Merge #547

547: New monotonic trait r=AfoHT a=korken89



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

CHANGELOG.md

@@ -5,6 +5,9 @@ This project adheres to [Semantic Versioning](http://semver.org/).
 
 ## [Unreleased]
 
+## [v0.6.0-rc.4] - 2021-11-09
+
+- Updated to use the new generic `Monotonic` trait
 
 ## [v0.6.0-rc.3] - 2021-11-08
 
@@ -444,7 +447,8 @@ Yanked due to a soundness issue in `init`; the issue has been mostly fixed in v0
 
 - Initial release
 
-[Unreleased]: https://github.com/rtic-rs/cortex-m-rtic/compare/v0.6.0-rc.3...HEAD
+[Unreleased]: https://github.com/rtic-rs/cortex-m-rtic/compare/v0.6.0-rc.4...HEAD
+[v0.6.0-rc.4]: https://github.com/rtic-rs/cortex-m-rtic/compare/v0.6.0-rc.3...v0.6.0-rc.4
 [v0.6.0-rc.3]: https://github.com/rtic-rs/cortex-m-rtic/compare/v0.6.0-rc.2...v0.6.0-rc.3
 [v0.6.0-rc.2]: https://github.com/rtic-rs/cortex-m-rtic/compare/v0.6.0-rc.1...v0.6.0-rc.2
 [v0.6.0-rc.1]: https://github.com/rtic-rs/cortex-m-rtic/compare/v0.6.0-rc.0...v0.6.0-rc.1

Cargo.toml

@@ -14,15 +14,15 @@ name = "cortex-m-rtic"
 readme = "README.md"
 repository = "https://github.com/rtic-rs/cortex-m-rtic"
 
-version = "0.6.0-rc.3"
+version = "0.6.0-rc.4"
 
 [lib]
 name = "rtic"
 
 [dependencies]
 cortex-m = "0.7.0"
-cortex-m-rtic-macros = { path = "macros", version = "0.6.0-rc.3" }
+cortex-m-rtic-macros = { path = "macros", version = "0.6.0-rc.4" }
-rtic-monotonic = "0.1.0-rc.1"
+rtic-monotonic = "0.1.0-rc.2"
 rtic-core = "0.3.1"
 heapless = "0.7.7"
 bare-metal = "1.0.0"
@@ -33,7 +33,7 @@ version_check = "0.9"
 [dev-dependencies]
 lm3s6965 = "0.1.3"
 cortex-m-semihosting = "0.3.3"
-systick-monotonic = "0.1.0-rc.1"
+systick-monotonic = "0.1.0-rc.2"
 
 [dev-dependencies.panic-semihosting]
 features = ["exit"]

examples/cancel-reschedule.rs

@@ -10,8 +10,7 @@ use panic_semihosting as _;
 #[rtic::app(device = lm3s6965, dispatchers = [SSI0])]
 mod app {
     use cortex_m_semihosting::{debug, hprintln};
-    use rtic::time::duration::*;
+    use systick_monotonic::*;
-    use systick_monotonic::Systick;
 
     #[monotonic(binds = SysTick, default = true)]
     type MyMono = Systick<100>; // 100 Hz / 10 ms granularity
@@ -32,7 +31,7 @@ mod app {
         hprintln!("init").ok();
 
         // Schedule `foo` to run 1 second in the future
-        foo::spawn_after(1.seconds()).unwrap();
+        foo::spawn_after(1.secs()).unwrap();
 
         (
             Shared {},
@@ -46,8 +45,8 @@ mod app {
         hprintln!("foo").ok();
 
         // Schedule `bar` to run 2 seconds in the future (1 second after foo runs)
-        let spawn_handle = baz::spawn_after(2.seconds()).unwrap();
+        let spawn_handle = baz::spawn_after(2.secs()).unwrap();
-        bar::spawn_after(1.seconds(), spawn_handle, false).unwrap(); // Change to true
+        bar::spawn_after(1.secs(), spawn_handle, false).unwrap(); // Change to true
     }
 
