5 files changed, 71 insertions, 124 deletions

diff --git a/embassy-executor/Cargo.toml b/embassy-executor/Cargo.toml
index e7136466d..66352a00e 100644
--- a/embassy-executor/Cargo.toml
+++ b/embassy-executor/Cargo.toml
@@ -119,8 +119,6 @@ arch-spin = ["_arch"]
 
 ## Enable the `name` field in task metadata.
 metadata-name = ["embassy-executor-macros/metadata-name"]
-## Enable the `deadline` field in task metadata.
-metadata-deadline = []
 
 #! ### Executor
 
@@ -131,9 +129,13 @@ executor-interrupt = []
 ## Enable tracing hooks
 trace = ["_any_trace"]
 ## Enable support for rtos-trace framework
-rtos-trace = ["_any_trace", "metadata-name", "dep:rtos-trace", "dep:embassy-time-driver"]
+rtos-trace = ["_any_trace", "metadata-name", "dep:rtos-trace", "embassy-time-driver"]
 _any_trace = []
 
 ## Enable "Earliest Deadline First" Scheduler, using soft-realtime "deadlines" to prioritize
 ## tasks based on the remaining time before their deadline. Adds some overhead.
-edf-scheduler = ["dep:embassy-time-driver", "metadata-deadline"]
+scheduler-deadline = []
+
+## Enable the embassy_time_driver dependency.
+## This can unlock extra APIs, for example for the `sheduler-deadline`
+embassy-time-driver = ["dep:embassy-time-driver"]
diff --git a/embassy-executor/src/metadata.rs b/embassy-executor/src/metadata.rs
index fd8095629..81c5afafb 100644
--- a/embassy-executor/src/metadata.rs
+++ b/embassy-executor/src/metadata.rs
@@ -7,12 +7,14 @@ use core::task::Poll;
 use critical_section::Mutex;
 
 use crate::raw;
+#[cfg(feature = "scheduler-deadline")]
+use crate::raw::Deadline;
 
 /// Metadata associated with a task.
 pub struct Metadata {
     #[cfg(feature = "metadata-name")]
     name: Mutex<Cell<Option<&'static str>>>,
-    #[cfg(feature = "metadata-deadline")]
+    #[cfg(feature = "scheduler-deadline")]
     deadline: raw::Deadline,
 }
 
@@ -23,7 +25,7 @@ impl Metadata {
             name: Mutex::new(Cell::new(None)),
             // NOTE: The deadline is set to zero to allow the initializer to reside in `.bss`. This
             // will be lazily initalized in `initialize_impl`
-            #[cfg(feature = "metadata-deadline")]
+            #[cfg(feature = "scheduler-deadline")]
             deadline: raw::Deadline::new_unset(),
         }
     }
@@ -59,10 +61,62 @@ impl Metadata {
         critical_section::with(|cs| self.name.borrow(cs).set(Some(name)))
     }
 
-    /// Earliest Deadline First scheduler Deadline. This field should not be accessed
-    /// outside the context of the task itself as it being polled by the executor.
-    #[cfg(feature = "metadata-deadline")]
+    /// Get this task's deadline.
+    #[cfg(feature = "scheduler-deadline")]
     pub fn deadline(&self) -> &raw::Deadline {
         &self.deadline
     }
+
+    /// Set this task's deadline.
+    ///
+    /// This method does NOT check whether the deadline has already passed.
+    #[cfg(feature = "scheduler-deadline")]
+    pub fn set_deadline(&self, instant_ticks: u64) {
+        self.deadline.set(instant_ticks);
+    }
+
+    /// Remove this task's deadline.
+    /// This brings it back to the defaul where it's not scheduled ahead of other tasks.
+    #[cfg(feature = "scheduler-deadline")]
+    pub fn unset_deadline(&self) {
+        self.deadline.set(Deadline::UNSET_DEADLINE_TICKS);
+    }
+
+    /// Set this task's deadline `duration_ticks` in the future from when
+    /// this future is polled. This deadline is saturated to the max tick value.
+    ///
+    /// Analogous to `Timer::after`.
+    #[cfg(all(feature = "scheduler-deadline", feature = "embassy-time-driver"))]
+    pub fn set_deadline_after(&self, duration_ticks: u64) {
+        let now = embassy_time_driver::now();
+
+        // Since ticks is a u64, saturating add is PROBABLY overly cautious, leave
+        // it for now, we can probably make this wrapping_add for performance
+        // reasons later.
+        let deadline = now.saturating_add(duration_ticks);
+
+        self.set_deadline(deadline);
+    }
+
+    /// Set the this task's deadline `increment_ticks` from the previous deadline.
+    ///
+    /// This deadline is saturated to the max tick value.
+    ///
+    /// Note that by default (unless otherwise set), tasks start life with the deadline
+    /// not set, which means this method will have no effect.
+    ///
+    /// Analogous to one increment of `Ticker::every().next()`.
+    ///
+    /// Returns the deadline that was set.
+    #[cfg(feature = "scheduler-deadline")]
+    pub fn increment_deadline(&self, duration_ticks: u64) {
+        let last = self.deadline().instant_ticks();
+
+        // Since ticks is a u64, saturating add is PROBABLY overly cautious, leave
+        // it for now, we can probably make this wrapping_add for performance
+        // reasons later.
+        let deadline = last.saturating_add(duration_ticks);
+
+        self.set_deadline(deadline);
+    }
 }
diff --git a/embassy-executor/src/raw/deadline.rs b/embassy-executor/src/raw/deadline.rs
index 5b585195d..d08dd06ed 100644
--- a/embassy-executor/src/raw/deadline.rs
+++ b/embassy-executor/src/raw/deadline.rs
@@ -1,6 +1,4 @@
-use core::future::{poll_fn, Future};
 use core::sync::atomic::{AtomicU32, Ordering};
-use core::task::Poll;
 
