diff --git a/Cargo.toml b/Cargo.toml index e3cb010b5c..ed0312df1e 100644 --- a/Cargo.toml +++ b/Cargo.toml @@ -44,7 +44,7 @@ cortex-m = "0.7.0" cortex-m-rtic-macros = { path = "macros", version = "0.6.0-alpha.5" } rtic-monotonic = "0.1.0-alpha.2" rtic-core = "0.3.1" -heapless = "0.7.1" +heapless = "0.7.5" bare-metal = "1.0.0" [dependencies.dwt-systick-monotonic] diff --git a/macros/src/codegen/module.rs b/macros/src/codegen/module.rs index c7092bd370..d3afb27beb 100644 --- a/macros/src/codegen/module.rs +++ b/macros/src/codegen/module.rs @@ -327,7 +327,7 @@ pub fn codegen( impl #internal_spawn_handle_ident { pub fn cancel(self) -> Result<#ty, ()> { rtic::export::interrupt::free(|_| unsafe { - let tq = &mut *#tq.get_mut_unchecked().as_mut_ptr(); + let tq = #tq.get_mut_unchecked(); if let Some((_task, index)) = tq.cancel_marker(self.marker) { // Get the message let msg = #inputs @@ -359,7 +359,7 @@ pub fn codegen( let marker = *#tq_marker.get_mut_unchecked(); *#tq_marker.get_mut_unchecked() = #tq_marker.get_mut_unchecked().wrapping_add(1); - let tq = &mut *#tq.get_mut_unchecked().as_mut_ptr(); + let tq = #tq.get_mut_unchecked(); tq.update_marker(self.marker, marker, instant, || #pend).map(|_| #name::#m::SpawnHandle { marker }) }) @@ -420,7 +420,7 @@ pub fn codegen( *#tq_marker.get_mut_unchecked() = #tq_marker.get_mut_unchecked().wrapping_add(1); - let tq = &mut *#tq.get_mut_unchecked().as_mut_ptr(); + let tq = #tq.get_mut_unchecked(); tq.enqueue_unchecked( nr, diff --git a/macros/src/codegen/pre_init.rs b/macros/src/codegen/pre_init.rs index ae628f6eb9..5b1fdf3e75 100644 --- a/macros/src/codegen/pre_init.rs +++ b/macros/src/codegen/pre_init.rs @@ -77,18 +77,10 @@ pub fn codegen(app: &App, analysis: &Analysis, extra: &Extra) -> Vec Vec>); + let n = util::capacity_literal(cap); + let tq_ty = quote!(rtic::export::TimerQueue<#mono_type, #t, #n>); // For future use // let doc = format!(" RTIC internal: {}:{}", file!(), line!()); items.push(quote!( #[doc(hidden)] static #tq: rtic::RacyCell<#tq_ty> = - rtic::RacyCell::new(core::mem::MaybeUninit::uninit()); + rtic::RacyCell::new(rtic::export::TimerQueue(rtic::export::SortedLinkedList::new_u16())); )); let mono = util::monotonic_ident(&monotonic_name); @@ -138,7 +137,7 @@ pub fn codegen(app: &App, analysis: &Analysis, _extra: &Extra) -> Vec Self { - LinkedIndex(value) - } - - #[inline] - const fn none() -> Self { - LinkedIndex(u16::MAX) - } - - #[inline] - const fn option(self) -> Option { - if self.0 == u16::MAX { - None - } else { - Some(self.0) - } - } -} - -/// A node in the linked list. -pub struct Node { - val: MaybeUninit, - next: LinkedIndex, -} - -/// Iterator for the linked list. -pub struct Iter<'a, T, Kind, const N: usize> -where - T: PartialEq + PartialOrd, - Kind: kind::Kind, -{ - list: &'a LinkedList, - index: LinkedIndex, -} - -impl<'a, T, Kind, const N: usize> Iterator for Iter<'a, T, Kind, N> -where - T: PartialEq + PartialOrd, - Kind: kind::Kind, -{ - type Item = &'a T; - - fn next(&mut self) -> Option { - let index = self.index.option()?; - - let node = self.list.node_at(index as usize); - self.index = node.next; - - Some(self.list.read_data_in_node_at(index as usize)) - } -} - -/// Comes from [`LinkedList::find_mut`]. -pub struct FindMut<'a, T, Kind, const N: usize> -where - T: PartialEq + PartialOrd, - Kind: kind::Kind, -{ - list: &'a mut LinkedList, - is_head: bool, - prev_index: LinkedIndex, - index: LinkedIndex, - maybe_changed: bool, -} - -impl<'a, T, Kind, const N: usize> FindMut<'a, T, Kind, N> -where - T: PartialEq + PartialOrd, - Kind: kind::Kind, -{ - fn pop_internal(&mut self) -> T { - if self.is_head { - // If it is the head element, we can do a normal pop - unsafe { self.list.pop_unchecked() } - } else { - // Somewhere in the list - - // Re-point the previous index - self.list.node_at_mut(self.prev_index.0 