Merge pull request #226 from huntc/mpsc
Multi Producer Single Consumer channel
This commit is contained in:
Dario Nieuwenhuis
GitHub
commit
b04dc7e783
@ -3,6 +3,7 @@ name = "embassy"
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version = "0.1.0"
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authors = ["Dario Nieuwenhuis <dirbaio@dirbaio.net>"]
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edition = "2018"
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resolver = "2"
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[features]
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default = []
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@ -36,3 +37,10 @@ embedded-hal = "0.2.5"
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# Workaround https://github.com/japaric/cast.rs/pull/27
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cast = { version = "=0.2.3", default-features = false }
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[dev-dependencies]
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embassy = { path = ".", features = ["executor-agnostic"] }
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futures-executor = { version = "0.3", features = [ "thread-pool" ] }
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futures-test = "0.3"
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futures-timer = "0.3"
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futures-util = { version = "0.3", features = [ "channel" ] }
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@ -11,6 +11,7 @@ mod waker;
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pub use drop_bomb::*;
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pub use forever::*;
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pub mod mpsc;
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pub use mutex::*;
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pub use on_drop::*;
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pub use portal::*;
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854
embassy/src/util/mpsc.rs
Normal file
854
embassy/src/util/mpsc.rs
Normal file
@ -0,0 +1,854 @@
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//! A multi-producer, single-consumer queue for sending values between
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//! asynchronous tasks. This queue takes a Mutex type so that various
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//! targets can be attained. For example, a ThreadModeMutex can be used
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//! for single-core Cortex-M targets where messages are only passed
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//! between tasks running in thread mode. Similarly, a CriticalSectionMutex
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//! can also be used for single-core targets where messages are to be
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//! passed from exception mode e.g. out of an interrupt handler.
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//!
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//! This module provides a bounded channel that has a limit on the number of
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//! messages that it can store, and if this limit is reached, trying to send
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//! another message will result in an error being returned.
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//!
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//! Similar to the `mpsc` channels provided by `std`, the channel constructor
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//! functions provide separate send and receive handles, [`Sender`] and
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//! [`Receiver`]. If there is no message to read, the current task will be
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//! notified when a new value is sent. [`Sender`] allows sending values into
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//! the channel. If the bounded channel is at capacity, the send is rejected.
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//!
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//! # Disconnection
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//!
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//! When all [`Sender`] handles have been dropped, it is no longer
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//! possible to send values into the channel. This is considered the termination
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//! event of the stream.
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//!
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//! If the [`Receiver`] handle is dropped, then messages can no longer
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//! be read out of the channel. In this case, all further attempts to send will
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//! result in an error.
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//!
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//! # Clean Shutdown
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//!
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//! When the [`Receiver`] is dropped, it is possible for unprocessed messages to
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//! remain in the channel. Instead, it is usually desirable to perform a "clean"
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//! shutdown. To do this, the receiver first calls `close`, which will prevent
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//! any further messages to be sent into the channel. Then, the receiver
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//! consumes the channel to completion, at which point the receiver can be
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//! dropped.
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//!
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//! This channel and its associated types were derived from https://docs.rs/tokio/0.1.22/tokio/sync/mpsc/fn.channel.html
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use core::cell::UnsafeCell;
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use core::fmt;
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use core::marker::PhantomData;
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use core::mem::MaybeUninit;
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use core::pin::Pin;
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use core::ptr;
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use core::task::Context;
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use core::task::Poll;
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use core::task::Waker;
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use futures::Future;
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use super::CriticalSectionMutex;
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use super::Mutex;
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use super::NoopMutex;
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use super::ThreadModeMutex;
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use super::WakerRegistration;
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/// Send values to the associated `Receiver`.
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///
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/// Instances are created by the [`split`](split) function.
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pub struct Sender<'ch, M, T, const N: usize>
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where
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M: Mutex<Data = ()>,
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{
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channel_cell: &'ch UnsafeCell<ChannelCell<M, T, N>>,
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}
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// Safe to pass the sender around
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unsafe impl<'ch, M, T, const N: usize> Send for Sender<'ch, M, T, N> where M: Mutex<Data = ()> + Sync
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{}
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unsafe impl<'ch, M, T, const N: usize> Sync for Sender<'ch, M, T, N> where M: Mutex<Data = ()> + Sync
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{}
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/// Receive values from the associated `Sender`.
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///
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/// Instances are created by the [`split`](split) function.
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pub struct Receiver<'ch, M, T, const N: usize>
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where
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M: Mutex<Data = ()>,
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{
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channel_cell: &'ch UnsafeCell<ChannelCell<M, T, N>>,
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_receiver_consumed: &'ch mut PhantomData<()>,
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}
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// Safe to pass the receiver around
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unsafe impl<'ch, M, T, const N: usize> Send for Receiver<'ch, M, T, N> where
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M: Mutex<Data = ()> + Sync
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{
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}
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unsafe impl<'ch, M, T, const N: usize> Sync for Receiver<'ch, M, T, N> where
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M: Mutex<Data = ()> + Sync
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{
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}
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/// Splits a bounded mpsc channel into a `Sender` and `Receiver`.
