Merge #511

511: Remove linked list impl - use heapless, linked list init now const fn r=AfoHT a=korken89



Co-authored-by: Emil Fresk <emil.fresk@gmail.com>

Cargo.toml

@@ -44,7 +44,7 @@ cortex-m = "0.7.0"
 cortex-m-rtic-macros = { path = "macros", version = "0.6.0-alpha.5" }
 rtic-monotonic = "0.1.0-alpha.2"
 rtic-core = "0.3.1"
-heapless = "0.7.1"
+heapless = "0.7.5"
 bare-metal = "1.0.0"
 
 [dependencies.dwt-systick-monotonic]

macros/src/codegen/module.rs

@@ -327,7 +327,7 @@ pub fn codegen(
                 impl #internal_spawn_handle_ident {
                     pub fn cancel(self) -> Result<#ty, ()> {
                         rtic::export::interrupt::free(|_| unsafe {
-                            let tq = &mut *#tq.get_mut_unchecked().as_mut_ptr();
+                            let tq = #tq.get_mut_unchecked();
                             if let Some((_task, index)) = tq.cancel_marker(self.marker) {
                                 // Get the message
                                 let msg = #inputs
@@ -359,7 +359,7 @@ pub fn codegen(
                             let marker = *#tq_marker.get_mut_unchecked();
                             *#tq_marker.get_mut_unchecked() = #tq_marker.get_mut_unchecked().wrapping_add(1);
 
-                            let tq = &mut *#tq.get_mut_unchecked().as_mut_ptr();
+                            let tq = #tq.get_mut_unchecked();
 
                             tq.update_marker(self.marker, marker, instant, || #pend).map(|_| #name::#m::SpawnHandle { marker })
                         })
@@ -420,7 +420,7 @@ pub fn codegen(
 
                                 *#tq_marker.get_mut_unchecked() = #tq_marker.get_mut_unchecked().wrapping_add(1);
 
-                                let tq = &mut *#tq.get_mut_unchecked().as_mut_ptr();
+                                let tq = #tq.get_mut_unchecked();
 
                                 tq.enqueue_unchecked(
                                     nr,

macros/src/codegen/pre_init.rs

@@ -77,18 +77,10 @@ pub fn codegen(app: &App, analysis: &Analysis, extra: &Extra) -> Vec<TokenStream
         );));
     }
 
-    // Initialize monotonic's interrupts and timer queues
+    // Initialize monotonic's interrupts
     for (_, monotonic) in &app.monotonics {
         let priority = &monotonic.args.priority;
         let binds = &monotonic.args.binds;
-        let monotonic_name = monotonic.ident.to_string();
-        let tq = util::tq_ident(&monotonic_name);
-        let tq = util::mark_internal_ident(&tq);
-
-        // Initialize timer queues
-        stmts.push(
-            quote!(#tq.get_mut_unchecked().as_mut_ptr().write(rtic::export::TimerQueue::new());),
-        );
 
         // Compile time assert that this priority is supported by the device
         stmts.push(quote!(let _ = [(); ((1 << #nvic_prio_bits) - #priority as usize)];));

macros/src/codegen/timer_queue.rs

@@ -62,21 +62,20 @@ pub fn codegen(app: &App, analysis: &Analysis, _extra: &Extra) -> Vec<TokenStrea
         {
             // For future use
             // let doc = &format!("Timer queue for {}", monotonic_name);
-            let cap: u8 = app
+            let cap: usize = app
                 .software_tasks
                 .iter()
-                .map(|(_name, task)| task.args.capacity)
+                .map(|(_name, task)| task.args.capacity as usize)
                 .sum();
-            let n = util::capacity_literal(cap as usize);
+            let n = util::capacity_literal(cap);
-            let tq_ty =
+            let tq_ty = quote!(rtic::export::TimerQueue<#mono_type, #t, #n>);
-                quote!(core::mem::MaybeUninit<rtic::export::TimerQueue<#mono_type, #t, #n>>);
 
