bump heapless dependency to v0.5.0; remove "nightly" feature

with the upcoming version of heapless we are able to initialize all internal
queues in const context removing the need for late initialization

this commit also removes the "nightly" feature because all the optimization
provided by it are now enabled by default

Cargo.toml

@@ -43,10 +43,7 @@ required-features = ["timer-queue"]
 cortex-m = "0.5.8"
 cortex-m-rt = "0.6.7"
 cortex-m-rtfm-macros = { path = "macros", version = "0.5.0-alpha.1" }
-
-[dependencies.heapless]
-features = ["smaller-atomics", "min-const-fn"]
-version = "0.4.3"
+heapless = "0.5.0-alpha.1"
 
 [dev-dependencies]
 cortex-m-semihosting = "0.3.2"
@@ -58,7 +55,6 @@ features = ["exit"]
 version = "0.5.1"
 
 [features]
-nightly = ["cortex-m-rtfm-macros/nightly", "heapless/const-fn"]
 timer-queue = ["cortex-m-rtfm-macros/timer-queue"]
 
 [target.x86_64-unknown-linux-gnu.dev-dependencies]

ci/script.sh

@@ -33,25 +33,18 @@ arm_example() {
 
 main() {
     local T=$TARGET
-    local nightly=""
-
-    if [ $TRAVIS_RUST_VERSION = nightly ]; then
-        nightly="nightly"
-    fi
 
     mkdir -p ci/builds
 
     if [ $T = x86_64-unknown-linux-gnu ]; then
         # compile-fail and compile-pass tests
-        case $TRAVIS_RUST_VERSION in
-            nightly*)
-                # TODO how to run a subset of these tests when timer-queue is disabled?
-                cargo test --features "$nightly,timer-queue" --test compiletest --target $T
-        esac
+
+        # TODO how to run a subset of these tests when timer-queue is disabled?
+        cargo test --features "timer-queue" --test compiletest --target $T
 
         cargo check --target $T
         if [ $TARGET != thumbv6m-none-eabi ]; then
-            cargo check --features "$nightly,timer-queue" --target $T
+            cargo check --features "timer-queue" --target $T
         fi
 
         if [ $TRAVIS_RUST_VERSION != nightly ]; then
@@ -81,9 +74,9 @@ main() {
         return
     fi
 
-    cargo check --features "$nightly" --target $T --examples
+    cargo check --target $T --examples
     if [ $TARGET != thumbv6m-none-eabi ]; then
-        cargo check --features "$nightly,timer-queue" --target $T --examples
+        cargo check --features "timer-queue" --target $T --examples
     fi
 
     # run-pass tests
@@ -124,7 +117,7 @@ main() {
                     if [ $TARGET != thumbv6m-none-eabi ]; then
                         local td=$(mktemp -d)
 
-                        local features="$nightly,timer-queue"
+                        local features="timer-queue"
                         cargo run --example $ex --target $TARGET --features $features >\
                               $td/pool.run
                         grep 'foo(0x2' $td/pool.run
@@ -146,13 +139,13 @@ main() {
                 fi
 
                 if [ $ex != types ]; then
-                    arm_example "run" $ex "debug" "$nightly" "1"
-                    arm_example "run" $ex "release" "$nightly" "1"
+                    arm_example "run" $ex "debug" "" "1"
+                    arm_example "run" $ex "release" "" "1"
                 fi
 
                 if [ $TARGET != thumbv6m-none-eabi ]; then
-                    arm_example "run" $ex "debug" "$nightly,timer-queue" "1"
-                    arm_example "run" $ex "release" "$nightly,timer-queue" "1"
+                    arm_example "run" $ex "debug" "timer-queue" "1"
+                    arm_example "run" $ex "release" "timer-queue" "1"
                 fi
             done
 
@@ -165,23 +158,23 @@ main() {
                 fi
 
                 if [ $ex != types ] && [ $ex != pool ]; then
-                    arm_example "build" $ex "debug" "$nightly" "2"
-                    cmp ci/builds/${ex}_${nightly/nightly/nightly_}debug_1.hex \
-                        ci/builds/${ex}_${nightly/nightly/nightly_}debug_2.hex
-                    arm_example "build" $ex "release" "$nightly" "2"
-                    cmp ci/builds/${ex}_${nightly/nightly/nightly_}release_1.hex \
-                        ci/builds/${ex}_${nightly/nightly/nightly_}release_2.hex
+                    arm_example "build" $ex "debug" "" "2"
+                    cmp ci/builds/${ex}_debug_1.hex \
+                        ci/builds/${ex}_debug_2.hex
+                    arm_example "build" $ex "release" "" "2"
+                    cmp ci/builds/${ex}_release_1.hex \
+                        ci/builds/${ex}_release_2.hex
 