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///
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/// All data sent on `Sender` will become available on `Receiver` in the same
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/// order as it was sent.
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///
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/// The `Sender` can be cloned to `send` to the same channel from multiple code
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/// locations. Only one `Receiver` is valid.
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///
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/// If the `Receiver` is disconnected while trying to `send`, the `send` method
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/// will return a `SendError`. Similarly, if `Sender` is disconnected while
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/// trying to `recv`, the `recv` method will return a `RecvError`.
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///
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/// Note that when splitting the channel, the sender and receiver cannot outlive
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/// their channel. The following will therefore fail compilation:
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////
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/// ```compile_fail
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/// use embassy::util::mpsc;
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/// use embassy::util::mpsc::{Channel, WithThreadModeOnly};
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///
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/// let (sender, receiver) = {
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/// let mut channel = Channel::<WithThreadModeOnly, u32, 3>::with_thread_mode_only();
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/// mpsc::split(&mut channel)
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/// };
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/// ```
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pub fn split<M, T, const N: usize>(
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channel: &mut Channel<M, T, N>,
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) -> (Sender<M, T, N>, Receiver<M, T, N>)
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where
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M: Mutex<Data = ()>,
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{
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let sender = Sender {
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channel_cell: &channel.channel_cell,
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};
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let receiver = Receiver {
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channel_cell: &channel.channel_cell,
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_receiver_consumed: &mut channel.receiver_consumed,
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};
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Channel::lock(&channel.channel_cell, |c| {
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c.register_receiver();
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c.register_sender();
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});
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(sender, receiver)
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}
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impl<'ch, M, T, const N: usize> Receiver<'ch, M, T, N>
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where
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M: Mutex<Data = ()>,
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{
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/// Receives the next value for this receiver.
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///
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/// This method returns `None` if the channel has been closed and there are
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/// no remaining messages in the channel's buffer. This indicates that no
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/// further values can ever be received from this `Receiver`. The channel is
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/// closed when all senders have been dropped, or when [`close`] is called.
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///
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/// If there are no messages in the channel's buffer, but the channel has
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/// not yet been closed, this method will sleep until a message is sent or
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/// the channel is closed.
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///
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/// Note that if [`close`] is called, but there are still outstanding
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/// messages from before it was closed, the channel is not considered
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/// closed by `recv` until they are all consumed.
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///
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/// [`close`]: Self::close
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pub async fn recv(&mut self) -> Option<T> {
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futures::future::poll_fn(|cx| self.recv_poll(cx)).await
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}
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fn recv_poll(&mut self, cx: &mut Context<'_>) -> Poll<Option<T>> {
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Channel::lock(self.channel_cell, |c| {
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match c.try_recv_with_context(Some(cx)) {
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Ok(v) => Poll::Ready(Some(v)),
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Err(TryRecvError::Closed) => Poll::Ready(None),
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Err(TryRecvError::Empty) => Poll::Pending,
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}
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})
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}
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/// Attempts to immediately receive a message on this `Receiver`
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///
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/// This method will either receive a message from the channel immediately or return an error
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/// if the channel is empty.
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pub fn try_recv(&self) -> Result<T, TryRecvError> {
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Channel::lock(self.channel_cell, |c| c.try_recv())
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}
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/// Closes the receiving half of a channel without dropping it.
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///
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/// This prevents any further messages from being sent on the channel while
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/// still enabling the receiver to drain messages that are buffered.
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///
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/// To guarantee that no messages are dropped, after calling `close()`,
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/// `recv()` must be called until `None` is returned. If there are
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/// outstanding messages, the `recv` method will not return `None`
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/// until those are released.
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///
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pub fn close(&mut self) {
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Channel::lock(self.channel_cell, |c| c.close())
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}
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}
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impl<'ch, M, T, const N: usize> Drop for Receiver<'ch, M, T, N>
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where
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M: Mutex<Data = ()>,
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{
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fn drop(&mut self) {
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Channel::lock(self.channel_cell, |c| c.deregister_receiver())
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}
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}
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impl<'ch, M, T, const N: usize> Sender<'ch, M, T, N>
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where
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M: Mutex<Data = ()>,
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{
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/// Sends a value, waiting until there is capacity.
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///
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/// A successful send occurs when it is determined that the other end of the
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/// channel has not hung up already. An unsuccessful send would be one where
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/// the corresponding receiver has already been closed. Note that a return
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/// value of `Err` means that the data will never be received, but a return
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/// value of `Ok` does not mean that the data will be received. It is
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/// possible for the corresponding receiver to hang up immediately after
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/// this function returns `Ok`.
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///
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/// # Errors
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///
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/// If the receive half of the channel is closed, either due to [`close`]
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/// being called or the [`Receiver`] handle dropping, the function returns
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/// an error. The error includes the value passed to `send`.
