Merge #1079

1079: Async function in trait cleanup r=Dirbaio a=yodaldevoid

Some issues I ran across after the AFIT stuff was merged.

Co-authored-by: Gabriel Smith <[email protected]>
Co-authored-by: Dario Nieuwenhuis <[email protected]>

10 files changed, 35 insertions, 77 deletions

diff --git a/ci.sh b/ci.sh
index cd1c0786c..a99a5f323 100755
--- a/ci.sh
+++ b/ci.sh
@@ -36,6 +36,8 @@ 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-sync/Cargo.toml --target thumbv6m-none-eabi --features nightly,defmt \
+    --- build --release --manifest-path embassy-time/Cargo.toml --target thumbv6m-none-eabi --features nightly,unstable-traits,defmt,defmt-timestamp-uptime,tick-hz-32_768,generic-queue-8 \
     --- build --release --manifest-path embassy-net/Cargo.toml --target thumbv7em-none-eabi --features defmt,tcp,udp,dns,dhcpv4,medium-ethernet,pool-16 \
     --- build --release --manifest-path embassy-net/Cargo.toml --target thumbv7em-none-eabi --features defmt,tcp,udp,dns,dhcpv4,medium-ethernet,pool-16,unstable-traits \
     --- build --release --manifest-path embassy-net/Cargo.toml --target thumbv7em-none-eabi --features defmt,tcp,udp,dns,dhcpv4,medium-ethernet,pool-16,nightly \
diff --git a/embassy-rp/src/rtc/mod.rs b/embassy-rp/src/rtc/mod.rs
index e4b6f0b1d..c173909c7 100644
--- a/embassy-rp/src/rtc/mod.rs
+++ b/embassy-rp/src/rtc/mod.rs
@@ -164,7 +164,7 @@ impl<'d, T: Instance> RealTimeClock<'d, T> {
     }
 }
 
-/// Errors that can occur on methods on [RtcClock]
+/// Errors that can occur on methods on [RealTimeClock]
 #[derive(Clone, Debug, PartialEq, Eq)]
 pub enum RtcError {
     /// An invalid DateTime was given or stored on the hardware.
diff --git a/embassy-rp/src/usb.rs b/embassy-rp/src/usb.rs
index 32fc2632d..dfc2e9da6 100644
--- a/embassy-rp/src/usb.rs
+++ b/embassy-rp/src/usb.rs
@@ -638,7 +638,7 @@ impl<'d, T: Instance> driver::ControlPipe for ControlPipe<'d, T> {
         64
     }
 
-    async fn setup<'a>(&'a mut self) -> [u8; 8] {
+    async fn setup(&mut self) -> [u8; 8] {
         loop {
             trace!("SETUP read waiting");
             let regs = T::regs();
diff --git a/embassy-stm32/src/usb/usb.rs b/embassy-stm32/src/usb/usb.rs
index 0ba06cce2..460abfe28 100644
--- a/embassy-stm32/src/usb/usb.rs
+++ b/embassy-stm32/src/usb/usb.rs
@@ -799,7 +799,7 @@ impl<'d, T: Instance> driver::ControlPipe for ControlPipe<'d, T> {
         usize::from(self.max_packet_size)
     }
 
-    async fn setup<'a>(&'a mut self) -> [u8; 8] {
+    async fn setup(&mut self) -> [u8; 8] {
         loop {
             trace!("SETUP read waiting");
             poll_fn(|cx| {
diff --git a/embassy-sync/src/lib.rs b/embassy-sync/src/lib.rs
index 80bb907a3..f9435ecff 100644
--- a/embassy-sync/src/lib.rs
+++ b/embassy-sync/src/lib.rs
@@ -1,5 +1,6 @@
 #![cfg_attr(not(any(feature = "std", feature = "wasm")), no_std)]
-#![cfg_attr(feature = "nightly", feature(type_alias_impl_trait))]
+#![cfg_attr(feature = "nightly", feature(async_fn_in_trait, impl_trait_projections))]
+#![cfg_attr(feature = "nightly", allow(incomplete_features))]
 #![allow(clippy::new_without_default)]
 #![doc = include_str!("../README.md")]
 #![warn(missing_docs)]
diff --git a/embassy-sync/src/pipe.rs b/embassy-sync/src/pipe.rs
index cd577f34f..905686acd 100644
--- a/embassy-sync/src/pipe.rs
+++ b/embassy-sync/src/pipe.rs
@@ -352,8 +352,6 @@ where
 mod io_impls {
     use core::convert::Infallible;
 