     #[task]
@@ -57,7 +56,7 @@ mod app {
         if do_reschedule {
             // Reschedule baz 2 seconds from now, instead of the original 1 second
             // from now.
-            baz_handle.reschedule_after(2.seconds()).unwrap();
+            baz_handle.reschedule_after(2.secs()).unwrap();
             // Or baz_handle.reschedule_at(/* time */)
         } else {
             // Or cancel it

examples/common.rs

@@ -10,8 +10,7 @@ use panic_semihosting as _;
 #[rtic::app(device = lm3s6965, dispatchers = [SSI0, QEI0])]
 mod app {
     use cortex_m_semihosting::{debug, hprintln};
-    use rtic::time::duration::*;
+    use systick_monotonic::*; // Implements the `Monotonic` trait
-    use systick_monotonic::Systick; // Implements the `Monotonic` trait // Time helpers, such as `N.seconds()`
 
     // A monotonic timer to enable scheduling in RTIC
     #[monotonic(binds = SysTick, default = true)]
@@ -41,7 +40,7 @@ mod app {
 
         // Spawn the task `bar` 1 second after `init` finishes, this is enabled
         // by the `#[monotonic(..)]` above
-        bar::spawn_after(1.seconds()).unwrap();
+        bar::spawn_after(1.secs()).unwrap();
 
         debug::exit(debug::EXIT_SUCCESS); // Exit QEMU simulator
 
@@ -83,7 +82,7 @@ mod app {
         hprintln!("bar").ok();
 
         // Run `bar` once per second
-        bar::spawn_after(1.seconds()).unwrap();
+        bar::spawn_after(1.secs()).unwrap();
     }
 
     // Hardware task, bound to a hardware interrupt

examples/periodic.rs

@@ -10,8 +10,7 @@ use panic_semihosting as _;
 #[rtic::app(device = lm3s6965, dispatchers = [SSI0])]
 mod app {
     use cortex_m_semihosting::{debug, hprintln};
-    use rtic::time::duration::*;
+    use systick_monotonic::*;
-    use systick_monotonic::Systick;
 
     #[monotonic(binds = SysTick, default = true)]
     type MyMono = Systick<100>; // 100 Hz / 10 ms granularity
@@ -28,7 +27,7 @@ mod app {
 
         let mono = Systick::new(systick, 12_000_000);
 
-        foo::spawn_after(1.seconds()).unwrap();
+        foo::spawn_after(1.secs()).unwrap();
 
         (Shared {}, Local {}, init::Monotonics(mono))
     }
@@ -43,6 +42,6 @@ mod app {
         }
 
         // Periodic ever 1 seconds
-        foo::spawn_after(1.seconds()).unwrap();
+        foo::spawn_after(1.secs()).unwrap();
     }
 }

examples/schedule.rs

@@ -10,8 +10,7 @@ use panic_semihosting as _;
 #[rtic::app(device = lm3s6965, dispatchers = [SSI0])]
 mod app {
     use cortex_m_semihosting::{debug, hprintln};
-    use rtic::time::duration::*;
+    use systick_monotonic::*;
-    use systick_monotonic::Systick;
 
     #[monotonic(binds = SysTick, default = true)]
     type MyMono = Systick<100>; // 100 Hz / 10 ms granularity
@@ -32,7 +31,7 @@ mod app {
         hprintln!("init").ok();
 
         // Schedule `foo` to run 1 second in the future
-        foo::spawn_after(1.seconds()).unwrap();
+        foo::spawn_after(1.secs()).unwrap();
 
         (
             Shared {},
@@ -46,7 +45,7 @@ mod app {
         hprintln!("foo").ok();
 
         // Schedule `bar` to run 2 seconds in the future (1 second after foo runs)
-        bar::spawn_after(1.seconds()).unwrap();
+        bar::spawn_after(1.secs()).unwrap();
     }
 
     #[task]
@@ -54,7 +53,7 @@ mod app {
         hprintln!("bar").ok();
 
         // Schedule `baz` to run 1 seconds from now, but with a specific time instant.
-        baz::spawn_at(monotonics::now() + 1.seconds()).unwrap();
+        baz::spawn_at(monotonics::now() + 1.secs()).unwrap();
     }
 
     #[task]

examples/t-schedule.rs

@@ -10,8 +10,7 @@ use panic_semihosting as _;
 #[rtic::app(device = lm3s6965, dispatchers = [SSI0])]
 mod app {
     use cortex_m_semihosting::debug;
-    use rtic::time::duration::Seconds;
+    use systick_monotonic::*;
-    use systick_monotonic::Systick;
 
