From ab8ca3f126447edb3a9eb06aa6fd6cd394219c17 Mon Sep 17 00:00:00 2001 From: Dániel Buga Date: Fri, 20 Dec 2024 12:45:24 +0100 Subject: Rename ETQD, bump date --- embassy-time-queue-utils/CHANGELOG.md | 10 ++ embassy-time-queue-utils/Cargo.toml | 58 +++++++++ embassy-time-queue-utils/README.md | 8 ++ embassy-time-queue-utils/build.rs | 1 + embassy-time-queue-utils/src/lib.rs | 13 ++ embassy-time-queue-utils/src/queue_generic.rs | 146 +++++++++++++++++++++++ embassy-time-queue-utils/src/queue_integrated.rs | 89 ++++++++++++++ 7 files changed, 325 insertions(+) create mode 100644 embassy-time-queue-utils/CHANGELOG.md create mode 100644 embassy-time-queue-utils/Cargo.toml create mode 100644 embassy-time-queue-utils/README.md create mode 100644 embassy-time-queue-utils/build.rs create mode 100644 embassy-time-queue-utils/src/lib.rs create mode 100644 embassy-time-queue-utils/src/queue_generic.rs create mode 100644 embassy-time-queue-utils/src/queue_integrated.rs (limited to 'embassy-time-queue-utils') diff --git a/embassy-time-queue-utils/CHANGELOG.md b/embassy-time-queue-utils/CHANGELOG.md new file mode 100644 index 000000000..ae4714f62 --- /dev/null +++ b/embassy-time-queue-utils/CHANGELOG.md @@ -0,0 +1,10 @@ +# Changelog for embassy-time-queue-utils + +All notable changes to this project will be documented in this file. + +The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/), +and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0.html). + +## 0.1.0 - 2024-01-11 + +Initial release diff --git a/embassy-time-queue-utils/Cargo.toml b/embassy-time-queue-utils/Cargo.toml new file mode 100644 index 000000000..48be12118 --- /dev/null +++ b/embassy-time-queue-utils/Cargo.toml @@ -0,0 +1,58 @@ +[package] +name = "embassy-time-queue-utils" +version = "0.1.0" +edition = "2021" +description = "Timer queue driver trait for embassy-time" +repository = "https://github.com/embassy-rs/embassy" +documentation = "https://docs.embassy.dev/embassy-time-queue-utils" +readme = "README.md" +license = "MIT OR Apache-2.0" +categories = [ + "embedded", + "no-std", + "concurrency", + "asynchronous", +] + +# Prevent multiple copies of this crate in the same binary. +# Needed because different copies might get different tick rates, causing +# wrong delays if the time driver is using one copy and user code is using another. +# This is especially common when mixing crates from crates.io and git. +links = "embassy-time-queue" + +[dependencies] +heapless = "0.8" +embassy-executor = { version = "0.7.0", path = "../embassy-executor" } + +[features] +#! ### Generic Queue + +#! By default this crate uses a timer queue implementation that is faster but depends on `embassy-executor`. +#! It will panic if you try to await any timer when using another executor. +#! +#! Alternatively, you can choose to use a "generic" timer queue implementation that works on any executor. +#! To enable it, enable any of the features below. +#! +#! The features also set how many timers are used for the generic queue. At most one +#! `generic-queue-*` feature can be enabled. If none is enabled, a default of 64 timers is used. +#! +#! When using embassy-time-queue-driver from libraries, you should *not* enable any `generic-queue-*` feature, to allow the +#! end user to pick. + +## Generic Queue with 8 timers +generic-queue-8 = ["_generic-queue"] +## Generic Queue with 16 timers +generic-queue-16 = ["_generic-queue"] +## Generic Queue with 32 timers +generic-queue-32 = ["_generic-queue"] +## Generic Queue with 64 timers +generic-queue-64 = ["_generic-queue"] +## Generic Queue with 128 timers +generic-queue-128 = ["_generic-queue"] + +_generic-queue = [] + +[package.metadata.embassy_docs] +src_base = "https://github.com/embassy-rs/embassy/blob/embassy-time-queue-utils-v$VERSION/embassy-time-queue-utils/src/" +src_base_git = "https://github.com/embassy-rs/embassy/blob/$COMMIT/embassy-time-queue-utils/src/" +target = "x86_64-unknown-linux-gnu" diff --git a/embassy-time-queue-utils/README.md b/embassy-time-queue-utils/README.md new file mode 100644 index 000000000..36461f1cb --- /dev/null +++ b/embassy-time-queue-utils/README.md @@ -0,0 +1,8 @@ +# embassy-time-queue-utils + +This crate contains timer queues to help implementing an [`embassy-time-driver`](https://crates.io/crates/embassy-time-driver). + +As a HAL user, you should not need to depend on this crate. + +As a HAL implementer, you need to depend on this crate if you want to implement a time driver, +but how you should do so is documented in `embassy-time-driver`. diff --git a/embassy-time-queue-utils/build.rs b/embassy-time-queue-utils/build.rs new file mode 100644 index 000000000..f328e4d9d --- /dev/null +++ b/embassy-time-queue-utils/build.rs @@ -0,0 +1 @@ +fn main() {} diff --git a/embassy-time-queue-utils/src/lib.rs b/embassy-time-queue-utils/src/lib.rs new file mode 100644 index 000000000..a6f66913f --- /dev/null +++ b/embassy-time-queue-utils/src/lib.rs @@ -0,0 +1,13 @@ +#![no_std] +#![doc = include_str!("../README.md")] +#![warn(missing_docs)] + +#[cfg(feature = "_generic-queue")] +pub mod queue_generic; +#[cfg(not(feature = "_generic-queue"))] +pub mod queue_integrated; + +#[cfg(feature = "_generic-queue")] +pub use queue_generic::Queue; +#[cfg(not(feature = "_generic-queue"))] +pub use queue_integrated::Queue; diff --git a/embassy-time-queue-utils/src/queue_generic.rs b/embassy-time-queue-utils/src/queue_generic.rs new file mode 100644 index 000000000..232035bc6 --- /dev/null +++ b/embassy-time-queue-utils/src/queue_generic.rs @@ -0,0 +1,146 @@ +//! Generic timer queue implementations. +//! +//! Time queue drivers may use this to simplify their implementation. + +use core::cmp::{min, Ordering}; +use core::task::Waker; + +use heapless::Vec; + +#[derive(Debug)] +struct Timer { + at: u64, + waker: Waker, +} + +impl PartialEq for Timer { + fn eq(&self, other: &Self) -> bool { + self.at == other.at + } +} + +impl Eq for Timer {} + +impl PartialOrd for Timer { + fn partial_cmp(&self, other: &Self) -> Option { + self.at.partial_cmp(&other.at) + } +} + +impl Ord for Timer { + fn cmp(&self, other: &Self) -> Ordering { + self.at.cmp(&other.at) + } +} + +/// A timer queue with a pre-determined capacity. +pub struct ConstGenericQueue { + queue: Vec, +} + +impl ConstGenericQueue { + /// Creates a new timer queue. + pub const fn new() -> Self { + Self { queue: Vec::new() } + } + + /// Schedules a task to run at a specific time, and returns whether any changes were made. + /// + /// If this function returns `true`, the called should find the next expiration time and set + /// a new alarm for that time. + pub fn schedule_wake(&mut self, at: u64, waker: &Waker) -> bool { + self.queue + .iter_mut() + .find(|timer| timer.waker.will_wake(waker)) + .map(|timer| { + if timer.at > at { + timer.at = at; + true + } else { + false + } + }) + .unwrap_or_else(|| { + let mut timer = Timer { + waker: waker.clone(), + at, + }; + + loop { + match self.queue.push(timer) { + Ok(()) => break, + Err(e) => timer = e, + } + + self.queue.pop().unwrap().waker.wake(); + } + + true + }) + } + + /// Dequeues expired timers and returns the next alarm time. + pub fn next_expiration(&mut self, now: u64) -> u64 { + let mut next_alarm = u64::MAX; + + let mut i = 0; + while i < self.queue.len() { + let timer = &self.queue[i]; + if timer.at <= now { + let timer = self.queue.swap_remove(i); + timer.waker.wake(); + } else { + next_alarm = min(next_alarm, timer.at); + i += 1; + } + } + + next_alarm + } +} + +#[cfg(feature = "generic-queue-8")] +const QUEUE_SIZE: usize = 8; +#[cfg(feature = "generic-queue-16")] +const QUEUE_SIZE: usize = 16; +#[cfg(feature = "generic-queue-32")] +const QUEUE_SIZE: usize = 32; +#[cfg(feature = "generic-queue-64")] +const QUEUE_SIZE: usize = 64; +#[cfg(feature = "generic-queue-128")] +const QUEUE_SIZE: usize = 128; +#[cfg(not(any( + feature = "generic-queue-8", + feature = "generic-queue-16", + feature = "generic-queue-32", + feature = "generic-queue-64", + feature = "generic-queue-128" +)))] +const QUEUE_SIZE: usize = 64; + +/// A timer queue with a pre-determined capacity. +pub struct Queue { + queue: ConstGenericQueue, +} + +impl Queue { + /// Creates a new timer queue. + pub const fn new() -> Self { + Self { + queue: ConstGenericQueue::new(), + } + } + + /// Schedules a task to run at a specific time, and returns whether any changes were made. + /// + /// If this function returns `true`, the called should find the next expiration time and set + /// a new alarm for that time. + pub fn schedule_wake(&mut self, at: u64, waker: &Waker) -> bool { + self.queue.schedule_wake(at, waker) + } + + /// Dequeues expired timers and returns the next alarm time. + pub fn next_expiration(&mut self, now: u64) -> u64 { + self.queue.next_expiration(now) + } +} diff --git a/embassy-time-queue-utils/src/queue_integrated.rs b/embassy-time-queue-utils/src/queue_integrated.rs new file mode 100644 index 000000000..246cf1d63 --- /dev/null +++ b/embassy-time-queue-utils/src/queue_integrated.rs @@ -0,0 +1,89 @@ +//! Timer queue operations. +use core::cell::Cell; +use core::cmp::min; +use core::task::Waker; + +use embassy_executor::raw::TaskRef; + +/// A timer queue, with items integrated into tasks. +pub struct Queue { + head: Cell>, +} + +impl Queue { + /// Creates a new timer queue. + pub const fn new() -> Self { + Self { head: Cell::new(None) } + } + + /// Schedules a task to run at a specific time. + /// + /// If this function returns `true`, the called should find the next expiration time and set + /// a new alarm for that time. + pub fn schedule_wake(&mut self, at: u64, waker: &Waker) -> bool { + let task = embassy_executor::raw::task_from_waker(waker); + let item = task.timer_queue_item(); + if item.next.get().is_none() { + // If not in the queue, add it and update. + let prev = self.head.replace(Some(task)); + item.next.set(if prev.is_none() { + Some(unsafe { TaskRef::dangling() }) + } else { + prev + }); + item.expires_at.set(at); + true + } else if at <= item.expires_at.get() { + // If expiration is sooner than previously set, update. + item.expires_at.set(at); + true + } else { + // Task does not need to be updated. + false + } + } + + /// Dequeues expired timers and returns the next alarm time. + /// + /// The provided callback will be called for each expired task. Tasks that never expire + /// will be removed, but the callback will not be called. + pub fn next_expiration(&mut self, now: u64) -> u64 { + let mut next_expiration = u64::MAX; + + self.retain(|p| { + let item = p.timer_queue_item(); + let expires = item.expires_at.get(); + + if expires <= now { + // Timer expired, process task. + embassy_executor::raw::wake_task(p); + false + } else { + // Timer didn't yet expire, or never expires. + next_expiration = min(next_expiration, expires); + expires != u64::MAX + } + }); + + next_expiration + } + + fn retain(&self, mut f: impl FnMut(TaskRef) -> bool) { + let mut prev = &self.head; + while let Some(p) = prev.get() { + if unsafe { p == TaskRef::dangling() } { + // prev was the last item, stop + break; + } + let item = p.timer_queue_item(); + if f(p) { + // Skip to next + prev = &item.next; + } else { + // Remove it + prev.set(item.next.get()); + item.next.set(None); + } + } + } +} -- cgit