Update embassy, embedded-test (#3945)

esp-hal-embassy/CHANGELOG.md

@@ -12,6 +12,7 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 
 ### Changed
 
+- Updates for embassy-executor 0.9, embassy-time 0.5 (#3945)
 
 ### Fixed
 

esp-hal-embassy/Cargo.toml

@@ -26,15 +26,16 @@ static_cell               = "2.1.0"
 
 # Unstable dependencies that are not (strictly) part of the public API
 document-features         = "0.2.11"
-embassy-sync              = { version = "0.7" }
+embassy-sync              = { version = "0.7.0" }
-embassy-time-driver       = { version = "0.2.0", features = [ "tick-hz-1_000_000" ] }
+embassy-time-driver       = { version = "0.2.1", features = [ "tick-hz-1_000_000" ] }
-embassy-time-queue-utils  = { version = "0.1.0", features = ["_generic-queue"] }
+embassy-time-queue-utils  = { version = "0.3.0", features = ["_generic-queue"] }
 esp-config                = { version = "0.5.0", path = "../esp-config" }
 esp-sync                  = { version = "0.0.0", path = "../esp-sync" }
 macros                    = { version = "0.19.0", features = ["embassy"], package = "esp-hal-procmacros", path = "../esp-hal-procmacros" }
 
 # Optional dependencies that enable ecosystem support.
-embassy-executor          = { version = "0.7.0", features = ["timer-item-payload-size-4"], optional = true }
+embassy-executor          = { version = "0.9.0", optional = true }
+embassy-executor-timer-queue = { version = "0.1.0", features = ["timer-item-size-6-words"] }
 
 # Logging interfaces, they are mutually exclusive so they need to be behind separate features.
 defmt                     = { version = "1.0.1", optional = true }

esp-hal-embassy/src/time_driver.rs

@@ -292,7 +292,7 @@ impl EmbassyTimer {
         // time. In this case the interrupt handler will pend a wake-up when we exit the
         // critical section.
         //
-        // This is correct behavior. See https://docs.rs/embassy-time-driver/0.1.0/embassy_time_driver/trait.Driver.html#tymethod.set_alarm
+        // This is correct behavior. See https://docs.rs/embassy-time-driver/0.2.1/embassy_time_driver/trait.Driver.html#tymethod.set_alarm
         // (... the driver should return true and arrange to call the alarm callback as
         // soon as possible, but not synchronously.)
 
@@ -321,7 +321,9 @@ impl Driver for EmbassyTimer {
             // If we have multiple queues, we have integrated timers and our own timer queue
             // implementation.
             use embassy_executor::raw::Executor as RawExecutor;
-            use portable_atomic::{AtomicPtr, Ordering};
+            use portable_atomic::Ordering;
+
+            use crate::timer_queue::queue_impl::QueueItem;
 
             let task = embassy_executor::raw::task_from_waker(waker);
 
@@ -329,10 +331,7 @@ impl Driver for EmbassyTimer {
             // so the executor is guaranteed to be set to a non-null value.
             let mut executor = task.executor().unwrap_unchecked() as *const RawExecutor;
 
-            let owner = task
+            let owner = &task.timer_queue_item().as_mut::<QueueItem>().owner;
-                .timer_queue_item()
-                .payload
-                .as_ref::<AtomicPtr<RawExecutor>>();
 
             // Try to take ownership over the timer item.
             let owner = owner.compare_exchange(

esp-hal-embassy/src/timer_queue.rs

@@ -94,18 +94,47 @@ impl TimerQueue {
 }
 
 #[cfg(integrated_timers)]
-mod queue_impl {
+pub(crate) mod queue_impl {
-    use core::{cell::Cell, cmp::min, ptr, task::Waker};
+    use core::{
+        cell::Cell,
+        cmp::min,
+        ptr::{self, NonNull},
+        task::Waker,
+    };
 
-    use embassy_executor::raw::TaskRef;
+    use embassy_executor::raw::Executor as RawExecutor;
+    use embassy_executor_timer_queue::TimerQueueItem;
     use portable_atomic::{AtomicPtr, Ordering};
 
