2 files changed, 705 insertions, 0 deletions

diff --git a/embassy-sync/src/lib.rs b/embassy-sync/src/lib.rs
index 61b173e80..1873483f9 100644
--- a/embassy-sync/src/lib.rs
+++ b/embassy-sync/src/lib.rs
@@ -17,6 +17,7 @@ pub mod once_lock;
 pub mod pipe;
 pub mod priority_channel;
 pub mod pubsub;
+pub mod semaphore;
 pub mod signal;
 pub mod waitqueue;
 pub mod zerocopy_channel;
diff --git a/embassy-sync/src/semaphore.rs b/embassy-sync/src/semaphore.rs
new file mode 100644
index 000000000..52c468b4a
--- /dev/null
+++ b/embassy-sync/src/semaphore.rs
@@ -0,0 +1,704 @@
+//! A synchronization primitive for controlling access to a pool of resources.
+use core::cell::{Cell, RefCell};
+use core::convert::Infallible;
+use core::future::poll_fn;
+use core::mem::MaybeUninit;
+use core::task::{Poll, Waker};
+
+use heapless::Deque;
+
+use crate::blocking_mutex::raw::RawMutex;
+use crate::blocking_mutex::Mutex;
+use crate::waitqueue::WakerRegistration;
+
+/// An asynchronous semaphore.
+///
+/// A semaphore tracks a number of permits, typically representing a pool of shared resources.
+/// Users can acquire permits to synchronize access to those resources. The semaphore does not
+/// contain the resources themselves, only the count of available permits.
+pub trait Semaphore: Sized {
+    /// The error returned when the semaphore is unable to acquire the requested permits.
+    type Error;
+
+    /// Asynchronously acquire one or more permits from the semaphore.
+    async fn acquire(&self, permits: usize) -> Result<SemaphoreReleaser<'_, Self>, Self::Error>;
+
+    /// Try to immediately acquire one or more permits from the semaphore.
+    fn try_acquire(&self, permits: usize) -> Option<SemaphoreReleaser<'_, Self>>;
+
+    /// Asynchronously acquire all permits controlled by the semaphore.
+    ///
+    /// This method will wait until at least `min` permits are available, then acquire all available permits
+    /// from the semaphore. Note that other tasks may have already acquired some permits which could be released
+    /// back to the semaphore at any time. The number of permits actually acquired may be determined by calling
+    /// [`SemaphoreReleaser::permits`].
+    async fn acquire_all(&self, min: usize) -> Result<SemaphoreReleaser<'_, Self>, Self::Error>;
+
+    /// Try to immediately acquire all available permits from the semaphore, if at least `min` permits are available.
+    fn try_acquire_all(&self, min: usize) -> Option<SemaphoreReleaser<'_, Self>>;
+
+    /// Release `permits` back to the semaphore, making them available to be acquired.
+    fn release(&self, permits: usize);
+
+    /// Reset the number of available permints in the semaphore to `permits`.
+    fn set(&self, permits: usize);
+}
+
+/// A representation of a number of acquired permits.
+///
+/// The acquired permits will be released back to the [`Semaphore`] when this is dropped.
+pub struct SemaphoreReleaser<'a, S: Semaphore> {
+    semaphore: &'a S,
+    permits: usize,
+}
+
+impl<'a, S: Semaphore> Drop for SemaphoreReleaser<'a, S> {
+    fn drop(&mut self) {
+        self.semaphore.release(self.permits);
+    }
+}
+
+impl<'a, S: Semaphore> SemaphoreReleaser<'a, S> {
+    /// The number of acquired permits.
+    pub fn permits(&self) -> usize {
+        self.permits
+    }
+
+    /// Prevent the acquired permits from being released on drop.
+    ///
+    /// Returns the number of acquired permits.
+    pub fn disarm(self) -> usize {
+        let permits = self.permits;
+        core::mem::forget(self);
+        permits
+    }
+}
+
+/// A greedy [`Semaphore`] implementation.
+///
+/// Tasks can acquire permits as soon as they become available, even if another task
+/// is waiting on a larger number of permits.