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///
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/// [`close`]: Receiver::close
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/// [`Receiver`]: Receiver
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pub async fn send(&self, message: T) -> Result<(), SendError<T>> {
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SendFuture {
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sender: self.clone(),
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message: Some(message),
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}
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.await
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}
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/// Attempts to immediately send a message on this `Sender`
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///
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/// This method differs from [`send`] by returning immediately if the channel's
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/// buffer is full or no receiver is waiting to acquire some data. Compared
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/// with [`send`], this function has two failure cases instead of one (one for
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/// disconnection, one for a full buffer).
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///
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/// # Errors
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///
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/// If the channel capacity has been reached, i.e., the channel has `n`
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/// buffered values where `n` is the argument passed to [`channel`], then an
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/// error is returned.
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///
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/// If the receive half of the channel is closed, either due to [`close`]
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/// being called or the [`Receiver`] handle dropping, the function returns
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/// an error. The error includes the value passed to `send`.
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///
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/// [`send`]: Sender::send
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/// [`channel`]: channel
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/// [`close`]: Receiver::close
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pub fn try_send(&self, message: T) -> Result<(), TrySendError<T>> {
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Channel::lock(self.channel_cell, |c| c.try_send(message))
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}
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/// Completes when the receiver has dropped.
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///
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/// This allows the producers to get notified when interest in the produced
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/// values is canceled and immediately stop doing work.
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pub async fn closed(&self) {
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CloseFuture {
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sender: self.clone(),
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}
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.await
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}
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/// Checks if the channel has been closed. This happens when the
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/// [`Receiver`] is dropped, or when the [`Receiver::close`] method is
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/// called.
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///
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/// [`Receiver`]: crate::sync::mpsc::Receiver
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/// [`Receiver::close`]: crate::sync::mpsc::Receiver::close
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pub fn is_closed(&self) -> bool {
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Channel::lock(self.channel_cell, |c| c.is_closed())
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}
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}
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struct SendFuture<'ch, M, T, const N: usize>
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where
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M: Mutex<Data = ()>,
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{
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sender: Sender<'ch, M, T, N>,
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message: Option<T>,
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}
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impl<'ch, M, T, const N: usize> Future for SendFuture<'ch, M, T, N>
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where
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M: Mutex<Data = ()>,
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{
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type Output = Result<(), SendError<T>>;
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fn poll(mut self: Pin<&mut Self>, cx: &mut Context<'_>) -> Poll<Self::Output> {
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match self.message.take() {
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Some(m) => match Channel::lock(self.sender.channel_cell, |c| {
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c.try_send_with_context(m, Some(cx))
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}) {
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Ok(..) => Poll::Ready(Ok(())),
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Err(TrySendError::Closed(m)) => Poll::Ready(Err(SendError(m))),
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Err(TrySendError::Full(m)) => {
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self.message.insert(m);
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Poll::Pending
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}
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},
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None => panic!("Message cannot be None"),
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}
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}
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}
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impl<'ch, M, T, const N: usize> Unpin for SendFuture<'ch, M, T, N> where M: Mutex<Data = ()> {}
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struct CloseFuture<'ch, M, T, const N: usize>
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where
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M: Mutex<Data = ()>,
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{
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sender: Sender<'ch, M, T, N>,
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}
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impl<'ch, M, T, const N: usize> Future for CloseFuture<'ch, M, T, N>
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where
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M: Mutex<Data = ()>,
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{
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type Output = ();
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fn poll(self: Pin<&mut Self>, cx: &mut Context<'_>) -> Poll<Self::Output> {
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if Channel::lock(self.sender.channel_cell, |c| {
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c.is_closed_with_context(Some(cx))
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}) {
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Poll::Ready(())
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} else {
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Poll::Pending
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}
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}
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}
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impl<'ch, M, T, const N: usize> Drop for Sender<'ch, M, T, N>
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where
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M: Mutex<Data = ()>,
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{
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fn drop(&mut self) {
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Channel::lock(self.channel_cell, |c| c.deregister_sender())
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}
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}
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impl<'ch, M, T, const N: usize> Clone for Sender<'ch, M, T, N>
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where
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M: Mutex<Data = ()>,
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{
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#[allow(clippy::clone_double_ref)]
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fn clone(&self) -> Self {
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Channel::lock(self.channel_cell, |c| c.register_sender());
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Sender {
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channel_cell: self.channel_cell.clone(),
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}
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}
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}
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/// An error returned from the [`try_recv`] method.
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///
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/// [`try_recv`]: super::Receiver::try_recv
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#[derive(PartialEq, Eq, Clone, Copy, Debug)]
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pub enum TryRecvError {
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/// A message could not be received because the channel is empty.
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Empty,
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/// The message could not be received because the channel is empty and closed.
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Closed,
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}
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/// Error returned by the `Sender`.
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#[derive(Debug)]
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pub struct SendError<T>(pub T);
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impl<T> fmt::Display for SendError<T> {
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fn fmt(&self, fmt: &mut fmt::Formatter<'_>) -> fmt::Result {
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write!(fmt, "channel closed")
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}
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}
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/// This enumeration is the list of the possible error outcomes for the
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/// [try_send](super::Sender::try_send) method.
