More work on new spawn/executor

Cargo.toml

@@ -28,6 +28,8 @@ rtic-monotonic = "1.0.0"
 rtic-core = "1.0.0"
 heapless = "0.7.7"
 bare-metal = "1.0.0"
+#portable-atomic = { version = "0.3.19" }
+atomic-polyfill = "1"
 
 [build-dependencies]
 version_check = "0.9"

macros/src/codegen/async_dispatchers.rs

@@ -16,11 +16,10 @@ pub fn codegen(app: &App, analysis: &Analysis) -> TokenStream2 {
 
         items.push(quote!(
             #[allow(non_camel_case_types)]
-            type #type_name = impl core::future::Future + 'static;
+            type #type_name = impl core::future::Future;
             #[allow(non_upper_case_globals)]
-            static #exec_name:
+            static #exec_name: rtic::export::executor::AsyncTaskExecutor<#type_name> =
-                rtic::RacyCell<rtic::export::executor::AsyncTaskExecutor<#type_name>> =
+                rtic::export::executor::AsyncTaskExecutor::new();
-                    rtic::RacyCell::new(rtic::export::executor::AsyncTaskExecutor::new());
         ));
     }
 
@@ -47,38 +46,13 @@ pub fn codegen(app: &App, analysis: &Analysis) -> TokenStream2 {
             let exec_name = util::internal_task_ident(name, "EXEC");
             // let task = &app.software_tasks[name];
             // let cfgs = &task.cfgs;
-            let executor_run_ident = util::executor_run_ident(name);
-
-            let rq = util::rq_async_ident(name);
-
-            items.push(quote!(
-                #[doc(hidden)]
-                #[allow(non_camel_case_types)]
-                #[allow(non_upper_case_globals)]
-                static #rq: core::sync::atomic::AtomicBool = core::sync::atomic::AtomicBool::new(false);
-            ));
 
             stmts.push(quote!(
-                if !(&*#exec_name.get()).is_running() {
+                if #exec_name.check_and_clear_pending() {
-                    // TODO Fix this to be compare and swap
+                    #exec_name.poll(|| {
-                    if #rq.load(core::sync::atomic::Ordering::Relaxed) {
+                        #exec_name.set_pending();
-                        #rq.store(false, core::sync::atomic::Ordering::Relaxed);
-
-                        (&mut *#exec_name.get_mut()).spawn(#name(#name::Context::new()));
-                        #executor_run_ident.store(true, core::sync::atomic::Ordering::Relaxed);
-                    }
-                }
-
-                if #executor_run_ident.load(core::sync::atomic::Ordering::Relaxed) {
-                    #executor_run_ident.store(false, core::sync::atomic::Ordering::Relaxed);
-                    if (&mut *#exec_name.get_mut()).poll(||  {
-                        #executor_run_ident.store(true, core::sync::atomic::Ordering::Release);
                         #pend_interrupt
-                    }) && #rq.load(core::sync::atomic::Ordering::Relaxed) {
+                    });
-                        // If the ready queue is not empty and the executor finished, restart this
-                        // dispatch to check if the executor should be restarted.
-                        #pend_interrupt
-                    }
                 }
             ));
         }
@@ -96,12 +70,7 @@ pub fn codegen(app: &App, analysis: &Analysis) -> TokenStream2 {
                     const PRIORITY: u8 = #level;
 
                     rtic::export::run(PRIORITY, || {
-                        // Have the acquire/release semantics outside the checks to no overdo it
-                        core::sync::atomic::fence(core::sync::atomic::Ordering::Acquire);
-
                         #(#stmts)*
-
-                        core::sync::atomic::fence(core::sync::atomic::Ordering::Release);
                     });
                 }
             ));
@@ -110,12 +79,7 @@ pub fn codegen(app: &App, analysis: &Analysis) -> TokenStream2 {
                 #[allow(non_snake_case)]
                 unsafe fn #dispatcher_name() -> ! {
                     loop {
-                        // Have the acquire/release semantics outside the checks to no overdo it
-                        core::sync::atomic::fence(core::sync::atomic::Ordering::Acquire);
-
                         #(#stmts)*
-
-                        core::sync::atomic::fence(core::sync::atomic::Ordering::Release);
                     }
                 }
             ));

macros/src/codegen/module.rs

@@ -98,6 +98,7 @@ pub fn codegen(ctxt: Context, app: &App, analysis: &Analysis) -> TokenStream2 {
     };
 
     let internal_context_name = util::internal_task_ident(name, "Context");
+    let exec_name = util::internal_task_ident(name, "EXEC");
 
     items.push(quote!(
         #(#cfgs)*
@@ -147,25 +148,25 @@ pub fn codegen(ctxt: Context, app: &App, analysis: &Analysis) -> TokenStream2 {
         let internal_spawn_ident = util::internal_task_ident(name, "spawn");
 