+pub struct GreedySemaphore<M: RawMutex> {
+    state: Mutex<M, Cell<SemaphoreState>>,
+}
+
+impl<M: RawMutex> Default for GreedySemaphore<M> {
+    fn default() -> Self {
+        Self::new(0)
+    }
+}
+
+impl<M: RawMutex> GreedySemaphore<M> {
+    /// Create a new `Semaphore`.
+    pub const fn new(permits: usize) -> Self {
+        Self {
+            state: Mutex::new(Cell::new(SemaphoreState {
+                permits,
+                waker: WakerRegistration::new(),
+            })),
+        }
+    }
+
+    #[cfg(test)]
+    fn permits(&self) -> usize {
+        self.state.lock(|cell| {
+            let state = cell.replace(SemaphoreState::EMPTY);
+            let permits = state.permits;
+            cell.replace(state);
+            permits
+        })
+    }
+
+    fn poll_acquire(
+        &self,
+        permits: usize,
+        acquire_all: bool,
+        waker: Option<&Waker>,
+    ) -> Poll<Result<SemaphoreReleaser<'_, Self>, Infallible>> {
+        self.state.lock(|cell| {
+            let mut state = cell.replace(SemaphoreState::EMPTY);
+            if let Some(permits) = state.take(permits, acquire_all) {
+                cell.set(state);
+                Poll::Ready(Ok(SemaphoreReleaser {
+                    semaphore: self,
+                    permits,
+                }))
+            } else {
+                if let Some(waker) = waker {
+                    state.register(waker);
+                }
+                cell.set(state);
+                Poll::Pending
+            }
+        })
+    }
+}
+
+impl<M: RawMutex> Semaphore for GreedySemaphore<M> {
+    type Error = Infallible;
+
+    async fn acquire(&self, permits: usize) -> Result<SemaphoreReleaser<'_, Self>, Self::Error> {
+        poll_fn(|cx| self.poll_acquire(permits, false, Some(cx.waker()))).await
+    }
+
+    fn try_acquire(&self, permits: usize) -> Option<SemaphoreReleaser<'_, Self>> {
+        match self.poll_acquire(permits, false, None) {
+            Poll::Ready(Ok(n)) => Some(n),
+            _ => None,
+        }
+    }
+
+    async fn acquire_all(&self, min: usize) -> Result<SemaphoreReleaser<'_, Self>, Self::Error> {
+        poll_fn(|cx| self.poll_acquire(min, true, Some(cx.waker()))).await
+    }
+
+    fn try_acquire_all(&self, min: usize) -> Option<SemaphoreReleaser<'_, Self>> {
+        match self.poll_acquire(min, true, None) {
+            Poll::Ready(Ok(n)) => Some(n),
+            _ => None,
+        }
+    }
+
+    fn release(&self, permits: usize) {
+        if permits > 0 {
+            self.state.lock(|cell| {
+                let mut state = cell.replace(SemaphoreState::EMPTY);
+                state.permits += permits;
+                state.wake();
+                cell.set(state);
+            });
+        }
+    }
+
+    fn set(&self, permits: usize) {
+        self.state.lock(|cell| {
+            let mut state = cell.replace(SemaphoreState::EMPTY);
+            if permits > state.permits {
+                state.wake();
+            }
+            state.permits = permits;
+            cell.set(state);
+        });
+    }
+}
+
+struct SemaphoreState {
+    permits: usize,
+    waker: WakerRegistration,
+}
+
+impl SemaphoreState {
+    const EMPTY: SemaphoreState = SemaphoreState {
+        permits: 0,
+        waker: WakerRegistration::new(),
+    };
+
+    fn register(&mut self, w: &Waker) {
+        self.waker.register(w);
+    }
+
+    fn take(&mut self, mut permits: usize, acquire_all: bool) -> Option<usize> {
+        if self.permits < permits {
+            None
+        } else {
+            if acquire_all {
+                permits = self.permits;
+            }
+            self.permits -= permits;
+            Some(permits)
+        }
+    }
+
+    fn wake(&mut self) {
+        self.waker.wake();
+    }
+}
+
+/// A fair [`Semaphore`] implementation.
