mirror of
https://github.com/rtic-rs/rtic.git
synced 2024-12-25 03:19:34 +01:00
Merge #464
464: const generics r=AfoHT a=burrbull Co-authored-by: Andrey Zgarbul <zgarbul.andrey@gmail.com> Co-authored-by: mriise <mark.riise26@gmail.com> Co-authored-by: Zgarbul Andrey <zgarbul.andrey@gmail.com>
This commit is contained in:
commit
78f556f942
12 changed files with 55 additions and 97 deletions
|
@ -44,9 +44,8 @@ cortex-m = "0.7.0"
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cortex-m-rtic-macros = { path = "macros", version = "0.6.0-alpha.5" }
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rtic-monotonic = "0.1.0-alpha.2"
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rtic-core = "0.3.1"
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heapless = "0.6.1"
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heapless = "0.7.1"
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bare-metal = "1.0.0"
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generic-array = "0.14"
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[dependencies.dwt-systick-monotonic]
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version = "0.1.0-alpha.3"
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@ -78,8 +78,8 @@ mod app {
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}
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// ready queue of the task dispatcher
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// `U4` is a type-level integer that represents the capacity of this queue
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static mut RQ1: Queue<Ready<T1>, U4> = Queue::new();
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// `5-1=4` represents the capacity of this queue
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static mut RQ1: Queue<Ready<T1>, 5> = Queue::new();
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// interrupt handler chosen to dispatch tasks at priority `1`
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#[no_mangle]
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@ -153,7 +153,7 @@ mod app {
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// used to track how many more `bar` messages can be enqueued
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// `U2` is the capacity of the `bar` task; a max of two instances can be queued
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// this queue is filled by the framework before `init` runs
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static mut bar_FQ: Queue<(), U2> = Queue::new();
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static mut bar_FQ: Queue<(), 3> = Queue::new();
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// Priority ceiling for the consumer endpoint of `bar_FQ`
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const bar_FQ_CEILING: u8 = 2;
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@ -227,7 +227,7 @@ mod app {
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// the free queue: used to track free slots in the `baz_INPUTS` array
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// this queue is initialized with values `0` and `1` before `init` is executed
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static mut baz_FQ: Queue<u8, U2> = Queue::new();
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static mut baz_FQ: Queue<u8, 3> = Queue::new();
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// Priority ceiling for the consumer endpoint of `baz_FQ`
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const baz_FQ_CEILING: u8 = 2;
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@ -42,14 +42,16 @@ mod app {
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#[task(binds = I2C0, priority = 2)]
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fn i2c0(_: i2c0::Context) {
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// claim a memory block, leave it uninitialized and ..
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let x = P::alloc().unwrap().freeze();
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// claim a memory block, initialize it and ..
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let x = P::alloc().unwrap().init([0u8; 128]);
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// .. send it to the `foo` task
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foo::spawn(x).ok().unwrap();
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// send another block to the task `bar`
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bar::spawn(P::alloc().unwrap().freeze()).ok().unwrap();
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bar::spawn(P::alloc().unwrap().init([0u8; 128]))
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.ok()
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.unwrap();
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}
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#[task]
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@ -10,23 +10,19 @@ use panic_semihosting as _;
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#[rtic::app(device = lm3s6965)]
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mod app {
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use cortex_m_semihosting::{debug, hprintln};
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use heapless::{
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consts::*,
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i,
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spsc::{Consumer, Producer, Queue},
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};
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use heapless::spsc::{Consumer, Producer, Queue};
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use lm3s6965::Interrupt;
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#[shared]
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struct Shared {
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p: Producer<'static, u32, U4>,
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c: Consumer<'static, u32, U4>,
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p: Producer<'static, u32, 5>,
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c: Consumer<'static, u32, 5>,
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}
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#[local]
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struct Local {}
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#[init(local = [q: Queue<u32, U4> = Queue(i::Queue::new())])]
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#[init(local = [q: Queue<u32, 5> = Queue::new()])]
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fn init(cx: init::Context) -> (Shared, Local, init::Monotonics) {
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let (p, c) = cx.local.q.split();
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@ -11,23 +11,19 @@ use panic_semihosting as _;
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mod app {
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use cortex_m_semihosting::{debug, hprintln};
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use heapless::{
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consts::*,
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i,
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spsc::{Consumer, Producer, Queue},
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};
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use heapless::spsc::{Consumer, Producer, Queue};
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use lm3s6965::Interrupt;
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#[shared]
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struct Shared {
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p: Producer<'static, u32, U4>,
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c: Consumer<'static, u32, U4>,
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p: Producer<'static, u32, 5>,
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c: Consumer<'static, u32, 5>,
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}
