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Old xtask test pass

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This commit is contained in:
Emil Fresk 2023-01-02 14:34:05 +01:00 committed by Henrik Tjäder
parent 4c2c05a801
commit ac4a3edf90
65 changed files with 1422 additions and 320 deletions
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7
ci/expected/async-delay.run Normal file
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@ -0,0 +1,7 @@
init
hello from bar
hello from baz
hello from foo
bye from foo
bye from bar
bye from baz

6
ci/expected/async-infinite-loop.run Normal file
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@ -0,0 +1,6 @@
init
hello from async 0
hello from async 1
hello from async 2
hello from async 3
hello from async 4

5
ci/expected/async-task-multiple-prios.run Normal file
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@ -0,0 +1,5 @@
init
hello from normal 2
hello from async 2
hello from normal 1
hello from async 1

3
ci/expected/async-task.run Normal file
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@ -0,0 +1,3 @@
init
hello from normal
hello from async

5
ci/expected/async-timeout.run Normal file
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@ -0,0 +1,5 @@
init
hello from bar
hello from foo
foo no timeout
bar timeout

6
ci/expected/periodic-at.run
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@ -1,4 +1,4 @@
foo Instant { ticks: 0 }
foo Instant { ticks: 100 }
foo Instant { ticks: 200 }
foo Instant { ticks: 300 }
foo Instant { ticks: 10 }
foo Instant { ticks: 20 }
foo Instant { ticks: 30 }

10
ci/expected/periodic-at2.run
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@ -1,7 +1,7 @@
foo Instant { ticks: 0 }
bar Instant { ticks: 10 }
foo Instant { ticks: 110 }
bar Instant { ticks: 120 }
foo Instant { ticks: 220 }
bar Instant { ticks: 230 }
foo Instant { ticks: 330 }
foo Instant { ticks: 30 }
bar Instant { ticks: 40 }
foo Instant { ticks: 60 }
bar Instant { ticks: 70 }
foo Instant { ticks: 90 }

4
ci/expected/pool.run
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@ -1,2 +1,2 @@
bar(0x20000088)
foo(0x2000010c)
bar(0x20000084)
foo(0x20000108)

67
examples/async-delay.rs Normal file
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@ -0,0 +1,67 @@
#![no_main]
#![no_std]
#![feature(type_alias_impl_trait)]
use panic_semihosting as _;
#[rtic::app(device = lm3s6965, dispatchers = [SSI0, UART0], peripherals = true)]
mod app {
use cortex_m_semihosting::{debug, hprintln};
use systick_monotonic::*;
#[shared]
struct Shared {}
#[local]
struct Local {}
#[monotonic(binds = SysTick, default = true)]
type MyMono = Systick<100>;
#[init]
fn init(cx: init::Context) -> (Shared, Local, init::Monotonics) {
hprintln!("init").unwrap();
foo::spawn().ok();
bar::spawn().ok();
baz::spawn().ok();
(
Shared {},
Local {},
init::Monotonics(Systick::new(cx.core.SYST, 12_000_000)),
)
}
#[idle]
fn idle(_: idle::Context) -> ! {
// debug::exit(debug::EXIT_SUCCESS);
loop {
// hprintln!("idle");
cortex_m::asm::wfi(); // put the MCU in sleep mode until interrupt occurs
}
}
#[task]
async fn foo(_cx: foo::Context) {
hprintln!("hello from foo").ok();
monotonics::delay(100.millis()).await;
hprintln!("bye from foo").ok();
}
#[task]
async fn bar(_cx: bar::Context) {
hprintln!("hello from bar").ok();
monotonics::delay(200.millis()).await;
hprintln!("bye from bar").ok();
}
#[task]
async fn baz(_cx: baz::Context) {
hprintln!("hello from baz").ok();
monotonics::delay(300.millis()).await;
hprintln!("bye from baz").ok();
debug::exit(debug::EXIT_SUCCESS);
}
}

57
examples/async-infinite-loop.rs Normal file
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@ -0,0 +1,57 @@
#![no_main]
#![no_std]
#![feature(type_alias_impl_trait)]
use panic_semihosting as _;
#[rtic::app(device = lm3s6965, dispatchers = [SSI0, UART0], peripherals = true)]
mod app {
use cortex_m_semihosting::{debug, hprintln};
use systick_monotonic::*;
#[shared]
struct Shared {}
#[local]
struct Local {}
#[monotonic(binds = SysTick, default = true)]
type MyMono = Systick<100>;
#[init]
fn init(cx: init::Context) -> (Shared, Local, init::Monotonics) {
hprintln!("init").unwrap();
foo::spawn().ok();
(
Shared {},
Local {},
init::Monotonics(Systick::new(cx.core.SYST, 12_000_000)),
)
}
#[idle]
fn idle(_: idle::Context) -> ! {
loop {
cortex_m::asm::wfi(); // put the MCU in sleep mode until interrupt occurs
}
}
// Infinite loops are not allowed in RTIC, however in async tasks they are - if there is an
// await inside the loop.
#[task]
async fn foo(_cx: foo::Context) {
let mut i = 0;
loop {
if i == 5 {
debug::exit(debug::EXIT_SUCCESS);
}
hprintln!("hello from async {}", i).ok();
monotonics::delay(100.millis()).await; // This makes it okey!
i += 1;
}
}
}

76
examples/async-task-multiple-prios.rs Normal file
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@ -0,0 +1,76 @@
#![no_main]
#![no_std]
#![feature(type_alias_impl_trait)]
use panic_semihosting as _;
// NOTES:
//
// - Async tasks cannot have `#[lock_free]` resources, as they can interleve and each async
// task can have a mutable reference stored.
// - Spawning an async task equates to it being polled once.
#[rtic::app(device = lm3s6965, dispatchers = [SSI0, QEI0, UART0, UART1], peripherals = true)]
mod app {
use cortex_m_semihosting::{debug, hprintln};
use systick_monotonic::*;
#[shared]
struct Shared {
a: u32,
b: u32,
}
#[local]
struct Local {}
#[monotonic(binds = SysTick, default = true)]
type MyMono = Systick<100>;
#[init]
fn init(cx: init::Context) -> (Shared, Local, init::Monotonics) {
hprintln!("init").unwrap();
normal_task::spawn().ok();
async_task::spawn().ok();
normal_task2::spawn().ok();
async_task2::spawn().ok();
(
Shared { a: 0, b: 0 },
Local {},
init::Monotonics(Systick::new(cx.core.SYST, 12_000_000)),
)
}
#[idle]
fn idle(_: idle::Context) -> ! {
// debug::exit(debug::EXIT_SUCCESS);
loop {
// hprintln!("idle");
cortex_m::asm::wfi(); // put the MCU in sleep mode until interrupt occurs
}
}
#[task(priority = 1, shared = [a, b])]
fn normal_task(_cx: normal_task::Context) {
hprintln!("hello from normal 1").ok();
}
#[task(priority = 1, shared = [a, b])]
async fn async_task(_cx: async_task::Context) {
hprintln!("hello from async 1").ok();
debug::exit(debug::EXIT_SUCCESS);
}
#[task(priority = 2, shared = [a, b])]
fn normal_task2(_cx: normal_task2::Context) {
hprintln!("hello from normal 2").ok();
}
#[task(priority = 2, shared = [a, b])]
async fn async_task2(_cx: async_task2::Context) {
hprintln!("hello from async 2").ok();
}
}

61
examples/async-task.rs Normal file
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@ -0,0 +1,61 @@
#![no_main]
#![no_std]
#![feature(type_alias_impl_trait)]
use panic_semihosting as _;
// NOTES:
//
// - Async tasks cannot have `#[lock_free]` resources, as they can interleve and each async
// task can have a mutable reference stored.
// - Spawning an async task equates to it being polled once.
#[rtic::app(device = lm3s6965, dispatchers = [SSI0, UART0], peripherals = true)]
mod app {
use cortex_m_semihosting::{debug, hprintln};
use systick_monotonic::*;
#[shared]
struct Shared {}
#[local]
struct Local {}
#[monotonic(binds = SysTick, default = true)]
type MyMono = Systick<100>;
#[init]
fn init(cx: init::Context) -> (Shared, Local, init::Monotonics) {
hprintln!("init").unwrap();
normal_task::spawn().ok();
async_task::spawn().ok();
(
Shared {},
Local {},
init::Monotonics(Systick::new(cx.core.SYST, 12_000_000)),
)
}
#[idle]
fn idle(_: idle::Context) -> ! {
// debug::exit(debug::EXIT_SUCCESS);
loop {
// hprintln!("idle");
cortex_m::asm::wfi(); // put the MCU in sleep mode until interrupt occurs
}
}
#[task]
fn normal_task(_cx: normal_task::Context) {
hprintln!("hello from normal").ok();
}
#[task]
async fn async_task(_cx: async_task::Context) {
hprintln!("hello from async").ok();
debug::exit(debug::EXIT_SUCCESS);
}
}

87
examples/async-timeout.rs Normal file
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@ -0,0 +1,87 @@
#![no_main]
#![no_std]
#![feature(type_alias_impl_trait)]
use panic_semihosting as _;
// NOTES:
//
// - Async tasks cannot have `#[lock_free]` resources, as they can interleve and each async
// task can have a mutable reference stored.
// - Spawning an async task equates to it being polled once.
#[rtic::app(device = lm3s6965, dispatchers = [SSI0, UART0], peripherals = true)]
mod app {
use core::{
future::Future,
pin::Pin,
task::{Context, Poll},
};
use cortex_m_semihosting::{debug, hprintln};
use systick_monotonic::*;
#[shared]
struct Shared {}
#[local]
struct Local {}
#[monotonic(binds = SysTick, default = true)]
type MyMono = Systick<100>;
#[init]
fn init(cx: init::Context) -> (Shared, Local, init::Monotonics) {
hprintln!("init").unwrap();
foo::spawn().ok();
bar::spawn().ok();
(
Shared {},
Local {},
init::Monotonics(Systick::new(cx.core.SYST, 12_000_000)),
)
}
#[idle]
fn idle(_: idle::Context) -> ! {
loop {
cortex_m::asm::wfi(); // put the MCU in sleep mode until interrupt occurs
}
}
#[task]
async fn foo(_cx: foo::Context) {
hprintln!("hello from foo").ok();
// This will not timeout
match monotonics::timeout_after(monotonics::delay(100.millis()), 200.millis()).await {
Ok(_) => hprintln!("foo no timeout").ok(),
Err(_) => hprintln!("foo timeout").ok(),
};
}
#[task]
async fn bar(_cx: bar::Context) {
hprintln!("hello from bar").ok();
// This will timeout
match monotonics::timeout_after(NeverEndingFuture {}, 300.millis()).await {
Ok(_) => hprintln!("bar no timeout").ok(),
Err(_) => hprintln!("bar timeout").ok(),
};
debug::exit(debug::EXIT_SUCCESS);
}
pub struct NeverEndingFuture {}
impl Future for NeverEndingFuture {
type Output = ();
fn poll(self: Pin<&mut Self>, _: &mut Context<'_>) -> Poll<Self::Output> {
// Never finish
Poll::Pending
}
}
}

