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

1 files changed, 30 insertions, 97 deletions

diff --git a/macros/src/codegen.rs b/macros/src/codegen.rs
index 9e5d20ce..88f11739 100644
--- a/macros/src/codegen.rs
+++ b/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());))
-        }
-
-        // 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
+    for name in app.tasks.keys() {
+        let fq = mk_fq_ident(name);
+        let cap = analysis.capacities[name];
 
-            // 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 {