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#[local]
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struct Local {}
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#[init(local = [q: Queue<u32, U4> = Queue(i::Queue::new())])]
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#[init(local = [q: Queue<u32, 5> = Queue::new()])]
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fn init(cx: init::Context) -> (Shared, Local, init::Monotonics) {
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let (p, c) = cx.local.q.split();
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@ -42,15 +42,13 @@ pub fn codegen(app: &App, analysis: &Analysis, _extra: &Extra) -> Vec<TokenStrea
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}
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));
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let n = util::capacity_typenum(channel.capacity, true);
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let n = util::capacity_literal(channel.capacity as usize + 1);
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let rq = util::rq_ident(level);
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let rq = util::mark_internal_ident(&rq);
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let (rq_ty, rq_expr) = {
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(
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quote!(rtic::export::SCRQ<#t, #n>),
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quote!(rtic::export::Queue(unsafe {
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rtic::export::iQueue::u8_sc()
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})),
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quote!(rtic::export::Queue::new()),
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)
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};
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@ -32,8 +32,8 @@ pub fn codegen(
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let (_, _, _, input_ty) = util::regroup_inputs(inputs);
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let cap = task.args.capacity;
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let cap_lit = util::capacity_literal(cap);
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let cap_ty = util::capacity_typenum(cap, true);
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let cap_lit = util::capacity_literal(cap as usize);
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let cap_lit_p1 = util::capacity_literal(cap as usize + 1);
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// Create free queues and inputs / instants buffers
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let fq = util::fq_ident(name);
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@ -41,10 +41,8 @@ pub fn codegen(
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let (fq_ty, fq_expr, mk_uninit): (_, _, Box<dyn Fn() -> Option<_>>) = {
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(
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quote!(rtic::export::SCFQ<#cap_ty>),
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quote!(rtic::export::Queue(unsafe {
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rtic::export::iQueue::u8_sc()
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})),
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quote!(rtic::export::SCFQ<#cap_lit_p1>),
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quote!(rtic::export::Queue::new()),
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Box::new(|| util::link_section_uninit()),
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)
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};
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@ -62,12 +62,12 @@ pub fn codegen(app: &App, analysis: &Analysis, _extra: &Extra) -> Vec<TokenStrea
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{
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// For future use
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// let doc = &format!("Timer queue for {}", monotonic_name);
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let cap = app
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let cap: u8 = app
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.software_tasks
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.iter()
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.map(|(_name, task)| task.args.capacity)
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.sum();
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let n = util::capacity_typenum(cap, false);
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let n = util::capacity_literal(cap as usize);
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let tq_ty =
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quote!(core::mem::MaybeUninit<rtic::export::TimerQueue<#mono_type, #t, #n>>);
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@ -8,23 +8,10 @@ use syn::{Attribute, Ident, LitInt, PatType};
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use crate::check::Extra;
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/// Turns `capacity` into an unsuffixed integer literal
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pub fn capacity_literal(capacity: u8) -> LitInt {
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pub fn capacity_literal(capacity: usize) -> LitInt {
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LitInt::new(&capacity.to_string(), Span::call_site())
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}
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/// Turns `capacity` into a type-level (`typenum`) integer
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pub fn capacity_typenum(capacity: u8, round_up_to_power_of_two: bool) -> TokenStream2 {
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let capacity = if round_up_to_power_of_two {
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capacity.checked_next_power_of_two().expect("UNREACHABLE")
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} else {
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capacity
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};
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let ident = Ident::new(&format!("U{}", capacity), Span::call_site());
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quote!(rtic::export::consts::#ident)
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}
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/// Identifier for the free queue
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pub fn fq_ident(task: &Ident) -> Ident {
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Ident::new(&format!("{}_FQ", task.to_string()), Span::call_site())
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@ -13,13 +13,12 @@ pub use cortex_m::{
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peripheral::{scb::SystemHandler, syst::SystClkSource, DWT, NVIC},
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Peripherals,
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};
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use heapless::spsc::SingleCore;
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pub use heapless::{consts, i::Queue as iQueue, spsc::Queue};
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pub use heapless::{i::BinaryHeap as iBinaryHeap, BinaryHeap};
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pub use heapless::spsc::Queue;
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pub use heapless::BinaryHeap;
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pub use rtic_monotonic as monotonic;
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pub type SCFQ<N> = Queue<u8, N, u8, SingleCore>;
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pub type SCRQ<T, N> = Queue<(T, u8), N, u8, SingleCore>;
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pub type SCFQ<const N: usize> = Queue<u8, N>;
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pub type SCRQ<T, const N: usize> = Queue<(T, u8), N>;
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#[cfg(armv7m)]