as usize).next = - self.list.node_at_mut(self.index.0 as usize).next; - - // Release the index into the free queue - self.list.node_at_mut(self.index.0 as usize).next = self.list.free; - self.list.free = self.index; - - self.list.extract_data_in_node_at(self.index.0 as usize) - } - } - - /// This will pop the element from the list. - /// - /// Complexity is O(1). - #[inline] - pub fn pop(mut self) -> T { - self.pop_internal() - } - - /// This will resort the element into the correct position in the list in needed. - /// Same as calling `drop`. - /// - /// Complexity is worst-case O(N). - #[inline] - pub fn finish(self) { - drop(self) - } -} - -impl Drop for FindMut<'_, T, Kind, N> -where - T: PartialEq + PartialOrd, - Kind: kind::Kind, -{ - fn drop(&mut self) { - // Only resort the list if the element has changed - if self.maybe_changed { - let val = self.pop_internal(); - unsafe { self.list.push_unchecked(val) }; - } - } -} - -impl Deref for FindMut<'_, T, Kind, N> -where - T: PartialEq + PartialOrd, - Kind: kind::Kind, -{ - type Target = T; - - fn deref(&self) -> &Self::Target { - self.list.read_data_in_node_at(self.index.0 as usize) - } -} - -impl DerefMut for FindMut<'_, T, Kind, N> -where - T: PartialEq + PartialOrd, - Kind: kind::Kind, -{ - fn deref_mut(&mut self) -> &mut Self::Target { - self.maybe_changed = true; - self.list.read_mut_data_in_node_at(self.index.0 as usize) - } -} - -impl fmt::Debug for FindMut<'_, T, Kind, N> -where - T: PartialEq + PartialOrd + core::fmt::Debug, - Kind: kind::Kind, -{ - fn fmt(&self, f: &mut fmt::Formatter<'_>) -> fmt::Result { - f.debug_struct("FindMut") - .field("prev_index", &self.prev_index) - .field("index", &self.index) - .field( - "prev_value", - &self - .list - .read_data_in_node_at(self.prev_index.option().unwrap() as usize), - ) - .field( - "value", - &self - .list - .read_data_in_node_at(self.index.option().unwrap() as usize), - ) - .finish() - } -} - -/// The linked list. -pub struct LinkedList -where - T: PartialEq + PartialOrd, - Kind: kind::Kind, -{ - list: MaybeUninit<[Node; N]>, - head: LinkedIndex, - free: LinkedIndex, - _kind: PhantomData, -} - -impl LinkedList -where - T: PartialEq + PartialOrd, - Kind: kind::Kind, -{ - /// Internal helper to not do pointer arithmetic all over the place. - #[inline] - fn node_at(&self, index: usize) -> &Node { - // Safety: The entire `self.list` is initialized in `new`, which makes this safe. - unsafe { &*(self.list.as_ptr() as *const Node).add(index) } - } - - /// Internal helper to not do pointer arithmetic all over the place. - #[inline] - fn node_at_mut(&mut self, index: usize) -> &mut Node { - // Safety: The entire `self.list` is initialized in `new`, which makes this safe. - unsafe { &mut *(self.list.as_mut_ptr() as *mut Node).add(index) } - } - - /// Internal helper to not do pointer arithmetic all over the place. - #[inline] - fn write_data_in_node_at(&mut self, index: usize, data: T) { - unsafe { - self.node_at_mut(index).val.as_mut_ptr().write(data); - } - } - - /// Internal helper to not do pointer arithmetic all over the place. - #[inline] - fn read_data_in_node_at(&self, index: usize) -> &T { - unsafe { &*self.node_at(index).val.as_ptr() } - } - - /// Internal helper to not do pointer arithmetic all over the place. - #[inline] - fn read_mut_data_in_node_at(&mut self, index: usize) -> &mut T { - unsafe { &mut *self.node_at_mut(index).val.as_mut_ptr() } - } - - /// Internal helper to not do pointer arithmetic all over the place. - #[inline] - fn extract_data_in_node_at(&mut self, index: usize) -> T { - unsafe { self.node_at(index).val.as_ptr().read() } - } - - /// Internal helper to not do pointer arithmetic all over the place. - /// Safety: This can overwrite existing allocated nodes if used improperly, meaning their - /// `Drop` methods won't run. - #[inline] - unsafe