const generics

Cargo.toml

@@ -44,9 +44,8 @@ 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 = "0.6.1"
+heapless = "0.7.1"
 bare-metal = "1.0.0"
-generic-array = "0.14"
 
 [dependencies.dwt-systick-monotonic]
 version = "0.1.0-alpha.3"

book/en/src/internals/tasks.md

@@ -78,8 +78,8 @@ mod app {
     }
 
     // ready queue of the task dispatcher
-    // `U4` is a type-level integer that represents the capacity of this queue
+    // `5-1=4` represents the capacity of this queue
-    static mut RQ1: Queue<Ready<T1>, U4> = Queue::new();
+    static mut RQ1: Queue<Ready<T1>, 5> = Queue::new();
 
     // interrupt handler chosen to dispatch tasks at priority `1`
     #[no_mangle]
@@ -153,7 +153,7 @@ mod app {
     // used to track how many more `bar` messages can be enqueued
     // `U2` is the capacity of the `bar` task; a max of two instances can be queued
     // this queue is filled by the framework before `init` runs
-    static mut bar_FQ: Queue<(), U2> = Queue::new();
+    static mut bar_FQ: Queue<(), 3> = Queue::new();
 
     // Priority ceiling for the consumer endpoint of `bar_FQ`
     const bar_FQ_CEILING: u8 = 2;
@@ -227,7 +227,7 @@ mod app {
 
     // the free queue: used to track free slots in the `baz_INPUTS` array
     // this queue is initialized with values `0` and `1` before `init` is executed
-    static mut baz_FQ: Queue<u8, U2> = Queue::new();
+    static mut baz_FQ: Queue<u8, 3> = Queue::new();
 
     // Priority ceiling for the consumer endpoint of `baz_FQ`
     const baz_FQ_CEILING: u8 = 2;

examples/shared.rs

@@ -10,23 +10,19 @@ use panic_semihosting as _;
 #[rtic::app(device = lm3s6965)]
 mod app {
     use cortex_m_semihosting::{debug, hprintln};
-    use heapless::{
+    use heapless::spsc::{Consumer, Producer, Queue};
-        consts::*,
-        i,
-        spsc::{Consumer, Producer, Queue},
-    };
     use lm3s6965::Interrupt;
 
     #[shared]
     struct Shared {
-        p: Producer<'static, u32, U4>,
+        p: Producer<'static, u32, 5>,
-        c: Consumer<'static, u32, U4>,
+        c: Consumer<'static, u32, 5>,
     }
 
     #[local]
     struct Local {}
 
-    #[init(local = [q: Queue<u32, U4> = Queue(i::Queue::new())])]
+    #[init(local = [q: Queue<u32, 5> = Queue::new()])]
     fn init(cx: init::Context) -> (Shared, Local, init::Monotonics) {
         let (p, c) = cx.local.q.split();
 

examples/static.rs

@@ -11,23 +11,19 @@ use panic_semihosting as _;
 mod app {
 
     use cortex_m_semihosting::{debug, hprintln};
-    use heapless::{
+    use heapless::spsc::{Consumer, Producer, Queue};
-        consts::*,
-        i,
-        spsc::{Consumer, Producer, Queue},
-    };
     use lm3s6965::Interrupt;
 
     #[shared]
     struct Shared {
-        p: Producer<'static, u32, U4>,
+        p: Producer<'static, u32, 5>,
-        c: Consumer<'static, u32, U4>,
+        c: Consumer<'static, u32, 5>,
     }
 
     #[local]
     struct Local {}
 
-    #[init(local = [q: Queue<u32, U4> = Queue(i::Queue::new())])]
+    #[init(local = [q: Queue<u32, 5> = Queue::new()])]
     fn init(cx: init::Context) -> (Shared, Local, init::Monotonics) {
         let (p, c) = cx.local.q.split();
 

macros/src/codegen/dispatchers.rs

@@ -42,15 +42,13 @@ pub fn codegen(app: &App, analysis: &Analysis, _extra: &Extra) -> Vec<TokenStrea
             }
         ));
 
-        let n = util::capacity_typenum(channel.capacity, true);
+        let n = util::capacity_literal(channel.capacity as usize + 1);
         let rq = util::rq_ident(level);
         let rq = util::mark_internal_ident(&rq);
         let (rq_ty, rq_expr) = {
             (
                 quote!(rtic::export::SCRQ<#t, #n>),
-                quote!(rtic::export::Queue(unsafe {
+                quote!(rtic::export::Queue::new()),
-                    rtic::export::iQueue::u8_sc()
-                })),
             )
         };
 

macros/src/codegen/software_tasks.rs

@@ -32,8 +32,8 @@ pub fn codegen(
         let (_, _, _, input_ty) = util::regroup_inputs(inputs);
 
         let cap = task.args.capacity;
-        let cap_lit = util::capacity_literal(cap);
+        let cap_lit = util::capacity_literal(cap as usize);
-        let cap_ty = util::capacity_typenum(cap, true);
+        let cap_lit_p1 = util::capacity_literal(cap as usize + 1);
 