+    /// An item in the timer queue.
+    #[derive(Default)]
+    pub(crate) struct QueueItem {
+        /// The next item in the queue.
+        ///
+        /// If this field contains `Some`, the item is in the queue. The last item in the queue has
+        /// a value of `Some(dangling_pointer)`
+        pub next: Cell<Option<NonNull<QueueItem>>>,
+
+        /// The time at which this item expires.
+        pub expires_at: u64,
+
+        /// The registered waker. If Some, the item is enqueued in the timer queue.
+        pub waker: Option<Waker>,
+
+        pub owner: AtomicPtr<RawExecutor>,
+    }
+
+    unsafe impl Sync for QueueItem {}
+
     /// Copy of the embassy integrated timer queue, that clears the owner upon
     /// dequeueing.
     pub(super) struct RawQueue {
-        head: Cell<Option<TaskRef>>,
+        head: Cell<Option<NonNull<QueueItem>>>,
     }
 
+    unsafe impl Send for RawQueue {}
+    unsafe impl Sync for RawQueue {}
+
     impl RawQueue {
         /// Creates a new timer queue.
         pub const fn new() -> Self {
@@ -119,25 +148,43 @@ mod queue_impl {
         /// If this function returns `true`, the called should find the next
         /// expiration time and set a new alarm for that time.
         pub fn schedule_wake(&mut self, at: u64, waker: &Waker) -> bool {
-            let task = embassy_executor::raw::task_from_waker(waker);
+            let item = unsafe {
-            let item = task.timer_queue_item();
+                // Safety: the `&mut self`, along with the Safety note of the Queue, are sufficient
-            if item.next.get().is_none() {
+                // to ensure that this function creates the only mutable reference
-                // If not in the queue, add it and update.
+                // to the queue item.
-                let prev = self.head.replace(Some(task));
+                TimerQueueItem::from_embassy_waker(waker)
-                item.next.set(if prev.is_none() {
+            };
-                    Some(unsafe { TaskRef::dangling() })
+            let item = unsafe { item.as_mut::<QueueItem>() };
-                } else {
+            match item.waker.as_ref() {
-                    prev
+                Some(_) if at <= item.expires_at => {
-                });
+                    // If expiration is sooner than previously set, update.
-                item.expires_at.set(at);
+                    item.expires_at = at;
-                true
+                    // The waker is always stored in its own queue item, so we don't need to update
-            } else if at <= item.expires_at.get() {
+                    // it.
-                // If expiration is sooner than previously set, update.
+
-                item.expires_at.set(at);
+                    // Trigger a queue update in case this item can be immediately dequeued.
-                true
+                    true
-            } else {
+                }
-                // Task does not need to be updated.
+                Some(_) => {
-                false
+                    // Queue item does not need to be updated, the task will be scheduled to be
+                    // woken before the new expiration.
+                    false
+                }
+                None => {
+                    // If not in the queue, add it and update.
+                    let mut item_ptr = NonNull::from(item);
+                    let prev = self.head.replace(Some(item_ptr));
+
+                    let item = unsafe { item_ptr.as_mut() };
+
+                    item.expires_at = at;
+                    item.waker = Some(waker.clone());
+                    item.next.set(prev);
+                    // The default implementation doesn't care about the
+                    // opaque payload, leave it unchanged.
+
+                    true
+                }
             }
         }
 
@@ -149,45 +196,36 @@ mod queue_impl {
         pub fn next_expiration(&mut self, now: u64) -> u64 {
             let mut next_expiration = u64::MAX;
 
-            self.retain(|p| {
+            self.retain(|item| {
-                let item = p.timer_queue_item();
+                if item.expires_at <= now {
-                let expires = item.expires_at.get();
-
-                if expires <= now {
                     // Timer expired, process task.
-                    embassy_executor::raw::wake_task(p);
+                    if let Some(waker) = item.waker.take() {
+                        waker.wake();
+                    }
                     false
                 } else {
                     // Timer didn't yet expire, or never expires.
-                    next_expiration = min(next_expiration, expires);
+                    next_expiration = min(next_expiration, item.expires_at);
-                    expires != u64::MAX
+                    item.expires_at != u64::MAX
                 }
             });
 