fn write_node_at(&mut self, index: usize, node: Node) { - (self.list.as_mut_ptr() as *mut Node) - .add(index) - .write(node) - } - - /// Create a new linked list. - pub fn new() -> Self { - let mut list = LinkedList { - list: MaybeUninit::uninit(), - head: LinkedIndex::none(), - free: unsafe { LinkedIndex::new_unchecked(0) }, - _kind: PhantomData, - }; - - let len = N as u16; - let mut free = 0; - - if len == 0 { - list.free = LinkedIndex::none(); - return list; - } - - // Initialize indexes - while free < len - 1 { - unsafe { - list.write_node_at( - free as usize, - Node { - val: MaybeUninit::uninit(), - next: LinkedIndex::new_unchecked(free + 1), - }, - ); - } - free += 1; - } - - // Initialize final index - unsafe { - list.write_node_at( - free as usize, - Node { - val: MaybeUninit::uninit(), - next: LinkedIndex::none(), - }, - ); - } - - list - } - - /// Push unchecked - /// - /// Complexity is O(N). - /// - /// # Safety - /// - /// Assumes that the list is not full. - pub unsafe fn push_unchecked(&mut self, value: T) { - let new = self.free.0; - // Store the data and update the next free spot - self.write_data_in_node_at(new as usize, value); - self.free = self.node_at(new as usize).next; - - if let Some(head) = self.head.option() { - // Check if we need to replace head - if self - .read_data_in_node_at(head as usize) - .partial_cmp(self.read_data_in_node_at(new as usize)) - != Kind::ordering() - { - self.node_at_mut(new as usize).next = self.head; - self.head = LinkedIndex::new_unchecked(new); - } else { - // It's not head, search the list for the correct placement - let mut current = head; - - while let Some(next) = self.node_at(current as usize).next.option() { - if self - .read_data_in_node_at(next as usize) - .partial_cmp(self.read_data_in_node_at(new as usize)) - != Kind::ordering() - { - break; - } - - current = next; - } - - self.node_at_mut(new as usize).next = self.node_at(current as usize).next; - self.node_at_mut(current as usize).next = LinkedIndex::new_unchecked(new); - } - } else { - self.node_at_mut(new as usize).next = self.head; - self.head = LinkedIndex::new_unchecked(new); - } - } - - /// Pushes an element to the linked list and sorts it into place. - /// - /// Complexity is O(N). - pub fn push(&mut self, value: T) -> Result<(), T> { - if !self.is_full() { - Ok(unsafe { self.push_unchecked(value) }) - } else { - Err(value) - } - } - - /// Get an iterator over the sorted list. - pub fn iter(&self) -> Iter<'_, T, Kind, N> { - Iter { - list: self, - index: self.head, - } - } - - /// Find an element in the list. - pub fn find_mut(&mut self, mut f: F) -> Option> - where - F: FnMut(&T) -> bool, - { - let head = self.head.option()?; - - // Special-case, first element - if f(self.read_data_in_node_at(head as usize)) { - return Some(FindMut { - is_head: true, - prev_index: LinkedIndex::none(), - index: self.head, - list: self, - maybe_changed: false, - }); - } - - let mut current = head; - - while let Some(next) = self.node_at(current as usize).next.option() { - if f(self.read_data_in_node_at(next as usize)) { - return Some(FindMut { - is_head: false, - prev_index: unsafe { LinkedIndex::new_unchecked(current) }, - index: unsafe { LinkedIndex::new_unchecked(next) }, - list: self, - maybe_changed: false, - }); - } - - current = next; - } - - None - } - - /// Peek at the first element. - pub fn peek(&self) -> Option<&T> { - self.head - .option() - .map(|head| self.read_data_in_node_at(head as usize)) - } - - /// Pop unchecked - /// - /// # Safety - /// - /// Assumes that the list is not empty. - pub unsafe fn pop_unchecked(&mut self) -> T { - let head = self.head.0; - let current = head; - self.head = self.node_at(head as usize).next; - self.node_at_mut(current as usize).next = self.free; - self.free = LinkedIndex::new_unchecked(current); - - self.extract_data_in_node_at(current