+///
+/// Tasks are allowed to acquire permits in FIFO order. A task waiting to acquire
+/// a large number of permits will prevent other tasks from acquiring any permits
+/// until its request is satisfied.
+///
+/// Up to `N` tasks may attempt to acquire permits concurrently. If additional
+/// tasks attempt to acquire a permit, a [`WaitQueueFull`] error will be returned.
+pub struct FairSemaphore<M, const N: usize>
+where
+    M: RawMutex,
+{
+    state: Mutex<M, RefCell<FairSemaphoreState<N>>>,
+}
+
+impl<M, const N: usize> Default for FairSemaphore<M, N>
+where
+    M: RawMutex,
+{
+    fn default() -> Self {
+        Self::new(0)
+    }
+}
+
+impl<M, const N: usize> FairSemaphore<M, N>
+where
+    M: RawMutex,
+{
+    /// Create a new `FairSemaphore`.
+    pub const fn new(permits: usize) -> Self {
+        Self {
+            state: Mutex::new(RefCell::new(FairSemaphoreState::new(permits))),
+        }
+    }
+
+    #[cfg(test)]
+    fn permits(&self) -> usize {
+        self.state.lock(|cell| cell.borrow().permits)
+    }
+
+    fn poll_acquire(
+        &self,
+        permits: usize,
+        acquire_all: bool,
+        cx: Option<(&Cell<Option<usize>>, &Waker)>,
+    ) -> Poll<Result<SemaphoreReleaser<'_, Self>, WaitQueueFull>> {
+        let ticket = cx.as_ref().map(|(cell, _)| cell.get()).unwrap_or(None);
+        self.state.lock(|cell| {
+            let mut state = cell.borrow_mut();
+            if let Some(permits) = state.take(ticket, permits, acquire_all) {
+                Poll::Ready(Ok(SemaphoreReleaser {
+                    semaphore: self,
+                    permits,
+                }))
+            } else if let Some((cell, waker)) = cx {
+                match state.register(ticket, waker) {
+                    Ok(ticket) => {
+                        cell.set(Some(ticket));
+                        Poll::Pending
+                    }
+                    Err(err) => Poll::Ready(Err(err)),
+                }
+            } else {
+                Poll::Pending
+            }
+        })
+    }
+}
+
+/// An error indicating the [`FairSemaphore`]'s wait queue is full.
+#[derive(Debug, Clone, Copy, PartialEq, Eq)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
+pub struct WaitQueueFull;
+
+impl<M: RawMutex, const N: usize> Semaphore for FairSemaphore<M, N> {
+    type Error = WaitQueueFull;
+
+    async fn acquire(&self, permits: usize) -> Result<SemaphoreReleaser<'_, Self>, Self::Error> {
+        let ticket = Cell::new(None);
+        let _guard = OnDrop::new(|| self.state.lock(|cell| cell.borrow_mut().cancel(ticket.get())));
+        poll_fn(|cx| self.poll_acquire(permits, false, Some((&ticket, cx.waker())))).await
+    }
+
+    fn try_acquire(&self, permits: usize) -> Option<SemaphoreReleaser<'_, Self>> {
+        match self.poll_acquire(permits, false, None) {
+            Poll::Ready(Ok(x)) => Some(x),
+            _ => None,
+        }
+    }
+
+    async fn acquire_all(&self, min: usize) -> Result<SemaphoreReleaser<'_, Self>, Self::Error> {
+        let ticket = Cell::new(None);
+        let _guard = OnDrop::new(|| self.state.lock(|cell| cell.borrow_mut().cancel(ticket.get())));
+        poll_fn(|cx| self.poll_acquire(min, true, Some((&ticket, cx.waker())))).await
+    }
+
+    fn try_acquire_all(&self, min: usize) -> Option<SemaphoreReleaser<'_, Self>> {
+        match self.poll_acquire(min, true, None) {
+            Poll::Ready(Ok(x)) => Some(x),