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#[derive(Debug)]
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pub enum TrySendError<T> {
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/// The data could not be sent on the channel because the channel is
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/// currently full and sending would require blocking.
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Full(T),
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/// The receive half of the channel was explicitly closed or has been
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/// dropped.
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Closed(T),
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}
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impl<T> fmt::Display for TrySendError<T> {
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fn fmt(&self, fmt: &mut fmt::Formatter<'_>) -> fmt::Result {
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write!(
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fmt,
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"{}",
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match self {
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TrySendError::Full(..) => "no available capacity",
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TrySendError::Closed(..) => "channel closed",
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}
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)
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}
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}
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struct ChannelState<T, const N: usize> {
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buf: [MaybeUninit<UnsafeCell<T>>; N],
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read_pos: usize,
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write_pos: usize,
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full: bool,
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closed: bool,
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receiver_registered: bool,
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senders_registered: u32,
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receiver_waker: WakerRegistration,
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senders_waker: WakerRegistration,
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}
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impl<T, const N: usize> ChannelState<T, N> {
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const INIT: MaybeUninit<UnsafeCell<T>> = MaybeUninit::uninit();
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const fn new() -> Self {
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ChannelState {
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buf: [Self::INIT; N],
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read_pos: 0,
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write_pos: 0,
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full: false,
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closed: false,
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receiver_registered: false,
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senders_registered: 0,
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receiver_waker: WakerRegistration::new(),
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senders_waker: WakerRegistration::new(),
|
||||
}
|
||||
}
|
||||
|
||||
fn try_recv(&mut self) -> Result<T, TryRecvError> {
|
||||
self.try_recv_with_context(None)
|
||||
}
|
||||
|
||||
fn try_recv_with_context(&mut self, cx: Option<&mut Context<'_>>) -> Result<T, TryRecvError> {
|
||||
if self.read_pos != self.write_pos || self.full {
|
||||
if self.full {
|
||||
self.full = false;
|
||||
self.senders_waker.wake();
|
||||
}
|
||||
let message = unsafe { (self.buf[self.read_pos]).assume_init_mut().get().read() };
|
||||
self.read_pos = (self.read_pos + 1) % self.buf.len();
|
||||
Ok(message)
|
||||
} else if !self.closed {
|
||||
cx.into_iter()
|
||||
.for_each(|cx| self.set_receiver_waker(&cx.waker()));
|
||||
Err(TryRecvError::Empty)
|
||||
} else {
|
||||
Err(TryRecvError::Closed)
|
||||
}
|
||||
}
|
||||
|
||||
fn try_send(&mut self, message: T) -> Result<(), TrySendError<T>> {
|
||||
self.try_send_with_context(message, None)
|
||||
}
|
||||
|
||||
fn try_send_with_context(
|
||||
&mut self,
|
||||
message: T,
|
||||
cx: Option<&mut Context<'_>>,
|
||||
) -> Result<(), TrySendError<T>> {
|
||||
if !self.closed {
|
||||
if !self.full {
|
||||
self.buf[self.write_pos] = MaybeUninit::new(message.into());
|
||||
self.write_pos = (self.write_pos + 1) % self.buf.len();
|
||||
if self.write_pos == self.read_pos {
|
||||
self.full = true;
|
||||
}
|
||||
self.receiver_waker.wake();
|
||||
Ok(())
|
||||
} else {
|
||||
cx.into_iter()
|
||||
.for_each(|cx| self.set_senders_waker(&cx.waker()));
|
||||
Err(TrySendError::Full(message))
|
||||
}
|
||||
} else {
|
||||
Err(TrySendError::Closed(message))
|
||||
}
|
||||
}
|
||||
|
||||
fn close(&mut self) {
|
||||
self.receiver_waker.wake();
|
||||
self.closed = true;
|
||||
}
|
||||
|
||||
fn is_closed(&mut self) -> bool {
|
||||
self.is_closed_with_context(None)
|
||||
}
|
||||
|
||||
fn is_closed_with_context(&mut self, cx: Option<&mut Context<'_>>) -> bool {
|
||||
if self.closed {
|
||||
cx.into_iter()
|
||||
.for_each(|cx| self.set_senders_waker(&cx.waker()));
|
||||
true
|
||||
} else {
|
||||
false
|
||||
}
|
||||
}
|
||||
|
||||
fn register_receiver(&mut self) {
|
||||
assert!(!self.receiver_registered);
|
||||
self.receiver_registered = true;
|
||||
}
|
||||
|
||||
fn deregister_receiver(&mut self) {
|
||||
if self.receiver_registered {
|
||||
self.closed = true;
|
||||
self.senders_waker.wake();
|
||||
}
|
||||
self.receiver_registered = false;
|
||||
}
|
||||
|
||||
fn register_sender(&mut self) {
|
||||
self.senders_registered += 1;
|
||||
}
|
||||
|
||||
fn deregister_sender(&mut self) {
|
||||
assert!(self.senders_registered > 0);
|
||||
self.senders_registered -= 1;
|
||||
if self.senders_registered == 0 {
|
||||
self.receiver_waker.wake();
|
||||
self.closed = true;
|
||||
}
|
||||
}
|
||||
|
||||
fn set_receiver_waker(&mut self, receiver_waker: &Waker) {
|
||||
self.receiver_waker.register(receiver_waker);
|
||||
}
|
||||
|
||||
fn set_senders_waker(&mut self, senders_waker: &Waker) {
|
||||
// Dispose of any existing sender causing them to be polled again.