 /// A type for interacting with the deadline of the current task
 ///
@@ -49,111 +47,4 @@ impl Deadline {
     pub fn is_unset(&self) -> bool {
         self.instant_ticks() == Self::UNSET_DEADLINE_TICKS
     }
-
-    /// Set the current task's deadline at exactly `instant_ticks`
-    ///
-    /// This method is a future in order to access the currently executing task's
-    /// header which contains the deadline.
-    ///
-    /// Analogous to `Timer::at`.
-    ///
-    /// This method does NOT check whether the deadline has already passed.
-    #[must_use = "Setting deadline must be polled to be effective"]
-    pub fn set_current_task_deadline(instant_ticks: u64) -> impl Future<Output = ()> {
-        poll_fn(move |cx| {
-            let task = super::task_from_waker(cx.waker());
-            task.header().metadata.deadline().set(instant_ticks);
-            Poll::Ready(())
-        })
-    }
-
-    /// Set the current task's deadline `duration_ticks` in the future from when
-    /// this future is polled. This deadline is saturated to the max tick value.
-    ///
-    /// This method is a future in order to access the currently executing task's
-    /// header which contains the deadline.
-    ///
-    /// Analogous to `Timer::after`.
-    ///
-    /// Returns the deadline that was set.
-    #[must_use = "Setting deadline must be polled to be effective"]
-    pub fn set_current_task_deadline_after(duration_ticks: u64) -> impl Future<Output = Deadline> {
-        poll_fn(move |cx| {
-            let task = super::task_from_waker(cx.waker());
-            let now = embassy_time_driver::now();
-
-            // Since ticks is a u64, saturating add is PROBABLY overly cautious, leave
-            // it for now, we can probably make this wrapping_add for performance
-            // reasons later.
-            let deadline = now.saturating_add(duration_ticks);
-
-            task.header().metadata.deadline().set(deadline);
-
-            Poll::Ready(Deadline::new(deadline))
-        })
-    }
-
-    /// Set the current task's deadline `increment_ticks` from the previous deadline.
-    ///
-    /// This deadline is saturated to the max tick value.
-    ///
-    /// Note that by default (unless otherwise set), tasks start life with the deadline
-    /// u64::MAX, which means this method will have no effect.
-    ///
-    /// This method is a future in order to access the currently executing task's
-    /// header which contains the deadline
-    ///
-    /// Analogous to one increment of `Ticker::every().next()`.
-    ///
-    /// Returns the deadline that was set.
-    #[must_use = "Setting deadline must be polled to be effective"]
-    pub fn increment_current_task_deadline(increment_ticks: u64) -> impl Future<Output = Deadline> {
-        poll_fn(move |cx| {
-            let task_header = super::task_from_waker(cx.waker()).header();
-
-            // Get the last value
-            let last = task_header.metadata.deadline().instant_ticks();
-
-            // Since ticks is a u64, saturating add is PROBABLY overly cautious, leave
-            // it for now, we can probably make this wrapping_add for performance
-            // reasons later.
-            let deadline = last.saturating_add(increment_ticks);
-
-            // Store the new value
-            task_header.metadata.deadline().set(deadline);
-
-            Poll::Ready(Deadline::new(deadline))
-        })
-    }
-
-    /// Get the current task's deadline as a tick value.
-    ///
-    /// This method is a future in order to access the currently executing task's
-    /// header which contains the deadline
-    pub fn get_current_task_deadline() -> impl Future<Output = Self> {
-        poll_fn(move |cx| {
-            let task = super::task_from_waker(cx.waker());
-
-            let deadline = task.header().metadata.deadline().instant_ticks();
-            Poll::Ready(Self::new(deadline))
-        })
-    }
-
-    /// Clear the current task's deadline, returning the previous value.
-    ///
-    /// This sets the deadline to the default value of `u64::MAX`, meaning all
-    /// tasks with set deadlines will be scheduled BEFORE this task.
-    #[must_use = "Clearing deadline must be polled to be effective"]
-    pub fn clear_current_task_deadline() -> impl Future<Output = Self> {
-        poll_fn(move |cx| {
-            let task_header = super::task_from_waker(cx.waker()).header();
-
-            // get the old value
-            let deadline = task_header.metadata.deadline().instant_ticks();
-            // Store the default value
-            task_header.metadata.deadline().set(Self::UNSET_DEADLINE_TICKS);
-
-            Poll::Ready(Self::new(deadline))
-        })
-    }
 }
diff --git a/embassy-executor/src/raw/mod.rs b/embassy-executor/src/raw/mod.rs
index 86ee86842..6a9dd9749 100644
--- a/embassy-executor/src/raw/mod.rs
+++ b/embassy-executor/src/raw/mod.rs
@@ -26,7 +26,7 @@ pub(crate) mod util;
 #[cfg_attr(feature = "turbowakers", path = "waker_turbo.rs")]
 mod waker;
 