     #[monotonic(binds = SysTick, default = true)]
     type MyMono = Systick<100>; // 100 Hz / 10 ms granularity
@@ -40,27 +39,26 @@ mod app {
         // Not default
         let _: Result<foo::MyMono::SpawnHandle, ()> =
             foo::MyMono::spawn_at(monotonics::MyMono::now());
-        let handle: Result<foo::MyMono::SpawnHandle, ()> = foo::MyMono::spawn_after(Seconds(1_u32));
+        let handle: Result<foo::MyMono::SpawnHandle, ()> = foo::MyMono::spawn_after(1.secs());
-        let _: Result<foo::MyMono::SpawnHandle, ()> =
+        let _: Result<foo::MyMono::SpawnHandle, ()> = handle.unwrap().reschedule_after(1.secs());
-            handle.unwrap().reschedule_after(Seconds(1_u32));
 
-        let handle: Result<foo::MyMono::SpawnHandle, ()> = foo::MyMono::spawn_after(Seconds(1_u32));
+        let handle: Result<foo::MyMono::SpawnHandle, ()> = foo::MyMono::spawn_after(1.secs());
         let _: Result<foo::MyMono::SpawnHandle, ()> =
             handle.unwrap().reschedule_at(monotonics::MyMono::now());
 
-        let handle: Result<foo::MyMono::SpawnHandle, ()> = foo::MyMono::spawn_after(Seconds(1_u32));
+        let handle: Result<foo::MyMono::SpawnHandle, ()> = foo::MyMono::spawn_after(1.secs());
         let _: Result<(), ()> = handle.unwrap().cancel();
 
         // Using default
         let _: Result<foo::SpawnHandle, ()> = foo::spawn_at(monotonics::now());
-        let handle: Result<foo::SpawnHandle, ()> = foo::spawn_after(Seconds(1_u32));
+        let handle: Result<foo::SpawnHandle, ()> = foo::spawn_after(1.secs());
-        let _: Result<foo::SpawnHandle, ()> = handle.unwrap().reschedule_after(Seconds(1_u32));
+        let _: Result<foo::SpawnHandle, ()> = handle.unwrap().reschedule_after(1.secs());
 
-        let handle: Result<foo::SpawnHandle, ()> = foo::spawn_after(Seconds(1_u32));
+        let handle: Result<foo::SpawnHandle, ()> = foo::spawn_after(1.secs());
         let _: Result<foo::SpawnHandle, ()> =
             handle.unwrap().reschedule_at(monotonics::MyMono::now());
 
-        let handle: Result<foo::SpawnHandle, ()> = foo::spawn_after(Seconds(1_u32));
+        let handle: Result<foo::SpawnHandle, ()> = foo::spawn_after(1.secs());
         let _: Result<(), ()> = handle.unwrap().cancel();
 
         // Task with single message passing
@@ -68,30 +66,26 @@ mod app {
         // Not default
         let _: Result<bar::MyMono::SpawnHandle, u32> =
             bar::MyMono::spawn_at(monotonics::MyMono::now(), 0);
-        let handle: Result<bar::MyMono::SpawnHandle, u32> =
+        let handle: Result<bar::MyMono::SpawnHandle, u32> = bar::MyMono::spawn_after(1.secs(), 1);
-            bar::MyMono::spawn_after(Seconds(1_u32), 0);
+        let _: Result<bar::MyMono::SpawnHandle, ()> = handle.unwrap().reschedule_after(1.secs());
-        let _: Result<bar::MyMono::SpawnHandle, ()> =
-            handle.unwrap().reschedule_after(Seconds(1_u32));
 
-        let handle: Result<bar::MyMono::SpawnHandle, u32> =
+        let handle: Result<bar::MyMono::SpawnHandle, u32> = bar::MyMono::spawn_after(1.secs(), 1);
-            bar::MyMono::spawn_after(Seconds(1_u32), 0);
         let _: Result<bar::MyMono::SpawnHandle, ()> =
             handle.unwrap().reschedule_at(monotonics::MyMono::now());
 