15
examples/binds.rs
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@ -2,7 +2,6 @@
#![deny(unsafe_code)]
#![deny(warnings)]
#![deny(missing_docs)]
#![no_main]
#![no_std]
@ -24,22 +23,21 @@ mod app {
fn init(_: init::Context) -> (Shared, Local, init::Monotonics) {
rtic::pend(Interrupt::UART0);
hprintln!("init");
hprintln!("init").unwrap();
(Shared {}, Local {}, init::Monotonics())
}
#[idle]
fn idle(_: idle::Context) -> ! {
hprintln!("idle");
hprintln!("idle").unwrap();
rtic::pend(Interrupt::UART0);
loop {
// Exit moved after nop to ensure that rtic::pend gets
// to run before exiting
cortex_m::asm::nop();
debug::exit(debug::EXIT_SUCCESS); // Exit QEMU simulator
loop {
cortex_m::asm::nop();
}
}
@ -51,6 +49,7 @@ mod app {
"foo called {} time{}",
*cx.local.times,
if *cx.local.times > 1 { "s" } else { "" }
);
)
.unwrap();
}
}

9
examples/cancel-reschedule.rs
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@ -2,7 +2,6 @@
#![deny(unsafe_code)]
#![deny(warnings)]
#![deny(missing_docs)]
#![no_main]
#![no_std]
@ -29,7 +28,7 @@ mod app {
// Initialize the monotonic (SysTick rate in QEMU is 12 MHz)
let mono = Systick::new(systick, 12_000_000);
hprintln!("init");
hprintln!("init").ok();
// Schedule `foo` to run 1 second in the future
foo::spawn_after(1.secs()).unwrap();
@ -43,7 +42,7 @@ mod app {
#[task]
fn foo(_: foo::Context) {
hprintln!("foo");
hprintln!("foo").ok();
// Schedule `bar` to run 2 seconds in the future (1 second after foo runs)
let spawn_handle = baz::spawn_after(2.secs()).unwrap();
@ -52,7 +51,7 @@ mod app {
#[task]
fn bar(_: bar::Context, baz_handle: baz::SpawnHandle, do_reschedule: bool) {
hprintln!("bar");
hprintln!("bar").ok();
if do_reschedule {
// Reschedule baz 2 seconds from now, instead of the original 1 second
@ -68,7 +67,7 @@ mod app {
#[task]
fn baz(_: baz::Context) {
hprintln!("baz");
hprintln!("baz").ok();
debug::exit(debug::EXIT_SUCCESS); // Exit QEMU simulator
}
}

5
examples/capacity.rs
View file

@ -2,7 +2,6 @@
#![deny(unsafe_code)]
#![deny(warnings)]
#![deny(missing_docs)]
#![no_main]
#![no_std]
@ -38,12 +37,12 @@ mod app {
#[task(capacity = 4)]
fn foo(_: foo::Context, x: u32) {
hprintln!("foo({})", x);
hprintln!("foo({})", x).unwrap();
}
#[task]
fn bar(_: bar::Context) {
hprintln!("bar");
hprintln!("bar").unwrap();
debug::exit(debug::EXIT_SUCCESS); // Exit QEMU simulator
}

17
examples/cfg-whole-task.rs
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@ -2,7 +2,6 @@
#![deny(unsafe_code)]
#![deny(warnings)]
#![deny(missing_docs)]
#![no_main]
#![no_std]
@ -82,19 +81,6 @@ mod app {
// ..
}
// The whole task should disappear,
// currently still present in the Tasks enum
#[cfg(never)]
#[task(binds = UART1, shared = [count])]
fn foo3(mut _cx: foo3::Context) {
#[cfg(debug_assertions)]
{
_cx.shared.count.lock(|count| *count += 10);
log::spawn(_cx.shared.count.lock(|count| *count)).unwrap();
}
}
#[cfg(debug_assertions)]
#[task(capacity = 2)]
fn log(_: log::Context, n: u32) {
@ -102,6 +88,7 @@ mod app {
"foo has been called {} time{}",
n,
if n == 1 { "" } else { "s" }
);
)
.ok();
}
}

7
examples/common.rs
View file

@ -2,7 +2,6 @@
#![deny(unsafe_code)]
#![deny(warnings)]
#![deny(missing_docs)]
#![no_main]
#![no_std]
@ -74,7 +73,7 @@ mod app {
// This task is only spawned once in `init`, hence this task will run
// only once
hprintln!("foo");
hprintln!("foo").ok();
}
// Software task, also not bound to a hardware interrupt
@ -82,7 +81,7 @@ mod app {
// The resources `s1` and `s2` are shared between all other tasks.
#[task(shared = [s1, s2], local = [l2])]
fn bar(_: bar::Context) {
hprintln!("bar");
hprintln!("bar").ok();
// Run `bar` once per second
bar::spawn_after(1.secs()).unwrap();
@ -98,6 +97,6 @@ mod app {
// Note that RTIC does NOT clear the interrupt flag, this is up to the
// user
hprintln!("UART0 interrupt!");
hprintln!("UART0 interrupt!").ok();
}
}

54
examples/complex.rs
View file

@ -2,7 +2,6 @@
#![deny(unsafe_code)]
#![deny(warnings)]
#![deny(missing_docs)]
#![no_main]
#![no_std]
@ -26,7 +25,7 @@ mod app {
#[init]
fn init(_: init::Context) -> (Shared, Local, init::Monotonics) {
hprintln!("init");
hprintln!("init").unwrap();
(
Shared {
@ -41,31 +40,31 @@ mod app {
#[idle(shared = [s2, s3])]
fn idle(mut cx: idle::Context) -> ! {
hprintln!("idle p0 started");
hprintln!("idle p0 started").ok();
rtic::pend(Interrupt::GPIOC);
cx.shared.s3.lock(|s| {
hprintln!("idle enter lock s3 {}", s);
hprintln!("idle pend t0");
hprintln!("idle enter lock s3 {}", s).ok();
hprintln!("idle pend t0").ok();
rtic::pend(Interrupt::GPIOA); // t0 p2, with shared ceiling 3
hprintln!("idle pend t1");
hprintln!("idle pend t1").ok();
rtic::pend(Interrupt::GPIOB); // t1 p3, with shared ceiling 3
hprintln!("idle pend t2");
hprintln!("idle pend t2").ok();
rtic::pend(Interrupt::GPIOC); // t2 p4, no sharing
hprintln!("idle still in lock s3 {}", s);
hprintln!("idle still in lock s3 {}", s).ok();
});
hprintln!("\nback in idle");
hprintln!("\nback in idle").ok();
cx.shared.s2.lock(|s| {
hprintln!("enter lock s2 {}", s);
hprintln!("idle pend t0");
hprintln!("enter lock s2 {}", s).ok();
hprintln!("idle pend t0").ok();
rtic::pend(Interrupt::GPIOA); // t0 p2, with shared ceiling 2
hprintln!("idle pend t1");
hprintln!("idle pend t1").ok();
rtic::pend(Interrupt::GPIOB); // t1 p3, no sharing
hprintln!("idle pend t2");
hprintln!("idle pend t2").ok();
rtic::pend(Interrupt::GPIOC); // t2 p4, no sharing
hprintln!("idle still in lock s2 {}", s);
hprintln!("idle still in lock s2 {}", s).ok();
});
hprintln!("\nidle exit");
hprintln!("\nidle exit").ok();
debug::exit(debug::EXIT_SUCCESS); // Exit QEMU simulator
@ -83,8 +82,9 @@ mod app {
"t0 p2 called {} time{}",
*cx.local.times,
if *cx.local.times > 1 { "s" } else { "" }
);
hprintln!("t0 p2 exit");
)
.ok();
hprintln!("t0 p2 exit").ok();
}
#[task(binds = GPIOB, priority = 3, local = [times: u32 = 0], shared = [s3, s4])]
@ -96,18 +96,19 @@ mod app {
"t1 p3 called {} time{}",
*cx.local.times,
if *cx.local.times > 1 { "s" } else { "" }
);
)
.ok();
cx.shared.s4.lock(|s| {
hprintln!("t1 enter lock s4 {}", s);
hprintln!("t1 pend t0");
hprintln!("t1 enter lock s4 {}", s).ok();
hprintln!("t1 pend t0").ok();
rtic::pend(Interrupt::GPIOA); // t0 p2, with shared ceiling 2
hprintln!("t1 pend t2");
hprintln!("t1 pend t2").ok();
rtic::pend(Interrupt::GPIOC); // t2 p4, no sharing
hprintln!("t1 still in lock s4 {}", s);
hprintln!("t1 still in lock s4 {}", s).ok();
});
hprintln!("t1 p3 exit");
hprintln!("t1 p3 exit").ok();
}
#[task(binds = GPIOC, priority = 4, local = [times: u32 = 0], shared = [s4])]
@ -119,12 +120,13 @@ mod app {
"t2 p4 called {} time{}",
*cx.local.times,
if *cx.local.times > 1 { "s" } else { "" }
);
)
.unwrap();
cx.shared.s4.lock(|s| {
hprintln!("enter lock s4 {}", s);
hprintln!("enter lock s4 {}", s).ok();
*s += 1;
});
hprintln!("t3 p4 exit");
hprintln!("t3 p4 exit").ok();
}
}

