Merge branch 'refactor-the-refactor' into refactor

.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 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

@@ -14,18 +14,15 @@ 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,mock-driver \
-    --- build --release --manifest-path embassy-time-queue-driver/Cargo.toml --target xtensa-esp32s2-none-elf --features integrated-timers \
+    --- 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 \
@@ -38,4 +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

@@ -29,24 +29,17 @@ 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,mock-driver \
-    --- build --release --manifest-path embassy-time-queue-driver/Cargo.toml --target thumbv6m-none-eabi --features integrated-timers \
+    --- 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 \

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/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"]
-
 #! ### Architecture
 _arch = [] # some arch was picked
 ## std

embassy-executor/src/raw/mod.rs

@@ -16,7 +16,6 @@ mod run_queue;
 #[cfg_attr(not(target_has_atomic = "8"), path = "state_critical_section.rs")]
 mod state;
 
-#[cfg(feature = "integrated-timers")]
 pub mod timer_queue;
 #[cfg(feature = "trace")]
 mod trace;
@@ -45,7 +44,6 @@ pub(crate) struct TaskHeader {
     poll_fn: SyncUnsafeCell<Option<unsafe fn(TaskRef)>>,
 
     /// Integrated timer queue storage. This field should not be accessed outside of the timer queue.
-    #[cfg(feature = "integrated-timers")]
     pub(crate) timer_queue_item: timer_queue::TimerQueueItem,
 }
 
@@ -87,13 +85,11 @@ impl TaskRef {
     }
 
     /// Returns a reference to the executor that the task is currently running on.
-    #[cfg(feature = "integrated-timers")]
     pub unsafe fn executor(self) -> Option<&'static Executor> {
         self.header().executor.get().map(|e| Executor::wrap(e))
     }
 
     /// Returns a reference to the timer queue item.
-    #[cfg(feature = "integrated-timers")]
     pub fn timer_queue_item(&self) -> &'static timer_queue::TimerQueueItem {
         &self.header().timer_queue_item
     }
@@ -106,7 +102,6 @@ impl TaskRef {
     ///
     /// This functions should only be called by the timer queue implementation, before
     /// enqueueing the timer item.
-    #[cfg(feature = "integrated-timers")]
     pub unsafe fn timer_enqueue(&self) -> timer_queue::TimerEnqueueOperation {
         self.header().state.timer_enqueue()
     }
@@ -117,7 +112,6 @@ impl TaskRef {
     ///
     /// This functions should only be called by the timer queue implementation, after the task has
     /// been removed from the timer queue.
-    #[cfg(feature = "integrated-timers")]
     pub unsafe fn timer_dequeue(&self) {
         self.header().state.timer_dequeue()
     }
@@ -162,7 +156,6 @@ impl<F: Future + 'static> TaskStorage<F> {
                 // Note: this is lazily initialized so that a static `TaskStorage` will go in `.bss`
                 poll_fn: SyncUnsafeCell::new(None),
 
-                #[cfg(feature = "integrated-timers")]
                 timer_queue_item: timer_queue::TimerQueueItem::new(),
             },
             future: UninitCell::uninit(),

embassy-executor/src/raw/state_atomics.rs

@@ -1,14 +1,12 @@
 use core::sync::atomic::{AtomicU32, Ordering};
 
-#[cfg(feature = "integrated-timers")]
 use super::timer_queue::TimerEnqueueOperation;
 
 /// Task is spawned (has a future)
 pub(crate) const STATE_SPAWNED: u32 = 1 << 0;
 /// Task is in the executor run queue
 pub(crate) const STATE_RUN_QUEUED: u32 = 1 << 1;
-/// Task is in the executor timer queue
-#[cfg(feature = "integrated-timers")]
+/// Task is in the timer queue
 pub(crate) const STATE_TIMER_QUEUED: u32 = 1 << 2;
 
 pub(crate) struct State {
@@ -60,7 +58,6 @@ impl State {
     }
 
     /// Mark the task as timer-queued. Return whether it can be enqueued.
-    #[cfg(feature = "integrated-timers")]
     #[inline(always)]
     pub fn timer_enqueue(&self) -> TimerEnqueueOperation {
         if self
@@ -83,7 +80,6 @@ impl State {
     }
 