                     built+=( $ex )
                 fi
 
                 if [ $TARGET != thumbv6m-none-eabi ]; then
-                    arm_example "build" $ex "debug" "$nightly,timer-queue" "2"
-                    cmp ci/builds/${ex}_${nightly}_timer-queue_debug_1.hex \
-                        ci/builds/${ex}_${nightly}_timer-queue_debug_2.hex
-                    arm_example "build" $ex "release" "$nightly,timer-queue" "2"
-                    cmp ci/builds/${ex}_${nightly}_timer-queue_release_1.hex \
-                        ci/builds/${ex}_${nightly}_timer-queue_release_2.hex
+                    arm_example "build" $ex "debug" "timer-queue" "2"
+                    cmp ci/builds/${ex}_timer-queue_debug_1.hex \
+                        ci/builds/${ex}_timer-queue_debug_2.hex
+                    arm_example "build" $ex "release" "timer-queue" "2"
+                    cmp ci/builds/${ex}_timer-queue_release_1.hex \
+                        ci/builds/${ex}_timer-queue_release_2.hex
                 fi
             done
 

macros/Cargo.toml

@@ -23,5 +23,4 @@ features = ["extra-traits", "full"]
 version = "0.15.23"
 
 [features]
-timer-queue = []
-nightly = []
+timer-queue = []

macros/src/codegen.rs

@@ -600,24 +600,13 @@ fn tasks(
 
         let doc = "Queue version of a free-list that keeps track of empty slots in the previous buffer(s)";
         let fq_ty = quote!(rtfm::export::FreeQueue<#cap_ty>);
-        let ptr = if cfg!(feature = "nightly") {
-            const_app.push(quote!(
-                #[doc = #doc]
-                static mut #task_fq: #fq_ty = unsafe {
-                    rtfm::export::FreeQueue::u8_sc()
-                };
-            ));
-
-            quote!(&mut #task_fq)
-        } else {
-            const_app.push(quote!(
-                #[doc = #doc]
-                static mut #task_fq: core::mem::MaybeUninit<#fq_ty> =
-                    core::mem::MaybeUninit::uninit();
-            ));
-
-            quote!(#task_fq.as_mut_ptr())
-        };
+        const_app.push(quote!(
+            #[doc = #doc]
+            static mut #task_fq: #fq_ty = unsafe {
+                rtfm::export::Queue(rtfm::export::i::Queue::u8_sc())
+            };
+        ));
+        let ptr = quote!(&mut #task_fq);
 
         if let Some(ceiling) = analysis.free_queues.get(name) {
             const_app.push(quote!(struct #task_fq<'a> {
@@ -705,24 +694,13 @@ fn dispatchers(app: &App, analysis: &Analysis) -> Vec<proc_macro2::TokenStream>
             level
         );
         let rq_ty = quote!(rtfm::export::ReadyQueue<#t, #cap>);
-        let ptr = if cfg!(feature = "nightly") {
-            items.push(quote!(
-                #[doc = #doc]
-                static mut #rq: #rq_ty = unsafe {
-                    rtfm::export::ReadyQueue::u8_sc()
-                };
-            ));
-
-            quote!(&mut #rq)
-        } else {
-            items.push(quote!(
-                #[doc = #doc]
-                static mut #rq: core::mem::MaybeUninit<#rq_ty> =
-                    core::mem::MaybeUninit::uninit();
-            ));
-
-            quote!(#rq.as_mut_ptr())
-        };
+        items.push(quote!(
+            #[doc = #doc]
+            static mut #rq: #rq_ty = unsafe {
+                rtfm::export::Queue(rtfm::export::i::Queue::u8_sc())
+            };
+        ));
+        let ptr = quote!(&mut #rq);
 
         if let Some(ceiling) = analysis.ready_queues.get(&level) {
             items.push(quote!(
@@ -772,11 +750,7 @@ fn dispatchers(app: &App, analysis: &Analysis) -> Vec<proc_macro2::TokenStream>
                 let fq = mk_fq_ident(name);
 
                 let input = quote!(#inputs.get_unchecked(usize::from(index)).as_ptr().read());
-                let fq = if cfg!(feature = "nightly") {
-                    quote!(#fq)
-                } else {
-                    quote!((*#fq.as_mut_ptr()))
-                };
+                let fq = quote!(#fq);
 