1
examples/declared_locals.rs
View file

@ -2,7 +2,6 @@
#![deny(unsafe_code)]
#![deny(warnings)]
#![deny(missing_docs)]
#![no_main]
#![no_std]

5
examples/destructure.rs
View file

@ -2,7 +2,6 @@
#![deny(unsafe_code)]
#![deny(warnings)]
#![deny(missing_docs)]
#![no_main]
#![no_std]
@ -43,7 +42,7 @@ mod app {
let b = cx.shared.b;
let c = cx.shared.c;
hprintln!("foo: a = {}, b = {}, c = {}", a, b, c);
hprintln!("foo: a = {}, b = {}, c = {}", a, b, c).unwrap();
}
// De-structure-ing syntax
@ -51,6 +50,6 @@ mod app {
fn bar(cx: bar::Context) {
let bar::SharedResources { a, b, c } = cx.shared;
hprintln!("bar: a = {}, b = {}, c = {}", a, b, c);
hprintln!("bar: a = {}, b = {}, c = {}", a, b, c).unwrap();
}
}

12
examples/extern_binds.rs
View file

@ -2,7 +2,6 @@
#![deny(unsafe_code)]
#![deny(warnings)]
#![deny(missing_docs)]
#![no_main]
#![no_std]
@ -11,7 +10,7 @@ use panic_semihosting as _;
// Free function implementing the interrupt bound task `foo`.
fn foo(_: app::foo::Context) {
hprintln!("foo called");
hprintln!("foo called").ok();
}
#[rtic::app(device = lm3s6965)]
@ -30,22 +29,21 @@ mod app {
fn init(_: init::Context) -> (Shared, Local, init::Monotonics) {
rtic::pend(Interrupt::UART0);
hprintln!("init");
hprintln!("init").unwrap();
(Shared {}, Local {}, init::Monotonics())
}
#[idle]
fn idle(_: idle::Context) -> ! {
hprintln!("idle");
hprintln!("idle").unwrap();
rtic::pend(Interrupt::UART0);
debug::exit(debug::EXIT_SUCCESS); // Exit QEMU simulator
loop {
cortex_m::asm::nop();
// Exit moved after nop to ensure that rtic::pend gets
// to run before exiting
debug::exit(debug::EXIT_SUCCESS); // Exit QEMU simulator
}
}

3
examples/extern_spawn.rs
View file

@ -2,7 +2,6 @@
#![deny(unsafe_code)]
#![deny(warnings)]
#![deny(missing_docs)]
#![no_main]
#![no_std]
@ -11,7 +10,7 @@ use panic_semihosting as _;
// Free function implementing the spawnable task `foo`.
fn foo(_c: app::foo::Context, x: i32, y: u32) {
hprintln!("foo {}, {}", x, y);
hprintln!("foo {}, {}", x, y).unwrap();
if x == 2 {
debug::exit(debug::EXIT_SUCCESS); // Exit QEMU simulator
}

10
examples/generics.rs
View file

@ -2,7 +2,6 @@
#![deny(unsafe_code)]
#![deny(warnings)]
#![deny(missing_docs)]
#![no_main]
#![no_std]
@ -33,22 +32,19 @@ mod app {
#[task(binds = UART0, shared = [shared], local = [state: u32 = 0])]
fn uart0(c: uart0::Context) {
hprintln!("UART0(STATE = {})", *c.local.state);
hprintln!("UART0(STATE = {})", *c.local.state).unwrap();
// second argument has type `shared::shared`
super::advance(c.local.state, c.shared.shared);
rtic::pend(Interrupt::UART1);
// Exit moved after nop to ensure that rtic::pend gets
// to run before exiting
cortex_m::asm::nop();
debug::exit(debug::EXIT_SUCCESS); // Exit QEMU simulator
}
#[task(binds = UART1, priority = 2, shared = [shared], local = [state: u32 = 0])]
fn uart1(c: uart1::Context) {
hprintln!("UART1(STATE = {})", *c.local.state);
hprintln!("UART1(STATE = {})", *c.local.state).unwrap();
// second argument has type `shared::shared`
super::advance(c.local.state, c.shared.shared);
@ -65,5 +61,5 @@ fn advance(state: &mut u32, mut shared: impl Mutex<T = u32>) {
(old, *shared)
});
hprintln!("shared: {} -> {}", old, new);
hprintln!("shared: {} -> {}", old, new).unwrap();
}

15
examples/hardware.rs
View file

@ -2,7 +2,6 @@
#![deny(unsafe_code)]
#![deny(warnings)]
#![deny(missing_docs)]
#![no_main]
#![no_std]
@ -25,7 +24,7 @@ mod app {
// `init` returns because interrupts are disabled
rtic::pend(Interrupt::UART0); // equivalent to NVIC::pend
hprintln!("init");
hprintln!("init").unwrap();
(Shared {}, Local {}, init::Monotonics())
}
@ -34,15 +33,14 @@ mod app {
fn idle(_: idle::Context) -> ! {
// interrupts are enabled again; the `UART0` handler runs at this point
hprintln!("idle");
hprintln!("idle").unwrap();
rtic::pend(Interrupt::UART0);
loop {
// Exit moved after nop to ensure that rtic::pend gets
// to run before exiting
cortex_m::asm::nop();
debug::exit(debug::EXIT_SUCCESS); // Exit QEMU simulator
loop {
cortex_m::asm::nop();
}
}
@ -55,6 +53,7 @@ mod app {
"UART0 called {} time{}",
*cx.local.times,
if *cx.local.times > 1 { "s" } else { "" }
);
)
.unwrap();
}
}

5
examples/idle-wfi.rs
View file

@ -2,7 +2,6 @@
#![deny(unsafe_code)]
#![deny(warnings)]
#![deny(missing_docs)]
#![no_main]
#![no_std]
@ -20,7 +19,7 @@ mod app {
#[init]
fn init(mut cx: init::Context) -> (Shared, Local, init::Monotonics) {
hprintln!("init");
hprintln!("init").unwrap();
// Set the ARM SLEEPONEXIT bit to go to sleep after handling interrupts
// See https://developer.arm.com/docs/100737/0100/power-management/sleep-mode/sleep-on-exit-bit
@ -34,7 +33,7 @@ mod app {
// Locals in idle have lifetime 'static
let _x: &'static mut u32 = cx.local.x;
hprintln!("idle");
hprintln!("idle").unwrap();
debug::exit(debug::EXIT_SUCCESS); // Exit QEMU simulator

5
examples/idle.rs
View file

@ -2,7 +2,6 @@
#![deny(unsafe_code)]
#![deny(warnings)]
#![deny(missing_docs)]
#![no_main]
#![no_std]
@ -20,7 +19,7 @@ mod app {
#[init]
fn init(_: init::Context) -> (Shared, Local, init::Monotonics) {
hprintln!("init");
hprintln!("init").unwrap();
(Shared {}, Local {}, init::Monotonics())
}
@ -30,7 +29,7 @@ mod app {
// Locals in idle have lifetime 'static
let _x: &'static mut u32 = cx.local.x;
hprintln!("idle");
hprintln!("idle").unwrap();
debug::exit(debug::EXIT_SUCCESS); // Exit QEMU simulator

3
examples/init.rs
View file

@ -2,7 +2,6 @@
#![deny(unsafe_code)]
#![deny(warnings)]
#![deny(missing_docs)]
#![no_main]
#![no_std]
@ -33,7 +32,7 @@ mod app {
// to indicate that this is a critical seciton
let _cs_token: bare_metal::CriticalSection = cx.cs;
hprintln!("init");
hprintln!("init").unwrap();
debug::exit(debug::EXIT_SUCCESS); // Exit QEMU simulator

11
examples/locals.rs
View file

@ -2,8 +2,6 @@
#![deny(unsafe_code)]
#![deny(warnings)]
#![deny(missing_docs)]
#![deny(missing_docs)]
#![no_main]
#![no_std]
@ -18,11 +16,8 @@ mod app {
#[local]
struct Local {
/// Local foo
local_to_foo: i64,
/// Local bar
local_to_bar: i64,
/// Local idle
local_to_idle: i64,
}
@ -50,7 +45,7 @@ mod app {
let local_to_idle = cx.local.local_to_idle;
*local_to_idle += 1;
hprintln!("idle: local_to_idle = {}", local_to_idle);
hprintln!("idle: local_to_idle = {}", local_to_idle).unwrap();
debug::exit(debug::EXIT_SUCCESS); // Exit QEMU simulator
@ -74,7 +69,7 @@ mod app {
// error: no `local_to_bar` field in `foo::LocalResources`
// cx.local.local_to_bar += 1;
hprintln!("foo: local_to_foo = {}", local_to_foo);
hprintln!("foo: local_to_foo = {}", local_to_foo).unwrap();
}
// `local_to_bar` can only be accessed from this context
@ -86,6 +81,6 @@ mod app {
// error: no `local_to_foo` field in `bar::LocalResources`
// cx.local.local_to_foo += 1;
hprintln!("bar: local_to_bar = {}", local_to_bar);
hprintln!("bar: local_to_bar = {}", local_to_bar).unwrap();
}
}

5
examples/lock-free.rs
View file

@ -2,7 +2,6 @@
#![deny(unsafe_code)]
#![deny(warnings)]
#![deny(missing_docs)]
#![no_main]
#![no_std]
@ -34,7 +33,7 @@ mod app {
*c.shared.counter += 1; // <- no lock API required
let counter = *c.shared.counter;
hprintln!(" foo = {}", counter);
hprintln!(" foo = {}", counter).unwrap();
}
#[task(shared = [counter])] // <- same priority
@ -43,7 +42,7 @@ mod app {
*c.shared.counter += 1; // <- no lock API required
let counter = *c.shared.counter;
hprintln!(" bar = {}", counter);
hprintln!(" bar = {}", counter).unwrap();
debug::exit(debug::EXIT_SUCCESS); // Exit QEMU simulator
}

