# Changelog

All notable changes to this project will be documented in this file.

The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/),
and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0.html).

<!-- next-header -->
## Unreleased - ReleaseDate

- Added new metadata API for tasks.
- Main task automatically gets a name of `main` when the `metadata-name` feature is enabled.
- Upgraded rtos-trace
- Added optional "highest priority" scheduling
- Added optional "earliest deadline first" EDF scheduling
- Migrate `cortex-ar` to `aarch32-cpu`. The feature name `arch-cortex-ar` remains the same and
  legacy ARM architectures are not supported.
- Added `run_until` to `arch-std` variant of `Executor`.
- Added `__try_embassy_time_queue_item_from_waker`

## 0.9.1 - 2025-08-31

- Fixed performance regression on some ESP32 MCUs.

## 0.9.0 - 2025-08-26

- Added `extern "Rust" fn __embassy_time_queue_item_from_waker`
- Removed `TaskRef::dangling`
- Added `embassy-executor-timer-queue` as a dependency
- Moved the `TimeQueueItem` struct and `timer-item-payload-size-*` features (as `timer-item-size-X-words`) into `embassy-executor-timer-queue`

## 0.8.0 - 2025-07-31

- Added `SpawnToken::id`
- Task pools are now statically allocated on stable rust. All `task-arena-size-*` features have been removed and are no longer necessary.
- New trace hooks: `_embassy_trace_poll_start` & `_embassy_trace_task_end`
- Added task naming capability to tracing infrastructure
- Added `Executor::id` & `Spawner::executor_id`
- Disable `critical-section/std` for arch-std
- Added possibility to select an executor in `#[embassy_executor::main]`
- Fix AVR executor
- executor: Make state implementations and their conditions match
- Added support for Cortex-A and Cortex-R
- Added support for `-> impl Future<Output = ()>` in `#[task]`
- Fixed `Send` unsoundness with `-> impl Future` tasks
- Marked `Spawner::for_current_executor` as `unsafe`
- `#[task]` now properly marks the generated function as unsafe if the task is marked unsafe

## 0.7.0 - 2025-01-02

- Performance optimizations.
- Remove feature `integrated-timers`. Starting with `embassy-time-driver` v0.2, `embassy-time` v0.4 the timer queue is now part of the time driver, so it's no longer the executor's responsibility. Therefore, `embassy-executor` no longer provides an `embassy-time-queue-driver` implementation.
- Added the possibility for timer driver implementations to store arbitrary data in task headers. This can be used to make a timer queue intrusive list, similar to the previous `integrated-timers` feature. Payload size is controlled by the `timer-item-payload-size-X` features.
- Added `TaskRef::executor` to obtain a reference to a task's executor

## 0.6.3 - 2024-11-12

- Building with the `nightly` feature now works with the Xtensa Rust compiler 1.82.
- Compare vtable address instead of contents. Saves 44 bytes of flash on cortex-m.

## 0.6.2 - 2024-11-06

- The `nightly` feature no longer requires `nightly-2024-09-06` or newer.

## 0.6.1 - 2024-10-21

- Soundness fix: Deny using `impl Trait` in task arguments. This was previously accidentally allowed when not using the `nightly` feature,
  and could cause out of bounds memory accesses if spawning the same task mulitple times with different underlying types
  for the `impl Trait`. Affected versions are 0.4.x, 0.5.0 and 0.6.0, which have been yanked.
- Add an architecture-agnostic executor that spins waiting for tasks to run, enabled with the `arch-spin` feature.
- Update for breaking change in the nightly waker_getters API. The `nightly` feature now requires `nightly-2024-09-06` or newer.
- Improve macro error messages.

## 0.6.0 - 2024-08-05

- Add collapse_debuginfo to fmt.rs macros.
- initial support for AVR
- use nightly waker_getters APIs

## 0.5.1 - 2024-10-21

- Soundness fix: Deny using `impl Trait` in task arguments. This was previously accidentally allowed when not using the `nightly` feature,
  and could cause out of bounds memory accesses if spawning the same task mulitple times with different underlying types
  for the `impl Trait`. Affected versions are 0.4.x, 0.5.0 and 0.6.0, which have been yanked.

## 0.5.0 - 2024-01-11

- Updated to `embassy-time-driver 0.1`, `embassy-time-queue-driver 0.1`, compatible with `embassy-time v0.3` and higher.

## 0.4.0 - 2023-12-05

- Removed `arch-xtensa`. Use the executor provided by the HAL crate (`esp-hal`, `esp32s3-hal`, etc...) instead.
- Added an arena allocator for tasks, allowing using the `main` and `task` macros on Rust 1.75 stable. (it is only used if the `nightly` feature is not enabled. When `nightly` is enabled, `type_alias_impl_trait` is used to statically allocate tasks, as before).

## 0.3.3 - 2023-11-15

- Add `main` macro reexport for Xtensa arch.
- Remove use of `atomic-polyfill`. The executor now has multiple implementations of its internal data structures for cases where the target supports atomics or doesn't.

## 0.3.2 - 2023-11-06

- Use `atomic-polyfill` for `riscv32`
- Removed unused dependencies (static_cell, futures-util)

## 0.3.1 - 2023-11-01

- Fix spurious "Found waker not created by the Embassy executor" error in recent nightlies.

## 0.3.0 - 2023-08-25

- Replaced Pender. Implementations now must define an extern function called `__pender`.
- Made `raw::AvailableTask` public
- Made `SpawnToken::new_failed` public
- You can now use arbitrary expressions to specify `#[task(pool_size = X)]`

## 0.2.1 - 2023-08-10

- Avoid calling `pend()` when waking expired timers
- Properly reset finished task state with `integrated-timers` enabled
- Introduce `InterruptExecutor::spawner()`
- Fix incorrect critical section in Xtensa executor

## 0.2.0 - 2023-04-27

- Replace unnecessary atomics in runqueue
- add Pender, rework Cargo features.
- add support for turbo-wakers.
- Allow TaskStorage to auto-implement `Sync`
- Use AtomicPtr for signal_ctx, removes 1 unsafe.
- Replace unsound critical sections with atomics

## 0.1.1 - 2022-11-23

- Fix features for documentation

## 0.1.0 - 2022-11-23

- First release
