32000000, now=32000215, input=1)
|
||||
// b(bl=48000000, now=48000236, input=1)
|
||||
// a(bl=48000000, now=48002281, input=2)
|
||||
// a(bl=64000000, now=64000215, input=3)
|
||||
// b(bl=72000000, now=72000214, input=2)
|
||||
// a(bl=80000000, now=80000215, input=4)
|
||||
// b(bl=96000000, now=96000236, input=3)
|
||||
// a(bl=96000000, now=96002281, input=5)
|
||||
//
|
||||
// ## -Os
|
||||
//
|
||||
// init
|
||||
// a(bl=16000000, now=16000257, input=0)
|
||||
// b(bl=24000000, now=24000252, input=0)
|
||||
// a(bl=32000000, now=32000257, input=1)
|
||||
// b(bl=48000000, now=48000284, input=1)
|
||||
// a(bl=48000000, now=48002326, input=2)
|
||||
// a(bl=64000000, now=64000257, input=3)
|
||||
// b(bl=72000000, now=72000252, input=2)
|
||||
// a(bl=80000000, now=80000257, input=4)
|
||||
// b(bl=96000000, now=96000284, input=3)
|
||||
// a(bl=96000000, now=96002326, input=5)
|
||||
|
||||
#![deny(unsafe_code)]
|
||||
#![deny(warnings)]
|
||||
|
|
|
|||
|
|
@ -1,6 +1,9 @@
|
|||
// 96 bytes .bss
|
||||
// # Pointers (old)
|
||||
//
|
||||
// ~96~ 80 bytes .bss
|
||||
//
|
||||
// # -Os
|
||||
//
|
||||
// init
|
||||
// a(bl=16000000, now=16000249)
|
||||
// b(bl=24000000, now=24000248)
|
||||
|
|
@ -12,8 +15,9 @@
|
|||
// a(bl=80000000, now=80000249)
|
||||
// b(bl=96000000, now=96000282)
|
||||
// a(bl=96000000, now=96001731)
|
||||
|
||||
//
|
||||
// # -O3
|
||||
//
|
||||
// init
|
||||
// a(bl=16000000, now=16000228)
|
||||
// b(bl=24000000, now=24000231)
|
||||
|
|
@ -25,6 +29,38 @@
|
|||
// a(bl=80000000, now=80000228)
|
||||
// b(bl=96000000, now=96000257)
|
||||
// a(bl=96000000, now=96001705)
|
||||
//
|
||||
// # Indices (new)
|
||||
//
|
||||
// 48 bytes .bss
|
||||
//
|
||||
// ## -O3
|
||||
//
|
||||
// init
|
||||
// a(bl=16000000, now=16000213)
|
||||
// b(bl=24000000, now=24000212)
|
||||
// a(bl=32000000, now=32000213)
|
||||
// b(bl=48000000, now=48000234)
|
||||
// a(bl=48000000, now=48001650)
|
||||
// a(bl=64000000, now=64000213)
|
||||
// b(bl=72000000, now=72000212)
|
||||
// a(bl=80000000, now=80000213)
|
||||
// b(bl=96000000, now=96000234)
|
||||
// a(bl=96000000, now=96001650)
|
||||
//
|
||||
// ## -Os
|
||||
//
|
||||
// init
|
||||
// a(bl=16000000, now=16000253)
|
||||
// b(bl=24000000, now=24000251)
|
||||
// a(bl=32000000, now=32000253)
|
||||
// b(bl=48000000, now=48000283)
|
||||
// a(bl=48000000, now=48001681)
|
||||
// a(bl=64000000, now=64000253)
|
||||
// b(bl=72000000, now=72000251)
|
||||
// a(bl=80000000, now=80000253)
|
||||
// b(bl=96000000, now=96000283)
|
||||
// a(bl=96000000, now=96001681)
|
||||
|
||||
#![deny(unsafe_code)]
|
||||
#![deny(warnings)]
|
||||
|
|
|
|||
|
|