11
examples/lock.rs
View file

@ -2,7 +2,6 @@
#![deny(unsafe_code)]
#![deny(warnings)]
#![deny(missing_docs)]
#![no_main]
#![no_std]
@ -30,7 +29,7 @@ mod app {
// when omitted priority is assumed to be `1`
#[task(shared = [shared])]
fn foo(mut c: foo::Context) {
hprintln!("A");
hprintln!("A").unwrap();
// the lower priority task requires a critical section to access the data
c.shared.shared.lock(|shared| {
@ -40,7 +39,7 @@ mod app {
// bar will *not* run right now due to the critical section
bar::spawn().unwrap();
hprintln!("B - shared = {}", *shared);
hprintln!("B - shared = {}", *shared).unwrap();
// baz does not contend for `shared` so it's allowed to run now
baz::spawn().unwrap();
@ -48,7 +47,7 @@ mod app {
// critical section is over: bar can now start
hprintln!("E");
hprintln!("E").unwrap();
debug::exit(debug::EXIT_SUCCESS); // Exit QEMU simulator
}
@ -62,11 +61,11 @@ mod app {
*shared
});
hprintln!("D - shared = {}", shared);
hprintln!("D - shared = {}", shared).unwrap();
}
#[task(priority = 3)]
fn baz(_: baz::Context) {
hprintln!("C");
hprintln!("C").unwrap();
}
}

7
examples/message.rs
View file

@ -2,7 +2,6 @@
#![deny(unsafe_code)]
#![deny(warnings)]
#![deny(missing_docs)]
#![no_main]
#![no_std]
@ -27,7 +26,7 @@ mod app {
#[task(local = [count: u32 = 0])]
fn foo(cx: foo::Context) {
hprintln!("foo");
hprintln!("foo").unwrap();
bar::spawn(*cx.local.count).unwrap();
*cx.local.count += 1;
@ -35,14 +34,14 @@ mod app {
#[task]
fn bar(_: bar::Context, x: u32) {
hprintln!("bar({})", x);
hprintln!("bar({})", x).unwrap();
baz::spawn(x + 1, x + 2).unwrap();
}
#[task]
fn baz(_: baz::Context, x: u32, y: u32) {
hprintln!("baz({}, {})", x, y);
hprintln!("baz({}, {})", x, y).unwrap();
if x + y > 4 {
debug::exit(debug::EXIT_SUCCESS); // Exit QEMU simulator

3
examples/message_passing.rs
View file

@ -2,7 +2,6 @@
#![deny(unsafe_code)]
#![deny(warnings)]
#![deny(missing_docs)]
#![no_main]
#![no_std]
@ -30,7 +29,7 @@ mod app {
#[task(capacity = 3)]
fn foo(_c: foo::Context, x: i32, y: u32) {
hprintln!("foo {}, {}", x, y);
hprintln!("foo {}, {}", x, y).unwrap();
if x == 2 {
debug::exit(debug::EXIT_SUCCESS); // Exit QEMU simulator
}

3
examples/multilock.rs
View file

@ -2,7 +2,6 @@
#![deny(unsafe_code)]
#![deny(warnings)]
#![deny(missing_docs)]
#![no_main]
#![no_std]
@ -49,7 +48,7 @@ mod app {
*s2 += 1;
*s3 += 1;
hprintln!("Multiple locks, s1: {}, s2: {}, s3: {}", *s1, *s2, *s3);
hprintln!("Multiple locks, s1: {}, s2: {}, s3: {}", *s1, *s2, *s3).unwrap();
});
debug::exit(debug::EXIT_SUCCESS); // Exit QEMU simulator

4
examples/not-sync.rs
View file

@ -2,16 +2,13 @@
// #![deny(unsafe_code)]
#![deny(warnings)]
#![deny(missing_docs)]
#![no_main]
#![no_std]
use core::marker::PhantomData;
use panic_semihosting as _;
/// Not sync
pub struct NotSync {
/// Phantom action
_0: PhantomData<*const ()>,
}
@ -25,7 +22,6 @@ mod app {
#[shared]
struct Shared {
/// This resource is not Sync
shared: NotSync,
}

5
examples/only-shared-access.rs
View file

@ -2,7 +2,6 @@
#![deny(unsafe_code)]
#![deny(warnings)]
#![deny(missing_docs)]
#![no_main]
#![no_std]
@ -31,13 +30,13 @@ mod app {
#[task(shared = [&key])]
fn foo(cx: foo::Context) {
let key: &u32 = cx.shared.key;
hprintln!("foo(key = {:#x})", key);
hprintln!("foo(key = {:#x})", key).unwrap();
debug::exit(debug::EXIT_SUCCESS); // Exit QEMU simulator
}
#[task(priority = 2, shared = [&key])]
fn bar(cx: bar::Context) {
hprintln!("bar(key = {:#x})", cx.shared.key);
hprintln!("bar(key = {:#x})", cx.shared.key).unwrap();
}
}

7
examples/periodic-at.rs
View file

@ -2,7 +2,6 @@
#![deny(unsafe_code)]
#![deny(warnings)]
#![deny(missing_docs)]
#![no_main]
#![no_std]
@ -36,15 +35,15 @@ mod app {
#[task(local = [cnt: u32 = 0])]
fn foo(cx: foo::Context, instant: fugit::TimerInstantU64<100>) {
hprintln!("foo {:?}", instant);
hprintln!("foo {:?}", instant).ok();
*cx.local.cnt += 1;
if *cx.local.cnt == 4 {
debug::exit(debug::EXIT_SUCCESS); // Exit QEMU simulator
}
// Periodic ever 1 seconds
let next_instant = instant + 1.secs();
// Periodic every 100 milliseconds
let next_instant = instant + 100.millis();
foo::spawn_at(next_instant, next_instant).unwrap();
}
}

11
examples/periodic-at2.rs
View file

@ -2,7 +2,6 @@
#![deny(unsafe_code)]
#![deny(warnings)]
#![deny(missing_docs)]
#![no_main]
#![no_std]
@ -29,7 +28,7 @@ mod app {
// Initialize the monotonic (SysTick rate in QEMU is 12 MHz)
let mut mono = Systick::new(systick, 12_000_000);
foo::spawn_after(1.secs(), mono.now()).unwrap();
foo::spawn_after(200.millis(), mono.now()).unwrap();
(Shared {}, Local {}, init::Monotonics(mono))
}
@ -37,7 +36,7 @@ mod app {
// Using the explicit type of the timer implementation
#[task(local = [cnt: u32 = 0])]
fn foo(cx: foo::Context, instant: fugit::TimerInstantU64<100>) {
hprintln!("foo {:?}", instant);
hprintln!("foo {:?}", instant).ok();
*cx.local.cnt += 1;
if *cx.local.cnt == 4 {
@ -53,10 +52,10 @@ mod app {
// This remains agnostic to the timer implementation
#[task(local = [cnt: u32 = 0])]
fn bar(_cx: bar::Context, instant: <MyMono as rtic_monotonic::Monotonic>::Instant) {
hprintln!("bar {:?}", instant);
hprintln!("bar {:?}", instant).ok();
// Spawn a new message with 1s offset to spawned time
let next_instant = instant + 1.secs();
// Spawn a new message with 200ms offset to spawned time
let next_instant = instant + 200.millis();
foo::spawn_at(next_instant, next_instant).unwrap();
}
}

9
examples/periodic.rs
View file

@ -2,7 +2,6 @@
#![deny(unsafe_code)]
#![deny(warnings)]
#![deny(missing_docs)]
#![no_main]
#![no_std]
@ -29,21 +28,21 @@ mod app {
// Initialize the monotonic (SysTick rate in QEMU is 12 MHz)
let mono = Systick::new(systick, 12_000_000);
foo::spawn_after(1.secs()).unwrap();
foo::spawn_after(100.millis()).unwrap();
(Shared {}, Local {}, init::Monotonics(mono))
}
#[task(local = [cnt: u32 = 0])]
fn foo(cx: foo::Context) {
hprintln!("foo");
hprintln!("foo").ok();
*cx.local.cnt += 1;
if *cx.local.cnt == 4 {
debug::exit(debug::EXIT_SUCCESS); // Exit QEMU simulator
}
// Periodic ever 1 seconds
foo::spawn_after(1.secs()).unwrap();
// Periodic every 100ms
foo::spawn_after(100.millis()).unwrap();
}
}

4
examples/peripherals-taken.rs
View file

@ -1,7 +1,5 @@
//! examples/peripherals-taken.rs
#![deny(warnings)]
#![deny(unsafe_code)]
#![deny(missing_docs)]
#![deny(warnings)]
#![no_main]
#![no_std]

6
examples/pool.rs
View file

@ -2,8 +2,6 @@
#![deny(unsafe_code)]
#![deny(warnings)]
// pool!() generates a struct without docs
//#![deny(missing_docs)]
#![no_main]
#![no_std]
@ -58,7 +56,7 @@ mod app {
#[task]
fn foo(_: foo::Context, x: Box<P>) {
hprintln!("foo({:?})", x.as_ptr());
hprintln!("foo({:?})", x.as_ptr()).unwrap();
// explicitly return the block to the pool
drop(x);
@ -68,7 +66,7 @@ mod app {
#[task(priority = 2)]
fn bar(_: bar::Context, x: Box<P>) {
hprintln!("bar({:?})", x.as_ptr());
hprintln!("bar({:?})", x.as_ptr()).unwrap();
// this is done automatically so we can omit the call to `drop`
// drop(x);

10
examples/preempt.rs
View file

@ -25,21 +25,21 @@ mod app {
#[task(priority = 1)]
fn foo(_: foo::Context) {
hprintln!("foo - start");
hprintln!("foo - start").unwrap();
baz::spawn().unwrap();
hprintln!("foo - end");
hprintln!("foo - end").unwrap();
debug::exit(debug::EXIT_SUCCESS); // Exit QEMU simulator
}
#[task(priority = 2)]
fn bar(_: bar::Context) {
hprintln!(" bar");
hprintln!(" bar").unwrap();
}
#[task(priority = 2)]
fn baz(_: baz::Context) {
hprintln!(" baz - start");
hprintln!(" baz - start").unwrap();
bar::spawn().unwrap();
hprintln!(" baz - end");
hprintln!(" baz - end").unwrap();
}
}

