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Rework time-driver contract. #3593

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merged 15 commits into from
Dec 16, 2024
Merged

Rework time-driver contract. #3593

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5a5495a
Refactor integrated-timers
bugadani Nov 26, 2024
6cc8709
Changelog
bugadani Dec 8, 2024
12f58fb
Remove TIMER_QUEUED state
bugadani Dec 8, 2024
dc18ee2
Do not access task header
bugadani Dec 8, 2024
d45ea43
Move integrated timer queue into time-queue-driver
bugadani Dec 8, 2024
ec96395
Prevent task from respawning while in the timer queue
bugadani Dec 9, 2024
b268b17
Merge time-driver and time-queue-driver traits, make HALs own and han…
Dirbaio Dec 8, 2024
2f2e2c6
Make `integrated-timers` the default, remove Cargo feature.
Dirbaio Dec 8, 2024
5c49832
Make sure an exited task does not get stuck in a timer queue
bugadani Dec 13, 2024
e861344
Fix comments and tweak task exit
bugadani Dec 15, 2024
0492dba
Update documentation and changelogs
bugadani Dec 15, 2024
e77ac50
Remove critical_section dependency
bugadani Dec 15, 2024
4df4ffb
Remove time-driver dependency
bugadani Dec 15, 2024
a10290b
Zero-inizialize expires_at
bugadani Dec 16, 2024
e1c0061
Disable failing test
bugadani Dec 16, 2024
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2 changes: 1 addition & 1 deletion .github/ci/test.sh
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Expand Up @@ -17,7 +17,7 @@ cargo test --manifest-path ./embassy-futures/Cargo.toml
cargo test --manifest-path ./embassy-sync/Cargo.toml
cargo test --manifest-path ./embassy-embedded-hal/Cargo.toml
cargo test --manifest-path ./embassy-hal-internal/Cargo.toml
cargo test --manifest-path ./embassy-time/Cargo.toml --features generic-queue,mock-driver
cargo test --manifest-path ./embassy-time/Cargo.toml --features mock-driver,embassy-time-queue-driver/generic-queue-8
cargo test --manifest-path ./embassy-time-driver/Cargo.toml

cargo test --manifest-path ./embassy-boot/Cargo.toml
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9 changes: 1 addition & 8 deletions ci-nightly.sh
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Expand Up @@ -13,20 +13,13 @@ cargo batch \
--- build --release --manifest-path embassy-executor/Cargo.toml --target thumbv7em-none-eabi --features nightly,log \
--- build --release --manifest-path embassy-executor/Cargo.toml --target thumbv7em-none-eabi --features nightly,defmt \
--- build --release --manifest-path embassy-executor/Cargo.toml --target thumbv6m-none-eabi --features nightly,defmt \
--- build --release --manifest-path embassy-executor/Cargo.toml --target thumbv6m-none-eabi --features nightly,defmt,arch-cortex-m,executor-thread,executor-interrupt,integrated-timers \
--- build --release --manifest-path embassy-executor/Cargo.toml --target thumbv6m-none-eabi --features nightly,defmt,arch-cortex-m,executor-thread,executor-interrupt \
--- build --release --manifest-path embassy-executor/Cargo.toml --target thumbv7em-none-eabi --features nightly,arch-cortex-m \
--- build --release --manifest-path embassy-executor/Cargo.toml --target thumbv7em-none-eabi --features nightly,arch-cortex-m,integrated-timers \
--- build --release --manifest-path embassy-executor/Cargo.toml --target thumbv7em-none-eabi --features nightly,arch-cortex-m,executor-thread \
--- build --release --manifest-path embassy-executor/Cargo.toml --target thumbv7em-none-eabi --features nightly,arch-cortex-m,executor-thread,integrated-timers \
--- build --release --manifest-path embassy-executor/Cargo.toml --target thumbv7em-none-eabi --features nightly,arch-cortex-m,executor-interrupt \
--- build --release --manifest-path embassy-executor/Cargo.toml --target thumbv7em-none-eabi --features nightly,arch-cortex-m,executor-interrupt,integrated-timers \
--- build --release --manifest-path embassy-executor/Cargo.toml --target thumbv7em-none-eabi --features nightly,arch-cortex-m,executor-thread,executor-interrupt \
--- build --release --manifest-path embassy-executor/Cargo.toml --target thumbv7em-none-eabi --features nightly,arch-cortex-m,executor-thread,executor-interrupt,integrated-timers \
--- build --release --manifest-path embassy-executor/Cargo.toml --target riscv32imac-unknown-none-elf --features nightly,arch-riscv32 \
--- build --release --manifest-path embassy-executor/Cargo.toml --target riscv32imac-unknown-none-elf --features nightly,arch-riscv32,integrated-timers \
--- build --release --manifest-path embassy-executor/Cargo.toml --target riscv32imac-unknown-none-elf --features nightly,arch-riscv32,executor-thread \
--- build --release --manifest-path embassy-executor/Cargo.toml --target riscv32imac-unknown-none-elf --features nightly,arch-riscv32,executor-thread,integrated-timers \
--- build --release --manifest-path examples/nrf52840-rtic/Cargo.toml --target thumbv7em-none-eabi --out-dir out/examples/nrf52840-rtic \