             next_expiration
         }
 
-        fn retain(&self, mut f: impl FnMut(TaskRef) -> bool) {
+        fn retain(&self, mut f: impl FnMut(&mut QueueItem) -> bool) {
             let mut prev = &self.head;
-            while let Some(p) = prev.get() {
+            while let Some(mut p) = prev.get() {
-                if unsafe { p == TaskRef::dangling() } {
+                let item = unsafe { p.as_mut() };
-                    // prev was the last item, stop
+
-                    break;
+                if f(item) {
-                }
-                let item = p.timer_queue_item();
-                if f(p) {
                     // Skip to next
                     prev = &item.next;
                 } else {
                     // Remove it
                     prev.set(item.next.get());
                     // Clear owner
-                    unsafe {
+                    item.owner.store(ptr::null_mut(), Ordering::Relaxed);
-                        // SAFETY: our payload is an AtomicPtr.
-                        item.payload
-                            .as_ref::<AtomicPtr<()>>()
-                            .store(ptr::null_mut(), Ordering::Relaxed);
-                    }
                     item.next.set(None);
                 }
             }

examples/async/embassy_hello_world/Cargo.toml

@@ -5,8 +5,8 @@ edition = "2024"
 publish = false
 
 [dependencies]
-embassy-executor = { version = "0.7.0", features = ["task-arena-size-20480"] }
+embassy-executor = "0.9.0"
-embassy-time = "0.4.0"
+embassy-time = "0.5.0"
 esp-backtrace = { path = "../../../esp-backtrace", features = [
     "panic-handler",
     "println",

examples/async/embassy_multicore/Cargo.toml

@@ -5,9 +5,9 @@ edition = "2024"
 publish = false
 
 [dependencies]
-embassy-executor = { version = "0.7.0", features = ["task-arena-size-20480"] }
+embassy-executor = "0.9.0"
 embassy-sync = "0.7.0"
-embassy-time = "0.4.0"
+embassy-time = "0.5.0"
 esp-backtrace = { path = "../../../esp-backtrace", features = [
     "panic-handler",
     "println",

examples/async/embassy_multicore_interrupt/Cargo.toml

@@ -5,9 +5,9 @@ edition = "2024"
 publish = false
 
 [dependencies]
-embassy-executor = { version = "0.7.0", features = ["task-arena-size-20480"] }
+embassy-executor = "0.9.0"
 embassy-sync = "0.7.0"
-embassy-time = "0.4.0"
+embassy-time = "0.5.0"
 esp-backtrace = { path = "../../../esp-backtrace", features = [
     "panic-handler",
     "println",

examples/async/embassy_multiprio/Cargo.toml

@@ -6,8 +6,8 @@ publish = false
 
 [dependencies]
 cfg-if = "1.0.0"
-embassy-executor = { version = "0.7.0", features = ["task-arena-size-20480"] }
+embassy-executor = "0.9.0"
-embassy-time = "0.4.0"
+embassy-time = "0.5.0"
 esp-backtrace = { path = "../../../esp-backtrace", features = [
     "panic-handler",
     "println",

examples/async/embassy_rmt_rx/Cargo.toml

@@ -6,8 +6,8 @@ publish = false
 
 [dependencies]
 cfg-if = "1.0.1"
-embassy-executor = { version = "0.7.0", features = ["task-arena-size-20480"] }
+embassy-executor = "0.9.0"
-embassy-time = "0.4.0"
+embassy-time = "0.5.0"
 esp-backtrace = { path = "../../../esp-backtrace", features = [
     "panic-handler",
     "println",

examples/async/embassy_rmt_tx/Cargo.toml

@@ -6,8 +6,8 @@ publish = false
 
 [dependencies]
 cfg-if = "1.0.1"
-embassy-executor = { version = "0.7.0", features = ["task-arena-size-20480"] }
+embassy-executor = "0.9.0"
-embassy-time = "0.4.0"
+embassy-time = "0.5.0"
 esp-backtrace = { path = "../../../esp-backtrace", features = [
     "panic-handler",
     "println",