             // For future use
             // let doc = format!(" RTIC internal: {}:{}", file!(), line!());
             items.push(quote!(
                 #[doc(hidden)]
                 static #tq: rtic::RacyCell<#tq_ty> =
-                    rtic::RacyCell::new(core::mem::MaybeUninit::uninit());
+                    rtic::RacyCell::new(rtic::export::TimerQueue(rtic::export::SortedLinkedList::new_u16()));
             ));
 
             let mono = util::monotonic_ident(&monotonic_name);
@@ -138,7 +137,7 @@ pub fn codegen(app: &App, analysis: &Analysis, _extra: &Extra) -> Vec<TokenStrea
                 unsafe fn #bound_interrupt() {
                     while let Some((task, index)) = rtic::export::interrupt::free(|_|
                         if let Some(mono) = #m_ident.get_mut_unchecked().as_mut() {
-                            (&mut *#tq.get_mut_unchecked().as_mut_ptr()).dequeue(|| #disable_isr, mono)
+                            #tq.get_mut_unchecked().dequeue(|| #disable_isr, mono)
                         } else {
                             // We can only use the timer queue if `init` has returned, and it
                             // writes the `Some(monotonic)` we are accessing here.

src/export.rs

@@ -13,6 +13,7 @@ pub use cortex_m::{
     peripheral::{scb::SystemHandler, syst::SystClkSource, DWT, NVIC},
     Peripherals,
 };
+pub use heapless::sorted_linked_list::SortedLinkedList;
 pub use heapless::spsc::Queue;
 pub use heapless::BinaryHeap;
 pub use rtic_monotonic as monotonic;

src/lib.rs

@@ -43,8 +43,6 @@ pub use rtic_monotonic::{self, embedded_time as time, Monotonic};
 #[doc(hidden)]
 pub mod export;
 #[doc(hidden)]
-mod linked_list;
-#[doc(hidden)]
 mod tq;
 
