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Merge pull request #5 from pros-rs/async_runtime
Async runtime
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,16 @@ | ||
| #![no_std] | ||
| #![no_main] | ||
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| use pros::prelude::*; | ||
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| #[derive(Default)] | ||
| pub struct Robot; | ||
| #[async_trait] | ||
| impl AsyncRobot for Robot { | ||
| async fn opcontrol(&mut self) -> pros::Result { | ||
| println!("basic example"); | ||
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| Ok(()) | ||
| } | ||
| } | ||
| async_robot!(Robot); |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,95 @@ | ||
| use core::{ | ||
| cell::RefCell, | ||
| future::Future, | ||
| pin::Pin, | ||
| sync::atomic::{AtomicBool, Ordering}, | ||
| task::{Context, Poll}, | ||
| }; | ||
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| use alloc::{collections::VecDeque, sync::Arc}; | ||
| use async_task::{Runnable, Task}; | ||
| use waker_fn::waker_fn; | ||
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| use crate::os_task_local; | ||
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| use super::reactor::Reactor; | ||
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| os_task_local! { | ||
| pub(crate) static EXECUTOR: Executor = Executor::new(); | ||
| } | ||
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| pub(crate) struct Executor { | ||
| queue: RefCell<VecDeque<Runnable>>, | ||
| pub(crate) reactor: RefCell<Reactor>, | ||
| } | ||
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| impl !Send for Executor {} | ||
| impl !Sync for Executor {} | ||
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| impl Executor { | ||
| pub fn new() -> Self { | ||
| Self { | ||
| queue: RefCell::new(VecDeque::new()), | ||
| reactor: RefCell::new(Reactor::new()), | ||
| } | ||
| } | ||
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| pub fn spawn<T>(&'static self, future: impl Future<Output = T> + 'static) -> Task<T> { | ||
| // SAFETY: `runnable` will never be moved off this thread or shared with another thread because of the `!Send + !Sync` bounds on `Self`. | ||
| // Both `future` and `schedule` are `'static` so they cannot be used after being freed. | ||
| // TODO: Make sure that the waker can never be sent off the thread. | ||
| let (runnable, task) = unsafe { | ||
| async_task::spawn_unchecked(future, |runnable| { | ||
| self.queue.borrow_mut().push_back(runnable) | ||
| }) | ||
| }; | ||
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| runnable.schedule(); | ||
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| task | ||
| } | ||
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| pub(crate) fn tick(&self) -> bool { | ||
| self.reactor.borrow_mut().tick(); | ||
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| let runnable = { | ||
| let mut queue = self.queue.borrow_mut(); | ||
| queue.pop_front() | ||
| }; | ||
| match runnable { | ||
| Some(runnable) => { | ||
| runnable.run(); | ||
| true | ||
| } | ||
| None => false, | ||
| } | ||
| } | ||
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| pub fn block_on<R>(&self, mut task: Task<R>) -> R { | ||
| let woken = Arc::new(AtomicBool::new(true)); | ||
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| let waker = waker_fn({ | ||
| let woken = woken.clone(); | ||
| move || woken.store(true, Ordering::Relaxed) | ||
| }); | ||
| let mut cx = Context::from_waker(&waker); | ||
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| loop { | ||
| if woken.swap(false, Ordering::Relaxed) { | ||
| if let Poll::Ready(output) = Pin::new(&mut task).poll(&mut cx) { | ||
| return output; | ||
| } | ||
| } | ||
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| self.tick(); | ||
| } | ||
| } | ||
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| pub fn complete(&self) { | ||
| loop { | ||
| if !self.tick() { | ||
| break; | ||
| } | ||
| } | ||
| } | ||
| } |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,27 @@ | ||
| use core::future::Future; | ||
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| use async_task::Task; | ||
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| pub(crate) mod executor; | ||
| pub(crate) mod reactor; | ||
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| /// Runs a future in the background without having to await it | ||
| /// To get the the return value you can await a task. | ||
| pub fn spawn<T>(future: impl Future<Output = T> + 'static) -> Task<T> { | ||
| executor::EXECUTOR.with(|e| e.spawn(future)) | ||
| } | ||
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| /// Blocks the current task untill a return value can be extracted from the provided future. | ||
| /// Does not poll all futures to completion. | ||
| /// If you want to complete all futures, use the [`complete_all`] function. | ||
| pub fn block_on<F: Future + 'static>(future: F) -> F::Output { | ||
| executor::EXECUTOR.with(|e| e.block_on(spawn(future))) | ||
| } | ||
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| /// Completes all tasks. | ||
| /// Return values can be extracted from the futures by awaiting any [`Tasks`]s you have not detached. | ||
| pub fn complete_all() { | ||
| executor::EXECUTOR.with(|e| { | ||
| e.complete(); | ||
| }) | ||
| } |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,37 @@ | ||
| use core::task::Waker; | ||
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| use alloc::collections::BTreeMap; | ||
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| pub struct Sleepers { | ||
| sleepers: BTreeMap<u32, Waker>, | ||
| } | ||
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| impl Sleepers { | ||
| pub fn push(&mut self, waker: Waker, target: u32) { | ||
| self.sleepers.insert(target, waker); | ||
| } | ||
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| pub fn pop(&mut self) -> Option<Waker> { | ||
| self.sleepers.pop_first().map(|(_, waker)| waker) | ||
| } | ||
| } | ||
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| pub struct Reactor { | ||
| pub(crate) sleepers: Sleepers, | ||
| } | ||
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| impl Reactor { | ||
| pub fn new() -> Self { | ||
| Self { | ||
| sleepers: Sleepers { | ||
| sleepers: BTreeMap::new(), | ||
| }, | ||
| } | ||
| } | ||
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| pub fn tick(&mut self) { | ||
| if let Some(sleeper) = self.sleepers.pop() { | ||
| sleeper.wake() | ||
| } | ||
| } | ||
| } |
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