examples/async/embassy_serial/Cargo.toml

@@ -6,7 +6,7 @@ publish = false
 
 [dependencies]
 cfg-if = "1.0.1"
-embassy-executor = { version = "0.7.0", features = ["task-arena-size-20480"] }
+embassy-executor = "0.9.0"
 embassy-sync = "0.7.0"
 embedded-io-async = "0.6.1"
 esp-backtrace = { path = "../../../esp-backtrace", features = [

examples/async/embassy_spi/Cargo.toml

@@ -6,8 +6,8 @@ publish = false
 
 [dependencies]
 cfg-if = "1.0.0"
-embassy-executor = { version = "0.7.0", features = ["task-arena-size-20480"] }
+embassy-executor = "0.9.0"
-embassy-time = "0.4.0"
+embassy-time = "0.5.0"
 embedded-hal-async = "1.0.0"
 esp-backtrace = { path = "../../../esp-backtrace", features = [
     "panic-handler",

examples/async/embassy_usb_serial/Cargo.toml

@@ -5,7 +5,7 @@ edition = "2024"
 publish = false
 
 [dependencies]
-embassy-executor = { version = "0.7.0", features = ["task-arena-size-20480"] }
+embassy-executor = "0.9.0"
 embassy-futures = "0.1.1"
 embassy-usb = { version = "0.5.0", default-features = false }
 esp-backtrace = { path = "../../../esp-backtrace", features = [

examples/async/embassy_usb_serial_jtag/Cargo.toml

@@ -5,7 +5,7 @@ edition = "2024"
 publish = false
 
 [dependencies]
-embassy-executor = { version = "0.7.0", features = ["task-arena-size-20480"] }
+embassy-executor = "0.9.0"
 embassy-sync = "0.7.0"
 embedded-io-async = "0.6.1"
 esp-backtrace = { path = "../../../esp-backtrace", features = [

examples/ble/bas_peripheral/Cargo.toml

@@ -6,10 +6,10 @@ publish = false
 
 [dependencies]
 bt-hci = "0.4.0"
-embassy-executor = { version = "0.7.0", features = ["task-arena-size-20480"] }
+embassy-executor = "0.9.0"
 embassy-futures = "0.1.1"
 embassy-sync = "0.7.2"
-embassy-time = "0.4.0"
+embassy-time = "0.5.0"
 esp-alloc = { path = "../../../esp-alloc" }
 esp-backtrace = { path = "../../../esp-backtrace", features = [
     "panic-handler",
@@ -27,7 +27,7 @@ esp-radio = { path = "../../../esp-radio", features = [
 ] }
 heapless = "0.9.1"
 log = "0.4.27"
-trouble-host = { git = "https://github.com/embassy-rs/trouble", rev = "366ee88", features = [
+trouble-host = { git = "https://github.com/embassy-rs/trouble", rev = "39c5c99", features = [
     "default-packet-pool-mtu-255",
     "derive",
     "scan",

examples/ble/scanner/Cargo.toml

@@ -6,9 +6,9 @@ publish = false
 
 [dependencies]
 bt-hci = "0.4.0"
-embassy-executor = { version = "0.7.0", features = ["task-arena-size-20480"] }
+embassy-executor = "0.9.0"
 embassy-futures = "0.1.1"
-embassy-time = "0.4.0"
+embassy-time = "0.5.0"
 esp-alloc = { path = "../../../esp-alloc" }
 esp-backtrace = { path = "../../../esp-backtrace", features = [
     "panic-handler",
@@ -26,7 +26,7 @@ esp-radio = { path = "../../../esp-radio", features = [
 ] }
 heapless = "0.9.1"
 log = "0.4.27"
-trouble-host = { git = "https://github.com/embassy-rs/trouble", rev = "366ee88", features = [
+trouble-host = { git = "https://github.com/embassy-rs/trouble", rev = "39c5c99", features = [
     "default-packet-pool-mtu-255",
     "derive",
     "scan",

examples/esp-now/embassy_esp_now/Cargo.toml

@@ -6,9 +6,9 @@ publish = false
 
 [dependencies]
 cfg-if = "1.0.0"
-embassy-executor = { version = "0.7.0", features = ["task-arena-size-20480"] }
+embassy-executor = "0.9.0"
 embassy-futures = "0.1.1"
-embassy-time = "0.4.0"
+embassy-time = "0.5.0"
 esp-alloc = { path = "../../../esp-alloc" }
 esp-backtrace = { path = "../../../esp-backtrace", features = [
     "panic-handler",