         // Spawn caller
-        let rq = util::rq_async_ident(name);
         items.push(quote!(
-
+            #(#cfgs)*
-        #(#cfgs)*
+            /// Spawns the task directly
-        /// Spawns the task directly
+            #[allow(non_snake_case)]
-        #[allow(non_snake_case)]
+            #[doc(hidden)]
-        #[doc(hidden)]
+            pub fn #internal_spawn_ident() -> Result<(), ()> {
-        pub fn #internal_spawn_ident() -> Result<(), ()> {
+                if #exec_name.try_reserve() {
-            unsafe {
+                    unsafe {
-                // TODO: Fix this to be compare and swap
+                        // TODO: Add args here
-                if #rq.load(core::sync::atomic::Ordering::Acquire) {
+                        #exec_name.spawn_unchecked(#name(#name::Context::new()));
-                    Err(())
+                    }
-                } else {
-                    #rq.store(true, core::sync::atomic::Ordering::Release);
                     #pend_interrupt
+
                     Ok(())
+                } else {
+                    Err(())
                 }
             }
-        }));
+        ));
 
         module_items.push(quote!(
             #(#cfgs)*

macros/src/codegen/software_tasks.rs

@@ -1,7 +1,7 @@
 use crate::syntax::{ast::App, Context};
 use crate::{
     analyze::Analysis,
-    codegen::{local_resources_struct, module, shared_resources_struct, util},
+    codegen::{local_resources_struct, module, shared_resources_struct},
 };
 use proc_macro2::TokenStream as TokenStream2;
 use quote::quote;
@@ -13,18 +13,6 @@ pub fn codegen(app: &App, analysis: &Analysis) -> TokenStream2 {
 
     // Any task
     for (name, task) in app.software_tasks.iter() {
-        let executor_ident = util::executor_run_ident(name);
-        mod_app.push(quote!(
-            #[allow(non_camel_case_types)]
-            #[allow(non_upper_case_globals)]
-            #[doc(hidden)]
-            static #executor_ident: core::sync::atomic::AtomicBool =
-                core::sync::atomic::AtomicBool::new(false);
-        ));
-
-        // `${task}Resources`
-
-        // `${task}Locals`
         if !task.args.local_resources.is_empty() {
             let (item, constructor) =
                 local_resources_struct::codegen(Context::SoftwareTask(name), app);

macros/src/codegen/util.rs

@@ -49,11 +49,6 @@ pub fn impl_mutex(
     )
 }
 
-/// Generates an identifier for the `EXECUTOR_RUN` atomics (`async` API)
-pub fn executor_run_ident(task: &Ident) -> Ident {
-    mark_internal_name(&format!("{task}_EXECUTOR_RUN"))
-}
-
 pub fn interrupt_ident() -> Ident {
     let span = Span::call_site();
     Ident::new("interrupt", span)
@@ -151,11 +146,6 @@ pub fn local_resources_ident(ctxt: Context, app: &App) -> Ident {
     mark_internal_name(&s)
 }
 
-/// Generates an identifier for a ready queue, async task version
-pub fn rq_async_ident(async_task_name: &Ident) -> Ident {
-    mark_internal_name(&format!("ASYNC_TASK_{async_task_name}_RQ"))
-}
-
 /// Suffixed identifier
 pub fn suffixed(name: &str) -> Ident {
     let span = Span::call_site();

src/export.rs

@@ -1,5 +1,4 @@
 pub use bare_metal::CriticalSection;
-use core::sync::atomic::{AtomicBool, Ordering};
 pub use cortex_m::{
     asm::nop,
     asm::wfi,
@@ -7,6 +6,8 @@ pub use cortex_m::{
     peripheral::{scb::SystemHandler, DWT, NVIC, SCB, SYST},
     Peripherals,
 };
+//pub use portable_atomic as atomic;
+pub use atomic_polyfill as atomic;
 
 pub mod executor;
 
@@ -72,28 +73,6 @@ where
     f();
 }
 
-pub struct Barrier {
-    inner: AtomicBool,
-}
-
-impl Barrier {
-    pub const fn new() -> Self {
-        Barrier {
-            inner: AtomicBool::new(false),
-        }
-    }
-
-    pub fn release(&self) {
-        self.inner.store(true, Ordering::Release);
-    }
-
-    pub fn wait(&self) {
-        while !self.inner.load(Ordering::Acquire) {
-            core::hint::spin_loop()
-        }
-    }
-}
-
 /// Const helper to check architecture
 pub const fn have_basepri() -> bool {
     #[cfg(have_basepri)]

src/export/executor.rs

@@ -1,9 +1,9 @@
+use super::atomic::{AtomicBool, Ordering};
 use core::{
     cell::UnsafeCell,
     future::Future,
     mem::{self, MaybeUninit},
     pin::Pin,
-    sync::atomic::{AtomicBool, Ordering},
     task::{Context, Poll, RawWaker, RawWakerVTable, Waker},
 };
 
@@ -53,9 +53,11 @@ impl<F: Future> AsyncTaskExecutor<F> {
         self.running.load(Ordering::Relaxed)
     }
 
-    /// Checks if a waker has pended the executor.
+    /// Checks if a waker has pended the executor and simultaneously clears the flag.
-    pub fn is_pending(&self) -> bool {
+    pub fn check_and_clear_pending(&self) -> bool {
-        self.pending.load(Ordering::Relaxed)
+        self.pending
+            .compare_exchange(true, false, Ordering::Relaxed, Ordering::Relaxed)
+            .is_ok()
     }
 
     // Used by wakers to indicate that the executor needs to run.
@@ -80,6 +82,7 @@ impl<F: Future> AsyncTaskExecutor<F> {
         debug_assert!(self.running.load(Ordering::Relaxed));
 
         self.task.get().write(MaybeUninit::new(future));
+        self.set_pending();
     }
 
     /// Poll the future in the executor.

xtask/src/command.rs

@@ -70,7 +70,15 @@ impl<'a> CargoCommand<'a> {
                 features,
                 mode,
             } => {
-                let mut args = vec!["+nightly", self.name(), "--examples", "--target", target];
+                let mut args = vec![
+                    "+nightly",
+                    self.name(),
+                    "--examples",
+                    "--target",
+                    target,
+                    "--features",
+                    "test-critical-section",
+                ];
 
                 if let Some(feature_name) = features {
                     args.extend_from_slice(&["--features", feature_name]);