cargo build --release --manifest-path embassy-executor/Cargo.toml --target avr-unknown-gnu-atmega328 -Z build-std=core,alloc --features nightly,arch-avr,avr-device/atmega328p
cargo build --release --manifest-path embassy-executor/Cargo.toml --target avr-unknown-gnu-atmega328 -Z build-std=core,alloc --features nightly,arch-avr,integrated-timers,avr-device/atmega328p
15 changes: 7 additions & 8 deletions ci-xtensa.sh
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Expand Up @@ -14,17 +14,16 @@ cargo batch \
--- build --release --manifest-path embassy-executor/Cargo.toml --target xtensa-esp32-none-elf --features log \
--- build --release --manifest-path embassy-executor/Cargo.toml --target xtensa-esp32-none-elf --features defmt \
--- build --release --manifest-path embassy-executor/Cargo.toml --target xtensa-esp32s2-none-elf --features defmt \
--- build --release --manifest-path embassy-executor/Cargo.toml --target xtensa-esp32-none-elf --features defmt,arch-spin,executor-thread,integrated-timers \
--- build --release --manifest-path embassy-executor/Cargo.toml --target xtensa-esp32s2-none-elf --features defmt,arch-spin,executor-thread,integrated-timers \
--- build --release --manifest-path embassy-executor/Cargo.toml --target xtensa-esp32s3-none-elf --features defmt,arch-spin,executor-thread,integrated-timers \
--- build --release --manifest-path embassy-executor/Cargo.toml --target xtensa-esp32-none-elf --features defmt,arch-spin,executor-thread \
--- build --release --manifest-path embassy-executor/Cargo.toml --target xtensa-esp32s2-none-elf --features defmt,arch-spin,executor-thread \
--- build --release --manifest-path embassy-executor/Cargo.toml --target xtensa-esp32s3-none-elf --features defmt,arch-spin,executor-thread \
--- build --release --manifest-path embassy-executor/Cargo.toml --target xtensa-esp32-none-elf --features arch-spin \
--- build --release --manifest-path embassy-executor/Cargo.toml --target xtensa-esp32-none-elf --features arch-spin,integrated-timers \
--- build --release --manifest-path embassy-executor/Cargo.toml --target xtensa-esp32-none-elf --features arch-spin,rtos-trace \
--- build --release --manifest-path embassy-executor/Cargo.toml --target xtensa-esp32-none-elf --features arch-spin,integrated-timers,rtos-trace \
--- build --release --manifest-path embassy-executor/Cargo.toml --target xtensa-esp32-none-elf --features arch-spin,executor-thread \
--- build --release --manifest-path embassy-executor/Cargo.toml --target xtensa-esp32-none-elf --features arch-spin,executor-thread,integrated-timers \
--- build --release --manifest-path embassy-sync/Cargo.toml --target xtensa-esp32s2-none-elf --features defmt \
--- build --release --manifest-path embassy-time/Cargo.toml --target xtensa-esp32s2-none-elf --features defmt,defmt-timestamp-uptime,generic-queue-8,mock-driver \
--- build --release --manifest-path embassy-time/Cargo.toml --target xtensa-esp32s2-none-elf --features defmt,defmt-timestamp-uptime,mock-driver \
--- build --release --manifest-path embassy-time-queue-driver/Cargo.toml --target xtensa-esp32s2-none-elf \
--- build --release --manifest-path embassy-time-queue-driver/Cargo.toml --target xtensa-esp32s2-none-elf --features generic-queue-8 \
--- build --release --manifest-path embassy-net/Cargo.toml --target xtensa-esp32-none-elf --features defmt,tcp,udp,dns,proto-ipv4,medium-ethernet,packet-trace \
--- build --release --manifest-path embassy-net/Cargo.toml --target xtensa-esp32-none-elf --features defmt,tcp,udp,dns,proto-ipv4,multicast,medium-ethernet \
--- build --release --manifest-path embassy-net/Cargo.toml --target xtensa-esp32-none-elf --features defmt,tcp,udp,dns,dhcpv4,medium-ethernet \
Expand All @@ -36,4 +35,4 @@ cargo batch \
--- build --release --manifest-path embassy-net/Cargo.toml --target xtensa-esp32-none-elf --features defmt,tcp,udp,dns,proto-ipv4,proto-ipv6,medium-ethernet \
--- build --release --manifest-path embassy-net/Cargo.toml --target xtensa-esp32-none-elf --features defmt,tcp,udp,dns,proto-ipv4,proto-ipv6,medium-ip \
--- build --release --manifest-path embassy-net/Cargo.toml --target xtensa-esp32-none-elf --features defmt,tcp,udp,dns,proto-ipv4,proto-ipv6,medium-ip,medium-ethernet \
--- build --release --manifest-path embassy-net/Cargo.toml --target xtensa-esp32-none-elf --features defmt,tcp,udp,dns,proto-ipv4,proto-ipv6,medium-ip,medium-ethernet,medium-ieee802154 \