|
||||
// This could cause a spin given multiple concurrent senders, however given that
|
||||
// most sends only block waiting for the receiver to become active, this should
|
||||
// be a short-lived activity. The upside is a greatly simplified implementation
|
||||
// that avoids the need for intrusive linked-lists and unsafe operations on pinned
|
||||
// pointers.
|
||||
self.senders_waker.wake();
|
||||
self.senders_waker.register(senders_waker);
|
||||
}
|
||||
}
|
||||
|
||||
impl<T, const N: usize> Drop for ChannelState<T, N> {
|
||||
fn drop(&mut self) {
|
||||
while self.read_pos != self.write_pos || self.full {
|
||||
self.full = false;
|
||||
unsafe { ptr::drop_in_place(self.buf[self.read_pos].as_mut_ptr()) };
|
||||
self.read_pos = (self.read_pos + 1) % N;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
/// A a bounded mpsc channel for communicating between asynchronous tasks
|
||||
/// with backpressure.
|
||||
///
|
||||
/// The channel will buffer up to the provided number of messages. Once the
|
||||
/// buffer is full, attempts to `send` new messages will wait until a message is
|
||||
/// received from the channel.
|
||||
///
|
||||
/// All data sent will become available in the same order as it was sent.
|
||||
pub struct Channel<M, T, const N: usize>
|
||||
where
|
||||
M: Mutex<Data = ()>,
|
||||
{
|
||||
channel_cell: UnsafeCell<ChannelCell<M, T, N>>,
|
||||
receiver_consumed: PhantomData<()>,
|
||||
}
|
||||
|
||||
struct ChannelCell<M, T, const N: usize>
|
||||
where
|
||||
M: Mutex<Data = ()>,
|
||||
{
|
||||
mutex: M,
|
||||
state: ChannelState<T, N>,
|
||||
}
|
||||
|
||||
pub type WithCriticalSections = CriticalSectionMutex<()>;
|
||||
|
||||
pub type WithThreadModeOnly = ThreadModeMutex<()>;
|
||||
|
||||
pub type WithNoThreads = NoopMutex<()>;
|
||||
|
||||
impl<M, T, const N: usize> Channel<M, T, N>
|
||||
where
|
||||
M: Mutex<Data = ()>,
|
||||
{
|
||||
/// Establish a new bounded channel. For example, to create one with a NoopMutex:
|
||||
///
|
||||
/// ```
|
||||
/// use embassy::util::mpsc;
|
||||
/// use embassy::util::mpsc::{Channel, WithNoThreads};
|
||||
///
|
||||
/// // Declare a bounded channel of 3 u32s.
|
||||
/// let mut channel = Channel::<WithNoThreads, u32, 3>::new();
|
||||
/// // once we have a channel, obtain its sender and receiver
|
||||
/// let (sender, receiver) = mpsc::split(&mut channel);
|
||||
/// ```
|
||||
pub fn new() -> Self {
|
||||
let mutex = M::new(());
|
||||
let state = ChannelState::new();
|
||||
let channel_cell = ChannelCell { mutex, state };
|
||||
Channel {
|
||||
channel_cell: UnsafeCell::new(channel_cell),
|
||||
receiver_consumed: PhantomData,
|
||||
}
|
||||
}
|
||||
|
||||
fn lock<R>(
|
||||
channel_cell: &UnsafeCell<ChannelCell<M, T, N>>,
|
||||
f: impl FnOnce(&mut ChannelState<T, N>) -> R,
|
||||
) -> R {
|
||||
unsafe {
|
||||
let channel_cell = &mut *(channel_cell.get());
|
||||
let mutex = &mut channel_cell.mutex;
|
||||
let mut state = &mut channel_cell.state;
|
||||
mutex.lock(|_| f(&mut state))
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
#[cfg(test)]
|
||||
mod tests {
|
||||
use core::time::Duration;
|
||||
|
||||
use futures::task::SpawnExt;
|
||||
use futures_executor::ThreadPool;
|
||||
use futures_timer::Delay;
|
||||
|
||||
use crate::util::Forever;
|
||||
|
||||
use super::*;
|
||||
|
||||
fn capacity<T, const N: usize>(c: &ChannelState<T, N>) -> usize {
|
||||
if !c.full {
|
||||
if c.write_pos > c.read_pos {
|
||||
(c.buf.len() - c.write_pos) + c.read_pos
|
||||
} else {
|
||||
(c.buf.len() - c.read_pos) + c.write_pos
|
||||
}
|
||||
} else {
|
||||
0
|
||||
}
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn sending_once() {
|
||||
let mut c = ChannelState::<u32, 3>::new();
|
||||
assert!(c.try_send(1).is_ok());
|
||||
assert_eq!(capacity(&c), 2);