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#[inline(always)]
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@ -3,8 +3,6 @@ use core::marker::PhantomData;
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use core::mem::MaybeUninit;
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use core::ops::{Deref, DerefMut};
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use core::ptr;
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pub use generic_array::ArrayLength;
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use generic_array::GenericArray;
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#[derive(Debug, Clone, Copy, PartialEq, Eq, PartialOrd, Ord)]
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struct LinkedIndex(u16);
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@ -37,21 +35,19 @@ pub struct Node<T> {
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}
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/// Iterator for the linked list.
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pub struct Iter<'a, T, Kind, N>
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pub struct Iter<'a, T, Kind, const N: usize>
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where
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T: PartialEq + PartialOrd,
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Kind: kind::Kind,
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N: ArrayLength<Node<T>>,
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{
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list: &'a LinkedList<T, Kind, N>,
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index: LinkedIndex,
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}
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impl<'a, T, Kind, N> Iterator for Iter<'a, T, Kind, N>
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impl<'a, T, Kind, const N: usize> Iterator for Iter<'a, T, Kind, N>
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where
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T: PartialEq + PartialOrd,
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Kind: kind::Kind,
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N: ArrayLength<Node<T>>,
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{
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type Item = &'a T;
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|
@ -66,11 +62,10 @@ where
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}
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/// Comes from [`LinkedList::find_mut`].
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pub struct FindMut<'a, T, Kind, N>
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pub struct FindMut<'a, T, Kind, const N: usize>
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where
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T: PartialEq + PartialOrd,
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Kind: kind::Kind,
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N: ArrayLength<Node<T>>,
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{
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list: &'a mut LinkedList<T, Kind, N>,
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is_head: bool,
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|
@ -79,11 +74,10 @@ where
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maybe_changed: bool,
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}
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impl<'a, T, Kind, N> FindMut<'a, T, Kind, N>
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impl<'a, T, Kind, const N: usize> FindMut<'a, T, Kind, N>
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where
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T: PartialEq + PartialOrd,
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Kind: kind::Kind,
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N: ArrayLength<Node<T>>,
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{
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fn pop_internal(&mut self) -> T {
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if self.is_head {
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|
@ -122,11 +116,10 @@ where
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}
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}
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impl<T, Kind, N> Drop for FindMut<'_, T, Kind, N>
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impl<T, Kind, const N: usize> Drop for FindMut<'_, T, Kind, N>
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where
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T: PartialEq + PartialOrd,
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Kind: kind::Kind,
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N: ArrayLength<Node<T>>,
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{
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fn drop(&mut self) {
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// Only resort the list if the element has changed
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|
@ -137,11 +130,10 @@ where
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}
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}
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impl<T, Kind, N> Deref for FindMut<'_, T, Kind, N>
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impl<T, Kind, const N: usize> Deref for FindMut<'_, T, Kind, N>
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where
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T: PartialEq + PartialOrd,
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Kind: kind::Kind,
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N: ArrayLength<Node<T>>,
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{
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type Target = T;
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|
@ -150,11 +142,10 @@ where
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}
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}
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impl<T, Kind, N> DerefMut for FindMut<'_, T, Kind, N>
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impl<T, Kind, const N: usize> DerefMut for FindMut<'_, T, Kind, N>
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where
|
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T: PartialEq + PartialOrd,
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Kind: kind::Kind,
|
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N: ArrayLength<Node<T>>,
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{
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fn deref_mut(&mut self) -> &mut Self::Target {
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self.maybe_changed = true;
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|
@ -162,11 +153,10 @@ where
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}
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}
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|
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impl<T, Kind, N> fmt::Debug for FindMut<'_, T, Kind, N>
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impl<T, Kind, const N: usize> fmt::Debug for FindMut<'_, T, Kind, N>
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where
|
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T: PartialEq + PartialOrd + core::fmt::Debug,
|
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Kind: kind::Kind,
|
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N: ArrayLength<Node<T>>,
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{
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fn fmt(&self, f: &mut fmt::Formatter<'_>) -> fmt::Result {
|
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f.debug_struct("FindMut")
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|
@ -189,23 +179,21 @@ where
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}
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|
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/// The linked list.