-        let handle: Result<bar::MyMono::SpawnHandle, u32> =
+        let handle: Result<bar::MyMono::SpawnHandle, u32> = bar::MyMono::spawn_after(1.secs(), 1);
-            bar::MyMono::spawn_after(Seconds(1_u32), 0);
         let _: Result<u32, ()> = handle.unwrap().cancel();
 
         // Using default
         let _: Result<bar::SpawnHandle, u32> = bar::spawn_at(monotonics::MyMono::now(), 0);
-        let handle: Result<bar::SpawnHandle, u32> = bar::spawn_after(Seconds(1_u32), 0);
+        let handle: Result<bar::SpawnHandle, u32> = bar::spawn_after(1.secs(), 1);
-        let _: Result<bar::SpawnHandle, ()> = handle.unwrap().reschedule_after(Seconds(1_u32));
+        let _: Result<bar::SpawnHandle, ()> = handle.unwrap().reschedule_after(1.secs());
 
-        let handle: Result<bar::SpawnHandle, u32> = bar::spawn_after(Seconds(1_u32), 0);
+        let handle: Result<bar::SpawnHandle, u32> = bar::spawn_after(1.secs(), 1);
         let _: Result<bar::SpawnHandle, ()> =
             handle.unwrap().reschedule_at(monotonics::MyMono::now());
 
-        let handle: Result<bar::SpawnHandle, u32> = bar::spawn_after(Seconds(1_u32), 0);
+        let handle: Result<bar::SpawnHandle, u32> = bar::spawn_after(1.secs(), 1);
         let _: Result<u32, ()> = handle.unwrap().cancel();
 
         // Task with multiple message passing
@@ -100,30 +94,29 @@ mod app {
         let _: Result<baz::MyMono::SpawnHandle, (u32, u32)> =
             baz::MyMono::spawn_at(monotonics::MyMono::now(), 0, 1);
         let handle: Result<baz::MyMono::SpawnHandle, (u32, u32)> =
-            baz::MyMono::spawn_after(Seconds(1_u32), 0, 1);
+            baz::MyMono::spawn_after(1.secs(), 1, 2);
-        let _: Result<baz::MyMono::SpawnHandle, ()> =
+        let _: Result<baz::MyMono::SpawnHandle, ()> = handle.unwrap().reschedule_after(1.secs());
-            handle.unwrap().reschedule_after(Seconds(1_u32));
 
         let handle: Result<baz::MyMono::SpawnHandle, (u32, u32)> =
-            baz::MyMono::spawn_after(Seconds(1_u32), 0, 1);
+            baz::MyMono::spawn_after(1.secs(), 1, 2);
         let _: Result<baz::MyMono::SpawnHandle, ()> =
             handle.unwrap().reschedule_at(monotonics::MyMono::now());
 
         let handle: Result<baz::MyMono::SpawnHandle, (u32, u32)> =
-            baz::MyMono::spawn_after(Seconds(1_u32), 0, 1);
+            baz::MyMono::spawn_after(1.secs(), 1, 2);
         let _: Result<(u32, u32), ()> = handle.unwrap().cancel();
 
         // Using default
         let _: Result<baz::SpawnHandle, (u32, u32)> =
             baz::spawn_at(monotonics::MyMono::now(), 0, 1);
-        let handle: Result<baz::SpawnHandle, (u32, u32)> = baz::spawn_after(Seconds(1_u32), 0, 1);
+        let handle: Result<baz::SpawnHandle, (u32, u32)> = baz::spawn_after(1.secs(), 1, 2);
-        let _: Result<baz::SpawnHandle, ()> = handle.unwrap().reschedule_after(Seconds(1_u32));
+        let _: Result<baz::SpawnHandle, ()> = handle.unwrap().reschedule_after(1.secs());
 
-        let handle: Result<baz::SpawnHandle, (u32, u32)> = baz::spawn_after(Seconds(1_u32), 0, 1);
+        let handle: Result<baz::SpawnHandle, (u32, u32)> = baz::spawn_after(1.secs(), 1, 2);
         let _: Result<baz::SpawnHandle, ()> =
             handle.unwrap().reschedule_at(monotonics::MyMono::now());
 
