Merge pull request #3593 from bugadani/refactor

Rework time-driver contract.

.github/ci/test.sh

@@ -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

ci-nightly.sh

@@ -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

ci-xtensa.sh

@@ -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 \
@@ -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 \

ci.sh

@@ -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 \
@@ -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
 

docs/examples/basic/Cargo.toml

@@ -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"] }
 

docs/pages/new_project.adoc

@@ -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"] }
 ----
 
@@ -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]

embassy-executor/CHANGELOG.md

@@ -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
 

embassy-executor/Cargo.toml

@@ -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"
@@ -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
@@ -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`.

embassy-executor/src/arch/avr.rs

@@ -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 {

embassy-executor/src/arch/cortex_m.rs

@@ -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 {
@@ -210,9 +207,6 @@ mod interrupt {
             }
 
             let executor = unsafe { (&*self.executor.get()).assume_init_ref() };
-            unsafe {
-                executor.initialize();
-            }
 
             unsafe { NVIC::unmask(irq) }
 

embassy-executor/src/arch/riscv32.rs

@@ -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 {

embassy-executor/src/arch/spin.rs

@@ -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 {

embassy-executor/src/arch/std.rs

@@ -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 {

embassy-executor/src/arch/wasm.rs

@@ -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 |_| {