-    use futures_util::FutureExt;
-
     use super::*;
 
     impl<M: RawMutex, const N: usize> embedded_io::Io for Pipe<M, N> {
@@ -361,30 +359,18 @@ mod io_impls {
     }
 
     impl<M: RawMutex, const N: usize> embedded_io::asynch::Read for Pipe<M, N> {
-        type ReadFuture<'a> = impl Future<Output = Result<usize, Self::Error>> + 'a
-        where
-            Self: 'a;
-
-        fn read<'a>(&'a mut self, buf: &'a mut [u8]) -> Self::ReadFuture<'a> {
-            Pipe::read(self, buf).map(Ok)
+        async fn read(&mut self, buf: &mut [u8]) -> Result<usize, Self::Error> {
+            Ok(Pipe::read(self, buf).await)
         }
     }
 
     impl<M: RawMutex, const N: usize> embedded_io::asynch::Write for Pipe<M, N> {
-        type WriteFuture<'a> = impl Future<Output = Result<usize, Self::Error>> + 'a
-        where
-            Self: 'a;
-
-        fn write<'a>(&'a mut self, buf: &'a [u8]) -> Self::WriteFuture<'a> {
-            Pipe::write(self, buf).map(Ok)
+        async fn write(&mut self, buf: &[u8]) -> Result<usize, Self::Error> {
+            Ok(Pipe::write(self, buf).await)
         }
 
-        type FlushFuture<'a> = impl Future<Output = Result<(), Self::Error>> + 'a
-        where
-            Self: 'a;
-
-        fn flush<'a>(&'a mut self) -> Self::FlushFuture<'a> {
-            futures_util::future::ready(Ok(()))
+        async fn flush(&mut self) -> Result<(), Self::Error> {
+            Ok(())
         }
     }
 
@@ -393,30 +379,18 @@ mod io_impls {
     }
 
     impl<M: RawMutex, const N: usize> embedded_io::asynch::Read for &Pipe<M, N> {
-        type ReadFuture<'a> = impl Future<Output = Result<usize, Self::Error>> + 'a
-        where
-            Self: 'a;
-
-        fn read<'a>(&'a mut self, buf: &'a mut [u8]) -> Self::ReadFuture<'a> {
-            Pipe::read(self, buf).map(Ok)
+        async fn read(&mut self, buf: &mut [u8]) -> Result<usize, Self::Error> {
+            Ok(Pipe::read(self, buf).await)
         }
     }
 
     impl<M: RawMutex, const N: usize> embedded_io::asynch::Write for &Pipe<M, N> {
-        type WriteFuture<'a> = impl Future<Output = Result<usize, Self::Error>> + 'a
-        where
-            Self: 'a;
-
-        fn write<'a>(&'a mut self, buf: &'a [u8]) -> Self::WriteFuture<'a> {
-            Pipe::write(self, buf).map(Ok)
+        async fn write(&mut self, buf: &[u8]) -> Result<usize, Self::Error> {
+            Ok(Pipe::write(self, buf).await)
         }
 
-        type FlushFuture<'a> = impl Future<Output = Result<(), Self::Error>> + 'a
-        where
-            Self: 'a;
-
-        fn flush<'a>(&'a mut self) -> Self::FlushFuture<'a> {
-            futures_util::future::ready(Ok(()))
+        async fn flush(&mut self) -> Result<(), Self::Error> {
+            Ok(())
         }
     }
 
@@ -425,12 +399,8 @@ mod io_impls {
     }
 
     impl<M: RawMutex, const N: usize> embedded_io::asynch::Read for Reader<'_, M, N> {
-        type ReadFuture<'a> = impl Future<Output = Result<usize, Self::Error>> + 'a
-        where
-            Self: 'a;
-
-        fn read<'a>(&'a mut self, buf: &'a mut [u8]) -> Self::ReadFuture<'a> {
-            Reader::read(self, buf).map(Ok)
+        async fn read(&mut self, buf: &mut [u8]) -> Result<usize, Self::Error> {
+            Ok(Reader::read(self, buf).await)
         }
     }
 
@@ -439,20 +409,12 @@ mod io_impls {
     }
 
     impl<M: RawMutex, const N: usize> embedded_io::asynch::Write for Writer<'_, M, N> {
-        type WriteFuture<'a> = impl Future<Output = Result<usize, Self::Error>> + 'a
-        where
-            Self: 'a;
-
-        fn write<'a>(&'a mut self, buf: &'a [u8]) -> Self::WriteFuture<'a> {
-            Writer::write(self, buf).map(Ok)
+        async fn write(&mut self, buf: &[u8]) -> Result<usize, Self::Error> {
+            Ok(Writer::write(self, buf).await)
         }
 
-        type FlushFuture<'a> = impl Future<Output = Result<(), Self::Error>> + 'a
-        where
-            Self: 'a;
-
-        fn flush<'a>(&'a mut self) -> Self::FlushFuture<'a> {
-            futures_util::future::ready(Ok(()))
+        async fn flush(&mut self) -> Result<(), Self::Error> {
+            Ok(())
         }
     }
 }
diff --git a/embassy-time/src/delay.rs b/embassy-time/src/delay.rs
index ff6b6869a..0ca176abd 100644
--- a/embassy-time/src/delay.rs
+++ b/embassy-time/src/delay.rs
@@ -33,26 +33,18 @@ mod eh1 {
 