         // Create free queues and inputs / instants buffers
         let fq = util::fq_ident(name);
@@ -41,10 +41,8 @@ pub fn codegen(
 
         let (fq_ty, fq_expr, mk_uninit): (_, _, Box<dyn Fn() -> Option<_>>) = {
             (
-                quote!(rtic::export::SCFQ<#cap_ty>),
+                quote!(rtic::export::SCFQ<#cap_lit_p1>),
-                quote!(rtic::export::Queue(unsafe {
+                quote!(rtic::export::Queue::new()),
-                    rtic::export::iQueue::u8_sc()
-                })),
                 Box::new(|| util::link_section_uninit()),
             )
         };

macros/src/codegen/timer_queue.rs

@@ -62,12 +62,12 @@ pub fn codegen(app: &App, analysis: &Analysis, _extra: &Extra) -> Vec<TokenStrea
         {
             // For future use
             // let doc = &format!("Timer queue for {}", monotonic_name);
-            let cap = app
+            let cap: u8 = app
                 .software_tasks
                 .iter()
                 .map(|(_name, task)| task.args.capacity)
                 .sum();
-            let n = util::capacity_typenum(cap, false);
+            let n = util::capacity_literal(cap as usize);
             let tq_ty =
                 quote!(core::mem::MaybeUninit<rtic::export::TimerQueue<#mono_type, #t, #n>>);
 

macros/src/codegen/util.rs

@@ -8,23 +8,10 @@ use syn::{Attribute, Ident, LitInt, PatType};
 use crate::check::Extra;
 
 /// Turns `capacity` into an unsuffixed integer literal
-pub fn capacity_literal(capacity: u8) -> LitInt {
+pub fn capacity_literal(capacity: usize) -> LitInt {
     LitInt::new(&capacity.to_string(), Span::call_site())
 }
 
-/// Turns `capacity` into a type-level (`typenum`) integer
-pub fn capacity_typenum(capacity: u8, round_up_to_power_of_two: bool) -> TokenStream2 {
-    let capacity = if round_up_to_power_of_two {
-        capacity.checked_next_power_of_two().expect("UNREACHABLE")
-    } else {
-        capacity
-    };
-
-    let ident = Ident::new(&format!("U{}", capacity), Span::call_site());
-
-    quote!(rtic::export::consts::#ident)
-}
-
 /// Identifier for the free queue
 pub fn fq_ident(task: &Ident) -> Ident {
     Ident::new(&format!("{}_FQ", task.to_string()), Span::call_site())

src/export.rs

@@ -13,13 +13,12 @@ pub use cortex_m::{
     peripheral::{scb::SystemHandler, syst::SystClkSource, DWT, NVIC},
     Peripherals,
 };
-use heapless::spsc::SingleCore;
+pub use heapless::spsc::Queue;
-pub use heapless::{consts, i::Queue as iQueue, spsc::Queue};
+pub use heapless::BinaryHeap;
-pub use heapless::{i::BinaryHeap as iBinaryHeap, BinaryHeap};
 pub use rtic_monotonic as monotonic;
 
-pub type SCFQ<N> = Queue<u8, N, u8, SingleCore>;
+pub type SCFQ<const N: usize> = Queue<u8, N>;
-pub type SCRQ<T, N> = Queue<(T, u8), N, u8, SingleCore>;
+pub type SCRQ<T, const N: usize> = Queue<(T, u8), N>;
 
 #[cfg(armv7m)]
 #[inline(always)]

src/linked_list.rs

@@ -3,8 +3,6 @@ use core::marker::PhantomData;
 use core::mem::MaybeUninit;
 use core::ops::{Deref, DerefMut};
 use core::ptr;
-pub use generic_array::ArrayLength;
-use generic_array::GenericArray;
 
 #[derive(Debug, Clone, Copy, PartialEq, Eq, PartialOrd, Ord)]
 struct LinkedIndex(u16);
@@ -37,21 +35,19 @@ pub struct Node<T> {
 }
 
 /// Iterator for the linked list.
-pub struct Iter<'a, T, Kind, N>
+pub struct Iter<'a, T, Kind, const N: usize>
 where
     T: PartialEq + PartialOrd,
     Kind: kind::Kind,
-    N: ArrayLength<Node<T>>,
 {
     list: &'a LinkedList<T, Kind, N>,
     index: LinkedIndex,
 }
 