examples/esp-now/embassy_esp_now_duplex/Cargo.toml

@@ -6,9 +6,9 @@ publish = false
 
 [dependencies]
 cfg-if = "1.0.0"
-embassy-executor = { version = "0.7.0", features = ["task-arena-size-20480"] }
+embassy-executor = "0.9.0"
 embassy-sync = "0.6.2"
-embassy-time = "0.4.0"
+embassy-time = "0.5.0"
 esp-alloc = { path = "../../../esp-alloc" }
 esp-backtrace = { path = "../../../esp-backtrace", features = [
     "panic-handler",

examples/wifi/embassy_access_point/Cargo.toml

@@ -8,15 +8,15 @@ publish = false
 cfg-if = "1.0.0"
 edge-dhcp = "0.5.0"
 edge-nal = "0.5.0"
-edge-nal-embassy = "0.5.0"
+edge-nal-embassy = "0.6.0"
-embassy-executor = { version = "0.7.0", features = ["task-arena-size-20480"] }
+embassy-executor = "0.9.0"
-embassy-net = { version = "0.6.0", features = [
+embassy-net = { version = "0.7.0", features = [
     "dhcpv4",
     "medium-ethernet",
     "tcp",
     "udp",
 ] }
-embassy-time = "0.4.0"
+embassy-time = "0.5.0"
 embedded-io-async = "0.6.1"
 esp-alloc = { path = "../../../esp-alloc" }
 esp-backtrace = { path = "../../../esp-backtrace", features = [

examples/wifi/embassy_access_point_with_sta/Cargo.toml

@@ -6,15 +6,15 @@ publish = false
 
 [dependencies]
 cfg-if = "1.0.0"
-embassy-executor = { version = "0.7.0", features = ["task-arena-size-20480"] }
+embassy-executor = "0.9.0"
 embassy-futures = "0.1.1"
-embassy-net = { version = "0.6.0", features = [
+embassy-net = { version = "0.7.0", features = [
     "dhcpv4",
     "medium-ethernet",
     "tcp",
     "udp",
 ] }
-embassy-time = "0.4.0"
+embassy-time = "0.5.0"
 embedded-io-async = "0.6.1"
 esp-alloc = { path = "../../../esp-alloc" }
 esp-backtrace = { path = "../../../esp-backtrace", features = [

examples/wifi/embassy_dhcp/Cargo.toml

@@ -6,14 +6,14 @@ publish = false
 
 [dependencies]
 cfg-if = "1.0.0"
-embassy-executor = { version = "0.7.0", features = ["task-arena-size-20480"] }
+embassy-executor = "0.9.0"
-embassy-net = { version = "0.6.0", features = [
+embassy-net = { version = "0.7.0", features = [
     "dhcpv4",
     "medium-ethernet",
     "tcp",
     "udp",
 ] }
-embassy-time = "0.4.0"
+embassy-time = "0.5.0"
 embedded-io-async = "0.6.1"
 esp-alloc = { path = "../../../esp-alloc" }
 esp-backtrace = { path = "../../../esp-backtrace", features = [

examples/wifi/sntp/Cargo.toml

@@ -6,14 +6,14 @@ publish = false
 
 [dependencies]
 cfg-if = "1.0.0"
-embassy-executor = { version = "0.7.0", features = ["task-arena-size-10240"] }
+embassy-executor = "0.9.0"
 embassy-net = { version = "0.7.0", features = [
     "dhcpv4",
     "medium-ethernet",
     "udp",
     "dns",
 ] }
-embassy-time = "0.4.0"
+embassy-time = "0.5.0"
 embedded-io-async = "0.6.1"
 esp-alloc = { path = "../../../esp-alloc" }
 esp-backtrace = { path = "../../../esp-backtrace", features = [