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn sending_when_full() {
|
||||
let mut c = ChannelState::<u32, 3>::new();
|
||||
let _ = c.try_send(1);
|
||||
let _ = c.try_send(1);
|
||||
let _ = c.try_send(1);
|
||||
match c.try_send(2) {
|
||||
Err(TrySendError::Full(2)) => assert!(true),
|
||||
_ => assert!(false),
|
||||
}
|
||||
assert_eq!(capacity(&c), 0);
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn sending_when_closed() {
|
||||
let mut c = ChannelState::<u32, 3>::new();
|
||||
c.closed = true;
|
||||
match c.try_send(2) {
|
||||
Err(TrySendError::Closed(2)) => assert!(true),
|
||||
_ => assert!(false),
|
||||
}
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn receiving_once_with_one_send() {
|
||||
let mut c = ChannelState::<u32, 3>::new();
|
||||
assert!(c.try_send(1).is_ok());
|
||||
assert_eq!(c.try_recv().unwrap(), 1);
|
||||
assert_eq!(capacity(&c), 3);
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn receiving_when_empty() {
|
||||
let mut c = ChannelState::<u32, 3>::new();
|
||||
match c.try_recv() {
|
||||
Err(TryRecvError::Empty) => assert!(true),
|
||||
_ => assert!(false),
|
||||
}
|
||||
assert_eq!(capacity(&c), 3);
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn receiving_when_closed() {
|
||||
let mut c = ChannelState::<u32, 3>::new();
|
||||
c.closed = true;
|
||||
match c.try_recv() {
|
||||
Err(TryRecvError::Closed) => assert!(true),
|
||||
_ => assert!(false),
|
||||
}
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn simple_send_and_receive() {
|
||||
let mut c = Channel::<WithNoThreads, u32, 3>::new();
|
||||
let (s, r) = split(&mut c);
|
||||
assert!(s.clone().try_send(1).is_ok());
|
||||
assert_eq!(r.try_recv().unwrap(), 1);
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn should_close_without_sender() {
|
||||
let mut c = Channel::<WithNoThreads, u32, 3>::new();
|
||||
let (s, r) = split(&mut c);
|
||||
drop(s);
|
||||
match r.try_recv() {
|
||||
Err(TryRecvError::Closed) => assert!(true),
|
||||
_ => assert!(false),
|
||||
}
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn should_close_once_drained() {
|
||||
let mut c = Channel::<WithNoThreads, u32, 3>::new();
|
||||
let (s, r) = split(&mut c);
|
||||
assert!(s.try_send(1).is_ok());
|
||||
drop(s);
|
||||
assert_eq!(r.try_recv().unwrap(), 1);
|
||||
match r.try_recv() {
|
||||
Err(TryRecvError::Closed) => assert!(true),
|
||||
_ => assert!(false),
|
||||
}
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn should_reject_send_when_receiver_dropped() {
|
||||
let mut c = Channel::<WithNoThreads, u32, 3>::new();
|
||||
let (s, r) = split(&mut c);
|
||||
drop(r);
|
||||
match s.try_send(1) {
|
||||
Err(TrySendError::Closed(1)) => assert!(true),
|
||||
_ => assert!(false),
|
||||
}
|
||||
}
|
||||
|
||||
#[test]
|
||||
fn should_reject_send_when_channel_closed() {
|
||||
let mut c = Channel::<WithNoThreads, u32, 3>::new();
|
||||
let (s, mut r) = split(&mut c);
|
||||
assert!(s.try_send(1).is_ok());
|
||||
r.close();
|
||||
assert_eq!(r.try_recv().unwrap(), 1);
|
||||
match r.try_recv() {
|
||||
Err(TryRecvError::Closed) => assert!(true),
|
||||
_ => assert!(false),
|
||||
}
|
||||
assert!(s.is_closed());
|
||||
}
|
||||
|
||||
#[futures_test::test]
|
||||
async fn receiver_closes_when_sender_dropped_async() {
|
||||
let executor = ThreadPool::new().unwrap();
|
||||
|
||||
static CHANNEL: Forever<Channel<WithCriticalSections, u32, 3>> = Forever::new();
|
||||
let c = CHANNEL.put(Channel::new());
|
||||
let (s, mut r) = split(c);
|
||||
assert!(executor
|
||||
.spawn(async move {
|
||||
drop(s);
|
||||
})
|
||||
.is_ok());
|
||||
assert_eq!(r.recv().await, None);
|
||||
}
|
||||
|
||||
#[futures_test::test]
|
||||
async fn receiver_receives_given_try_send_async() {
|
||||
let executor = ThreadPool::new().unwrap();
|
||||
|
||||
