Merge pull request #4652 from embassy-rs/executor-priority

executor: add priority scheduler.

ci.sh

@@ -38,6 +38,12 @@ cargo batch \
     --- build --release --manifest-path embassy-executor/Cargo.toml --target thumbv7em-none-eabi --features arch-cortex-m,executor-thread \
     --- build --release --manifest-path embassy-executor/Cargo.toml --target thumbv7em-none-eabi --features arch-cortex-m,executor-interrupt \
     --- build --release --manifest-path embassy-executor/Cargo.toml --target thumbv7em-none-eabi --features arch-cortex-m,executor-thread,executor-interrupt \
+    --- build --release --manifest-path embassy-executor/Cargo.toml --target thumbv7em-none-eabi --features arch-cortex-m,executor-interrupt,executor-thread,embassy-time-driver \
+    --- build --release --manifest-path embassy-executor/Cargo.toml --target thumbv7em-none-eabi --features arch-cortex-m,executor-interrupt,executor-thread,embassy-time-driver,scheduler-priority \
+    --- build --release --manifest-path embassy-executor/Cargo.toml --target thumbv7em-none-eabi --features arch-cortex-m,executor-interrupt,executor-thread,embassy-time-driver,scheduler-priority,scheduler-deadline \
+    --- build --release --manifest-path embassy-executor/Cargo.toml --target thumbv7em-none-eabi --features arch-cortex-m,executor-interrupt,executor-thread,embassy-time-driver,scheduler-deadline \
+    --- build --release --manifest-path embassy-executor/Cargo.toml --target thumbv7em-none-eabi --features arch-cortex-m,executor-interrupt,executor-thread,scheduler-priority,scheduler-deadline \
+    --- build --release --manifest-path embassy-executor/Cargo.toml --target thumbv7em-none-eabi --features arch-cortex-m,executor-interrupt,executor-thread,scheduler-deadline \
     --- build --release --manifest-path embassy-executor/Cargo.toml --target armv7a-none-eabi --features arch-cortex-ar,executor-thread \
     --- build --release --manifest-path embassy-executor/Cargo.toml --target armv7r-none-eabi --features arch-cortex-ar,executor-thread \
     --- build --release --manifest-path embassy-executor/Cargo.toml --target armv7r-none-eabihf --features arch-cortex-ar,executor-thread \

embassy-executor/CHANGELOG.md

@@ -11,6 +11,7 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 - 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
 