--- build --release --manifest-path embassy-net/Cargo.toml --target xtensa-esp32-none-elf --features defmt,tcp,udp,dns,proto-ipv4,proto-ipv6,medium-ip,medium-ethernet,medium-ieee802154 \
16 changes: 7 additions & 9 deletions ci.sh
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Expand Up @@ -29,23 +29,18 @@ cargo batch \
--- build --release --manifest-path embassy-executor/Cargo.toml --target thumbv7em-none-eabi --features log \
--- build --release --manifest-path embassy-executor/Cargo.toml --target thumbv7em-none-eabi --features defmt \
--- build --release --manifest-path embassy-executor/Cargo.toml --target thumbv6m-none-eabi --features defmt \
--- build --release --manifest-path embassy-executor/Cargo.toml --target thumbv6m-none-eabi --features defmt,arch-cortex-m,executor-thread,executor-interrupt,integrated-timers \
--- build --release --manifest-path embassy-executor/Cargo.toml --target thumbv6m-none-eabi --features defmt,arch-cortex-m,executor-thread,executor-interrupt \
--- build --release --manifest-path embassy-executor/Cargo.toml --target thumbv7em-none-eabi --features arch-cortex-m \
--- build --release --manifest-path embassy-executor/Cargo.toml --target thumbv7em-none-eabi --features arch-cortex-m,integrated-timers \
--- build --release --manifest-path embassy-executor/Cargo.toml --target thumbv7em-none-eabi --features arch-cortex-m,rtos-trace \
--- build --release --manifest-path embassy-executor/Cargo.toml --target thumbv7em-none-eabi --features arch-cortex-m,integrated-timers,rtos-trace \
--- build --release --manifest-path embassy-executor/Cargo.toml --target thumbv7em-none-eabi --features arch-cortex-m,executor-thread \
--- build --release --manifest-path embassy-executor/Cargo.toml --target thumbv7em-none-eabi --features arch-cortex-m,executor-thread,integrated-timers \
--- build --release --manifest-path embassy-executor/Cargo.toml --target thumbv7em-none-eabi --features arch-cortex-m,executor-interrupt \
--- build --release --manifest-path embassy-executor/Cargo.toml --target thumbv7em-none-eabi --features arch-cortex-m,executor-interrupt,integrated-timers \
--- build --release --manifest-path embassy-executor/Cargo.toml --target thumbv7em-none-eabi --features arch-cortex-m,executor-thread,executor-interrupt \
--- build --release --manifest-path embassy-executor/Cargo.toml --target thumbv7em-none-eabi --features arch-cortex-m,executor-thread,executor-interrupt,integrated-timers \
--- build --release --manifest-path embassy-executor/Cargo.toml --target riscv32imac-unknown-none-elf --features arch-riscv32 \
--- build --release --manifest-path embassy-executor/Cargo.toml --target riscv32imac-unknown-none-elf --features arch-riscv32,integrated-timers \
--- build --release --manifest-path embassy-executor/Cargo.toml --target riscv32imac-unknown-none-elf --features arch-riscv32,executor-thread \
--- build --release --manifest-path embassy-executor/Cargo.toml --target riscv32imac-unknown-none-elf --features arch-riscv32,executor-thread,integrated-timers \
--- build --release --manifest-path embassy-sync/Cargo.toml --target thumbv6m-none-eabi --features defmt \
--- build --release --manifest-path embassy-time/Cargo.toml --target thumbv6m-none-eabi --features defmt,defmt-timestamp-uptime,generic-queue-8,mock-driver \
--- build --release --manifest-path embassy-time/Cargo.toml --target thumbv6m-none-eabi --features defmt,defmt-timestamp-uptime,mock-driver \
--- build --release --manifest-path embassy-time-queue-driver/Cargo.toml --target thumbv6m-none-eabi \
--- build --release --manifest-path embassy-time-queue-driver/Cargo.toml --target thumbv6m-none-eabi --features generic-queue-8 \
--- build --release --manifest-path embassy-net/Cargo.toml --target thumbv7em-none-eabi --features defmt,tcp,udp,dns,proto-ipv4,medium-ethernet,packet-trace \
--- build --release --manifest-path embassy-net/Cargo.toml --target thumbv7em-none-eabi --features defmt,tcp,udp,dns,proto-ipv4,multicast,medium-ethernet \
--- build --release --manifest-path embassy-net/Cargo.toml --target thumbv7em-none-eabi --features defmt,tcp,udp,dns,dhcpv4,medium-ethernet \
Expand Down Expand Up @@ -307,6 +302,9 @@ rm out/tests/stm32wb55rg/wpan_ble
# unstable, I think it's running out of RAM?
rm out/tests/stm32f207zg/eth