+            _ => None,
+        }
+    }
+
+    fn release(&self, permits: usize) {
+        if permits > 0 {
+            self.state.lock(|cell| {
+                let mut state = cell.borrow_mut();
+                state.permits += permits;
+                state.wake();
+            });
+        }
+    }
+
+    fn set(&self, permits: usize) {
+        self.state.lock(|cell| {
+            let mut state = cell.borrow_mut();
+            if permits > state.permits {
+                state.wake();
+            }
+            state.permits = permits;
+        });
+    }
+}
+
+struct FairSemaphoreState<const N: usize> {
+    permits: usize,
+    next_ticket: usize,
+    wakers: Deque<Option<Waker>, N>,
+}
+
+impl<const N: usize> FairSemaphoreState<N> {
+    /// Create a new empty instance
+    const fn new(permits: usize) -> Self {
+        Self {
+            permits,
+            next_ticket: 0,
+            wakers: Deque::new(),
+        }
+    }
+
+    /// Register a waker. If the queue is full the function returns an error
+    fn register(&mut self, ticket: Option<usize>, w: &Waker) -> Result<usize, WaitQueueFull> {
+        self.pop_canceled();
+
+        match ticket {
+            None => {
+                let ticket = self.next_ticket.wrapping_add(self.wakers.len());
+                self.wakers.push_back(Some(w.clone())).or(Err(WaitQueueFull))?;
+                Ok(ticket)
+            }
+            Some(ticket) => {
+                self.set_waker(ticket, Some(w.clone()));
+                Ok(ticket)
+            }
+        }
+    }
+
+    fn cancel(&mut self, ticket: Option<usize>) {
+        if let Some(ticket) = ticket {
+            self.set_waker(ticket, None);
+        }
+    }
+
+    fn set_waker(&mut self, ticket: usize, waker: Option<Waker>) {
+        let i = ticket.wrapping_sub(self.next_ticket);
+        if i < self.wakers.len() {
+            let (a, b) = self.wakers.as_mut_slices();
+            let x = if i < a.len() { &mut a[i] } else { &mut b[i - a.len()] };
+            *x = waker;
+        }
+    }
+
+    fn take(&mut self, ticket: Option<usize>, mut permits: usize, acquire_all: bool) -> Option<usize> {
+        self.pop_canceled();
+
+        if permits > self.permits {
+            return None;
+        }
+
+        match ticket {
+            Some(n) if n != self.next_ticket => return None,
+            None if !self.wakers.is_empty() => return None,
+            _ => (),
+        }
+
+        if acquire_all {
+            permits = self.permits;
+        }
+        self.permits -= permits;
+
+        if ticket.is_some() {
+            self.pop();
+        }
+
+        Some(permits)
+    }
+
+    fn pop_canceled(&mut self) {
+        while let Some(None) = self.wakers.front() {
+            self.pop();
+        }
+    }
+
+    /// Panics if `self.wakers` is empty
+    fn pop(&mut self) {
+        self.wakers.pop_front().unwrap();
+        self.next_ticket = self.next_ticket.wrapping_add(1);
+    }
+
+    fn wake(&mut self) {
+        self.pop_canceled();
+
+        if let Some(Some(waker)) = self.wakers.front() {
+            waker.wake_by_ref();
+        }
+    }
+}
+
+/// A type to delay the drop handler invocation.
+#[must_use = "to delay the drop handler invocation to the end of the scope"]
+struct OnDrop<F: FnOnce()> {
+    f: MaybeUninit<F>,
+}
+
+impl<F: FnOnce()> OnDrop<F> {
+    /// Create a new instance.
