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Cleanup

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This commit is contained in:
Emil Fresk 2020-12-13 17:48:11 +01:00
parent 6277183906
commit aaa92ea2fa
3 changed files with 47 additions and 63 deletions
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7
macros/src/codegen/module.rs
View file

@ -204,10 +204,6 @@ pub fn codegen(
items.push(quote!(
#(#cfgs)*
pub fn spawn(#(#args,)*) -> Result<(), #ty> {
// #let_instant // do we need it?
use rtic::Mutex as _;
use rtic::mutex_prelude::*;
let input = #tupled;
unsafe {
@ -277,9 +273,6 @@ pub fn codegen(
#(,#args)*
) -> Result<(), #ty> {
unsafe {
use rtic::Mutex as _;
use rtic::mutex_prelude::*;
let input = #tupled;
if let Some(index) = rtic::export::interrupt::free(|_| #app_path::#fq.dequeue()) {
#app_path::#inputs

4
macros/src/codegen/timer_queue.rs
View file

@ -68,8 +68,6 @@ pub fn codegen(app: &App, analysis: &Analysis, _extra: &Extra) -> Vec<TokenStrea
// Timer queue handler
{
let enum_ = util::interrupt_ident();
let app_name = &app.name;
let app_path = quote! {crate::#app_name};
let rt_err = util::rt_err_ident();
let arms = app
@ -111,8 +109,6 @@ pub fn codegen(app: &App, analysis: &Analysis, _extra: &Extra) -> Vec<TokenStrea
items.push(quote!(
#[no_mangle]
unsafe fn #bound_interrupt() {
use rtic::Mutex as _;
while let Some((task, index)) = rtic::export::interrupt::free(|_| #tq.dequeue(
|| #enable_isr,
))

99
src/tq.rs
View file

@ -2,17 +2,17 @@ use crate::{time::Instant, Monotonic};
use core::cmp::Ordering;
use heapless::{binary_heap::Min, ArrayLength, BinaryHeap};
pub struct TimerQueue<M, T, N>(pub BinaryHeap<NotReady<M, T>, N, Min>)
pub struct TimerQueue<Mono, Task, N>(pub BinaryHeap<NotReady<Mono, Task>, N, Min>)
where
M: Monotonic,
N: ArrayLength<NotReady<M, T>>,
T: Copy;
Mono: Monotonic,
N: ArrayLength<NotReady<Mono, Task>>,
Task: Copy;
impl<M, T, N> TimerQueue<M, T, N>
impl<Mono, Task, N> TimerQueue<Mono, Task, N>
where
M: Monotonic,
N: ArrayLength<NotReady<M, T>>,
T: Copy,
Mono: Monotonic,
N: ArrayLength<NotReady<Mono, Task>>,
Task: Copy,
{
/// # Safety
///
@ -23,7 +23,7 @@ where
#[inline]
pub unsafe fn enqueue_unchecked<F1, F2>(
&mut self,
nr: NotReady<M, T>,
nr: NotReady<Mono, Task>,
enable_interrupt: F1,
pend_handler: F2,
) where
@ -63,44 +63,39 @@ where
/// Dequeue a task from the TimerQueue
#[inline]
pub fn dequeue<F>(&mut self, disable_interrupt: F) -> Option<(T, u8)>
pub fn dequeue<F>(&mut self, disable_interrupt: F) -> Option<(Task, u8)>
where
F: FnOnce(),
{
unsafe {
M::clear_compare();
Mono::clear_compare();
if let Some(instant) = self.0.peek().map(|p| p.instant) {
let now = M::now();
if instant < Mono::now() {
// instant < now
// task became ready
let nr = self.0.pop_unchecked();
match instant.checked_duration_since(&now) {
None => {
// instant < now
// task became ready
Some((nr.task, nr.index))
} else {
// TODO: Fix this hack...
// Extract the compare time
Mono::set_compare(*instant.duration_since_epoch().integer());
// Double check that the instant we set is really in the future, else
// dequeue. If the monotonic is fast enough it can happen that from the
// read of now to the set of the compare, the time can overflow. This is to
// guard against this.
if instant < Mono::now() {
let nr = self.0.pop_unchecked();
Some((nr.task, nr.index))
} else {
None
}
Some(_) => {
// TODO: Fix this hack...
// Extract the compare time
M::set_compare(*instant.duration_since_epoch().integer());
// Double check that the instant we set is really in the future, else
// dequeue. If the monotonic is fast enough it can happen that from the
// read of now to the set of the compare, the time can overflow. This is to
// guard against this.
if instant.checked_duration_since(&M::now()).is_none() {
let nr = self.0.pop_unchecked();
Some((nr.task, nr.index))
} else {
None
}
// Start counting down from the new reload
// mem::transmute::<_, SYST>(()).clear_current();
}
// Start counting down from the new reload
// mem::transmute::<_, SYST>(()).clear_current();
}
} else {
// The queue is empty
@ -113,47 +108,47 @@ where
}
}
pub struct NotReady<M, T>
pub struct NotReady<Mono, Task>
where
T: Copy,
M: Monotonic,
Task: Copy,
Mono: Monotonic,
{
pub index: u8,
pub instant: Instant<M>,
pub task: T,
pub instant: Instant<Mono>,
pub task: Task,
}
impl<M, T> Eq for NotReady<M, T>
impl<Mono, Task> Eq for NotReady<Mono, Task>
where
T: Copy,
M: Monotonic,
Task: Copy,
Mono: Monotonic,
{
}
impl<M, T> Ord for NotReady<M, T>
impl<Mono, Task> Ord for NotReady<Mono, Task>
where
T: Copy,
M: Monotonic,
Task: Copy,
Mono: Monotonic,
{
fn cmp(&self, other: &Self) -> Ordering {
self.instant.cmp(&other.instant)
}
}
impl<M, T> PartialEq for NotReady<M, T>
impl<Mono, Task> PartialEq for NotReady<Mono, Task>
where
T: Copy,
M: Monotonic,
Task: Copy,
Mono: Monotonic,
{
fn eq(&self, other: &Self) -> bool {
self.instant == other.instant
}
}
impl<M, T> PartialOrd for NotReady<M, T>
impl<Mono, Task> PartialOrd for NotReady<Mono, Task>
where
T: Copy,
M: Monotonic,
Task: Copy,
Mono: Monotonic,
{
fn partial_cmp(&self, other: &Self) -> Option<Ordering> {
Some(self.cmp(&other))