Merge #176

176:  implement RFCs 147 and 155, fix #141, etc. r=japaric a=japaric

This PR:

- Implements RFC 147: "all functions must be safe"

- Implements RFC 155: "explicit Context parameter"

- Implements the pending breaking change #141: reject assign syntax in `init`
  (which was used to initialize late resources)

- Refactors code generation to make it more readable -- there are no more random
  identifiers in the output -- and align it with the book description of RTFM
  internals (see PR #175).

- Makes the framework hard depend on `core::mem::MaybeUninit` and thus will
  require nightly until that API is stabilized.

- Fixes a ceiling analysis bug where the priority of the system timer was not
  considered in the analysis (TODO backport this into the v0.4.x branch).

- Shrinks the size of all the internal queues by turning `AtomicUsize` indices
  into `AtomicU8`s.

- Removes the integration with `owned_singleton`.

closes #141
closes #147
closes #155

Additionally:

- This changes CI to push v0.5.x docs to
  https://japaric.github.io/rtfm5/book/en/ -- we need to do this because our
  official docs are hosted on https://japaric.github.io/cortex-m-rtfm and we
  need to keep them on v0.4.x until we release v0.5.0

- I propose that we use the master branch to develop the upcoming v0.5.0.

- I have created a branch v0.4.x for backports; new v0.4.x releases will come
  from that branch.

r? @korken89 @texitoi, sorry for doing all the impl work in a single commit --
I know that makes things harder to review for you.

Suggestions for compile-pass and compile-fail tests are welcome


Co-authored-by: Jorge Aparicio <jorge@japaric.io>

1 files changed, 18 insertions, 10 deletions

diff --git a/macros/src/analyze.rs b/macros/src/analyze.rs
index cfd8ebc9..a47be779 100644
--- a/macros/src/analyze.rs
+++ b/macros/src/analyze.rs
@@ -190,19 +190,20 @@ pub fn app(app: &App) -> Analysis {
     }
 
     // Ceiling analysis of free queues (consumer end point) -- first pass
-    // Ceiling analysis of ready queues (producer end point)
+    // Ceiling analysis of ready queues (producer end point) -- first pass
     // Also compute more Send-ness requirements
-    let mut free_queues: HashMap<_, _> = app.tasks.keys().map(|task| (task.clone(), 0)).collect();
-    let mut ready_queues: HashMap<_, _> = dispatchers.keys().map(|level| (*level, 0)).collect();
+    let mut free_queues = HashMap::new();
+    let mut ready_queues = HashMap::new();
     for (priority, task) in app.spawn_calls() {
         if let Some(priority) = priority {
-            // Users of `spawn` contend for the to-be-spawned task FREE_QUEUE
-            let c = free_queues.get_mut(task).expect("BUG: free_queue.get_mut");
+            // Users of `spawn` contend for the spawnee FREE_QUEUE
+            let c = free_queues.entry(task.clone()).or_default();
             *c = cmp::max(*c, priority);
 
+            // Users of `spawn` contend for the spawnee's dispatcher READY_QUEUE
             let c = ready_queues
-                .get_mut(&app.tasks[task].args.priority)
-                .expect("BUG: ready_queues.get_mut");
+                .entry(app.tasks[task].args.priority)
+                .or_default();
             *c = cmp::max(*c, priority);
 
             // Send is required when sending messages from a task whose priority doesn't match the
@@ -215,16 +216,23 @@ pub fn app(app: &App) -> Analysis {
         }
     }
 
+    // Ceiling analysis of ready queues (producer end point) -- second pass
     // Ceiling analysis of free queues (consumer end point) -- second pass
     // Ceiling analysis of the timer queue
     let mut tq_ceiling = tq_priority;
     for (priority, task) in app.schedule_calls() {
+        // the system timer handler contends for the spawnee's dispatcher READY_QUEUE
+        let c = ready_queues
+            .entry(app.tasks[task].args.priority)
+            .or_default();
+        *c = cmp::max(*c, tq_priority);
+
         if let Some(priority) = priority {
-            // Users of `schedule` contend for the to-be-spawned task FREE_QUEUE (consumer end point)
-            let c = free_queues.get_mut(task).expect("BUG: free_queue.get_mut");
+            // Users of `schedule` contend for the spawnee task FREE_QUEUE
+            let c = free_queues.entry(task.clone()).or_default();
             *c = cmp::max(*c, priority);
 
-            // Users of `schedule` contend for the timer queu
+            // Users of `schedule` contend for the timer queue
             tq_ceiling = cmp::max(tq_ceiling, priority);
         } else {
             // spawns from `init` are excluded from the ceiling analysis