-impl<'a, T, Kind, N> Iterator for Iter<'a, T, Kind, N>
+impl<'a, T, Kind, const N: usize> Iterator for Iter<'a, T, Kind, N>
 where
     T: PartialEq + PartialOrd,
     Kind: kind::Kind,
-    N: ArrayLength<Node<T>>,
 {
     type Item = &'a T;
 
@@ -66,11 +62,10 @@ where
 }
 
 /// Comes from [`LinkedList::find_mut`].
-pub struct FindMut<'a, T, Kind, N>
+pub struct FindMut<'a, T, Kind, const N: usize>
 where
     T: PartialEq + PartialOrd,
     Kind: kind::Kind,
-    N: ArrayLength<Node<T>>,
 {
     list: &'a mut LinkedList<T, Kind, N>,
     is_head: bool,
@@ -79,11 +74,10 @@ where
     maybe_changed: bool,
 }
 
-impl<'a, T, Kind, N> FindMut<'a, T, Kind, N>
+impl<'a, T, Kind, const N: usize> FindMut<'a, T, Kind, N>
 where
     T: PartialEq + PartialOrd,
     Kind: kind::Kind,
-    N: ArrayLength<Node<T>>,
 {
     fn pop_internal(&mut self) -> T {
         if self.is_head {
@@ -122,11 +116,10 @@ where
     }
 }
 
-impl<T, Kind, N> Drop for FindMut<'_, T, Kind, N>
+impl<T, Kind, const N: usize> Drop for FindMut<'_, T, Kind, N>
 where
     T: PartialEq + PartialOrd,
     Kind: kind::Kind,
-    N: ArrayLength<Node<T>>,
 {
     fn drop(&mut self) {
         // Only resort the list if the element has changed
@@ -137,11 +130,10 @@ where
     }
 }
 
-impl<T, Kind, N> Deref for FindMut<'_, T, Kind, N>
+impl<T, Kind, const N: usize> Deref for FindMut<'_, T, Kind, N>
 where
     T: PartialEq + PartialOrd,
     Kind: kind::Kind,
-    N: ArrayLength<Node<T>>,
 {
     type Target = T;
 
@@ -150,11 +142,10 @@ where
     }
 }
 
-impl<T, Kind, N> DerefMut for FindMut<'_, T, Kind, N>
+impl<T, Kind, const N: usize> DerefMut for FindMut<'_, T, Kind, N>
 where
     T: PartialEq + PartialOrd,
     Kind: kind::Kind,
-    N: ArrayLength<Node<T>>,
 {
     fn deref_mut(&mut self) -> &mut Self::Target {
         self.maybe_changed = true;
@@ -162,11 +153,10 @@ where
     }
 }
 
-impl<T, Kind, N> fmt::Debug for FindMut<'_, T, Kind, N>
+impl<T, Kind, const N: usize> fmt::Debug for FindMut<'_, T, Kind, N>
 where
     T: PartialEq + PartialOrd + core::fmt::Debug,
     Kind: kind::Kind,
-    N: ArrayLength<Node<T>>,
 {
     fn fmt(&self, f: &mut fmt::Formatter<'_>) -> fmt::Result {
         f.debug_struct("FindMut")
@@ -189,23 +179,21 @@ where
 }
 
 /// The linked list.
-pub struct LinkedList<T, Kind, N>
+pub struct LinkedList<T, Kind, const N: usize>
 where
     T: PartialEq + PartialOrd,
     Kind: kind::Kind,
-    N: ArrayLength<Node<T>>,
 {
-    list: MaybeUninit<GenericArray<Node<T>, N>>,
+    list: MaybeUninit<[Node<T>; N]>,
     head: LinkedIndex,
     free: LinkedIndex,
     _kind: PhantomData<Kind>,
 }
 
-impl<T, Kind, N> LinkedList<T, Kind, N>
+impl<T, Kind, const N: usize> LinkedList<T, Kind, N>
 where
     T: PartialEq + PartialOrd,
     Kind: kind::Kind,
-    N: ArrayLength<Node<T>>,
 {
     /// Internal helper to not do pointer arithmetic all over the place.
     #[inline]
@@ -266,7 +254,7 @@ where
             _kind: PhantomData,
         };
 