 #[cfg(all(feature = "unstable-traits", feature = "nightly"))]
 mod eha {
-    use core::future::Future;
-
-    use futures_util::FutureExt;
-
     use super::*;
     use crate::Timer;
 
     impl embedded_hal_async::delay::DelayUs for Delay {
         type Error = core::convert::Infallible;
 
-        type DelayUsFuture<'a> = impl Future<Output = Result<(), Self::Error>> + 'a where Self: 'a;
-
-        fn delay_us(&mut self, micros: u32) -> Self::DelayUsFuture<'_> {
-            Timer::after(Duration::from_micros(micros as _)).map(Ok)
+        async fn delay_us(&mut self, micros: u32) -> Result<(), Self::Error> {
+            Ok(Timer::after(Duration::from_micros(micros as _)).await)
         }
 
-        type DelayMsFuture<'a> = impl Future<Output = Result<(), Self::Error>> + 'a where Self: 'a;
-
-        fn delay_ms(&mut self, millis: u32) -> Self::DelayMsFuture<'_> {
-            Timer::after(Duration::from_millis(millis as _)).map(Ok)
+        async fn delay_ms(&mut self, millis: u32) -> Result<(), Self::Error> {
+            Ok(Timer::after(Duration::from_millis(millis as _)).await)
         }
     }
 }
diff --git a/embassy-time/src/lib.rs b/embassy-time/src/lib.rs
index 586aa28de..8b0aebe19 100644
--- a/embassy-time/src/lib.rs
+++ b/embassy-time/src/lib.rs
@@ -1,5 +1,6 @@
 #![cfg_attr(not(any(feature = "std", feature = "wasm", test)), no_std)]
-#![cfg_attr(feature = "nightly", feature(type_alias_impl_trait))]
+#![cfg_attr(feature = "nightly", feature(async_fn_in_trait))]
+#![cfg_attr(feature = "nightly", allow(incomplete_features))]
 #![doc = include_str!("../README.md")]
 #![allow(clippy::new_without_default)]
 #![warn(missing_docs)]
diff --git a/embassy-usb-driver/src/lib.rs b/embassy-usb-driver/src/lib.rs
index 85e9267d3..9300ff812 100644
--- a/embassy-usb-driver/src/lib.rs
+++ b/embassy-usb-driver/src/lib.rs
@@ -184,7 +184,7 @@ pub trait Bus {
     ///
     /// # Errors
     ///
-    /// * [`Unsupported`](crate::driver::Unsupported) - This UsbBus implementation doesn't support
+    /// * [`Unsupported`](crate::Unsupported) - This UsbBus implementation doesn't support
     ///   simulating a disconnect or it has not been enabled at creation time.
     fn force_reset(&mut self) -> Result<(), Unsupported> {
         Err(Unsupported)
@@ -194,7 +194,7 @@ pub trait Bus {
     ///
     /// # Errors
     ///
-    /// * [`Unsupported`](crate::driver::Unsupported) - This UsbBus implementation doesn't support
+    /// * [`Unsupported`](crate::Unsupported) - This UsbBus implementation doesn't support
     ///   remote wakeup or it has not been enabled at creation time.
     async fn remote_wakeup(&mut self) -> Result<(), Unsupported>;
 }
@@ -220,7 +220,7 @@ pub trait ControlPipe {
     fn max_packet_size(&self) -> usize;
 
     /// Reads a single setup packet from the endpoint.
-    async fn setup<'a>(&'a mut self) -> [u8; 8];
+    async fn setup(&mut self) -> [u8; 8];
 
     /// Reads a DATA OUT packet into `buf` in response to a control write request.
     ///
diff --git a/embassy-usb/src/class/hid.rs b/embassy-usb/src/class/hid.rs
index 4d1fa995f..b967aba0e 100644
--- a/embassy-usb/src/class/hid.rs
+++ b/embassy-usb/src/class/hid.rs
@@ -299,7 +299,7 @@ impl<'d, D: Driver<'d>, const N: usize> HidReader<'d, D, N> {
     /// **Note:** If `N` > the maximum packet size of the endpoint (i.e. output
     /// reports may be split across multiple packets) and this method's future
     /// is dropped after some packets have been read, the next call to `read()`
-    /// will return a [`ReadError::SyncError()`]. The range in the sync error
+    /// will return a [`ReadError::Sync`]. The range in the sync error
     /// indicates the portion `buf` that was filled by the current call to
     /// `read()`. If the dropped future used the same `buf`, then `buf` will
     /// contain the full report.