 /// Sets the given `interrupt` as pending

src/linked_list.rs

@@ -1,597 +0,0 @@
-use core::fmt;
-use core::marker::PhantomData;
-use core::mem::MaybeUninit;
-use core::ops::{Deref, DerefMut};
-use core::ptr;
-
-#[derive(Debug, Clone, Copy, PartialEq, Eq, PartialOrd, Ord)]
-struct LinkedIndex(u16);
-
-impl LinkedIndex {
-    #[inline]
-    const unsafe fn new_unchecked(value: u16) -> Self {
-        LinkedIndex(value)
-    }
-
-    #[inline]
-    const fn none() -> Self {
-        LinkedIndex(u16::MAX)
-    }
-
-    #[inline]
-    const fn option(self) -> Option<u16> {
-        if self.0 == u16::MAX {
-            None
-        } else {
-            Some(self.0)
-        }
-    }
-}
-
-/// A node in the linked list.
-pub struct Node<T> {
-    val: MaybeUninit<T>,
-    next: LinkedIndex,
-}
-
-/// Iterator for the linked list.
-pub struct Iter<'a, T, Kind, const N: usize>
-where
-    T: PartialEq + PartialOrd,
-    Kind: kind::Kind,
-{
-    list: &'a LinkedList<T, Kind, N>,
-    index: LinkedIndex,
-}
-
-impl<'a, T, Kind, const N: usize> Iterator for Iter<'a, T, Kind, N>
-where
-    T: PartialEq + PartialOrd,
-    Kind: kind::Kind,
-{
-    type Item = &'a T;
-
-    fn next(&mut self) -> Option<Self::Item> {
-        let index = self.index.option()?;
-
-        let node = self.list.node_at(index as usize);
-        self.index = node.next;
-
-        Some(self.list.read_data_in_node_at(index as usize))
-    }
-}
-
-/// Comes from [`LinkedList::find_mut`].
-pub struct FindMut<'a, T, Kind, const N: usize>
-where
-    T: PartialEq + PartialOrd,
-    Kind: kind::Kind,
-{
-    list: &'a mut LinkedList<T, Kind, N>,
-    is_head: bool,
-    prev_index: LinkedIndex,
-    index: LinkedIndex,
-    maybe_changed: bool,
-}
-
-impl<'a, T, Kind, const N: usize> FindMut<'a, T, Kind, N>
-where
-    T: PartialEq + PartialOrd,
-    Kind: kind::Kind,
-{
-    fn pop_internal(&mut self) -> T {
-        if self.is_head {
-            // If it is the head element, we can do a normal pop
-            unsafe { self.list.pop_unchecked() }
-        } else {
-            // Somewhere in the list
-
-            // Re-point the previous index
-            self.list.node_at_mut(self.prev_index.0 as usize).next =
-                self.list.node_at_mut(self.index.0 as usize).next;
-
-            // Release the index into the free queue
-            self.list.node_at_mut(self.index.0 as usize).next = self.list.free;
-            self.list.free = self.index;
-
-            self.list.extract_data_in_node_at(self.index.0 as usize)
-        }
-    }
-
-    /// This will pop the element from the list.
-    ///
-    /// Complexity is O(1).
-    #[inline]
-    pub fn pop(mut self) -> T {
-        self.pop_internal()
-    }
-
-    /// This will resort the element into the correct position in the list in needed.
-    /// Same as calling `drop`.
-    ///
-    /// Complexity is worst-case O(N).
-    #[inline]
-    pub fn finish(self) {
-        drop(self)
-    }
-}
-
-impl<T, Kind, const N: usize> Drop for FindMut<'_, T, Kind, N>
-where
-    T: PartialEq + PartialOrd,
-    Kind: kind::Kind,
-{
-    fn drop(&mut self) {
-        // Only resort the list if the element has changed
-        if self.maybe_changed {
-            let val = self.pop_internal();
-            unsafe { self.list.push_unchecked(val) };
-        }
-    }
-}
-
-impl<T, Kind, const N: usize> Deref for FindMut<'_, T, Kind, N>
-where
-    T: PartialEq + PartialOrd,
-    Kind: kind::Kind,
-{
-    type Target = T;
-
-    fn deref(&self) -> &Self::Target {
-        self.list.read_data_in_node_at(self.index.0 as usize)
-    }
-}
-
-impl<T, Kind, const N: usize> DerefMut for FindMut<'_, T, Kind, N>
-where
-    T: PartialEq + PartialOrd,
-    Kind: kind::Kind,
-{
-    fn deref_mut(&mut self) -> &mut Self::Target {
-        self.maybe_changed = true;
-        self.list.read_mut_data_in_node_at(self.index.0 as usize)
-    }
-}
-
-impl<T, Kind, const N: usize> fmt::Debug for FindMut<'_, T, Kind, N>
-where
-    T: PartialEq + PartialOrd + core::fmt::Debug,
-    Kind: kind::Kind,
-{
-    fn fmt(&self, f: &mut fmt::Formatter<'_>) -> fmt::Result {
-        f.debug_struct("FindMut")
-            .field("prev_index", &self.prev_index)
-            .field("index", &self.index)
-            .field(
-                "prev_value",
-                &self
-                    .list