-#[cfg(feature = "metadata-deadline")]
+#[cfg(feature = "scheduler-deadline")]
 mod deadline;
 
 use core::future::Future;
@@ -39,7 +39,7 @@ use core::sync::atomic::AtomicPtr;
 use core::sync::atomic::Ordering;
 use core::task::{Context, Poll, Waker};
 
-#[cfg(feature = "metadata-deadline")]
+#[cfg(feature = "scheduler-deadline")]
 pub use deadline::Deadline;
 use embassy_executor_timer_queue::TimerQueueItem;
 #[cfg(feature = "arch-avr")]
@@ -302,7 +302,7 @@ impl<F: Future + 'static> AvailableTask<F> {
 
             // By default, deadlines are set to the maximum value, so that any task WITH
             // a set deadline will ALWAYS be scheduled BEFORE a task WITHOUT a set deadline
-            #[cfg(feature = "edf-scheduler")]
+            #[cfg(feature = "scheduler-deadline")]
             self.task
                 .raw
                 .metadata
diff --git a/embassy-executor/src/raw/run_queue.rs b/embassy-executor/src/raw/run_queue.rs
index 978ca082a..29c977226 100644
--- a/embassy-executor/src/raw/run_queue.rs
+++ b/embassy-executor/src/raw/run_queue.rs
@@ -2,7 +2,7 @@ use core::ptr::{addr_of_mut, NonNull};
 
 use cordyceps::sorted_list::Links;
 use cordyceps::Linked;
-#[cfg(feature = "edf-scheduler")]
+#[cfg(feature = "scheduler-deadline")]
 use cordyceps::SortedList;
 
 #[cfg(target_has_atomic = "ptr")]
@@ -83,7 +83,7 @@ impl RunQueue {
     /// Empty the queue, then call `on_task` for each task that was in the queue.
     /// NOTE: It is OK for `on_task` to enqueue more tasks. In this case they're left in the queue
     /// and will be processed by the *next* call to `dequeue_all`, *not* the current one.
-    #[cfg(not(feature = "edf-scheduler"))]
+    #[cfg(not(feature = "scheduler-deadline"))]
     pub(crate) fn dequeue_all(&self, on_task: impl Fn(TaskRef)) {
         let taken = self.stack.take_all();
         for taskref in taken {
@@ -106,7 +106,7 @@ impl RunQueue {
     ///
     /// This process will repeat until the local `sorted` queue AND the global
     /// runqueue are both empty, at which point this function will return.
-    #[cfg(feature = "edf-scheduler")]
+    #[cfg(feature = "scheduler-deadline")]
     pub(crate) fn dequeue_all(&self, on_task: impl Fn(TaskRef)) {
         let mut sorted = SortedList::<TaskHeader>::new_with_cmp(|lhs, rhs| {
             lhs.metadata