hil-test/Cargo.toml

@@ -218,11 +218,11 @@ cfg-if             = "1.0.0"
 critical-section   = "1.1.3"
 defmt              = "1.0.1"
 defmt-rtt          = { version = "1.0.0", optional = true }
-embassy-executor   = "0.7.0"
+embassy-executor   = { version = "0.9.0", default-features = false }
 embassy-futures    = "0.1.1"
 embedded-storage   = "0.3.1"
 embassy-sync       = "0.6.0"
-embassy-time       = "0.4.0"
+embassy-time       = "0.5.0"
 embedded-hal       = "1.0.0"
 embedded-io        = "0.6.1"
 embedded-io-async  = "0.6.1"
@@ -244,9 +244,9 @@ semihosting        = { version = "0.1", features= ["stdio", "panic-handler"] }
 crypto-bigint       = { version = "0.5.5", default-features = false }
 digest              = { version = "0.10.7", default-features = false }
 elliptic-curve      = { version = "0.13.8", default-features = false, features = ["sec1"] }
-embassy-executor    = { version = "0.7.0", default-features = false }
+embassy-executor    = { version = "0.9.0", default-features = false }
 # Add the `embedded-test/defmt` feature for more verbose testing
-embedded-test       = { version = "0.6.2", default-features = false, features = ["embassy", "external-executor", "semihosting"] }
+embedded-test       = { version = "0.7.0-alpha.3", default-features = false, features = ["embassy", "external-executor", "semihosting"] }
 hex-literal         = "1.0.0"
 nb                  = "1.1.0"
 p192                = { version = "0.13.0", default-features = false, features = ["arithmetic"] }

hil-test/tests/aes.rs

@@ -13,7 +13,7 @@
 #![no_std]
 #![no_main]
 
-use embassy_executor::Spawner;
+use embassy_executor::SendSpawner;
 use embassy_sync::{blocking_mutex::raw::CriticalSectionRawMutex, signal::Signal};
 #[cfg(aes_dma)]
 use esp_hal::aes::dma::AesDmaBackend;
@@ -564,7 +564,7 @@ mod tests {
         let signal = mk_static!(Signal<CriticalSectionRawMutex, ()>, Signal::new());
 
         // Start task before we'd start the AES operation
-        let spawner = Spawner::for_current_executor().await;
+        let spawner = SendSpawner::for_current_executor().await;
         spawner.must_spawn(aes_task(signal));
 
         signal.wait().await;

hil-test/tests/embassy_timers_executors.rs

@@ -230,7 +230,7 @@ mod test {
         let spawner_int = executor.start(Priority::Priority3);
         spawner_int.must_spawn(test_interrupt_executor_invoker());
 
-        let spawner = embassy_executor::Spawner::for_current_executor().await;
+        let spawner = embassy_executor::SendSpawner::for_current_executor().await;
         spawner.must_spawn(e_task30ms());
 
         // The test ends once the interrupt executor's task has finished

hil-test/tests/i2s.rs

@@ -130,7 +130,7 @@ mod tests {
 
     #[test]
     async fn test_i2s_loopback_async(ctx: Context) {
-        let spawner = embassy_executor::Spawner::for_current_executor().await;
+        let spawner = unsafe { embassy_executor::Spawner::for_current_executor().await };
 
         let (rx_buffer, rx_descriptors, tx_buffer, tx_descriptors) =
             esp_hal::dma_circular_buffers!(BUFFER_SIZE, BUFFER_SIZE);

qa-test/Cargo.toml

@@ -8,10 +8,10 @@ publish = false
 [dependencies]
 blocking-network-stack = { git = "https://github.com/bjoernQ/blocking-network-stack.git", rev = "b3ecefc", optional = true }
 cfg-if = "1.0.0"
-embassy-executor = { version = "0.7.0", features = ["task-arena-size-12288"] }
+embassy-executor = "0.9.0"
-embassy-time = "0.4.0"
+embassy-time = "0.5.0"
 embassy-futures = "0.1.1"
-embassy-net = { version = "0.6.0", features = [ "tcp", "udp", "dhcpv4", "medium-ethernet"] }
+embassy-net = { version = "0.7.0", features = [ "tcp", "udp", "dhcpv4", "medium-ethernet"] }
 embassy-sync = "0.6.1"
 embedded-graphics = "0.8.1"
 embedded-hal-async = "1.0.0"