@ -1,13 +1,33 @@
|
|||
// 52 bytes .bss
|
||||
// # Pointers (old)
|
||||
//
|
||||
// ~52~ 40 bytes .bss
|
||||
//
|
||||
// ## -Os
|
||||
//
|
||||
// # -Os
|
||||
// init
|
||||
// a(bl=8000000, now=8000180)
|
||||
// a(bl=16000000, now=16000180)
|
||||
//
|
||||
// # -O3
|
||||
// ## -O3
|
||||
//
|
||||
// a(bl=8000000, now=8000168)
|
||||
// a(bl=16000000, now=16000168)
|
||||
//
|
||||
// # Indices (new)
|
||||
//
|
||||
// 28 bytes .bss
|
||||
//
|
||||
// ## -Os
|
||||
//
|
||||
// init
|
||||
// a(bl=8000000, now=8000176)
|
||||
// a(bl=16000000, now=16000176)
|
||||
//
|
||||
// ## -O3
|
||||
//
|
||||
// init
|
||||
// a(bl=8000000, now=8000167)
|
||||
// a(bl=16000000, now=16000167)
|
||||
|
||||
#![deny(unsafe_code)]
|
||||
#![deny(warnings)]
|
||||
|
|
|
|||
|
|
@ -280,18 +280,19 @@ pub fn app(ctxt: &Context, app: &App) -> Tokens {
|
|||
});
|
||||
}
|
||||
Either::Right(capacity) => {
|
||||
let capacity = Ident::from(format!("U{}", capacity));
|
||||
let ucapacity = Ident::from(format!("U{}", capacity));
|
||||
let capacity = capacity as usize;
|
||||
|
||||
root.push(quote! {
|
||||
#[allow(unsafe_code)]
|
||||
unsafe impl #hidden::#krate::Resource for #name::SQ {
|
||||
const NVIC_PRIO_BITS: u8 = ::#device::NVIC_PRIO_BITS;
|
||||
type Ceiling = #name::Ceiling;
|
||||
type Data = #hidden::#krate::SlotQueue<#input, #hidden::#krate::#capacity>;
|
||||
type Data = #hidden::#krate::SlotQueue<#hidden::#krate::#ucapacity>;
|
||||
|
||||
unsafe fn get() -> &'static mut Self::Data {
|
||||
static mut SQ:
|
||||
#hidden::#krate::SlotQueue<#input, #hidden::#krate::#capacity> =
|
||||
#hidden::#krate::SlotQueue<#hidden::#krate::#ucapacity> =
|
||||
#hidden::#krate::SlotQueue::u8();
|
||||
|
||||
&mut SQ
|
||||
|
|
@ -306,6 +307,10 @@ pub fn app(ctxt: &Context, app: &App) -> Tokens {
|
|||
.unwrap_or(0)
|
||||
));
|
||||
mod_.push(quote! {
|
||||
#[allow(unsafe_code)]
|
||||
pub static mut BUFFER: [#krate::Node<#input>; #capacity] =
|
||||
unsafe { #krate::uninitialized() };
|
||||
|
||||
pub struct SQ { _0: () }
|
||||
|
||||
#[allow(unsafe_code)]
|
||||
|
|
@ -372,13 +377,15 @@ pub fn app(ctxt: &Context, app: &App) -> Tokens {
|
|||
{
|
||||
unsafe {
|
||||
let slot = ::#name::SQ::new().claim_mut(t, |sq, _| sq.dequeue());
|
||||
if let Some(slot) = slot {
|
||||
let tp = slot
|
||||
.write(self.baseline, payload)
|
||||
.tag(::#__priority::Task::#name);
|
||||
if let Some(index) = slot {
|
||||
let task = ::#__priority::Task::#name;
|
||||
core::ptr::write(
|
||||
::#name::BUFFER.get_unchecked_mut(index as usize),
|
||||
#krate::Node { baseline: self.baseline, payload }
|
||||
);
|
||||
|
||||
::#__priority::Q::new().claim_mut(t, |q, _| {
