New executor design

src/export.rs

@@ -8,73 +8,7 @@ pub use cortex_m::{
     Peripherals,
 };
 
-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 mod executor;
 
 /// 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.

src/export/executor.rs

@@ -0,0 +1,100 @@
+use core::{
+    cell::UnsafeCell,
+    future::Future,
+    mem::{self, MaybeUninit},
+    pin::Pin,
+    sync::atomic::{AtomicBool, Ordering},
+    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
+
+/// Executor for an async task.
+pub struct AsyncTaskExecutor<F: Future> {
+    // `task` is proteced by the `running` flag.
+    task: UnsafeCell<MaybeUninit<F>>,
+    running: AtomicBool,
+    pending: AtomicBool,
+}
+
+unsafe impl<F: Future> Sync for AsyncTaskExecutor<F> {}
+
+impl<F: Future> AsyncTaskExecutor<F> {
+    /// Create a new executor.
+    pub const fn new() -> Self {
+        Self {
+            task: UnsafeCell::new(MaybeUninit::uninit()),
+            running: AtomicBool::new(false),
+            pending: AtomicBool::new(false),
+        }
+    }
+
+    /// Check if there is an active task in the executor.
+    pub fn is_running(&self) -> bool {
+        self.running.load(Ordering::Relaxed)
+    }
+
+    /// Checks if a waker has pended the executor.
+    pub fn is_pending(&self) -> bool {
+        self.pending.load(Ordering::Relaxed)
+    }
+
+    // Used by wakers to indicate that the executor needs to run.
+    pub fn set_pending(&self) {
+        self.pending.store(true, Ordering::Release);
+    }
+
+    /// Try to reserve the executor for a future.
+    /// Used in conjunction with `spawn_unchecked` to reserve the executor before spawning.
+    ///
+    /// This could have been joined with `spawn_unchecked` for a complete safe API, however the
+    /// codegen needs to see if the reserve fails so it can give back input parameters. If spawning
+    /// was done within the same call the input parameters would be lost and could not be returned.
+    pub fn try_reserve(&self) -> bool {
+        self.running
+            .compare_exchange(false, true, Ordering::AcqRel, Ordering::Relaxed)
+            .is_ok()
+    }
+
+    /// Spawn a future, only valid to do after `try_reserve` succeeds.
+    pub unsafe fn spawn_unchecked(&self, future: F) {
+        debug_assert!(self.running.load(Ordering::Relaxed));
+
+        self.task.get().write(MaybeUninit::new(future));
+    }
+
+    /// Poll the future in the executor.
+    pub fn poll(&self, wake: fn()) {
+        if self.is_running() {
+            let waker = unsafe { Waker::from_raw(RawWaker::new(wake as *const (), &WAKER_VTABLE)) };
+            let mut cx = Context::from_waker(&waker);
+            let future = unsafe { Pin::new_unchecked(&mut *(self.task.get() as *mut F)) };
+
+            match future.poll(&mut cx) {
+                Poll::Ready(_) => {
+                    self.running.store(false, Ordering::Release);
+                }
+                Poll::Pending => {}
+            }
+        }
+    }
+}