-        let handle: Result<baz::SpawnHandle, (u32, u32)> = baz::spawn_after(Seconds(1_u32), 0, 1);
+        let handle: Result<baz::SpawnHandle, (u32, u32)> = baz::spawn_after(1.secs(), 1, 2);
         let _: Result<(u32, u32), ()> = handle.unwrap().cancel();
 
         loop {

macros/Cargo.toml

@@ -12,7 +12,7 @@ license = "MIT OR Apache-2.0"
 name = "cortex-m-rtic-macros"
 readme = "../README.md"
 repository = "https://github.com/rtic-rs/cortex-m-rtic"
-version = "0.6.0-rc.3"
+version = "0.6.0-rc.4"
 
 [lib]
 proc-macro = true

macros/src/codegen.rs

@@ -108,10 +108,6 @@ pub fn app(app: &App, analysis: &Analysis, extra: &Extra) -> TokenStream2 {
             let name = &monotonic.ident;
             let name_str = &name.to_string();
             let ident = util::monotonic_ident(&name_str);
-            let panic_str = &format!(
-                "Use of monotonic '{}' before it was passed to the runtime",
-                name_str
-            );
             let doc = &format!(
                 "This module holds the static implementation for `{}::now()`",
                 name_str
@@ -131,18 +127,13 @@ pub fn app(app: &App, analysis: &Analysis, extra: &Extra) -> TokenStream2 {
                 pub mod #name {
 
                     /// Read the current time from this monotonic
-                    pub fn now() -> rtic::time::Instant<super::super::#name> {
+                    pub fn now() -> <super::super::#name as rtic::Monotonic>::Instant {
                         rtic::export::interrupt::free(|_| {
                             use rtic::Monotonic as _;
-                            use rtic::time::Clock as _;
                             if let Some(m) = unsafe{ &mut *super::super::#ident.get_mut() } {
-                                if let Ok(v) = m.try_now() {
+                                m.now()
-                                    v
-                                } else {
-                                    unreachable!("Your monotonic is not infallible!")
-                                }
                             } else {
-                                panic!(#panic_str);
+                                <super::super::#name as rtic::Monotonic>::zero()
                             }
                         })
                     }

macros/src/codegen/module.rs

@@ -266,7 +266,6 @@ pub fn codegen(
             let tq = util::tq_ident(&monotonic.ident.to_string());
             let t = util::schedule_t_ident();
             let m = &monotonic.ident;
-            let mono_type = &monotonic.ident;
             let m_ident = util::monotonic_ident(&monotonic_name);
             let m_isr = &monotonic.args.binds;
             let enum_ = util::interrupt_ident();
@@ -349,15 +348,17 @@ pub fn codegen(
                     }
 
                     #[inline]
-                    pub fn reschedule_after<D>(self, duration: D) -> Result<Self, ()>
+                    pub fn reschedule_after(
-                        where D: rtic::time::duration::Duration + rtic::time::fixed_point::FixedPoint,
+                        self,
-                                 D::T: Into<<#mono_type as rtic::time::Clock>::T>,
+                        duration: <#m as rtic::Monotonic>::Duration
-                    {
+                    ) -> Result<Self, ()> {
                         self.reschedule_at(monotonics::#m::now() + duration)
                     }
 
-                    pub fn reschedule_at(self, instant: rtic::time::Instant<#mono_type>) -> Result<Self, ()>
+                    pub fn reschedule_at(
-                    {
+                        self,
+                        instant: <#m as rtic::Monotonic>::Instant
+                    ) -> Result<Self, ()> {
                         rtic::export::interrupt::free(|_| unsafe {
                             let marker = #tq_marker.get().read();
                             #tq_marker.get_mut().write(marker.wrapping_add(1));
@@ -375,19 +376,12 @@ pub fn codegen(
                 /// This will use the time `Instant::new(0)` as baseline if called in `#[init]`,
                 /// so if you use a non-resetable timer use `spawn_at` when in `#[init]`
                 #[allow(non_snake_case)]
-                pub fn #internal_spawn_after_ident<D>(
+                pub fn #internal_spawn_after_ident(
-                    duration: D
+                    duration: <#m as rtic::Monotonic>::Duration
                     #(,#args)*
                 ) -> Result<#name::#m::SpawnHandle, #ty>
-                    where D: rtic::time::duration::Duration + rtic::time::fixed_point::FixedPoint,
-                        D::T: Into<<#mono_type as rtic::time::Clock>::T>,
                 {
-
+                    let instant = monotonics::#m::now();
-                    let instant = if rtic::export::interrupt::free(|_| unsafe { (&*#m_ident.get()).is_none() }) {
-                        rtic::time::Instant::new(0)
-                    } else {
-                        monotonics::#m::now()
-                    };
 