|
||||
q.split().0.enqueue_unchecked(tp);
|
||||
q.split().0.enqueue_unchecked((task, index));
|
||||
});
|
||||
|
||||
#krate::set_pending(#device::Interrupt::#interrupt);
|
||||
|
|
@ -417,17 +424,19 @@ pub fn app(ctxt: &Context, app: &App) -> Tokens {
|
|||
#krate::Maximum<P, #krate::#qc>: #krate::Unsigned,
|
||||
{
|
||||
unsafe {
|
||||
if let Some(slot) =
|
||||
if let Some(index) =
|
||||
::#name::SQ::new().claim_mut(t, |sq, _| sq.dequeue()) {
|
||||
let tp = slot
|
||||
.write(payload)
|
||||
.tag(::#__priority::Task::#name);
|
||||
let task = ::#__priority::Task::#name;
|
||||
core::ptr::write(
|
||||
::#name::BUFFER.get_unchecked_mut(index as usize),
|
||||
#krate::Node { payload }
|
||||
);
|
||||
|
||||
::#__priority::Q::new().claim_mut(t, |q, _| {
|
||||
q.split().0.enqueue_unchecked(tp);
|
||||
q.split().0.enqueue_unchecked((task, index));
|
||||
});
|
||||
|
||||
#krate::set_pending(#device::Interrupt::#interrupt);
|
||||
#krate::set_pending(#device::Interrupt::#interrupt);
|
||||
|
||||
Ok(())
|
||||
} else {
|
||||
|
|
@ -487,14 +496,21 @@ pub fn app(ctxt: &Context, app: &App) -> Tokens {
|
|||
#krate::Maximum<P, #krate::#tqc>: #krate::Unsigned,
|
||||
{
|
||||
unsafe {
|
||||
if let Some(slot) =
|
||||
if let Some(index) =
|
||||
::#name::SQ::new().claim_mut(t, |sq, _| sq.dequeue()) {
|
||||
let bl = self.baseline + after;
|
||||
let tp = slot
|
||||
.write(bl, payload)
|
||||
.tag(::__tq::Task::#name);
|
||||
let task = ::__tq::Task::#name;
|
||||
core::ptr::write(
|
||||
::#name::BUFFER.get_unchecked_mut(index as usize),
|
||||
#krate::Node { baseline: bl, payload },
|
||||
);
|
||||
let m = #krate::Message {
|
||||
baseline: bl,
|
||||
index,
|
||||
task,
|
||||
};
|
||||
|
||||
::__tq::TQ::new().claim_mut(t, |tq, _| tq.enqueue(bl, tp));
|
||||
::__tq::TQ::new().claim_mut(t, |tq, _| tq.enqueue(m));
|
||||
|
||||
Ok(())
|
||||
} else {
|
||||
|
|
@ -531,7 +547,7 @@ pub fn app(ctxt: &Context, app: &App) -> Tokens {
|
|||
quote! {
|
||||
__tq::Task::#name => {
|
||||
#__priority::Q::new().claim_mut(t, |q, _| {
|
||||
q.split().0.enqueue_unchecked(tp.retag(#__priority::Task::#name))
|
||||
q.split().0.enqueue_unchecked((#__priority::Task::#name, index))
|
||||
});
|
||||
#hidden::#krate::set_pending(#device::Interrupt::#interrupt);
|
||||
}
|
||||
|
|
@ -585,8 +601,8 @@ pub fn app(ctxt: &Context, app: &App) -> Tokens {
|
|||
#hidden::#krate::dispatch(
|
||||
&mut #hidden::#krate::Threshold::<__tq::Priority>::new(),
|
||||
&mut __tq::TQ::new(),
|
||||
|t, tp| {
|
||||
match tp.tag() {
|
||||
|t, task, index| {
|
||||
match task {
|
||||
#(#arms,)*
|
||||
}
|
||||
})
|
||||
|
|