# temporarily disabled, hard faults for unknown reasons
rm out/tests/stm32f207zg/usart_rx_ringbuffered

# doesn't work, gives "noise error", no idea why. usart_dma does pass.
rm out/tests/stm32u5a5zj/usart

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2 changes: 1 addition & 1 deletion docs/examples/basic/Cargo.toml
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Expand Up @@ -6,7 +6,7 @@ version = "0.1.0"
license = "MIT OR Apache-2.0"

[dependencies]
embassy-executor = { version = "0.6.3", path = "../../../embassy-executor", features = ["defmt", "integrated-timers", "arch-cortex-m", "executor-thread"] }
embassy-executor = { version = "0.6.3", path = "../../../embassy-executor", features = ["defmt", "arch-cortex-m", "executor-thread"] }
embassy-time = { version = "0.3.2", path = "../../../embassy-time", features = ["defmt"] }
embassy-nrf = { version = "0.2.0", path = "../../../embassy-nrf", features = ["defmt", "nrf52840", "time-driver-rtc1", "gpiote"] }

Expand Down
4 changes: 2 additions & 2 deletions docs/pages/new_project.adoc
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Expand Up @@ -80,7 +80,7 @@ At the time of writing, embassy is already published to crates.io. Therefore, de
----
[dependencies]
embassy-stm32 = { version = "0.1.0", features = ["defmt", "time-driver-any", "stm32g474re", "memory-x", "unstable-pac", "exti"] }
embassy-executor = { version = "0.6.3", features = ["nightly", "arch-cortex-m", "executor-thread", "defmt", "integrated-timers"] }
embassy-executor = { version = "0.6.3", features = ["nightly", "arch-cortex-m", "executor-thread", "defmt"] }
embassy-time = { version = "0.3.2", features = ["defmt", "defmt-timestamp-uptime", "tick-hz-32_768"] }
----

Expand All @@ -100,7 +100,7 @@ An example Cargo.toml file might look as follows:
----
[dependencies]
embassy-stm32 = {version = "0.1.0", features = ["defmt", "time-driver-any", "stm32g474re", "memory-x", "unstable-pac", "exti"]}
embassy-executor = { version = "0.3.3", features = ["nightly", "arch-cortex-m", "executor-thread", "defmt", "integrated-timers"] }
embassy-executor = { version = "0.3.3", features = ["nightly", "arch-cortex-m", "executor-thread", "defmt"] }
embassy-time = { version = "0.2", features = ["defmt", "defmt-timestamp-uptime", "tick-hz-32_768"] }

[patch.crates-io]
Expand Down
4 changes: 3 additions & 1 deletion embassy-executor/CHANGELOG.md
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Expand Up @@ -7,7 +7,9 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0

## Unreleased

- `raw::Executor` now has an `fn initialize` that must be called once before starting to poll it.
- embassy-executor no longer provides an `embassy-time-queue-driver` implementation
- Added `TaskRef::executor` to obtain a reference to a task's executor
- integrated-timers are no longer processed when polling the executor.