                     #internal_spawn_at_ident(instant + duration #(,#untupled)*)
                 }
@@ -396,7 +390,7 @@ pub fn codegen(
                 /// Spawns the task at a fixed time instant
                 #[allow(non_snake_case)]
                 pub fn #internal_spawn_at_ident(
-                    instant: rtic::time::Instant<#mono_type>
+                    instant: <#m as rtic::Monotonic>::Instant
                     #(,#args)*
                 ) -> Result<#name::#m::SpawnHandle, #ty> {
                     unsafe {

macros/src/codegen/software_tasks.rs

@@ -73,7 +73,7 @@ pub fn codegen(
                 #[allow(non_upper_case_globals)]
                 #[doc(hidden)]
                 static #instants:
-                    rtic::RacyCell<[core::mem::MaybeUninit<rtic::time::Instant<#mono_type>>; #cap_lit]> =
+                    rtic::RacyCell<[core::mem::MaybeUninit<<#mono_type as rtic::Monotonic>::Instant>; #cap_lit]> =
                     rtic::RacyCell::new([#(#elems,)*]);
             ));
         }

src/lib.rs

@@ -38,7 +38,7 @@
 use cortex_m::{interrupt::InterruptNumber, peripheral::NVIC};
 pub use cortex_m_rtic_macros::app;
 pub use rtic_core::{prelude as mutex_prelude, Exclusive, Mutex};
-pub use rtic_monotonic::{self, embedded_time as time, Monotonic};
+pub use rtic_monotonic::{self, Monotonic};
 
 #[doc(hidden)]
 pub mod export;

src/tq.rs

@@ -1,19 +1,7 @@
-use crate::{
+use crate::Monotonic;
-    time::{Clock, Instant},
-    Monotonic,
-};
 use core::cmp::Ordering;
 use heapless::sorted_linked_list::{LinkedIndexU16, Min, SortedLinkedList};
 
-#[inline(always)]
-fn unwrapper<T, E>(val: Result<T, E>) -> T {
-    if let Ok(v) = val {
-        v
-    } else {
-        unreachable!("Your monotonic is not infallible")
-    }
-}
-
 pub struct TimerQueue<Mono, Task, const N: usize>(
     pub SortedLinkedList<NotReady<Mono, Task>, LinkedIndexU16, Min, N>,
 )
@@ -87,7 +75,7 @@ where
         &mut self,
         marker: u32,
         new_marker: u32,
-        instant: Instant<Mono>,
+        instant: Mono::Instant,
         pend_handler: F,
     ) -> Result<(), ()> {
         if let Some(mut val) = self.0.find_mut(|nr| nr.marker == marker) {
@@ -111,23 +99,20 @@ where
         mono.clear_compare_flag();
 
         if let Some(instant) = self.0.peek().map(|p| p.instant) {
-            let now = unwrapper(Clock::try_now(mono));
+            if instant <= mono.now() {
-            // This if statement is like this and not <= due to a bug in embedded-time
-            if instant < now || instant == now {
                 // task became ready
                 let nr = unsafe { self.0.pop_unchecked() };
 
                 Some((nr.task, nr.index))
             } else {
                 // Set compare
-                mono.set_compare(&instant);
+                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.
-                let now = unwrapper(Clock::try_now(mono));
+                if instant <= mono.now() {
-                if instant < now || instant == now {
                     let nr = unsafe { self.0.pop_unchecked() };
 
                     Some((nr.task, nr.index))
@@ -153,7 +138,7 @@ where
     Mono: Monotonic,
 {
     pub index: u8,
-    pub instant: Instant<Mono>,
+    pub instant: Mono::Instant,
     pub task: Task,
     pub marker: u32,
 }