                 let (let_instant, _instant) = if cfg!(feature = "timer-queue") {
                     let instants = mk_instants_ident(name);
@@ -822,11 +796,7 @@ fn dispatchers(app: &App, analysis: &Analysis) -> Vec<proc_macro2::TokenStream>
         );
         let attrs = &dispatcher.attrs;
         let interrupt = &dispatcher.interrupt;
-        let rq = if cfg!(feature = "nightly") {
-            quote!((&mut #rq))
-        } else {
-            quote!((*#rq.as_mut_ptr()))
-        };
+        let rq = quote!((&mut #rq));
         items.push(quote!(
             #[doc = #doc]
             #(#attrs)*
@@ -1174,42 +1144,16 @@ fn pre_init(app: &App, analysis: &Analysis) -> Vec<proc_macro2::TokenStream> {
 
     stmts.push(quote!(rtfm::export::interrupt::disable();));
 
-    // these won't be required once we have better `const fn` on stable (or const generics)
-    if !cfg!(feature = "nightly") {
-        // initialize `MaybeUninit` `ReadyQueue`s
-        for level in analysis.dispatchers.keys() {
-            let rq = mk_rq_ident(*level);
-            stmts.push(quote!(#rq.as_mut_ptr().write(rtfm::export::ReadyQueue::u8_sc());))
-        }
+    // populate the `FreeQueue`s
+    for name in app.tasks.keys() {
+        let fq = mk_fq_ident(name);
+        let cap = analysis.capacities[name];
 
-        // initialize `MaybeUninit` `FreeQueue`s
-        for name in app.tasks.keys() {
-            let fq = mk_fq_ident(name);
-
-            stmts.push(quote!(
-                let fq = #fq.as_mut_ptr().write(rtfm::export::FreeQueue::u8_sc());
-            ));
-
-            // populate the `FreeQueue`s
-            let cap = analysis.capacities[name];
-            stmts.push(quote!(
-                for i in 0..#cap {
-                    fq.enqueue_unchecked(i);
-                }
-            ));
-        }
-    } else {
-        // populate the `FreeQueue`s
-        for name in app.tasks.keys() {
-            let fq = mk_fq_ident(name);
-            let cap = analysis.capacities[name];
-
-            stmts.push(quote!(
-                for i in 0..#cap {
-                    #fq.enqueue_unchecked(i);
-                }
-            ));
-        }
+        stmts.push(quote!(
+            for i in 0..#cap {
+                #fq.enqueue_unchecked(i);
+            }
+        ));
     }
 
     stmts.push(quote!(
@@ -2262,17 +2206,10 @@ fn mk_spawn_body<'a>(
     let (dequeue, enqueue) = if spawner_is_init {
         // `init` has exclusive access to these queues so we can bypass the resources AND
         // the consumer / producer split
-        if cfg!(feature = "nightly") {
-            (
-                quote!(#fq.dequeue()),
-                quote!(#rq.enqueue_unchecked((#t::#name, index));),
-            )
-        } else {
-            (
-                quote!((*#fq.as_mut_ptr()).dequeue()),
-                quote!((*#rq.as_mut_ptr()).enqueue_unchecked((#t::#name, index));),
-            )
-        }
+        (
+            quote!(#fq.dequeue()),
+            quote!(#rq.enqueue_unchecked((#t::#name, index));),
+        )
     } else {
         (
             quote!((#fq { priority }).lock(|fq| fq.split().1.dequeue())),
@@ -2319,11 +2256,7 @@ fn mk_schedule_body<'a>(scheduler: &Ident, name: &Ident, app: &'a App) -> proc_m
     let (dequeue, enqueue) = if scheduler_is_init {
         // `init` has exclusive access to these queues so we can bypass the resources AND
         // the consumer / producer split
-        let dequeue = if cfg!(feature = "nightly") {
-            quote!(#fq.dequeue())
-        } else {
-            quote!((*#fq.as_mut_ptr()).dequeue())
-        };
+        let dequeue = quote!(#fq.dequeue());
 
         (dequeue, quote!((*TQ.as_mut_ptr()).enqueue_unchecked(nr);))
     } else {

src/export.rs

@@ -8,8 +8,8 @@ pub use cortex_m::{
     asm::wfi, interrupt, peripheral::scb::SystemHandler, peripheral::syst::SystClkSource,
     peripheral::Peripherals,
 };
-pub use heapless::consts;
-use heapless::spsc::{Queue, SingleCore};
+use heapless::spsc::SingleCore;
+pub use heapless::{consts, i, spsc::Queue};
 
 #[cfg(feature = "timer-queue")]
 pub use crate::tq::{NotReady, TimerQueue};