-                    .read_data_in_node_at(self.prev_index.option().unwrap() as usize),
-            )
-            .field(
-                "value",
-                &self
-                    .list
-                    .read_data_in_node_at(self.index.option().unwrap() as usize),
-            )
-            .finish()
-    }
-}
-
-/// The linked list.
-pub struct LinkedList<T, Kind, const N: usize>
-where
-    T: PartialEq + PartialOrd,
-    Kind: kind::Kind,
-{
-    list: MaybeUninit<[Node<T>; N]>,
-    head: LinkedIndex,
-    free: LinkedIndex,
-    _kind: PhantomData<Kind>,
-}
-
-impl<T, Kind, const N: usize> LinkedList<T, Kind, N>
-where
-    T: PartialEq + PartialOrd,
-    Kind: kind::Kind,
-{
-    /// Internal helper to not do pointer arithmetic all over the place.
-    #[inline]
-    fn node_at(&self, index: usize) -> &Node<T> {
-        // Safety: The entire `self.list` is initialized in `new`, which makes this safe.
-        unsafe { &*(self.list.as_ptr() as *const Node<T>).add(index) }
-    }
-
-    /// Internal helper to not do pointer arithmetic all over the place.
-    #[inline]
-    fn node_at_mut(&mut self, index: usize) -> &mut Node<T> {
-        // Safety: The entire `self.list` is initialized in `new`, which makes this safe.
-        unsafe { &mut *(self.list.as_mut_ptr() as *mut Node<T>).add(index) }
-    }
-
-    /// Internal helper to not do pointer arithmetic all over the place.
-    #[inline]
-    fn write_data_in_node_at(&mut self, index: usize, data: T) {
-        unsafe {
-            self.node_at_mut(index).val.as_mut_ptr().write(data);
-        }
-    }
-
-    /// Internal helper to not do pointer arithmetic all over the place.
-    #[inline]
-    fn read_data_in_node_at(&self, index: usize) -> &T {
-        unsafe { &*self.node_at(index).val.as_ptr() }
-    }
-
-    /// Internal helper to not do pointer arithmetic all over the place.
-    #[inline]
-    fn read_mut_data_in_node_at(&mut self, index: usize) -> &mut T {
-        unsafe { &mut *self.node_at_mut(index).val.as_mut_ptr() }
-    }
-
-    /// Internal helper to not do pointer arithmetic all over the place.
-    #[inline]
-    fn extract_data_in_node_at(&mut self, index: usize) -> T {
-        unsafe { self.node_at(index).val.as_ptr().read() }
-    }
-
-    /// Internal helper to not do pointer arithmetic all over the place.
-    /// Safety: This can overwrite existing allocated nodes if used improperly, meaning their
-    /// `Drop` methods won't run.
-    #[inline]
-    unsafe fn write_node_at(&mut self, index: usize, node: Node<T>) {
-        (self.list.as_mut_ptr() as *mut Node<T>)
-            .add(index)
-            .write(node)
-    }
-
-    /// Create a new linked list.
-    pub fn new() -> Self {
-        let mut list = LinkedList {
-            list: MaybeUninit::uninit(),
-            head: LinkedIndex::none(),
-            free: unsafe { LinkedIndex::new_unchecked(0) },
-            _kind: PhantomData,
-        };
-
-        let len = N as u16;
-        let mut free = 0;
-
-        if len == 0 {
-            list.free = LinkedIndex::none();
-            return list;
-        }
-
-        // Initialize indexes
-        while free < len - 1 {
-            unsafe {
-                list.write_node_at(
-                    free as usize,
-                    Node {
-                        val: MaybeUninit::uninit(),
-                        next: LinkedIndex::new_unchecked(free + 1),
-                    },
-                );
-            }
-            free += 1;
-        }
-
-        // Initialize final index
-        unsafe {
-            list.write_node_at(
-                free as usize,
-                Node {
-                    val: MaybeUninit::uninit(),
-                    next: LinkedIndex::none(),
-                },
-            );
-        }
-
-        list
-    }
-
-    /// Push unchecked
-    ///
-    /// Complexity is O(N).
-    ///
-    /// # Safety
-    ///
-    /// Assumes that the list is not full.
-    pub unsafe fn push_unchecked(&mut self, value: T) {
-        let new = self.free.0;
-        // Store the data and update the next free spot
-        self.write_data_in_node_at(new as usize, value);
-        self.free = self.node_at(new as usize).next;
-
-        if let Some(head) = self.head.option() {
-            // Check if we need to replace head