3
examples/ramfunc.rs
View file

@ -1,7 +1,6 @@
//! examples/ramfunc.rs
#![deny(warnings)]
#![deny(missing_docs)]
#![no_main]
#![no_std]
@ -34,7 +33,7 @@ mod app {
#[inline(never)]
#[task]
fn foo(_: foo::Context) {
hprintln!("foo");
hprintln!("foo").unwrap();
debug::exit(debug::EXIT_SUCCESS); // Exit QEMU simulator
}

5
examples/resource-user-struct.rs
View file

@ -2,7 +2,6 @@
#![deny(unsafe_code)]
#![deny(warnings)]
#![deny(missing_docs)]
#![no_main]
#![no_std]
@ -56,7 +55,7 @@ mod app {
*shared
});
hprintln!("UART0: shared = {}", shared);
hprintln!("UART0: shared = {}", shared).unwrap();
}
// `shared` can be accessed from this context
@ -67,6 +66,6 @@ mod app {
*shared
});
hprintln!("UART1: shared = {}", shared);
hprintln!("UART1: shared = {}", shared).unwrap();
}
}

9
examples/schedule.rs
View file

@ -2,7 +2,6 @@
#![deny(unsafe_code)]
#![deny(warnings)]
#![deny(missing_docs)]
#![no_main]
#![no_std]
@ -29,7 +28,7 @@ mod app {
// Initialize the monotonic (SysTick rate in QEMU is 12 MHz)
let mono = Systick::new(systick, 12_000_000);
hprintln!("init");
hprintln!("init").ok();
// Schedule `foo` to run 1 second in the future
foo::spawn_after(1.secs()).unwrap();
@ -43,7 +42,7 @@ mod app {
#[task]
fn foo(_: foo::Context) {
hprintln!("foo");
hprintln!("foo").ok();
// Schedule `bar` to run 2 seconds in the future (1 second after foo runs)
bar::spawn_after(1.secs()).unwrap();
@ -51,7 +50,7 @@ mod app {
#[task]
fn bar(_: bar::Context) {
hprintln!("bar");
hprintln!("bar").ok();
// Schedule `baz` to run 1 seconds from now, but with a specific time instant.
baz::spawn_at(monotonics::now() + 1.secs()).unwrap();
@ -59,7 +58,7 @@ mod app {
#[task]
fn baz(_: baz::Context) {
hprintln!("baz");
hprintln!("baz").ok();
debug::exit(debug::EXIT_SUCCESS); // Exit QEMU simulator
}
}

5
examples/shared.rs
View file

@ -2,7 +2,6 @@
#![deny(unsafe_code)]
#![deny(warnings)]
#![deny(missing_docs)]
#![no_main]
#![no_std]
@ -16,9 +15,7 @@ mod app {
#[shared]
struct Shared {
/// Producer
p: Producer<'static, u32, 5>,
/// Consumer
c: Consumer<'static, u32, 5>,
}
@ -37,7 +34,7 @@ mod app {
fn idle(mut c: idle::Context) -> ! {
loop {
if let Some(byte) = c.shared.c.lock(|c| c.dequeue()) {
hprintln!("received message: {}", byte);
hprintln!("received message: {}", byte).unwrap();
debug::exit(debug::EXIT_SUCCESS); // Exit QEMU simulator
} else {

5
examples/spawn.rs
View file

@ -2,7 +2,6 @@
#![deny(unsafe_code)]
#![deny(warnings)]
#![deny(missing_docs)]
#![no_main]
#![no_std]
@ -20,7 +19,7 @@ mod app {
#[init]
fn init(_: init::Context) -> (Shared, Local, init::Monotonics) {
hprintln!("init");
hprintln!("init").unwrap();
foo::spawn().unwrap();
(Shared {}, Local {}, init::Monotonics())
@ -28,7 +27,7 @@ mod app {
#[task]
fn foo(_: foo::Context) {
hprintln!("foo");
hprintln!("foo").unwrap();
debug::exit(debug::EXIT_SUCCESS); // Exit QEMU simulator
}

3
examples/static.rs
View file

@ -2,7 +2,6 @@
#![deny(unsafe_code)]
#![deny(warnings)]
#![deny(missing_docs)]
#![no_main]
#![no_std]
@ -38,7 +37,7 @@ mod app {
loop {
// Lock-free access to the same underlying queue!
if let Some(data) = c.local.c.dequeue() {
hprintln!("received message: {}", data);
hprintln!("received message: {}", data).unwrap();
// Run foo until data
if data == 3 {

1
examples/t-binds.rs
View file

@ -2,7 +2,6 @@
#![deny(unsafe_code)]
#![deny(warnings)]
#![deny(missing_docs)]
#![no_main]
#![no_std]

2
examples/t-htask-main.rs
View file

@ -1,7 +1,5 @@
//! examples/t-htask-main.rs
#![deny(unsafe_code)]
#![deny(warnings)]
#![deny(missing_docs)]
#![no_main]
#![no_std]

2
examples/t-idle-main.rs
View file

@ -1,7 +1,5 @@
//! examples/t-idle-main.rs
#![deny(unsafe_code)]
#![deny(warnings)]
#![deny(missing_docs)]
#![no_main]
#![no_std]

1
examples/t-schedule.rs
View file

@ -2,7 +2,6 @@
#![deny(unsafe_code)]
#![deny(warnings)]
#![deny(missing_docs)]
#![no_main]
#![no_std]

1
examples/t-spawn.rs
View file

@ -2,7 +2,6 @@
#![deny(unsafe_code)]
#![deny(warnings)]
#![deny(missing_docs)]
#![no_main]
#![no_std]

11
examples/task.rs
View file

@ -2,7 +2,6 @@
#![deny(unsafe_code)]
#![deny(warnings)]
#![deny(missing_docs)]
#![no_main]
#![no_std]
@ -27,31 +26,31 @@ mod app {
#[task]
fn foo(_: foo::Context) {
hprintln!("foo - start");
hprintln!("foo - start").unwrap();
// spawns `bar` onto the task scheduler
// `foo` and `bar` have the same priority so `bar` will not run until
// after `foo` terminates
bar::spawn().unwrap();
hprintln!("foo - middle");
hprintln!("foo - middle").unwrap();
// spawns `baz` onto the task scheduler
// `baz` has higher priority than `foo` so it immediately preempts `foo`
baz::spawn().unwrap();
hprintln!("foo - end");
hprintln!("foo - end").unwrap();
}
#[task]
fn bar(_: bar::Context) {
hprintln!("bar");
hprintln!("bar").unwrap();
debug::exit(debug::EXIT_SUCCESS); // Exit QEMU simulator
}
#[task(priority = 2)]
fn baz(_: baz::Context) {
hprintln!("baz");
hprintln!("baz").unwrap();
}
}

1
macros/src/codegen/local_resources_struct.rs
View file

@ -37,7 +37,6 @@ pub fn codegen(ctxt: Context, needs_lt: &mut bool, app: &App) -> (TokenStream2,
(&r.cfgs, &r.ty, false)
}
TaskLocal::Declared(r) => (&r.cfgs, &r.ty, true),
_ => unreachable!(),
};
has_cfgs |= !cfgs.is_empty();

21
macros/src/syntax.rs
View file

@ -1,7 +1,6 @@
#[allow(unused_extern_crates)]
extern crate proc_macro;
use core::ops;
use proc_macro::TokenStream;
use indexmap::{IndexMap, IndexSet};
@ -23,26 +22,6 @@ pub type Map<T> = IndexMap<Ident, T>;
/// An order set
pub type Set<T> = IndexSet<T>;
/// Immutable pointer
pub struct P<T> {
ptr: Box<T>,
}
impl<T> P<T> {
/// Boxes `x` making the value immutable
pub fn new(x: T) -> P<T> {
P { ptr: Box::new(x) }
}
}
impl<T> ops::Deref for P<T> {
type Target = T;
fn deref(&self) -> &T {
&self.ptr
}
}
/// Execution context
#[derive(Clone, Copy)]
pub enum Context<'a> {

42
macros/src/syntax/analyze.rs
View file

@ -338,8 +338,8 @@ pub(crate) fn app(app: &App) -> Result<Analysis, syn::Error> {
})
}
/// Priority ceiling
pub type Ceiling = Option<u8>;
// /// Priority ceiling
// pub type Ceiling = Option<u8>;
/// Task priority
pub type Priority = u8;
@ -427,22 +427,22 @@ pub enum Ownership {
},
}
impl Ownership {
/// Whether this resource needs to a lock at this priority level
pub fn needs_lock(&self, priority: u8) -> bool {
match self {
Ownership::Owned { .. } | Ownership::CoOwned { .. } => false,
Ownership::Contended { ceiling } => {
debug_assert!(*ceiling >= priority);
priority < *ceiling
}
}
}
/// Whether this resource is exclusively owned
pub fn is_owned(&self) -> bool {
matches!(self, Ownership::Owned { .. })
}
}
// impl Ownership {
// /// Whether this resource needs to a lock at this priority level
// pub fn needs_lock(&self, priority: u8) -> bool {
// match self {
// Ownership::Owned { .. } | Ownership::CoOwned { .. } => false,
//
// Ownership::Contended { ceiling } => {
// debug_assert!(*ceiling >= priority);
//
// priority < *ceiling
// }
// }
// }
//
// /// Whether this resource is exclusively owned
// pub fn is_owned(&self) -> bool {
// matches!(self, Ownership::Owned { .. })
// }
// }