+    pub fn new(f: F) -> Self {
+        Self { f: MaybeUninit::new(f) }
+    }
+}
+
+impl<F: FnOnce()> Drop for OnDrop<F> {
+    fn drop(&mut self) {
+        unsafe { self.f.as_ptr().read()() }
+    }
+}
+
+#[cfg(test)]
+mod tests {
+    mod greedy {
+        use core::pin::pin;
+
+        use futures_util::poll;
+
+        use super::super::*;
+        use crate::blocking_mutex::raw::NoopRawMutex;
+
+        #[test]
+        fn try_acquire() {
+            let semaphore = GreedySemaphore::<NoopRawMutex>::new(3);
+
+            let a = semaphore.try_acquire(1).unwrap();
+            assert_eq!(a.permits(), 1);
+            assert_eq!(semaphore.permits(), 2);
+
+            core::mem::drop(a);
+            assert_eq!(semaphore.permits(), 3);
+        }
+
+        #[test]
+        fn disarm() {
+            let semaphore = GreedySemaphore::<NoopRawMutex>::new(3);
+
+            let a = semaphore.try_acquire(1).unwrap();
+            assert_eq!(a.disarm(), 1);
+            assert_eq!(semaphore.permits(), 2);
+        }
+
+        #[futures_test::test]
+        async fn acquire() {
+            let semaphore = GreedySemaphore::<NoopRawMutex>::new(3);
+
+            let a = semaphore.acquire(1).await.unwrap();
+            assert_eq!(a.permits(), 1);
+            assert_eq!(semaphore.permits(), 2);
+
+            core::mem::drop(a);
+            assert_eq!(semaphore.permits(), 3);
+        }
+
+        #[test]
+        fn try_acquire_all() {
+            let semaphore = GreedySemaphore::<NoopRawMutex>::new(3);
+
+            let a = semaphore.try_acquire_all(1).unwrap();
+            assert_eq!(a.permits(), 3);
+            assert_eq!(semaphore.permits(), 0);
+        }
+
+        #[futures_test::test]
+        async fn acquire_all() {
+            let semaphore = GreedySemaphore::<NoopRawMutex>::new(3);
+
+            let a = semaphore.acquire_all(1).await.unwrap();
+            assert_eq!(a.permits(), 3);
+            assert_eq!(semaphore.permits(), 0);
+        }
+
+        #[test]
+        fn release() {
+            let semaphore = GreedySemaphore::<NoopRawMutex>::new(3);
+            assert_eq!(semaphore.permits(), 3);
+            semaphore.release(2);
+            assert_eq!(semaphore.permits(), 5);
+        }
+
+        #[test]
+        fn set() {
+            let semaphore = GreedySemaphore::<NoopRawMutex>::new(3);
+            assert_eq!(semaphore.permits(), 3);
+            semaphore.set(2);
+            assert_eq!(semaphore.permits(), 2);
+        }
+
+        #[test]
+        fn contested() {
+            let semaphore = GreedySemaphore::<NoopRawMutex>::new(3);
+
+            let a = semaphore.try_acquire(1).unwrap();
+            let b = semaphore.try_acquire(3);
+            assert!(b.is_none());
+
+            core::mem::drop(a);
+
+            let b = semaphore.try_acquire(3);
+            assert!(b.is_some());
+        }
+
+        #[futures_test::test]
+        async fn greedy() {
+            let semaphore = GreedySemaphore::<NoopRawMutex>::new(3);
+
+            let a = semaphore.try_acquire(1).unwrap();
+
+            let b_fut = semaphore.acquire(3);
+            let mut b_fut = pin!(b_fut);
+            let b = poll!(b_fut.as_mut());
+            assert!(b.is_pending());
+
+            // Succeed even through `b` is waiting
+            let c = semaphore.try_acquire(1);
+            assert!(c.is_some());
+
+            let b = poll!(b_fut.as_mut());
+            assert!(b.is_pending());
+
+            core::mem::drop(a);
+
+            let b = poll!(b_fut.as_mut());
+            assert!(b.is_pending());
+
+            core::mem::drop(c);
+
+            let b = poll!(b_fut.as_mut());
+            assert!(b.is_ready());
+        }
+    }
+
+    mod fair {
+        use core::pin::pin;
+
+        use futures_util::poll;
+
+        use super::super::*;
+        use crate::blocking_mutex::raw::NoopRawMutex;