@ -644,20 +660,18 @@ pub fn app(ctxt: &Context, app: &App) -> Tokens {
|
|||
if cfg!(feature = "timer-queue") {
|
||||
quote! {
|
||||
#__priority::Task::#name => {
|
||||
let (bl, payload, slot) = payload.coerce().read();
|
||||
// priority
|
||||
#name::SQ::get().split().0.enqueue_unchecked(slot);
|
||||
#name::HANDLER(#name::Context::new(bl, payload));
|
||||
let node = core::ptr::read(::#name::BUFFER.get_unchecked(index as usize));
|
||||
#name::SQ::get().split().0.enqueue_unchecked(index);
|
||||
#name::HANDLER(#name::Context::new(node.baseline, node.payload));
|
||||
}
|
||||
|
||||
}
|
||||
} else {
|
||||
quote! {
|
||||
#__priority::Task::#name => {
|
||||
let (payload, slot) = payload.coerce().read();
|
||||
// priority
|
||||
#name::SQ::get().split().0.enqueue_unchecked(slot);
|
||||
#name::HANDLER(#name::Context::new(payload));
|
||||
let node = core::ptr::read(::#name::BUFFER.get_unchecked(index as usize));
|
||||
#name::SQ::get().split().0.enqueue_unchecked(index);
|
||||
#name::HANDLER(#name::Context::new(node.payload));
|
||||
}
|
||||
}
|
||||
}
|
||||
|
|
@ -675,8 +689,8 @@ pub fn app(ctxt: &Context, app: &App) -> Tokens {
|
|||
use #hidden::#krate::Resource;
|
||||
|
||||
// NOTE(get) the dispatcher is the only consumer of this queue
|
||||
while let Some(payload) = #__priority::Q::get().split().1.dequeue() {
|
||||
match payload.tag() {
|
||||
while let Some((task, index)) = #__priority::Q::get().split().1.dequeue() {
|
||||
match task {
|
||||
#(#arms,)*
|
||||
}
|
||||
}
|
||||
|
|
@ -691,16 +705,9 @@ pub fn app(ctxt: &Context, app: &App) -> Tokens {
|
|||
let input = &task.input;
|
||||
|
||||
if let Either::Right(capacity) = task.interrupt_or_capacity {
|
||||
let capacity = capacity as usize;
|
||||
|
||||
pre_init.push(quote! {
|
||||
{
|
||||
static mut N: [#hidden::#krate::Node<#input>; #capacity] =
|
||||
unsafe { #hidden::#krate::uninitialized() };
|
||||
|
||||
for node in N.iter_mut() {
|
||||
#name::SQ::get().enqueue_unchecked(node.into());
|
||||
}
|
||||
for i in 0..#capacity {
|
||||
#name::SQ::get().enqueue_unchecked(i);
|
||||
}
|
||||
})
|
||||
}
|
||||
|
|
|
|||
|
|
@ -37,13 +37,12 @@ pub use typenum::{Max, Maximum, Unsigned};
|
|||
|
||||
pub use instant::Instant;
|
||||
pub use node::Node;
|
||||
use node::{Slot, TaggedPayload};
|
||||
pub use resource::{Resource, Threshold};
|
||||
#[cfg(feature = "timer-queue")]
|
||||
pub use tq::{dispatch, TimerQueue};
|
||||
pub use tq::{dispatch, Message, TimerQueue};
|
||||
|
||||
pub type PayloadQueue<T, N> = RingBuffer<TaggedPayload<T>, N, u8>;
|
||||
pub type SlotQueue<T, N> = RingBuffer<Slot<T>, N, u8>;
|
||||
pub type PayloadQueue<T, N> = RingBuffer<(T, u8), N, u8>;