134
src/export.rs
View file

@ -1,11 +1,13 @@
#![allow(clippy::inline_always)]
pub use crate::{
sll::{IntrusiveSortedLinkedList, Node as IntrusiveNode},
tq::{TaskNotReady, TimerQueue, WakerNotReady},
};
pub use bare_metal::CriticalSection;
use core::{
cell::Cell,
sync::atomic::{AtomicBool, Ordering},
};
pub use crate::tq::{NotReady, TimerQueue};
pub use bare_metal::CriticalSection;
pub use cortex_m::{
asm::nop,
asm::wfi,
@ -16,10 +18,134 @@ pub use cortex_m::{
pub use heapless::sorted_linked_list::SortedLinkedList;
pub use heapless::spsc::Queue;
pub use heapless::BinaryHeap;
pub use heapless::Vec;
pub use rtic_monotonic as monotonic;
pub mod idle_executor {
use core::{
future::Future,
pin::Pin,
task::{Context, Poll, RawWaker, RawWakerVTable, Waker},
};
fn no_op(_: *const ()) {}
fn no_op_clone(_: *const ()) -> RawWaker {
noop_raw_waker()
}
static IDLE_WAKER_TABLE: RawWakerVTable = RawWakerVTable::new(no_op_clone, no_op, no_op, no_op);
#[inline]
fn noop_raw_waker() -> RawWaker {
RawWaker::new(core::ptr::null(), &IDLE_WAKER_TABLE)
}
pub struct IdleExecutor<T>
where
T: Future,
{
idle: T,
}
impl<T> IdleExecutor<T>
where
T: Future,
{
#[inline(always)]
pub fn new(idle: T) -> Self {
Self { idle }
}
#[inline(always)]
pub fn run(&mut self) -> ! {
let w = unsafe { Waker::from_raw(noop_raw_waker()) };
let mut ctxt = Context::from_waker(&w);
loop {
match unsafe { Pin::new_unchecked(&mut self.idle) }.poll(&mut ctxt) {
Poll::Pending => {
// All ok!
}
Poll::Ready(_) => {
// The idle executor will never return
unreachable!()
}
}
}
}
}
}
pub mod executor {
use core::{
future::Future,
mem,
pin::Pin,
task::{Context, Poll, RawWaker, RawWakerVTable, Waker},
};
static WAKER_VTABLE: RawWakerVTable =
RawWakerVTable::new(waker_clone, waker_wake, waker_wake, waker_drop);
unsafe fn waker_clone(p: *const ()) -> RawWaker {
RawWaker::new(p, &WAKER_VTABLE)
}
unsafe fn waker_wake(p: *const ()) {
// The only thing we need from a waker is the function to call to pend the async
// dispatcher.
let f: fn() = mem::transmute(p);
f();
}
unsafe fn waker_drop(_: *const ()) {
// nop
}
//============
// AsyncTaskExecutor
pub struct AsyncTaskExecutor<F: Future + 'static> {
task: Option<F>,
}
impl<F: Future + 'static> AsyncTaskExecutor<F> {
pub const fn new() -> Self {
Self { task: None }
}
pub fn is_running(&self) -> bool {
self.task.is_some()
}
pub fn spawn(&mut self, future: F) {
self.task = Some(future);
}
pub fn poll(&mut self, wake: fn()) -> bool {
if let Some(future) = &mut self.task {
unsafe {
let waker = Waker::from_raw(RawWaker::new(wake as *const (), &WAKER_VTABLE));
let mut cx = Context::from_waker(&waker);
let future = Pin::new_unchecked(future);
match future.poll(&mut cx) {
Poll::Ready(_) => {
self.task = None;
true // Only true if we finished now
}
Poll::Pending => false,
}
}
} else {
false
}
}
}
}
pub type SCFQ<const N: usize> = Queue<u8, N>;
pub type SCRQ<T, const N: usize> = Queue<(T, u8), N>;
pub type ASYNCRQ<T, const N: usize> = Queue<T, N>;
/// Mask is used to store interrupt masks on systems without a BASEPRI register (M0, M0+, M23).
/// It needs to be large enough to cover all the relevant interrupts in use.
@ -117,7 +243,7 @@ impl Priority {
///
/// Will overwrite the current Priority
#[inline(always)]
pub unsafe fn new(value: u8) -> Self {
pub const unsafe fn new(value: u8) -> Self {
Priority {
inner: Cell::new(value),
}

129
src/lib.rs
View file

@ -1,14 +1,125 @@
pub fn add(left: usize, right: usize) -> usize {
left + right
//! Real-Time Interrupt-driven Concurrency (RTIC) framework for ARM Cortex-M microcontrollers.
//!
//! **IMPORTANT**: This crate is published as [`cortex-m-rtic`] on crates.io but the name of the
//! library is `rtic`.
//!
//! [`cortex-m-rtic`]: https://crates.io/crates/cortex-m-rtic
//!
//! The user level documentation can be found [here].
//!
//! [here]: https://rtic.rs
//!
//! Don't forget to check the documentation of the `#[app]` attribute (listed under the reexports
//! section), which is the main component of the framework.
//!
//! # Minimum Supported Rust Version (MSRV)
//!
//! This crate is compiled and tested with the latest toolchain (rolling) as of the release date.
//! If you run into compilation errors, try the latest stable release of the rust toolchain.
//!
//! # Semantic Versioning
//!
//! Like the Rust project, this crate adheres to [SemVer]: breaking changes in the API and semantics
//! require a *semver bump* (since 1.0.0 a new major version release), with the exception of breaking changes
//! that fix soundness issues -- those are considered bug fixes and can be landed in a new patch
//! release.
//!
//! [SemVer]: https://semver.org/spec/v2.0.0.html
#![deny(missing_docs)]
#![deny(rust_2021_compatibility)]
#![deny(rust_2018_compatibility)]
#![deny(rust_2018_idioms)]
#![no_std]
#![doc(
html_logo_url = "https://raw.githubusercontent.com/rtic-rs/cortex-m-rtic/master/book/en/src/RTIC.svg",
html_favicon_url = "https://raw.githubusercontent.com/rtic-rs/cortex-m-rtic/master/book/en/src/RTIC.svg"
)]
//deny_warnings_placeholder_for_ci
#![allow(clippy::inline_always)]
use cortex_m::{interrupt::InterruptNumber, peripheral::NVIC};
pub use rtic_core::{prelude as mutex_prelude, Exclusive, Mutex};
pub use rtic_macros::app;
pub use rtic_monotonic::{self, Monotonic};
/// module `mutex::prelude` provides `Mutex` and multi-lock variants. Recommended over `mutex_prelude`
pub mod mutex {
pub use rtic_core::prelude;
pub use rtic_core::Mutex;
}
#[cfg(test)]
mod tests {
use super::*;
#[doc(hidden)]
pub mod export;
#[doc(hidden)]
pub mod sll;
#[doc(hidden)]
mod tq;
#[test]
fn it_works() {
let result = add(2, 2);
assert_eq!(result, 4);
/// Sets the given `interrupt` as pending
///
/// This is a convenience function around
/// [`NVIC::pend`](../cortex_m/peripheral/struct.NVIC.html#method.pend)
pub fn pend<I>(interrupt: I)
where
I: InterruptNumber,
{
NVIC::pend(interrupt);
}
use core::cell::UnsafeCell;
/// Internal replacement for `static mut T`
///
/// Used to represent RTIC Resources
///
/// Soundness:
/// 1) Unsafe API for internal use only
/// 2) ``get_mut(&self) -> *mut T``
/// returns a raw mutable pointer to the inner T
/// casting to &mut T is under control of RTIC
/// RTIC ensures &mut T to be unique under Rust aliasing rules.
///
/// Implementation uses the underlying ``UnsafeCell<T>``
/// self.0.get() -> *mut T
///
/// 3) get(&self) -> *const T
/// returns a raw immutable (const) pointer to the inner T
/// casting to &T is under control of RTIC
/// RTIC ensures &T to be shared under Rust aliasing rules.
///
/// Implementation uses the underlying ``UnsafeCell<T>``
/// self.0.get() -> *mut T, demoted to *const T
///
#[repr(transparent)]
pub struct RacyCell<T>(UnsafeCell<T>);
impl<T> RacyCell<T> {
/// Create a ``RacyCell``
#[inline(always)]
pub const fn new(value: T) -> Self {
RacyCell(UnsafeCell::new(value))
}
/// Get `*mut T`
///
/// # Safety
///
/// See documentation notes for [`RacyCell`]
#[inline(always)]
pub unsafe fn get_mut(&self) -> *mut T {
self.0.get()
}
/// Get `*const T`
///
/// # Safety
///
/// See documentation notes for [`RacyCell`]
#[inline(always)]
pub unsafe fn get(&self) -> *const T {
self.0.get()
}
}
unsafe impl<T> Sync for RacyCell<T> {}