-            if self
-                .read_data_in_node_at(head as usize)
-                .partial_cmp(self.read_data_in_node_at(new as usize))
-                != Kind::ordering()
-            {
-                self.node_at_mut(new as usize).next = self.head;
-                self.head = LinkedIndex::new_unchecked(new);
-            } else {
-                // It's not head, search the list for the correct placement
-                let mut current = head;
-
-                while let Some(next) = self.node_at(current as usize).next.option() {
-                    if self
-                        .read_data_in_node_at(next as usize)
-                        .partial_cmp(self.read_data_in_node_at(new as usize))
-                        != Kind::ordering()
-                    {
-                        break;
-                    }
-
-                    current = next;
-                }
-
-                self.node_at_mut(new as usize).next = self.node_at(current as usize).next;
-                self.node_at_mut(current as usize).next = LinkedIndex::new_unchecked(new);
-            }
-        } else {
-            self.node_at_mut(new as usize).next = self.head;
-            self.head = LinkedIndex::new_unchecked(new);
-        }
-    }
-
-    /// Pushes an element to the linked list and sorts it into place.
-    ///
-    /// Complexity is O(N).
-    pub fn push(&mut self, value: T) -> Result<(), T> {
-        if !self.is_full() {
-            Ok(unsafe { self.push_unchecked(value) })
-        } else {
-            Err(value)
-        }
-    }
-
-    /// Get an iterator over the sorted list.
-    pub fn iter(&self) -> Iter<'_, T, Kind, N> {
-        Iter {
-            list: self,
-            index: self.head,
-        }
-    }
-
-    /// Find an element in the list.
-    pub fn find_mut<F>(&mut self, mut f: F) -> Option<FindMut<'_, T, Kind, N>>
-    where
-        F: FnMut(&T) -> bool,
-    {
-        let head = self.head.option()?;
-
-        // Special-case, first element
-        if f(self.read_data_in_node_at(head as usize)) {
-            return Some(FindMut {
-                is_head: true,
-                prev_index: LinkedIndex::none(),
-                index: self.head,
-                list: self,
-                maybe_changed: false,
-            });
-        }
-
-        let mut current = head;
-
-        while let Some(next) = self.node_at(current as usize).next.option() {
-            if f(self.read_data_in_node_at(next as usize)) {
-                return Some(FindMut {
-                    is_head: false,
-                    prev_index: unsafe { LinkedIndex::new_unchecked(current) },
-                    index: unsafe { LinkedIndex::new_unchecked(next) },
-                    list: self,
-                    maybe_changed: false,
-                });
-            }
-
-            current = next;
-        }
-
-        None
-    }
-
-    /// Peek at the first element.
-    pub fn peek(&self) -> Option<&T> {
-        self.head
-            .option()
-            .map(|head| self.read_data_in_node_at(head as usize))
-    }
-
-    /// Pop unchecked
-    ///
-    /// # Safety
-    ///
-    /// Assumes that the list is not empty.
-    pub unsafe fn pop_unchecked(&mut self) -> T {
-        let head = self.head.0;
-        let current = head;
-        self.head = self.node_at(head as usize).next;
-        self.node_at_mut(current as usize).next = self.free;
-        self.free = LinkedIndex::new_unchecked(current);
-
-        self.extract_data_in_node_at(current as usize)
-    }
-
-    /// Pops the first element in the list.
-    ///
-    /// Complexity is O(1).
-    pub fn pop(&mut self) -> Result<T, ()> {
-        if !self.is_empty() {
-            Ok(unsafe { self.pop_unchecked() })
-        } else {
-            Err(())
-        }
-    }
-
-    /// Checks if the linked list is full.
-    #[inline]
-    pub fn is_full(&self) -> bool {
-        self.free.option().is_none()
-    }
-
-    /// Checks if the linked list is empty.
-    #[inline]
-    pub fn is_empty(&self) -> bool {
-        self.head.option().is_none()
-    }
-}
-
-impl<T, Kind, const N: usize> Drop for LinkedList<T, Kind, N>
-where
-    T: PartialEq + PartialOrd,
-    Kind: kind::Kind,
-{
-    fn drop(&mut self) {
-        let mut index = self.head;
-
-        while let Some(i) = index.option() {