 ## 0.9.1 - 2025-08-31

embassy-executor/Cargo.toml

@@ -24,7 +24,12 @@ build = [
     {target = "thumbv7em-none-eabi", features = ["arch-cortex-m", "executor-thread"]},
     {target = "thumbv7em-none-eabi", features = ["arch-cortex-m", "executor-interrupt"]},
     {target = "thumbv7em-none-eabi", features = ["arch-cortex-m", "executor-interrupt", "executor-thread"]},
-    {target = "thumbv7em-none-eabi", features = ["arch-cortex-m", "executor-interrupt", "executor-thread", "scheduler-deadline", "embassy-time-driver"]},
+    {target = "thumbv7em-none-eabi", features = ["arch-cortex-m", "executor-interrupt", "executor-thread", "embassy-time-driver"]},
+    {target = "thumbv7em-none-eabi", features = ["arch-cortex-m", "executor-interrupt", "executor-thread", "embassy-time-driver", "scheduler-priority"]},
+    {target = "thumbv7em-none-eabi", features = ["arch-cortex-m", "executor-interrupt", "executor-thread", "embassy-time-driver", "scheduler-priority", "scheduler-deadline"]},
+    {target = "thumbv7em-none-eabi", features = ["arch-cortex-m", "executor-interrupt", "executor-thread", "embassy-time-driver", "scheduler-deadline"]},
+    {target = "thumbv7em-none-eabi", features = ["arch-cortex-m", "executor-interrupt", "executor-thread", "scheduler-priority", "scheduler-deadline"]},
+    {target = "thumbv7em-none-eabi", features = ["arch-cortex-m", "executor-interrupt", "executor-thread", "scheduler-deadline"]},
     {target = "armv7a-none-eabi", features = ["arch-cortex-ar", "executor-thread"]},
     {target = "armv7r-none-eabi", features = ["arch-cortex-ar", "executor-thread"]},
     {target = "armv7r-none-eabihf", features = ["arch-cortex-ar", "executor-thread"]},
@@ -36,7 +41,7 @@ build = [
 [package.metadata.embassy_docs]
 src_base = "https://github.com/embassy-rs/embassy/blob/embassy-executor-v$VERSION/embassy-executor/src/"
 src_base_git = "https://github.com/embassy-rs/embassy/blob/$COMMIT/embassy-executor/src/"
-features = ["defmt", "scheduler-deadline"]
+features = ["defmt", "scheduler-deadline", "scheduler-priority"]
 flavors = [
     { name = "std",             target = "x86_64-unknown-linux-gnu",     features = ["arch-std", "executor-thread"] },
     { name = "wasm",            target = "wasm32-unknown-unknown",       features = ["arch-wasm", "executor-thread"] },
@@ -47,7 +52,7 @@ flavors = [
 [package.metadata.docs.rs]
 default-target = "thumbv7em-none-eabi"
 targets = ["thumbv7em-none-eabi"]
-features = ["defmt", "arch-cortex-m", "executor-thread", "executor-interrupt", "scheduler-deadline", "embassy-time-driver"]
+features = ["defmt", "arch-cortex-m", "executor-thread", "executor-interrupt", "scheduler-deadline", "scheduler-priority", "embassy-time-driver"]
 
 [dependencies]
 defmt = { version = "1.0.1", optional = true }
@@ -136,6 +141,9 @@ _any_trace = []
 ## tasks based on the remaining time before their deadline. Adds some overhead.
 scheduler-deadline = []
 
+## Enable "Highest Priority First" Scheduler. Adds some overhead.
+scheduler-priority = []
+
 ## Enable the embassy_time_driver dependency.
 ## This can unlock extra APIs, for example for the `sheduler-deadline`
 embassy-time-driver = ["dep:embassy-time-driver"]

embassy-executor/src/metadata.rs

@@ -1,6 +1,8 @@
 #[cfg(feature = "metadata-name")]
 use core::cell::Cell;
 use core::future::{poll_fn, Future};
+#[cfg(feature = "scheduler-priority")]
+use core::sync::atomic::{AtomicU8, Ordering};
 use core::task::Poll;
 
 #[cfg(feature = "metadata-name")]
@@ -14,6 +16,8 @@ use crate::raw::Deadline;
 pub struct Metadata {
     #[cfg(feature = "metadata-name")]
     name: Mutex<Cell<Option<&'static str>>>,
+    #[cfg(feature = "scheduler-priority")]
+    priority: AtomicU8,
     #[cfg(feature = "scheduler-deadline")]
     deadline: raw::Deadline,
 }
@@ -23,6 +27,8 @@ impl Metadata {
         Self {
             #[cfg(feature = "metadata-name")]
             name: Mutex::new(Cell::new(None)),
+            #[cfg(feature = "scheduler-priority")]
+            priority: AtomicU8::new(0),
             // NOTE: The deadline is set to zero to allow the initializer to reside in `.bss`. This
             // will be lazily initalized in `initialize_impl`
             #[cfg(feature = "scheduler-deadline")]
@@ -33,6 +39,14 @@ impl Metadata {
     pub(crate) fn reset(&self) {
         #[cfg(feature = "metadata-name")]
         critical_section::with(|cs| self.name.borrow(cs).set(None));
+
+        #[cfg(feature = "scheduler-priority")]
+        self.set_priority(0);
+
+        // By default, deadlines are set to the maximum value, so that any task WITH
+        // a set deadline will ALWAYS be scheduled BEFORE a task WITHOUT a set deadline
+        #[cfg(feature = "scheduler-deadline")]
+        self.unset_deadline();
     }
 