421
src/sll.rs Normal file
View file

@ -0,0 +1,421 @@
//! An intrusive sorted priority linked list, designed for use in `Future`s in RTIC.
use core::cmp::Ordering;
use core::fmt;
use core::marker::PhantomData;
use core::ops::{Deref, DerefMut};
use core::ptr::NonNull;
/// Marker for Min sorted [`IntrusiveSortedLinkedList`].
pub struct Min;
/// Marker for Max sorted [`IntrusiveSortedLinkedList`].
pub struct Max;
/// The linked list kind: min-list or max-list
pub trait Kind: private::Sealed {
#[doc(hidden)]
fn ordering() -> Ordering;
}
impl Kind for Min {
fn ordering() -> Ordering {
Ordering::Less
}
}
impl Kind for Max {
fn ordering() -> Ordering {
Ordering::Greater
}
}
/// Sealed traits
mod private {
pub trait Sealed {}
}
impl private::Sealed for Max {}
impl private::Sealed for Min {}
/// A node in the [`IntrusiveSortedLinkedList`].
pub struct Node<T> {
pub val: T,
next: Option<NonNull<Node<T>>>,
}
impl<T> Node<T> {
pub fn new(val: T) -> Self {
Self { val, next: None }
}
}
/// The linked list.
pub struct IntrusiveSortedLinkedList<'a, T, K> {
head: Option<NonNull<Node<T>>>,
_kind: PhantomData<K>,
_lt: PhantomData<&'a ()>,
}
impl<'a, T, K> fmt::Debug for IntrusiveSortedLinkedList<'a, T, K>
where
T: Ord + core::fmt::Debug,
K: Kind,
{
fn fmt(&self, f: &mut fmt::Formatter<'_>) -> fmt::Result {
let mut l = f.debug_list();
let mut current = self.head;
while let Some(head) = current {
let head = unsafe { head.as_ref() };
current = head.next;
l.entry(&head.val);
}
l.finish()
}
}
impl<'a, T, K> IntrusiveSortedLinkedList<'a, T, K>
where
T: Ord,
K: Kind,
{
pub const fn new() -> Self {
Self {
head: None,
_kind: PhantomData,
_lt: PhantomData,
}
}
// Push to the list.
pub fn push(&mut self, new: &'a mut Node<T>) {
unsafe {
if let Some(head) = self.head {
if head.as_ref().val.cmp(&new.val) != K::ordering() {
// This is newer than head, replace head
new.next = self.head;
self.head = Some(NonNull::new_unchecked(new));
} else {
// It's not head, search the list for the correct placement
let mut current = head;
while let Some(next) = current.as_ref().next {
if next.as_ref().val.cmp(&new.val) != K::ordering() {
break;
}
current = next;
}
new.next = current.as_ref().next;
current.as_mut().next = Some(NonNull::new_unchecked(new));
}
} else {
// List is empty, place at head
self.head = Some(NonNull::new_unchecked(new))
}
}
}
/// Get an iterator over the sorted list.
pub fn iter(&self) -> Iter<'_, T, K> {
Iter {
_list: self,
index: self.head,
}
}
/// Find an element in the list that can be changed and resorted.
pub fn find_mut<F>(&mut self, mut f: F) -> Option<FindMut<'_, 'a, T, K>>
where
F: FnMut(&T) -> bool,
{
let head = self.head?;
// Special-case, first element
if f(&unsafe { head.as_ref() }.val) {
return Some(FindMut {
is_head: true,
prev_index: None,
index: self.head,
list: self,
maybe_changed: false,
});
}
let mut current = head;
while let Some(next) = unsafe { current.as_ref() }.next {
if f(&unsafe { next.as_ref() }.val) {
return Some(FindMut {
is_head: false,
prev_index: Some(current),
index: Some(next),
list: self,
maybe_changed: false,
});
}
current = next;
}
None
}
/// Peek at the first element.
pub fn peek(&self) -> Option<&T> {
self.head.map(|head| unsafe { &head.as_ref().val })
}
/// Pops the first element in the list.
///
/// Complexity is worst-case `O(1)`.
pub fn pop(&mut self) -> Option<&'a Node<T>> {
if let Some(head) = self.head {
let v = unsafe { head.as_ref() };
self.head = v.next;
Some(v)
} else {
None
}
}
/// Checks if the linked list is empty.
#[inline]
pub fn is_empty(&self) -> bool {
self.head.is_none()
}
}
/// Iterator for the linked list.
pub struct Iter<'a, T, K>
where
T: Ord,
K: Kind,
{
_list: &'a IntrusiveSortedLinkedList<'a, T, K>,
index: Option<NonNull<Node<T>>>,
}
impl<'a, T, K> Iterator for Iter<'a, T, K>
where
T: Ord,
K: Kind,
{
type Item = &'a T;
fn next(&mut self) -> Option<Self::Item> {
let index = self.index?;
let node = unsafe { index.as_ref() };
self.index = node.next;
Some(&node.val)
}
}
/// Comes from [`IntrusiveSortedLinkedList::find_mut`].
pub struct FindMut<'a, 'b, T, K>
where
T: Ord + 'b,
K: Kind,
{
list: &'a mut IntrusiveSortedLinkedList<'b, T, K>,
is_head: bool,
prev_index: Option<NonNull<Node<T>>>,
index: Option<NonNull<Node<T>>>,
maybe_changed: bool,
}
impl<'a, 'b, T, K> FindMut<'a, 'b, T, K>
where
T: Ord,
K: Kind,
{
unsafe fn pop_internal(&mut self) -> &'b mut Node<T> {
if self.is_head {
// If it is the head element, we can do a normal pop
let mut head = self.list.head.unwrap_unchecked();
let v = head.as_mut();
self.list.head = v.next;
v
} else {
// Somewhere in the list
let mut prev = self.prev_index.unwrap_unchecked();
let mut curr = self.index.unwrap_unchecked();
// Re-point the previous index
prev.as_mut().next = curr.as_ref().next;
curr.as_mut()
}
}
/// This will pop the element from the list.
///
/// Complexity is worst-case `O(1)`.
#[inline]
pub fn pop(mut self) -> &'b mut Node<T> {
unsafe { self.pop_internal() }
}
/// This will resort the element into the correct position in the list if needed. The resorting
/// will only happen if the element has been accessed mutably.
///
/// Same as calling `drop`.
///
/// Complexity is worst-case `O(N)`.
#[inline]
pub fn finish(self) {
drop(self)
}
}
impl<'b, T, K> Drop for FindMut<'_, 'b, T, K>
where
T: Ord + 'b,
K: Kind,
{
fn drop(&mut self) {
// Only resort the list if the element has changed
if self.maybe_changed {
unsafe {
let val = self.pop_internal();
self.list.push(val);
}
}
}
}
impl<T, K> Deref for FindMut<'_, '_, T, K>
where
T: Ord,
K: Kind,
{
type Target = T;
fn deref(&self) -> &Self::Target {
unsafe { &self.index.unwrap_unchecked().as_ref().val }
}
}
impl<T, K> DerefMut for FindMut<'_, '_, T, K>
where
T: Ord,
K: Kind,
{
fn deref_mut(&mut self) -> &mut Self::Target {
self.maybe_changed = true;
unsafe { &mut self.index.unwrap_unchecked().as_mut().val }
}
}
#[cfg(test)]
mod tests {
use super::*;
#[test]
fn const_new() {
static mut _V1: IntrusiveSortedLinkedList<u32, Max> = IntrusiveSortedLinkedList::new();
}
#[test]
fn test_peek() {
let mut ll: IntrusiveSortedLinkedList<u32, Max> = IntrusiveSortedLinkedList::new();
let mut a = Node { val: 1, next: None };
ll.push(&mut a);
assert_eq!(ll.peek().unwrap(), &1);
let mut a = Node { val: 2, next: None };
ll.push(&mut a);
assert_eq!(ll.peek().unwrap(), &2);
let mut a = Node { val: 3, next: None };
ll.push(&mut a);
assert_eq!(ll.peek().unwrap(), &3);
let mut ll: IntrusiveSortedLinkedList<u32, Min> = IntrusiveSortedLinkedList::new();
let mut a = Node { val: 2, next: None };
ll.push(&mut a);
assert_eq!(ll.peek().unwrap(), &2);
let mut a = Node { val: 1, next: None };
ll.push(&mut a);
assert_eq!(ll.peek().unwrap(), &1);
let mut a = Node { val: 3, next: None };
ll.push(&mut a);
assert_eq!(ll.peek().unwrap(), &1);
}
#[test]
fn test_empty() {
let ll: IntrusiveSortedLinkedList<u32, Max> = IntrusiveSortedLinkedList::new();
assert!(ll.is_empty())
}
#[test]
fn test_updating() {
let mut ll: IntrusiveSortedLinkedList<u32, Max> = IntrusiveSortedLinkedList::new();
let mut a = Node { val: 1, next: None };
ll.push(&mut a);
let mut a = Node { val: 2, next: None };
ll.push(&mut a);
let mut a = Node { val: 3, next: None };
ll.push(&mut a);
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);
}
#[test]
fn test_updating_1() {
let mut ll: IntrusiveSortedLinkedList<u32, Max> = IntrusiveSortedLinkedList::new();
let mut a = Node { val: 1, next: None };
ll.push(&mut a);
let v = ll.pop().unwrap();
assert_eq!(v.val, 1);
}
#[test]
fn test_updating_2() {
let mut ll: IntrusiveSortedLinkedList<u32, Max> = IntrusiveSortedLinkedList::new();
let mut a = Node { val: 1, next: None };
ll.push(&mut a);
let mut find = ll.find_mut(|v| *v == 1).unwrap();
*find += 1000;
find.finish();
assert_eq!(ll.peek().unwrap(), &1001);
}
}