+
+        #[test]
+        fn try_acquire() {
+            let semaphore = FairSemaphore::<NoopRawMutex, 2>::new(3);
+
+            let a = semaphore.try_acquire(1).unwrap();
+            assert_eq!(a.permits(), 1);
+            assert_eq!(semaphore.permits(), 2);
+
+            core::mem::drop(a);
+            assert_eq!(semaphore.permits(), 3);
+        }
+
+        #[test]
+        fn disarm() {
+            let semaphore = FairSemaphore::<NoopRawMutex, 2>::new(3);
+
+            let a = semaphore.try_acquire(1).unwrap();
+            assert_eq!(a.disarm(), 1);
+            assert_eq!(semaphore.permits(), 2);
+        }
+
+        #[futures_test::test]
+        async fn acquire() {
+            let semaphore = FairSemaphore::<NoopRawMutex, 2>::new(3);
+
+            let a = semaphore.acquire(1).await.unwrap();
+            assert_eq!(a.permits(), 1);
+            assert_eq!(semaphore.permits(), 2);
+
+            core::mem::drop(a);
+            assert_eq!(semaphore.permits(), 3);
+        }
+
+        #[test]
+        fn try_acquire_all() {
+            let semaphore = FairSemaphore::<NoopRawMutex, 2>::new(3);
+
+            let a = semaphore.try_acquire_all(1).unwrap();
+            assert_eq!(a.permits(), 3);
+            assert_eq!(semaphore.permits(), 0);
+        }
+
+        #[futures_test::test]
+        async fn acquire_all() {
+            let semaphore = FairSemaphore::<NoopRawMutex, 2>::new(3);
+
+            let a = semaphore.acquire_all(1).await.unwrap();
+            assert_eq!(a.permits(), 3);
+            assert_eq!(semaphore.permits(), 0);
+        }
+
+        #[test]
+        fn release() {
+            let semaphore = FairSemaphore::<NoopRawMutex, 2>::new(3);
+            assert_eq!(semaphore.permits(), 3);
+            semaphore.release(2);
+            assert_eq!(semaphore.permits(), 5);
+        }
+
+        #[test]
+        fn set() {
+            let semaphore = FairSemaphore::<NoopRawMutex, 2>::new(3);
+            assert_eq!(semaphore.permits(), 3);
+            semaphore.set(2);
+            assert_eq!(semaphore.permits(), 2);
+        }
+
+        #[test]
+        fn contested() {
+            let semaphore = FairSemaphore::<NoopRawMutex, 2>::new(3);
+
+            let a = semaphore.try_acquire(1).unwrap();
+            let b = semaphore.try_acquire(3);
+            assert!(b.is_none());
+
+            core::mem::drop(a);
+
+            let b = semaphore.try_acquire(3);
+            assert!(b.is_some());
+        }
+
+        #[futures_test::test]
+        async fn fairness() {
+            let semaphore = FairSemaphore::<NoopRawMutex, 2>::new(3);
+
+            let a = semaphore.try_acquire(1);
+            assert!(a.is_some());
+
+            let b_fut = semaphore.acquire(3);
+            let mut b_fut = pin!(b_fut);
+            let b = poll!(b_fut.as_mut()); // Poll `b_fut` once so it is registered
+            assert!(b.is_pending());
+
+            let c = semaphore.try_acquire(1);
+            assert!(c.is_none());
+
+            let c_fut = semaphore.acquire(1);
+            let mut c_fut = pin!(c_fut);
+            let c = poll!(c_fut.as_mut()); // Poll `c_fut` once so it is registered
+            assert!(c.is_pending()); // `c` is blocked behind `b`
+
+            let d = semaphore.acquire(1).await;
+            assert!(matches!(d, Err(WaitQueueFull)));
+
+            core::mem::drop(a);
+
+            let c = poll!(c_fut.as_mut());
+            assert!(c.is_pending()); // `c` is still blocked behind `b`
+
+            let b = poll!(b_fut.as_mut());
+            assert!(b.is_ready());
+
+            let c = poll!(c_fut.as_mut());
+            assert!(c.is_pending()); // `c` is still blocked behind `b`
+
+            core::mem::drop(b);
+
+            let c = poll!(c_fut.as_mut());
+            assert!(c.is_ready());
+        }
+    }
+}