-            let node = self.node_at_mut(i as usize);
-            index = node.next;
-
-            unsafe {
-                ptr::drop_in_place(node.val.as_mut_ptr());
-            }
-        }
-    }
-}
-
-impl<T, Kind, const N: usize> fmt::Debug for LinkedList<T, Kind, N>
-where
-    T: PartialEq + PartialOrd + core::fmt::Debug,
-    Kind: kind::Kind,
-{
-    fn fmt(&self, f: &mut fmt::Formatter<'_>) -> fmt::Result {
-        f.debug_list().entries(self.iter()).finish()
-    }
-}
-
-/// Min sorted linked list.
-pub struct Min;
-
-/// Max sorted linked list.
-pub struct Max;
-
-/// Sealed traits and implementations for `linked_list`
-pub mod kind {
-    use super::{Max, Min};
-    use core::cmp::Ordering;
-
-    /// The linked list kind: min first or max first
-    pub unsafe trait Kind {
-        #[doc(hidden)]
-        fn ordering() -> Option<Ordering>;
-    }
-
-    unsafe impl Kind for Min {
-        #[inline]
-        fn ordering() -> Option<Ordering> {
-            Some(Ordering::Less)
-        }
-    }
-
-    unsafe impl Kind for Max {
-        #[inline]
-        fn ordering() -> Option<Ordering> {
-            Some(Ordering::Greater)
-        }
-    }
-}
-
-#[cfg(test)]
-mod tests {
-    // Note this useful idiom: importing names from outer (for mod tests) scope.
-    use super::*;
-
-    #[test]
-    fn test_peek() {
-        let mut ll: LinkedList<u32, Max, 3> = LinkedList::new();
-
-        ll.push(1).unwrap();
-        assert_eq!(ll.peek().unwrap(), &1);
-
-        ll.push(2).unwrap();
-        assert_eq!(ll.peek().unwrap(), &2);
-
-        ll.push(3).unwrap();
-        assert_eq!(ll.peek().unwrap(), &3);
-
-        let mut ll: LinkedList<u32, Min, 3> = LinkedList::new();
-
-        ll.push(2).unwrap();
-        assert_eq!(ll.peek().unwrap(), &2);
-
-        ll.push(1).unwrap();
-        assert_eq!(ll.peek().unwrap(), &1);
-
-        ll.push(3).unwrap();
-        assert_eq!(ll.peek().unwrap(), &1);
-    }
-
-    #[test]
-    fn test_full() {
-        let mut ll: LinkedList<u32, Max, 3> = LinkedList::new();
-        ll.push(1).unwrap();
-        ll.push(2).unwrap();
-        ll.push(3).unwrap();
-
-        assert!(ll.is_full())
-    }
-
-    #[test]
-    fn test_empty() {
-        let ll: LinkedList<u32, Max, 3> = LinkedList::new();
-
-        assert!(ll.is_empty())
-    }
-
-    #[test]
-    fn test_zero_size() {
-        let ll: LinkedList<u32, Max, 0> = LinkedList::new();
-
-        assert!(ll.is_empty());
-        assert!(ll.is_full());
-    }
-
-    #[test]
-    fn test_rejected_push() {
-        let mut ll: LinkedList<u32, Max, 3> = LinkedList::new();
-        ll.push(1).unwrap();
-        ll.push(2).unwrap();
-        ll.push(3).unwrap();
-
-        // This won't fit
-        let r = ll.push(4);
-
-        assert_eq!(r, Err(4));
-    }
-
-    #[test]
-    fn test_updating() {
-        let mut ll: LinkedList<u32, Max, 3> = LinkedList::new();
-        ll.push(1).unwrap();
-        ll.push(2).unwrap();
-        ll.push(3).unwrap();
-
-        let mut find = ll.find_mut(|v| *v == 2).unwrap();
-
-        *find += 1000;
-        find.finish();
-
-        assert_eq!(ll.peek().unwrap(), &1002);
-
-        let mut find = ll.find_mut(|v| *v == 3).unwrap();
-
-        *find += 1000;
-        find.finish();
-
-        assert_eq!(ll.peek().unwrap(), &1003);
-
-        // Remove largest element
-        ll.find_mut(|v| *v == 1003).unwrap().pop();
-
-        assert_eq!(ll.peek().unwrap(), &1002);
-    }
-}

src/tq.rs

@@ -1,9 +1,9 @@
 use crate::{
-    linked_list::{LinkedList, Min},
     time::{Clock, Instant},
     Monotonic,
 };
 use core::cmp::Ordering;
+use heapless::sorted_linked_list::{LinkedIndexU16, Min, SortedLinkedList};
 
 #[inline(always)]
 fn unwrapper<T, E>(val: Result<T, E>) -> T {
@@ -14,7 +14,9 @@ fn unwrapper<T, E>(val: Result<T, E>) -> T {
     }
 }
 
-pub struct TimerQueue<Mono, Task, const N: usize>(pub LinkedList<NotReady<Mono, Task>, Min, N>)
+pub struct TimerQueue<Mono, Task, const N: usize>(
+    pub SortedLinkedList<NotReady<Mono, Task>, LinkedIndexU16, Min, N>,
+)
 where
     Mono: Monotonic,
     Task: Copy;
@@ -24,10 +26,6 @@ where
     Mono: Monotonic,
     Task: Copy,
 {
-    pub fn new() -> Self {
-        TimerQueue(LinkedList::new())
-    }
-
     /// # Safety
     ///
     /// Writing to memory with a transmute in order to enable