255
src/tq.rs
View file

@ -1,29 +1,28 @@
use crate::Monotonic;
use crate::{
sll::{IntrusiveSortedLinkedList, Min as IsslMin, Node as IntrusiveNode},
Monotonic,
};
use core::cmp::Ordering;
use heapless::sorted_linked_list::{LinkedIndexU16, Min, SortedLinkedList};
use core::task::Waker;
use heapless::sorted_linked_list::{LinkedIndexU16, Min as SllMin, SortedLinkedList};
pub struct TimerQueue<Mono, Task, const N: usize>(
pub SortedLinkedList<NotReady<Mono, Task>, LinkedIndexU16, Min, N>,
)
where
Mono: Monotonic,
Task: Copy;
impl<Mono, Task, const N: usize> TimerQueue<Mono, Task, N>
pub struct TimerQueue<'a, Mono, Task, const N_TASK: usize>
where
Mono: Monotonic,
Task: Copy,
{
/// # Safety
///
/// Writing to memory with a transmute in order to enable
/// interrupts of the ``SysTick`` timer
///
/// Enqueue a task without checking if it is full
#[inline]
pub unsafe fn enqueue_unchecked<F1, F2>(
&mut self,
nr: NotReady<Mono, Task>,
pub task_queue: SortedLinkedList<TaskNotReady<Mono, Task>, LinkedIndexU16, SllMin, N_TASK>,
pub waker_queue: IntrusiveSortedLinkedList<'a, WakerNotReady<Mono>, IsslMin>,
}
impl<'a, Mono, Task, const N_TASK: usize> TimerQueue<'a, Mono, Task, N_TASK>
where
Mono: Monotonic + 'a,
Task: Copy,
{
fn check_if_enable<F1, F2>(
&self,
instant: Mono::Instant,
enable_interrupt: F1,
pend_handler: F2,
mono: Option<&mut Mono>,
@ -33,11 +32,17 @@ where
{
// Check if the top contains a non-empty element and if that element is
// greater than nr
let if_heap_max_greater_than_nr =
self.0.peek().map_or(true, |head| nr.instant < head.instant);
let if_task_heap_max_greater_than_nr = self
.task_queue
.peek()
.map_or(true, |head| instant < head.instant);
let if_waker_heap_max_greater_than_nr = self
.waker_queue
.peek()
.map_or(true, |head| instant < head.instant);
if if_heap_max_greater_than_nr {
if Mono::DISABLE_INTERRUPT_ON_EMPTY_QUEUE && self.0.is_empty() {
if if_task_heap_max_greater_than_nr || if_waker_heap_max_greater_than_nr {
if Mono::DISABLE_INTERRUPT_ON_EMPTY_QUEUE && self.is_empty() {
if let Some(mono) = mono {
mono.enable_timer();
}
@ -46,19 +51,49 @@ where
pend_handler();
}
self.0.push_unchecked(nr);
}
/// Check if the timer queue is empty.
/// Enqueue a task without checking if it is full
#[inline]
pub unsafe fn enqueue_task_unchecked<F1, F2>(
&mut self,
nr: TaskNotReady<Mono, Task>,
enable_interrupt: F1,
pend_handler: F2,
mono: Option<&mut Mono>,
) where
F1: FnOnce(),
F2: FnOnce(),
{
self.check_if_enable(nr.instant, enable_interrupt, pend_handler, mono);
self.task_queue.push_unchecked(nr);
}
/// Enqueue a waker
#[inline]
pub fn enqueue_waker<F1, F2>(
&mut self,
nr: &'a mut IntrusiveNode<WakerNotReady<Mono>>,
enable_interrupt: F1,
pend_handler: F2,
mono: Option<&mut Mono>,
) where
F1: FnOnce(),
F2: FnOnce(),
{
self.check_if_enable(nr.val.instant, enable_interrupt, pend_handler, mono);
self.waker_queue.push(nr);
}
/// Check if all the timer queue is empty.
#[inline]
pub fn is_empty(&self) -> bool {
self.0.is_empty()
self.task_queue.is_empty() && self.waker_queue.is_empty()
}
/// Cancel the marker value
pub fn cancel_marker(&mut self, marker: u32) -> Option<(Task, u8)> {
if let Some(val) = self.0.find_mut(|nr| nr.marker == marker) {
/// Cancel the marker value for a task
pub fn cancel_task_marker(&mut self, marker: u32) -> Option<(Task, u8)> {
if let Some(val) = self.task_queue.find_mut(|nr| nr.marker == marker) {
let nr = val.pop();
Some((nr.task, nr.index))
@ -67,16 +102,23 @@ where
}
}
/// Update the instant at an marker value to a new instant
/// Cancel the marker value for a waker
pub fn cancel_waker_marker(&mut self, marker: u32) {
if let Some(val) = self.waker_queue.find_mut(|nr| nr.marker == marker) {
let _ = val.pop();
}
}
/// Update the instant at an marker value for a task to a new instant
#[allow(clippy::result_unit_err)]
pub fn update_marker<F: FnOnce()>(
pub fn update_task_marker<F: FnOnce()>(
&mut self,
marker: u32,
new_marker: u32,
instant: Mono::Instant,
pend_handler: F,
) -> Result<(), ()> {
if let Some(mut val) = self.0.find_mut(|nr| nr.marker == marker) {
if let Some(mut val) = self.task_queue.find_mut(|nr| nr.marker == marker) {
val.instant = instant;
val.marker = new_marker;
@ -89,18 +131,14 @@ where
}
}
/// Dequeue a task from the ``TimerQueue``
pub fn dequeue<F>(&mut self, disable_interrupt: F, mono: &mut Mono) -> Option<(Task, u8)>
where
F: FnOnce(),
{
mono.clear_compare_flag();
if let Some(instant) = self.0.peek().map(|p| p.instant) {
fn dequeue_task_queue(
&mut self,
instant: Mono::Instant,
mono: &mut Mono,
) -> Option<(Task, u8)> {
if instant <= mono.now() {
// task became ready
let nr = unsafe { self.0.pop_unchecked() };
let nr = unsafe { self.task_queue.pop_unchecked() };
Some((nr.task, nr.index))
} else {
// Set compare
@ -111,44 +149,117 @@ where
// 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 = unsafe { self.0.pop_unchecked() };
let nr = unsafe { self.task_queue.pop_unchecked() };
Some((nr.task, nr.index))
} else {
None
}
}
}
fn dequeue_waker_queue(&mut self, instant: Mono::Instant, mono: &mut Mono) -> bool {
let mut did_wake = false;
if instant <= mono.now() {
// Task became ready, wake the waker
if let Some(v) = self.waker_queue.pop() {
v.val.waker.wake_by_ref();
did_wake = true;
}
} else {
// Set compare
mono.set_compare(instant);
// 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() {
if let Some(v) = self.waker_queue.pop() {
v.val.waker.wake_by_ref();
did_wake = true;
}
}
}
did_wake
}
/// Dequeue a task from the ``TimerQueue``
pub fn dequeue<F>(&mut self, disable_interrupt: F, mono: &mut Mono) -> Option<(Task, u8)>
where
F: FnOnce(),
{
mono.clear_compare_flag();
loop {
let tq = self.task_queue.peek().map(|p| p.instant);
let wq = self.waker_queue.peek().map(|p| p.instant);
let dequeue_task;
let instant;
match (tq, wq) {
(Some(tq_instant), Some(wq_instant)) => {
if tq_instant <= wq_instant {
dequeue_task = true;
instant = tq_instant;
} else {
dequeue_task = false;
instant = wq_instant;
}
}
(Some(tq_instant), None) => {
dequeue_task = true;
instant = tq_instant;
}
(None, Some(wq_instant)) => {
dequeue_task = false;
instant = wq_instant;
}
(None, None) => {
// The queue is empty, disable the interrupt.
if Mono::DISABLE_INTERRUPT_ON_EMPTY_QUEUE {
disable_interrupt();
mono.disable_timer();
}
None
return None;
}
}
if dequeue_task {
return self.dequeue_task_queue(instant, mono);
} else if !self.dequeue_waker_queue(instant, mono) {
return None;
} else {
// Run the dequeue again
}
}
}
}
pub struct NotReady<Mono, Task>
pub struct TaskNotReady<Mono, Task>
where
Task: Copy,
Mono: Monotonic,
{
pub task: Task,
pub index: u8,
pub instant: Mono::Instant,
pub task: Task,
pub marker: u32,
}
impl<Mono, Task> Eq for NotReady<Mono, Task>
impl<Mono, Task> Eq for TaskNotReady<Mono, Task>
where
Task: Copy,
Mono: Monotonic,
{
}
impl<Mono, Task> Ord for NotReady<Mono, Task>
impl<Mono, Task> Ord for TaskNotReady<Mono, Task>
where
Task: Copy,
Mono: Monotonic,
@ -158,7 +269,7 @@ where
}
}
impl<Mono, Task> PartialEq for NotReady<Mono, Task>
impl<Mono, Task> PartialEq for TaskNotReady<Mono, Task>
where
Task: Copy,
Mono: Monotonic,
@ -168,7 +279,7 @@ where
}
}
impl<Mono, Task> PartialOrd for NotReady<Mono, Task>
impl<Mono, Task> PartialOrd for TaskNotReady<Mono, Task>
where
Task: Copy,
Mono: Monotonic,
@ -177,3 +288,41 @@ where
Some(self.cmp(other))
}
}
pub struct WakerNotReady<Mono>
where
Mono: Monotonic,
{
pub waker: Waker,
pub instant: Mono::Instant,
pub marker: u32,
}
impl<Mono> Eq for WakerNotReady<Mono> where Mono: Monotonic {}
impl<Mono> Ord for WakerNotReady<Mono>
where
Mono: Monotonic,
{
fn cmp(&self, other: &Self) -> Ordering {
self.instant.cmp(&other.instant)
}
}
impl<Mono> PartialEq for WakerNotReady<Mono>
where
Mono: Monotonic,
{
fn eq(&self, other: &Self) -> bool {
self.instant == other.instant
}
}
impl<Mono> PartialOrd for WakerNotReady<Mono>
where
Mono: Monotonic,
{
fn partial_cmp(&self, other: &Self) -> Option<Ordering> {
Some(self.cmp(other))
}
}

4
ui/extern-interrupt-not-enough.stderr
View file

@ -1,5 +1,5 @@
error: not enough interrupts to dispatch all software tasks (need: 1; given: 0)
--> $DIR/extern-interrupt-not-enough.rs:17:8
error: not enough interrupts to dispatch all software and async tasks (need: 1; given: 0) - one interrupt is needed per priority and sync/async task
--> ui/extern-interrupt-not-enough.rs:17:8
|
17 | fn a(_: a::Context) {}
| ^

2
ui/task-priority-too-high.rs
View file

@ -9,7 +9,7 @@ mod app {
struct Local {}
#[init]
fn init(_: init::Context) -> (Shared, Local, init::Monotonics) {
fn init(cx: init::Context) -> (Shared, Local, init::Monotonics) {
(Shared {}, Local {}, init::Monotonics())
}

8
ui/task-priority-too-high.stderr
View file

@ -1,3 +1,11 @@
warning: unused variable: `cx`
--> ui/task-priority-too-high.rs:12:13
|
12 | fn init(cx: init::Context) -> (Shared, Local, init::Monotonics) {
| ^^ help: if this is intentional, prefix it with an underscore: `_cx`
|
= note: `#[warn(unused_variables)]` on by default
error[E0080]: evaluation of constant value failed
--> ui/task-priority-too-high.rs:3:1
|

3
xtask/src/command.rs
View file

@ -47,6 +47,7 @@ impl<'a> CargoCommand<'a> {
mode,
} => {
let mut args = vec![
"+nightly",
self.name(),
"--example",
example,
@ -69,7 +70,7 @@ impl<'a> CargoCommand<'a> {
features,
mode,
} => {
let mut args = vec![self.name(), "--examples", "--target", target];
let mut args = vec!["+nightly", self.name(), "--examples", "--target", target];
if let Some(feature_name) = features {
args.extend_from_slice(&["--features", feature_name]);