feat: wait_until method for waker queue

rtic-common/src/wait_queue.rs

@@ -1,12 +1,17 @@
 //! A wait queue implementation using a doubly linked list.
 
-use core::marker::PhantomPinned;
+use core::{
-use core::pin::Pin;
+    future::poll_fn,
-use core::ptr::null_mut;
+    marker::PhantomPinned,
-use core::task::Waker;
+    pin::{pin, Pin},
+    ptr::null_mut,
+    task::{Poll, Waker},
+};
 use critical_section as cs;
 use portable_atomic::{AtomicBool, AtomicPtr, Ordering};
 
+use crate::dropper::OnDropWith;
+
 /// A helper definition of a wait queue.
 pub type WaitQueue = DoublyLinkedList<Waker>;
 
@@ -220,6 +225,51 @@ impl<T: core::fmt::Debug + Clone> DoublyLinkedList<T> {
     }
 }
 
+impl DoublyLinkedList<Waker> {
+    /// Wait until `f` returns `Some`.
+    pub async fn wait_until<T, F: FnMut() -> Option<T>>(&self, mut f: F) -> T {
+        let link_place = pin!(None::<Link<Waker>>);
+
+        let mut link_guard = OnDropWith::new(link_place, |link| {
+            if let Some(link) = link.as_ref().as_pin_ref() {
+                link.remove_from_list(self);
+            }
+            link.set(None);
+        });
+
+        poll_fn(move |cx| {
+            // clean up the old link, because we are going to invalidate it.
+            // we are doing it before returning `Poll::Ready` to handle cases
+            // where the future is polled after it is completed.
+            link_guard.execute();
+
+            if let Some(val) = f() {
+                return Poll::Ready(val);
+            }
+
+            // note: we may introduce a more complex logic to try to reuse the old link
+            // with the old waker by using `Waker::will_wake` to avoid `Waker::clone`,
+            // but it is probably not needed as Rtic's `waker` is cheap to clone.
+
+            // By the contract, each poll we should update the waker.
+            let new_link = Link::new(cx.waker().clone());
+
+            // Store the link into the pinned place.
+            link_guard.set(Some(new_link));
+
+            let new_link_pinned = link_guard.as_ref().as_pin_ref().expect("We just set it");
+
+            // SAFETY: we guarantee that `link` will live until removed by cleaning it up
+            // in the destructor of the future and that destructor is guaranteed to run
+            // before it's memory is reused or invalidated because the future is pinned.
+            unsafe { self.push(new_link_pinned) };
+
+            Poll::Pending
+        })
+        .await
+    }
+}
+
 #[cfg(test)]
 impl<T: core::fmt::Debug + Clone> Link<T> {
     fn print(&self) {