|
||||
pub type SlotQueue<N> = RingBuffer<u8, N, u8>;
|
||||
pub type Ceiling<R> = <R as Resource>::Ceiling;
|
||||
|
||||
pub struct Core {
|
||||
|
|
|
|||
164
src/node.rs
164
src/node.rs
|
|
@ -4,171 +4,11 @@ use core::{mem, ptr};
|
|||
use instant::Instant;
|
||||
|
||||
#[doc(hidden)]
|
||||
#[repr(C)]
|
||||
pub struct Node<T>
|
||||
where
|
||||
T: 'static,
|
||||
{
|
||||
#[cfg(feature = "timer-queue")]
|
||||
baseline: Instant,
|
||||
payload: T,
|
||||
}
|
||||
|
||||
#[cfg(feature = "timer-queue")]
|
||||
impl<T> Eq for Node<T> {}
|
||||
|
||||
#[cfg(feature = "timer-queue")]
|
||||
impl<T> PartialEq for Node<T> {
|
||||
fn eq(&self, other: &Node<T>) -> bool {
|
||||
self.baseline == other.baseline
|
||||
}
|
||||
}
|
||||
|
||||
#[cfg(feature = "timer-queue")]
|
||||
impl<T> Ord for Node<T> {
|
||||
fn cmp(&self, other: &Node<T>) -> Ordering {
|
||||
self.baseline.cmp(&other.baseline)
|
||||
}
|
||||
}
|
||||
|
||||
#[cfg(feature = "timer-queue")]
|
||||
impl<T> PartialOrd for Node<T> {
|
||||
fn partial_cmp(&self, other: &Node<T>) -> Option<Ordering> {
|
||||
Some(self.cmp(other))
|
||||
}
|
||||
}
|
||||
|
||||
#[doc(hidden)]
|
||||
pub struct Slot<T>
|
||||
where
|
||||
T: 'static,
|
||||
{
|
||||
node: &'static mut Node<T>,
|
||||
}
|
||||
|
||||
impl<T> Slot<T> {
|
||||
#[cfg(feature = "timer-queue")]
|
||||
pub fn write(self, bl: Instant, data: T) -> Payload<T> {
|
||||
self.node.baseline = bl;
|
||||
unsafe { ptr::write(&mut self.node.payload, data) }
|
||||
Payload { node: self.node }
|
||||
}
|
||||
|
||||
#[cfg(not(feature = "timer-queue"))]
|
||||
pub fn write(self, data: T) -> Payload<T> {
|
||||
unsafe { ptr::write(&mut self.node.payload, data) }
|
||||
Payload { node: self.node }
|
||||
}
|
||||
}
|
||||
|
||||
impl<T> Into<Slot<T>> for &'static mut Node<T> {
|
||||
fn into(self) -> Slot<T> {
|
||||
Slot { node: self }
|
||||
}
|
||||
}
|
||||
|
||||
#[doc(hidden)]
|
||||
pub struct Payload<T>
|
||||
where
|
||||
T: 'static,
|
||||
{
|
||||
node: &'static mut Node<T>,
|
||||
}
|
||||
|
||||
impl<T> Payload<T> {
|
||||
#[cfg(feature = "timer-queue")]
|
||||
pub fn read(self) -> (Instant, T, Slot<T>) {
|
||||
let data = unsafe { ptr::read(&self.node.payload) };
|
||||
(self.node.baseline, data, Slot { node: self.node })
|
||||
}
|
||||
|
||||
#[cfg(not(feature = "timer-queue"))]
|
||||
pub fn read(self) -> (T, Slot<T>) {
|
||||
let data = unsafe { ptr::read(&self.node.payload) };
|
||||
(data, Slot { node: self.node })
|
||||
}
|
||||
|
||||
pub fn tag<A>(self, tag: A) -> TaggedPayload<A>
|
||||
where
|
||||
A: Copy,
|
||||
{
|
||||
TaggedPayload {
|
||||
tag,
|
||||
payload: unsafe { mem::transmute(self) },