static CHANNEL: Forever<Channel<WithCriticalSections, u32, 3>> = Forever::new();
|
||||
let c = CHANNEL.put(Channel::new());
|
||||
let (s, mut r) = split(c);
|
||||
assert!(executor
|
||||
.spawn(async move {
|
||||
assert!(s.try_send(1).is_ok());
|
||||
})
|
||||
.is_ok());
|
||||
assert_eq!(r.recv().await, Some(1));
|
||||
}
|
||||
|
||||
#[futures_test::test]
|
||||
async fn sender_send_completes_if_capacity() {
|
||||
let mut c = Channel::<WithCriticalSections, u32, 1>::new();
|
||||
let (s, mut r) = split(&mut c);
|
||||
assert!(s.send(1).await.is_ok());
|
||||
assert_eq!(r.recv().await, Some(1));
|
||||
}
|
||||
|
||||
#[futures_test::test]
|
||||
async fn sender_send_completes_if_closed() {
|
||||
static CHANNEL: Forever<Channel<WithCriticalSections, u32, 1>> = Forever::new();
|
||||
let c = CHANNEL.put(Channel::new());
|
||||
let (s, r) = split(c);
|
||||
drop(r);
|
||||
match s.send(1).await {
|
||||
Err(SendError(1)) => assert!(true),
|
||||
_ => assert!(false),
|
||||
}
|
||||
}
|
||||
|
||||
#[futures_test::test]
|
||||
async fn senders_sends_wait_until_capacity() {
|
||||
let executor = ThreadPool::new().unwrap();
|
||||
|
||||
static CHANNEL: Forever<Channel<WithCriticalSections, u32, 1>> = Forever::new();
|
||||
let c = CHANNEL.put(Channel::new());
|
||||
let (s0, mut r) = split(c);
|
||||
assert!(s0.try_send(1).is_ok());
|
||||
let s1 = s0.clone();
|
||||
let send_task_1 = executor.spawn_with_handle(async move { s0.send(2).await });
|
||||
let send_task_2 = executor.spawn_with_handle(async move { s1.send(3).await });
|
||||
// Wish I could think of a means of determining that the async send is waiting instead.
|
||||
// However, I've used the debugger to observe that the send does indeed wait.
|
||||
assert!(Delay::new(Duration::from_millis(500)).await.is_ok());
|
||||
assert_eq!(r.recv().await, Some(1));
|
||||
assert!(executor
|
||||
.spawn(async move { while let Some(_) = r.recv().await {} })
|
||||
.is_ok());
|
||||
assert!(send_task_1.unwrap().await.is_ok());
|
||||
assert!(send_task_2.unwrap().await.is_ok());
|
||||
}
|
||||
|
||||
#[futures_test::test]
|
||||
async fn sender_close_completes_if_closing() {
|
||||
static CHANNEL: Forever<Channel<WithCriticalSections, u32, 1>> = Forever::new();
|
||||
let c = CHANNEL.put(Channel::new());
|
||||
let (s, mut r) = split(c);
|
||||
r.close();
|
||||
s.closed().await;
|
||||
}
|
||||
|
||||
#[futures_test::test]
|
||||
async fn sender_close_completes_if_closed() {
|
||||
static CHANNEL: Forever<Channel<WithCriticalSections, u32, 1>> = Forever::new();
|
||||
let c = CHANNEL.put(Channel::new());
|
||||
let (s, r) = split(c);
|
||||
drop(r);
|
||||
s.closed().await;
|
||||
}
|
||||
}
|
||||
@ -1,6 +1,19 @@
|
||||
use core::cell::UnsafeCell;
|
||||
use critical_section::CriticalSection;
|
||||
|
||||
/// Any object implementing this trait guarantees exclusive access to the data contained
|
||||
/// within the mutex for the duration of the lock.
|
||||
/// Adapted from https://github.com/rust-embedded/mutex-trait.
|
||||
pub trait Mutex {
|
||||
/// Data protected by the mutex.
|
||||
type Data;
|
||||
|
||||
fn new(data: Self::Data) -> Self;
|
||||
|
||||
/// Creates a critical section and grants temporary access to the protected data.
|
||||
fn lock<R>(&mut self, f: impl FnOnce(&Self::Data) -> R) -> R;
|
||||
}
|
||||
|
||||
/// A "mutex" based on critical sections
|
||||
///
|
||||
/// # Safety
|
||||
@ -33,6 +46,18 @@ impl<T> CriticalSectionMutex<T> {
|
||||
}
|
||||
}
|
||||
|
||||
impl<T> Mutex for CriticalSectionMutex<T> {
|
||||
type Data = T;
|
||||
|
||||
fn new(data: T) -> Self {
|
||||
Self::new(data)
|
||||
}
|
||||
|
||||
fn lock<R>(&mut self, f: impl FnOnce(&Self::Data) -> R) -> R {
|
||||
critical_section::with(|cs| f(self.borrow(cs)))
|
||||
}
|
||||
}
|
||||
|
||||
/// A "mutex" that only allows borrowing from thread mode.