-        let len = N::U16;
+        let len = N as u16;
         let mut free = 0;
 
         if len == 0 {
@@ -451,11 +439,10 @@ where
     }
 }
 
-impl<T, Kind, N> Drop for LinkedList<T, Kind, N>
+impl<T, Kind, const N: usize> Drop for LinkedList<T, Kind, N>
 where
     T: PartialEq + PartialOrd,
     Kind: kind::Kind,
-    N: ArrayLength<Node<T>>,
 {
     fn drop(&mut self) {
         let mut index = self.head;
@@ -471,11 +458,10 @@ where
     }
 }
 
-impl<T, Kind, N> fmt::Debug for LinkedList<T, Kind, N>
+impl<T, Kind, const N: usize> fmt::Debug for LinkedList<T, Kind, N>
 where
     T: PartialEq + PartialOrd + core::fmt::Debug,
     Kind: kind::Kind,
-    N: ArrayLength<Node<T>>,
 {
     fn fmt(&self, f: &mut fmt::Formatter<'_>) -> fmt::Result {
         f.debug_list().entries(self.iter()).finish()
@@ -518,11 +504,10 @@ pub mod kind {
 mod tests {
     // Note this useful idiom: importing names from outer (for mod tests) scope.
     use super::*;
-    use generic_array::typenum::consts::*;
 
     #[test]
     fn test_peek() {
-        let mut ll: LinkedList<u32, Max, U3> = LinkedList::new();
+        let mut ll: LinkedList<u32, Max, 3> = LinkedList::new();
 
         ll.push(1).unwrap();
         assert_eq!(ll.peek().unwrap(), &1);
@@ -533,7 +518,7 @@ mod tests {
         ll.push(3).unwrap();
         assert_eq!(ll.peek().unwrap(), &3);
 
-        let mut ll: LinkedList<u32, Min, U3> = LinkedList::new();
+        let mut ll: LinkedList<u32, Min, 3> = LinkedList::new();
 
         ll.push(2).unwrap();
         assert_eq!(ll.peek().unwrap(), &2);
@@ -547,7 +532,7 @@ mod tests {
 
     #[test]
     fn test_full() {
-        let mut ll: LinkedList<u32, Max, U3> = LinkedList::new();
+        let mut ll: LinkedList<u32, Max, 3> = LinkedList::new();
         ll.push(1).unwrap();
         ll.push(2).unwrap();
         ll.push(3).unwrap();
@@ -557,14 +542,14 @@ mod tests {
 
     #[test]
     fn test_empty() {
-        let ll: LinkedList<u32, Max, U3> = LinkedList::new();
+        let ll: LinkedList<u32, Max, 3> = LinkedList::new();
 
         assert!(ll.is_empty())
     }
 
     #[test]
     fn test_zero_size() {
-        let ll: LinkedList<u32, Max, U0> = LinkedList::new();
+        let ll: LinkedList<u32, Max, 0> = LinkedList::new();
 
         assert!(ll.is_empty());
         assert!(ll.is_full());
@@ -572,7 +557,7 @@ mod tests {
 
     #[test]
     fn test_rejected_push() {
-        let mut ll: LinkedList<u32, Max, U3> = LinkedList::new();
+        let mut ll: LinkedList<u32, Max, 3> = LinkedList::new();
         ll.push(1).unwrap();
         ll.push(2).unwrap();
         ll.push(3).unwrap();
@@ -585,7 +570,7 @@ mod tests {
 
     #[test]
     fn test_updating() {
-        let mut ll: LinkedList<u32, Max, U3> = LinkedList::new();
+        let mut ll: LinkedList<u32, Max, 3> = LinkedList::new();
         ll.push(1).unwrap();
         ll.push(2).unwrap();
         ll.push(3).unwrap();

src/tq.rs

@@ -1,5 +1,5 @@
 use crate::{
-    linked_list::{ArrayLength, LinkedList, Min, Node},
+    linked_list::{LinkedList, Min},
     time::{Clock, Instant},
     Monotonic,
 };
@@ -14,16 +14,14 @@ fn unwrapper<T, E>(val: Result<T, E>) -> T {
     }
 }
 
-pub struct TimerQueue<Mono, Task, N>(pub LinkedList<NotReady<Mono, Task>, Min, N>)
+pub struct TimerQueue<Mono, Task, const N: usize>(pub LinkedList<NotReady<Mono, Task>, Min, N>)
 where
     Mono: Monotonic,
-    N: ArrayLength<Node<NotReady<Mono, Task>>>,
     Task: Copy;
 
-impl<Mono, Task, N> TimerQueue<Mono, Task, N>
+impl<Mono, Task, const N: usize> TimerQueue<Mono, Task, N>
 where
     Mono: Monotonic,
-    N: ArrayLength<Node<NotReady<Mono, Task>>>,
     Task: Copy,
 {
     pub fn new() -> Self {