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
#[doc(hidden)]
|
||||
pub struct TaggedPayload<A>
|
||||
where
|
||||
A: Copy,
|
||||
{
|
||||
tag: A,
|
||||
payload: Payload<!>,
|
||||
}
|
||||
|
||||
impl<A> TaggedPayload<A>
|
||||
where
|
||||
A: Copy,
|
||||
{
|
||||
pub unsafe fn coerce<T>(self) -> Payload<T> {
|
||||
mem::transmute(self.payload)
|
||||
}
|
||||
|
||||
#[cfg(feature = "timer-queue")]
|
||||
pub fn baseline(&self) -> Instant {
|
||||
self.payload.node.baseline
|
||||
}
|
||||
|
||||
pub fn tag(&self) -> A {
|
||||
self.tag
|
||||
}
|
||||
|
||||
pub fn retag<B>(self, tag: B) -> TaggedPayload<B>
|
||||
where
|
||||
B: Copy,
|
||||
{
|
||||
TaggedPayload {
|
||||
tag,
|
||||
payload: self.payload,
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
#[cfg(feature = "timer-queue")]
|
||||
impl<T> Eq for TaggedPayload<T>
|
||||
where
|
||||
T: Copy,
|
||||
{
|
||||
}
|
||||
|
||||
#[cfg(feature = "timer-queue")]
|
||||
impl<T> Ord for TaggedPayload<T>
|
||||
where
|
||||
T: Copy,
|
||||
{
|
||||
fn cmp(&self, rhs: &Self) -> Ordering {
|
||||
self.payload.node.cmp(&rhs.payload.node)
|
||||
}
|
||||
}
|
||||
|
||||
#[cfg(feature = "timer-queue")]
|
||||
impl<T> PartialEq for TaggedPayload<T>
|
||||
where
|
||||
T: Copy,
|
||||
{
|
||||
fn eq(&self, rhs: &Self) -> bool {
|
||||
self.payload.node.eq(&rhs.payload.node)
|
||||
}
|
||||
}
|
||||
|
||||
#[cfg(feature = "timer-queue")]
|
||||
impl<T> PartialOrd for TaggedPayload<T>
|
||||
where
|
||||
T: Copy,
|
||||
{
|
||||
fn partial_cmp(&self, rhs: &Self) -> Option<Ordering> {
|
||||
Some(self.cmp(rhs))
|
||||
}
|
||||
pub baseline: Instant,
|
||||
pub payload: T,
|
||||
}
|
||||
|
|
|
|||
57
src/tq.rs
57
src/tq.rs
|
|
@ -1,4 +1,4 @@
|
|||
use core::cmp;
|
||||
use core::cmp::{self, Ordering};
|
||||
|
||||
use cortex_m::peripheral::{SCB, SYST};
|
||||
use heapless::binary_heap::{BinaryHeap, Min};
|
||||
|
|
@ -6,14 +6,39 @@ use heapless::ArrayLength;
|
|||
use typenum::{Max, Maximum, Unsigned};
|
||||
|
||||
use instant::Instant;
|
||||
use node::{Slot, TaggedPayload};
|
||||
use resource::{Resource, Threshold};
|
||||
|
||||
pub struct Message<T> {
|
||||
pub baseline: Instant,
|
||||
pub index: u8,
|
||||
pub task: T,
|
||||
}
|
||||
|
||||
impl<T> Eq for Message<T> {}
|
||||
|
||||
impl<T> Ord for Message<T> {
|
||||
fn cmp(&self, other: &Message<T>) -> Ordering {
|
||||
self.baseline.cmp(&other.baseline)
|
||||
}
|
||||
}
|
||||
|
||||
impl<T> PartialEq for Message<T> {
|
||||
fn eq(&self, other: &Message<T>) -> bool {
|
||||
self.baseline == other.baseline
|
||||
}
|
||||
}
|
||||
|
||||
impl<T> PartialOrd for Message<T> {
|
||||