## 0.6.3 - 2024-11-12

Expand Down
6 changes: 1 addition & 5 deletions embassy-executor/Cargo.toml
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Expand Up @@ -35,7 +35,6 @@ rtos-trace = { version = "0.1.3", optional = true }

embassy-executor-macros = { version = "0.6.2", path = "../embassy-executor-macros" }
embassy-time-driver = { version = "0.1.0", path = "../embassy-time-driver", optional = true }
embassy-time-queue-driver = { version = "0.1.0", path = "../embassy-time-queue-driver", optional = true }
critical-section = "1.1"

document-features = "0.2.7"
Expand Down Expand Up @@ -67,9 +66,6 @@ nightly = ["embassy-executor-macros/nightly"]
# See: https://github.com/embassy-rs/embassy/pull/1263
turbowakers = []

## Use the executor-integrated `embassy-time` timer queue.
integrated-timers = ["dep:embassy-time-driver", "dep:embassy-time-queue-driver"]

#! ### Architecture
_arch = [] # some arch was picked
## std
Expand All @@ -94,7 +90,7 @@ executor-interrupt = []
## Enable tracing support (adds some overhead)
trace = []
## Enable support for rtos-trace framework
rtos-trace = ["dep:rtos-trace", "trace"]
rtos-trace = ["dep:rtos-trace", "trace", "dep:embassy-time-driver"]

#! ### Task Arena Size
#! Sets the [task arena](#task-arena) size. Necessary if you’re not using `nightly`.
Expand Down
4 changes: 0 additions & 4 deletions embassy-executor/src/arch/avr.rs
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Expand Up @@ -53,10 +53,6 @@ mod thread {
///
/// This function never returns.
pub fn run(&'static mut self, init: impl FnOnce(Spawner)) -> ! {
unsafe {
self.inner.initialize();
}

init(self.inner.spawner());

loop {
Expand Down
6 changes: 0 additions & 6 deletions embassy-executor/src/arch/cortex_m.rs
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Expand Up @@ -98,9 +98,6 @@ mod thread {
///
/// This function never returns.
pub fn run(&'static mut self, init: impl FnOnce(Spawner)) -> ! {
unsafe {
self.inner.initialize();
}
init(self.inner.spawner());

loop {
Expand Down Expand Up @@ -210,9 +207,6 @@ mod interrupt {
}

let executor = unsafe { (&*self.executor.get()).assume_init_ref() };
unsafe {
executor.initialize();
}

unsafe { NVIC::unmask(irq) }

Expand Down
4 changes: 0 additions & 4 deletions embassy-executor/src/arch/riscv32.rs
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Expand Up @@ -54,10 +54,6 @@ mod thread {
///
/// This function never returns.
pub fn run(&'static mut self, init: impl FnOnce(Spawner)) -> ! {
unsafe {
self.inner.initialize();
}

init(self.inner.spawner());

loop {
Expand Down
4 changes: 0 additions & 4 deletions embassy-executor/src/arch/spin.rs
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Expand Up @@ -48,10 +48,6 @@ mod thread {
///
/// This function never returns.
pub fn run(&'static mut self, init: impl FnOnce(Spawner)) -> ! {
unsafe {
self.inner.initialize();
}

init(self.inner.spawner());

loop {
Expand Down
4 changes: 0 additions & 4 deletions embassy-executor/src/arch/std.rs
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Expand Up @@ -55,10 +55,6 @@ mod thread {
///
/// This function never returns.
pub fn run(&'static mut self, init: impl FnOnce(Spawner)) -> ! {
unsafe {
self.inner.initialize();
}

init(self.inner.spawner());

loop {
Expand Down
4 changes: 0 additions & 4 deletions embassy-executor/src/arch/wasm.rs
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Expand Up @@ -70,10 +70,6 @@ mod thread {
/// - a `static mut` (unsafe)
/// - a local variable in a function you know never returns (like `fn main() -> !`), upgrading its lifetime with `transmute`. (unsafe)
pub fn start(&'static mut self, init: impl FnOnce(Spawner)) {
unsafe {
self.inner.initialize();
}

unsafe {
let executor = &self.inner;
let future = Closure::new(move |_| {
Expand Down
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