|
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pub struct LinkedList<T, Kind, N>
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pub struct LinkedList<T, Kind, const N: usize>
|
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where
|
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T: PartialEq + PartialOrd,
|
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Kind: kind::Kind,
|
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N: ArrayLength<Node<T>>,
|
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{
|
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list: MaybeUninit<GenericArray<Node<T>, N>>,
|
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list: MaybeUninit<[Node<T>; N]>,
|
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head: LinkedIndex,
|
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free: LinkedIndex,
|
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_kind: PhantomData<Kind>,
|
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}
|
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|
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impl<T, Kind, N> LinkedList<T, Kind, N>
|
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impl<T, Kind, const N: usize> LinkedList<T, Kind, N>
|
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where
|
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T: PartialEq + PartialOrd,
|
||||
Kind: kind::Kind,
|
||||
N: ArrayLength<Node<T>>,
|
||||
{
|
||||
/// Internal helper to not do pointer arithmetic all over the place.
|
||||
#[inline]
|
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|
@ -266,7 +254,7 @@ where
|
|||
_kind: PhantomData,
|
||||
};
|
||||
|
||||
let len = N::U16;
|
||||
let len = N as u16;
|
||||
let mut free = 0;
|
||||
|
||||
if len == 0 {
|
||||
|
@ -451,11 +439,10 @@ where
|
|||
}
|
||||
}
|
||||
|
||||
impl<T, Kind, N> Drop for LinkedList<T, Kind, N>
|
||||
impl<T, Kind, const N: usize> Drop for LinkedList<T, Kind, N>
|
||||
where
|
||||
T: PartialEq + PartialOrd,
|
||||
Kind: kind::Kind,
|
||||
N: ArrayLength<Node<T>>,
|
||||
{
|
||||
fn drop(&mut self) {
|
||||
let mut index = self.head;
|
||||
|
@ -471,11 +458,10 @@ where
|
|||
}
|
||||
}
|
||||
|
||||
impl<T, Kind, N> fmt::Debug for LinkedList<T, Kind, N>
|
||||
impl<T, Kind, const N: usize> fmt::Debug for LinkedList<T, Kind, N>
|
||||
where
|
||||
T: PartialEq + PartialOrd + core::fmt::Debug,
|
||||
Kind: kind::Kind,
|
||||
N: ArrayLength<Node<T>>,
|
||||
{
|
||||
fn fmt(&self, f: &mut fmt::Formatter<'_>) -> fmt::Result {
|
||||
f.debug_list().entries(self.iter()).finish()
|
||||
|
@ -518,11 +504,10 @@ pub mod kind {
|
|||
mod tests {
|
||||
// Note this useful idiom: importing names from outer (for mod tests) scope.
