Use Pin in the linked lists

rtic-channel/src/lib.rs

@@ -8,6 +8,7 @@ use core::{
     cell::UnsafeCell,
     future::poll_fn,
     mem::MaybeUninit,
+    pin::Pin,
     ptr,
     task::{Poll, Waker},
 };
@@ -177,10 +178,11 @@ impl<'a, T, const N: usize> Sender<'a, T, N> {
     pub async fn send(&mut self, val: T) -> Result<(), NoReceiver<T>> {
         if self.is_closed() {}
 
-        let mut __hidden_link: Option<wait_queue::Link<Waker>> = None;
+        let mut link_ptr: Option<wait_queue::Link<Waker>> = None;
+
+        // Make this future `Drop`-safe, also shadow the original definition so we can't abuse it.
+        let link_ptr = &mut link_ptr as *mut Option<wait_queue::Link<Waker>>;
 
-        // Make this future `Drop`-safe
-        let link_ptr = &mut __hidden_link as *mut Option<wait_queue::Link<Waker>>;
         let dropper = OnDrop::new(|| {
             // SAFETY: We only run this closure and dereference the pointer if we have
             // exited the `poll_fn` below in the `drop(dropper)` call. The other dereference
@@ -198,12 +200,18 @@ impl<'a, T, const N: usize> Sender<'a, T, N> {
             //  Do all this in one critical section, else there can be race conditions
             let queue_idx = critical_section::with(|cs| {
                 if !self.0.wait_queue.is_empty() || self.0.access(cs).freeq.is_empty() {
-                    // SAFETY: This pointer is only dereferenced here and on drop of the future.
+                    // SAFETY: This pointer is only dereferenced here and on drop of the future
+                    // which happens outside this `poll_fn`'s stack frame.
                     let link = unsafe { &mut *link_ptr };
                     if link.is_none() {
                         // Place the link in the wait queue on first run.
                         let link_ref = link.insert(wait_queue::Link::new(cx.waker().clone()));
-                        self.0.wait_queue.push(link_ref);
+
+                        // SAFETY: The address to the link is stable as it is hidden behind
+                        // `link_ptr`, and `link_ptr` shadows the original making it unmovable.
+                        self.0
+                            .wait_queue
+                            .push(unsafe { Pin::new_unchecked(link_ref) });
                     }
 
                     return None;

rtic-channel/src/wait_queue.rs

@@ -1,6 +1,7 @@
 //! ...
 
 use core::marker::PhantomPinned;
+use core::pin::Pin;
 use core::ptr::null_mut;
 use core::sync::atomic::{AtomicPtr, Ordering};
 use core::task::Waker;
@@ -65,13 +66,16 @@ impl<T: Clone> LinkedList<T> {
     }
 
     /// Put an element at the back of the queue.
-    pub fn push(&self, link: &mut Link<T>) {
+    pub fn push(&self, link: Pin<&mut Link<T>>) {
         cs::with(|_| {
             // Make sure all previous writes are visible
             core::sync::atomic::fence(Ordering::SeqCst);
 
             let tail = self.tail.load(Self::R);
 
+            // SAFETY: This datastructure does not move the underlying value.
+            let link = unsafe { link.get_unchecked_mut() };
+
             if let Some(tail_ref) = unsafe { tail.as_ref() } {
                 // Queue is not empty
                 link.prev.store(tail, Self::R);
@@ -221,11 +225,11 @@ mod tests {
         let mut i4 = Link::new(13);
         let mut i5 = Link::new(14);
 
-        wq.push(&mut i1);
+        wq.push(unsafe { Pin::new_unchecked(&mut i1) });
-        wq.push(&mut i2);
+        wq.push(unsafe { Pin::new_unchecked(&mut i2) });
-        wq.push(&mut i3);
+        wq.push(unsafe { Pin::new_unchecked(&mut i3) });
-        wq.push(&mut i4);
+        wq.push(unsafe { Pin::new_unchecked(&mut i4) });
-        wq.push(&mut i5);
+        wq.push(unsafe { Pin::new_unchecked(&mut i5) });
 
         wq.print();
 

rtic-time/src/lib.rs

@@ -7,6 +7,7 @@
 #![feature(async_fn_in_trait)]
 
 use core::future::{poll_fn, Future};
+use core::pin::Pin;
 use core::sync::atomic::{AtomicBool, AtomicUsize, Ordering};
 use core::task::{Poll, Waker};
 use futures_util::{
@@ -185,7 +186,10 @@ impl<Mono: Monotonic> TimerQueue<Mono> {
             );
         }
 
-        let mut link = None;
+        let mut link_ptr: Option<linked_list::Link<WaitingWaker<Mono>>> = None;
+
+        // Make this future `Drop`-safe, also shadow the original definition so we can't abuse it.
+        let link_ptr = &mut link_ptr as *mut Option<linked_list::Link<WaitingWaker<Mono>>>;
 
         let queue = &self.queue;
         let marker = &AtomicUsize::new(0);
@@ -199,6 +203,9 @@ impl<Mono: Monotonic> TimerQueue<Mono> {
                 return Poll::Ready(());
             }
 
+            // SAFETY: This pointer is only dereferenced here and on drop of the future
+            // which happens outside this `poll_fn`'s stack frame.
+            let link = unsafe { &mut *link_ptr };
             if link.is_none() {
                 let mut link_ref = link.insert(Link::new(WaitingWaker {
                     waker: cx.waker().clone(),
@@ -206,7 +213,9 @@ impl<Mono: Monotonic> TimerQueue<Mono> {
                     was_poped: AtomicBool::new(false),
                 }));
 
-                let (was_empty, addr) = queue.insert(&mut link_ref);
+                // SAFETY: The address to the link is stable as it is defined outside this stack
+                // frame.
+                let (was_empty, addr) = queue.insert(unsafe { Pin::new_unchecked(&mut link_ref) });
                 marker.store(addr, Ordering::Relaxed);
 
                 if was_empty {
@@ -219,7 +228,10 @@ impl<Mono: Monotonic> TimerQueue<Mono> {
         })
         .await;
 
-        if let Some(link) = link {
+        // SAFETY: We only run this and dereference the pointer if we have
+        // exited the `poll_fn` below in the `drop(dropper)` call. The other dereference
+        // of this pointer is in the `poll_fn`.
+        if let Some(link) = unsafe { &mut *link_ptr } {
             if link.val.was_poped.load(Ordering::Relaxed) {
                 // If it was poped from the queue there is no need to run delete
                 dropper.defuse();

rtic-time/src/linked_list.rs

@@ -1,6 +1,7 @@
 //! ...
 
 use core::marker::PhantomPinned;
+use core::pin::Pin;
 use core::sync::atomic::{AtomicPtr, Ordering};
 use critical_section as cs;
 
@@ -92,8 +93,10 @@ impl<T: PartialOrd + Clone> LinkedList<T> {
 
     /// Insert a new link into the linked list.
     /// The return is (was_empty, address), where the address of the link is for use with `delete`.
-    pub fn insert(&self, val: &mut Link<T>) -> (bool, usize) {
+    pub fn insert(&self, val: Pin<&mut Link<T>>) -> (bool, usize) {
         cs::with(|_| {
+            // SAFETY: This datastructure does not move the underlying value.
+            let val = unsafe { val.get_unchecked_mut() };
             let addr = val as *const _ as usize;
 
             // Make sure all previous writes are visible