fn partial_cmp(&self, other: &Message<T>) -> Option<Ordering> {
|
||||
Some(self.cmp(other))
|
||||
}
|
||||
}
|
||||
|
||||
enum State<T>
|
||||
where
|
||||
T: Copy,
|
||||
{
|
||||
Payload(TaggedPayload<T>),
|
||||
Payload { task: T, index: u8 },
|
||||
Baseline(Instant),
|
||||
Done,
|
||||
}
|
||||
|
|
@ -21,16 +46,16 @@ where
|
|||
#[doc(hidden)]
|
||||
pub struct TimerQueue<T, N>
|
||||
where
|
||||
N: ArrayLength<TaggedPayload<T>>,
|
||||
N: ArrayLength<Message<T>>,
|
||||
T: Copy,
|
||||
{
|
||||
pub syst: SYST,
|
||||
pub queue: BinaryHeap<TaggedPayload<T>, N, Min>,
|
||||
pub queue: BinaryHeap<Message<T>, N, Min>,
|
||||
}
|
||||
|
||||
impl<T, N> TimerQueue<T, N>
|
||||
where
|
||||
N: ArrayLength<TaggedPayload<T>>,
|
||||
N: ArrayLength<Message<T>>,
|
||||
T: Copy,
|
||||
{
|
||||
pub const fn new(syst: SYST) -> Self {
|
||||
|
|
@ -41,10 +66,10 @@ where
|
|||
}
|
||||
|
||||
#[inline]
|
||||
pub unsafe fn enqueue(&mut self, bl: Instant, tp: TaggedPayload<T>) {
|
||||
pub unsafe fn enqueue(&mut self, m: Message<T>) {
|
||||
if self.queue
|
||||
.peek()
|
||||
.map(|head| bl < head.baseline())
|
||||
.map(|head| m.baseline < head.baseline)
|
||||
.unwrap_or(true)
|
||||
{
|
||||
self.syst.enable_interrupt();
|
||||
|
|
@ -52,25 +77,29 @@ where
|
|||
unsafe { (*SCB::ptr()).icsr.write(1 << 26) }
|
||||
}
|
||||
|
||||
self.queue.push_unchecked(tp);
|
||||
self.queue.push_unchecked(m);
|
||||
}
|
||||
}
|
||||
|
||||
pub fn dispatch<T, TQ, N, F, P>(t: &mut Threshold<P>, tq: &mut TQ, mut f: F)
|
||||
where
|
||||
F: FnMut(&mut Threshold<P>, TaggedPayload<T>),
|
||||
F: FnMut(&mut Threshold<P>, T, u8),
|
||||
Maximum<P, TQ::Ceiling>: Unsigned,
|
||||
N: 'static + ArrayLength<TaggedPayload<T>>,
|
||||
N: 'static + ArrayLength<Message<T>>,
|
||||
P: Unsigned + Max<TQ::Ceiling>,
|
||||
T: 'static + Copy + Send,
|
||||
TQ: Resource<Data = TimerQueue<T, N>>,
|
||||
{
|
||||
loop {
|
||||
let state = tq.claim_mut(t, |tq, _| {
|
||||
if let Some(bl) = tq.queue.peek().map(|p| p.baseline()) {
|
||||
if let Some(bl) = tq.queue.peek().map(|p| p.baseline) {
|
||||
if Instant::now() >= bl {
|
||||
// message ready
|
||||
State::Payload(unsafe { tq.queue.pop_unchecked() })
|
||||
let m = unsafe { tq.queue.pop_unchecked() };
|
||||
State::Payload {
|
||||
task: m.task,
|
||||
index: m.index,
|
||||
}
|
||||
} else {
|
||||
// set a new timeout
|
||||
State::Baseline(bl)
|
||||
|
|
@ -83,7 +112,7 @@ where
|
|||
});
|
||||
|
||||
match state {
|
||||
State::Payload(p) => f(t, p),
|
||||
State::Payload { task, index } => f(t, task, index),
|
||||
State::Baseline(bl) => {
|
||||
const MAX: u32 = 0x00ffffff;
|
||||
|
||||
|
|
|
|||
Loading…
Reference in a new issue