     /// Unmark the task as timer-queued.
-    #[cfg(feature = "integrated-timers")]
     #[inline(always)]
     pub fn timer_dequeue(&self) {
         self.state.fetch_and(!STATE_TIMER_QUEUED, Ordering::Relaxed);

embassy-executor/src/raw/state_atomics_arm.rs

@@ -1,13 +1,11 @@
 use core::arch::asm;
 use core::sync::atomic::{compiler_fence, AtomicBool, AtomicU32, Ordering};
 
-#[cfg(feature = "integrated-timers")]
 use super::timer_queue::TimerEnqueueOperation;
 
 // Must be kept in sync with the layout of `State`!
 pub(crate) const STATE_SPAWNED: u32 = 1 << 0;
 pub(crate) const STATE_RUN_QUEUED: u32 = 1 << 8;
-#[cfg(feature = "integrated-timers")]
 pub(crate) const STATE_TIMER_QUEUED: u32 = 1 << 16;
 
 #[repr(C, align(4))]
@@ -16,18 +14,17 @@ pub(crate) struct State {
     spawned: AtomicBool,
     /// Task is in the executor run queue
     run_queued: AtomicBool,
-    /// Task is in the executor timer queue
-    timer_queued: AtomicBool,
     pad: AtomicBool,
+    pad2: AtomicBool,
 }
 
 impl State {
     pub const fn new() -> State {
         Self {
             spawned: AtomicBool::new(false),
             run_queued: AtomicBool::new(false),
-            timer_queued: AtomicBool::new(false),
             pad: AtomicBool::new(false),
+            pad2: AtomicBool::new(false),
         }
     }
 
@@ -93,7 +90,6 @@ impl State {
     }
 
     /// Mark the task as timer-queued. Return whether it can be enqueued.
-    #[cfg(feature = "integrated-timers")]
     #[inline(always)]
     pub fn timer_enqueue(&self) -> TimerEnqueueOperation {
         if self
@@ -116,7 +112,6 @@ impl State {
     }
 
     /// Unmark the task as timer-queued.
-    #[cfg(feature = "integrated-timers")]
     #[inline(always)]
     pub fn timer_dequeue(&self) {
         self.timer_queued.store(false, Ordering::Relaxed);

embassy-executor/src/raw/state_critical_section.rs

@@ -2,16 +2,12 @@ use core::cell::Cell;
 
 use critical_section::Mutex;
 
-#[cfg(feature = "integrated-timers")]
 use super::timer_queue::TimerEnqueueOperation;
 
 /// Task is spawned (has a future)
 pub(crate) const STATE_SPAWNED: u32 = 1 << 0;
 /// Task is in the executor run queue
 pub(crate) const STATE_RUN_QUEUED: u32 = 1 << 1;
-/// Task is in the executor timer queue
-#[cfg(feature = "integrated-timers")]
-pub(crate) const STATE_TIMER_QUEUED: u32 = 1 << 2;
 
 pub(crate) struct State {
     state: Mutex<Cell<u32>>,
@@ -77,7 +73,6 @@ impl State {
     }
 
     /// Mark the task as timer-queued. Return whether it can be enqueued.
-    #[cfg(feature = "integrated-timers")]
     #[inline(always)]
     pub fn timer_enqueue(&self) -> TimerEnqueueOperation {
         self.update(|s| {
@@ -93,7 +88,6 @@ impl State {
     }
 
     /// Unmark the task as timer-queued.
-    #[cfg(feature = "integrated-timers")]
     #[inline(always)]
     pub fn timer_dequeue(&self) {
         self.update(|s| *s &= !STATE_TIMER_QUEUED);