|
||||
///
|
||||
/// # Safety
|
||||
@ -70,6 +95,18 @@ impl<T> ThreadModeMutex<T> {
|
||||
}
|
||||
}
|
||||
|
||||
impl<T> Mutex for ThreadModeMutex<T> {
|
||||
type Data = T;
|
||||
|
||||
fn new(data: T) -> Self {
|
||||
Self::new(data)
|
||||
}
|
||||
|
||||
fn lock<R>(&mut self, f: impl FnOnce(&Self::Data) -> R) -> R {
|
||||
f(self.borrow())
|
||||
}
|
||||
}
|
||||
|
||||
pub fn in_thread_mode() -> bool {
|
||||
#[cfg(feature = "std")]
|
||||
return Some("main") == std::thread::current().name();
|
||||
@ -78,3 +115,32 @@ pub fn in_thread_mode() -> bool {
|
||||
return cortex_m::peripheral::SCB::vect_active()
|
||||
== cortex_m::peripheral::scb::VectActive::ThreadMode;
|
||||
}
|
||||
|
||||
/// A "mutex" that does nothing and cannot be shared between threads.
|
||||
pub struct NoopMutex<T> {
|
||||
inner: T,
|
||||
}
|
||||
|
||||
impl<T> NoopMutex<T> {
|
||||
pub const fn new(value: T) -> Self {
|
||||
NoopMutex { inner: value }
|
||||
}
|
||||
}
|
||||
|
||||
impl<T> NoopMutex<T> {
|
||||
pub fn borrow(&self) -> &T {
|
||||
&self.inner
|
||||
}
|
||||
}
|
||||
|
||||
impl<T> Mutex for NoopMutex<T> {
|
||||
type Data = T;
|
||||
|
||||
fn new(data: T) -> Self {
|
||||
Self::new(data)
|
||||
}
|
||||
|
||||
fn lock<R>(&mut self, f: impl FnOnce(&Self::Data) -> R) -> R {
|
||||
f(self.borrow())
|
||||
}
|
||||
}
|
||||
|
||||
65
examples/nrf/src/bin/mpsc.rs
Normal file
65
examples/nrf/src/bin/mpsc.rs
Normal file
@ -0,0 +1,65 @@
|
||||
#![no_std]
|
||||
#![no_main]
|
||||
#![feature(min_type_alias_impl_trait)]
|
||||
#![feature(impl_trait_in_bindings)]
|
||||
#![feature(type_alias_impl_trait)]
|
||||
#![allow(incomplete_features)]
|
||||
|
||||
#[path = "../example_common.rs"]
|
||||
mod example_common;
|
||||
|
||||
use defmt::panic;
|
||||
use embassy::executor::Spawner;
|
||||
use embassy::time::{Duration, Timer};
|
||||
use embassy::util::mpsc::TryRecvError;
|
||||
use embassy::util::{mpsc, Forever};
|
||||
use embassy_nrf::gpio::{Level, Output, OutputDrive};
|
||||
use embassy_nrf::Peripherals;
|
||||
use embedded_hal::digital::v2::OutputPin;
|
||||
use mpsc::{Channel, Sender, WithNoThreads};
|
||||
|
||||
enum LedState {
|
||||
On,
|
||||
Off,
|
||||
}
|
||||
|
||||
static CHANNEL: Forever<Channel<WithNoThreads, LedState, 1>> = Forever::new();
|
||||
|
||||
#[embassy::task(pool_size = 1)]
|
||||
async fn my_task(sender: Sender<'static, WithNoThreads, LedState, 1>) {
|
||||
loop {
|
||||
let _ = sender.send(LedState::On).await;
|
||||
Timer::after(Duration::from_secs(1)).await;
|
||||
let _ = sender.send(LedState::Off).await;
|
||||
Timer::after(Duration::from_secs(1)).await;
|
||||
}
|
||||
}
|
||||
|
||||
#[embassy::main]
|
||||
async fn main(spawner: Spawner, p: Peripherals) {
|
||||
|
||||
let mut led = Output::new(p.P0_13, Level::Low, OutputDrive::Standard);
|
||||
|
||||
let channel = CHANNEL.put(Channel::new());
|
||||
let (sender, mut receiver) = mpsc::split(channel);
|
||||
|
||||
spawner.spawn(my_task(sender)).unwrap();
|
||||
|
||||
// We could just loop on `receiver.recv()` for simplicity. The code below
|
||||
// is optimized to drain the queue as fast as possible in the spirit of
|
||||
// handling events as fast as possible. This optimization is benign when in
|
||||
// thread mode, but can be useful when interrupts are sending messages
|
||||
// with the channel having been created via with_critical_sections.
|
||||
loop {
|
||||
let maybe_message = match receiver.try_recv() {
|
||||
m @ Ok(..) => m.ok(),
|
||||
Err(TryRecvError::Empty) => receiver.recv().await,
|
||||
Err(TryRecvError::Closed) => break,
|
||||
};
|
||||
match maybe_message {
|
||||
Some(LedState::On) => led.set_high().unwrap(),
|
||||
Some(LedState::Off) => led.set_low().unwrap(),
|
||||
_ => (),
|
||||
}
|
||||
}
|
||||
}
|
||||
Loading…
Reference in New Issue
Block a user