as usize) - } - - /// Pops the first element in the list. - /// - /// Complexity is O(1). - pub fn pop(&mut self) -> Result { - if !self.is_empty() { - Ok(unsafe { self.pop_unchecked() }) - } else { - Err(()) - } - } - - /// Checks if the linked list is full. - #[inline] - pub fn is_full(&self) -> bool { - self.free.option().is_none() - } - - /// Checks if the linked list is empty. - #[inline] - pub fn is_empty(&self) -> bool { - self.head.option().is_none() - } -} - -impl Drop for LinkedList -where - T: PartialEq + PartialOrd, - Kind: kind::Kind, -{ - fn drop(&mut self) { - let mut index = self.head; - - while let Some(i) = index.option() { - let node = self.node_at_mut(i as usize); - index = node.next; - - unsafe { - ptr::drop_in_place(node.val.as_mut_ptr()); - } - } - } -} - -impl fmt::Debug for LinkedList -where - T: PartialEq + PartialOrd + core::fmt::Debug, - Kind: kind::Kind, -{ - fn fmt(&self, f: &mut fmt::Formatter<'_>) -> fmt::Result { - f.debug_list().entries(self.iter()).finish() - } -} - -/// Min sorted linked list. -pub struct Min; - -/// Max sorted linked list. -pub struct Max; - -/// Sealed traits and implementations for `linked_list` -pub mod kind { - use super::{Max, Min}; - use core::cmp::Ordering; - - /// The linked list kind: min first or max first - pub unsafe trait Kind { - #[doc(hidden)] - fn ordering() -> Option; - } - - unsafe impl Kind for Min { - #[inline] - fn ordering() -> Option { - Some(Ordering::Less) - } - } - - unsafe impl Kind for Max { - #[inline] - fn ordering() -> Option { - Some(Ordering::Greater) - } - } -} - -#[cfg(test)] -mod tests { - // Note this useful idiom: importing names from outer (for mod tests) scope. - use super::*; - - #[test] - fn test_peek() { - let mut ll: LinkedList = LinkedList::new(); - - ll.push(1).unwrap(); - assert_eq!(ll.peek().unwrap(), &1); - - ll.push(2).unwrap(); - assert_eq!(ll.peek().unwrap(), &2); - - ll.push(3).unwrap(); - assert_eq!(ll.peek().unwrap(), &3); - - let mut ll: LinkedList = LinkedList::new(); - - ll.push(2).unwrap(); - assert_eq!(ll.peek().unwrap(), &2); - - ll.push(1).unwrap(); - assert_eq!(ll.peek().unwrap(), &1); - - ll.push(3).unwrap(); - assert_eq!(ll.peek().unwrap(), &1); - } - - #[test] - fn test_full() { - let mut ll: LinkedList = LinkedList::new(); - ll.push(1).unwrap(); - ll.push(2).unwrap(); - ll.push(3).unwrap(); - - assert!(ll.is_full()) - } - - #[test] - fn test_empty() { - let ll: LinkedList = LinkedList::new(); - - assert!(ll.is_empty()) - } - - #[test] - fn test_zero_size() { - let ll: LinkedList = LinkedList::new(); - - assert!(ll.is_empty()); - assert!(ll.is_full()); - } - - #[test] - fn test_rejected_push() { - let mut ll: LinkedList = LinkedList::new(); - ll.push(1).unwrap(); - ll.push(2).unwrap(); - ll.push(3).unwrap(); - - // This won't fit - let r = ll.push(4); - - assert_eq!(r, Err(4)); - } - - #[test] - fn test_updating() { - let mut ll: LinkedList = LinkedList::new(); - ll.push(1).unwrap(); - ll.push(2).unwrap(); - ll.push(3).unwrap(); - - 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); - } -} diff --git a/src/tq.rs b/src/tq.rs index cd44abe2bc..dcaccc9e7d 100644 --- a/src/tq.rs +++ b/src/tq.rs @@ -1,9 +1,9 @@ use crate::{ - linked_list::{LinkedList, Min}, time::{Clock, Instant}, Monotonic, }; use core::cmp::Ordering; +use heapless::sorted_linked_list::{LinkedIndexU16, Min, SortedLinkedList}; #[inline(always)] fn unwrapper(val: Result) -> T { @@ -14,7 +14,9 @@ fn unwrapper(val: Result) -> T { } } -pub struct TimerQueue(pub LinkedList, Min, N>) +pub struct TimerQueue( + pub SortedLinkedList, LinkedIndexU16, Min, N>, +) where Mono: Monotonic, Task: Copy; @@ -24,10 +26,6 @@ where Mono: Monotonic, Task: Copy, { - pub fn new() -> Self { - TimerQueue(LinkedList::new()) - } - /// # Safety /// /// Writing to memory with a transmute in order to enable