     /// Get the metadata for the current task.
@@ -61,6 +75,18 @@ impl Metadata {
         critical_section::with(|cs| self.name.borrow(cs).set(Some(name)))
     }
 
+    /// Get this task's priority.
+    #[cfg(feature = "scheduler-priority")]
+    pub fn priority(&self) -> u8 {
+        self.priority.load(Ordering::Relaxed)
+    }
+
+    /// Set this task's priority.
+    #[cfg(feature = "scheduler-priority")]
+    pub fn set_priority(&self, priority: u8) {
+        self.priority.store(priority, Ordering::Relaxed)
+    }
+
     /// Get this task's deadline.
     #[cfg(feature = "scheduler-deadline")]
     pub fn deadline(&self) -> u64 {

embassy-executor/src/raw/mod.rs

@@ -300,11 +300,6 @@ impl<F: Future + 'static> AvailableTask<F> {
             self.task.raw.poll_fn.set(Some(TaskStorage::<F>::poll));
             self.task.future.write_in_place(future);
 
-            // By default, deadlines are set to the maximum value, so that any task WITH
-            // a set deadline will ALWAYS be scheduled BEFORE a task WITHOUT a set deadline
-            #[cfg(feature = "scheduler-deadline")]
-            self.task.raw.metadata.unset_deadline();
-
             let task = TaskRef::new(self.task);
 
             SpawnToken::new(task)

embassy-executor/src/raw/run_queue.rs

@@ -2,7 +2,7 @@ use core::ptr::{addr_of_mut, NonNull};
 
 use cordyceps::sorted_list::Links;
 use cordyceps::Linked;
-#[cfg(feature = "scheduler-deadline")]
+#[cfg(any(feature = "scheduler-priority", feature = "scheduler-deadline"))]
 use cordyceps::SortedList;
 
 #[cfg(target_has_atomic = "ptr")]
@@ -83,7 +83,7 @@ impl RunQueue {
     /// Empty the queue, then call `on_task` for each task that was in the queue.
     /// NOTE: It is OK for `on_task` to enqueue more tasks. In this case they're left in the queue
     /// and will be processed by the *next* call to `dequeue_all`, *not* the current one.
-    #[cfg(not(feature = "scheduler-deadline"))]
+    #[cfg(not(any(feature = "scheduler-priority", feature = "scheduler-deadline")))]
     pub(crate) fn dequeue_all(&self, on_task: impl Fn(TaskRef)) {
         let taken = self.stack.take_all();
         for taskref in taken {
@@ -106,10 +106,29 @@ impl RunQueue {
     ///
     /// This process will repeat until the local `sorted` queue AND the global
     /// runqueue are both empty, at which point this function will return.
-    #[cfg(feature = "scheduler-deadline")]
+    #[cfg(any(feature = "scheduler-priority", feature = "scheduler-deadline"))]
     pub(crate) fn dequeue_all(&self, on_task: impl Fn(TaskRef)) {
-        let mut sorted =
+        let mut sorted = SortedList::<TaskHeader>::new_with_cmp(|lhs, rhs| {
-            SortedList::<TaskHeader>::new_with_cmp(|lhs, rhs| lhs.metadata.deadline().cmp(&rhs.metadata.deadline()));
+            // compare by priority first
+            #[cfg(feature = "scheduler-priority")]
+            {
+                let lp = lhs.metadata.priority();
+                let rp = rhs.metadata.priority();
+                if lp != rp {
+                    return lp.cmp(&rp).reverse();
+                }
+            }
+            // compare deadlines in case of tie.
+            #[cfg(feature = "scheduler-deadline")]
+            {
+                let ld = lhs.metadata.deadline();
+                let rd = rhs.metadata.deadline();
+                if ld != rd {
+                    return ld.cmp(&rd);
+                }
+            }
+            core::cmp::Ordering::Equal
+        });
 
         loop {
             // For each loop, grab any newly pended items