|
||||
use super::*;
|
||||
use generic_array::typenum::consts::*;
|
||||
|
||||
#[test]
|
||||
fn test_peek() {
|
||||
let mut ll: LinkedList<u32, Max, U3> = LinkedList::new();
|
||||
let mut ll: LinkedList<u32, Max, 3> = LinkedList::new();
|
||||
|
||||
ll.push(1).unwrap();
|
||||
assert_eq!(ll.peek().unwrap(), &1);
|
||||
|
@ -533,7 +518,7 @@ mod tests {
|
|||
ll.push(3).unwrap();
|
||||
assert_eq!(ll.peek().unwrap(), &3);
|
||||
|
||||
let mut ll: LinkedList<u32, Min, U3> = LinkedList::new();
|
||||
let mut ll: LinkedList<u32, Min, 3> = LinkedList::new();
|
||||
|
||||
ll.push(2).unwrap();
|
||||
assert_eq!(ll.peek().unwrap(), &2);
|
||||
|
@ -547,7 +532,7 @@ mod tests {
|
|||
|
||||
#[test]
|
||||
fn test_full() {
|
||||
let mut ll: LinkedList<u32, Max, U3> = LinkedList::new();
|
||||
let mut ll: LinkedList<u32, Max, 3> = LinkedList::new();
|
||||
ll.push(1).unwrap();
|
||||
ll.push(2).unwrap();
|
||||
ll.push(3).unwrap();
|
||||
|
@ -557,14 +542,14 @@ mod tests {
|
|||
|
||||
#[test]
|
||||
fn test_empty() {
|
||||
let ll: LinkedList<u32, Max, U3> = LinkedList::new();
|
||||
let ll: LinkedList<u32, Max, 3> = LinkedList::new();
|
||||
|
||||
assert!(ll.is_empty())
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn test_zero_size() {
|
||||
let ll: LinkedList<u32, Max, U0> = LinkedList::new();
|
||||
let ll: LinkedList<u32, Max, 0> = LinkedList::new();
|
||||
|
||||
assert!(ll.is_empty());
|
||||
assert!(ll.is_full());
|
||||
|
@ -572,7 +557,7 @@ mod tests {
|
|||
|
||||
#[test]
|
||||
fn test_rejected_push() {
|
||||
let mut ll: LinkedList<u32, Max, U3> = LinkedList::new();
|
||||
let mut ll: LinkedList<u32, Max, 3> = LinkedList::new();
|
||||
ll.push(1).unwrap();
|
||||
ll.push(2).unwrap();
|
||||
ll.push(3).unwrap();
|
||||
|
@ -585,7 +570,7 @@ mod tests {
|
|||
|
||||
#[test]
|
||||
fn test_updating() {
|
||||
let mut ll: LinkedList<u32, Max, U3> = LinkedList::new();
|
||||
let mut ll: LinkedList<u32, Max, 3> = LinkedList::new();
|
||||
ll.push(1).unwrap();
|
||||
ll.push(2).unwrap();
|
||||
ll.push(3).unwrap();
|
||||
|
|
|
@ -1,5 +1,5 @@
|
|||
use crate::{
|
||||
linked_list::{ArrayLength, LinkedList, Min, Node},
|
||||
linked_list::{LinkedList, Min},
|
||||
time::{Clock, Instant},
|
||||
Monotonic,
|
||||
};
|
||||
|
@ -14,16 +14,14 @@ fn unwrapper<T, E>(val: Result<T, E>) -> T {
|
|||
}
|
||||
}
|
||||
|
||||
pub struct TimerQueue<Mono, Task, N>(pub LinkedList<NotReady<Mono, Task>, Min, N>)
|
||||
pub struct TimerQueue<Mono, Task, const N: usize>(pub LinkedList<NotReady<Mono, Task>, Min, N>)
|
||||
where
|
||||
Mono: Monotonic,
|
||||
N: ArrayLength<Node<NotReady<Mono, Task>>>,
|
||||
Task: Copy;
|
||||
|
||||
impl<Mono, Task, N> TimerQueue<Mono, Task, N>
|
||||
impl<Mono, Task, const N: usize> TimerQueue<Mono, Task, N>
|
||||
where
|
||||
Mono: Monotonic,
|
||||
N: ArrayLength<Node<NotReady<Mono, Task>>>,
|
||||
Task: Copy,
|
||||
{
|
||||
pub fn new() -> Self {
|
||||
|
|
Loading…
Reference in a new issue