feat(kernel): add State::task_ready_queue

The modification to `constance_port_std` in this commit is a work-around
for <rust-lang/rust#43475>.

src/constance/src/kernel.rs

@@ -1,8 +1,8 @@
 //! The RTOS kernel
 use atomic_ref::AtomicRef;
-use core::{fmt, mem::forget, num::NonZeroUsize, sync::atomic::Ordering};
+use core::{borrow::BorrowMut, fmt, mem::forget, num::NonZeroUsize, sync::atomic::Ordering};
 
-use crate::utils::{BinUInteger, Init, PrioBitmap};
+use crate::utils::{intrusive_list::StaticListHead, BinUInteger, Init, PrioBitmap};
 
 #[macro_use]
 mod cfg;
@@ -218,6 +218,8 @@ pub unsafe trait KernelCfg2: Port + Sized {
 
     type TaskReadyBitmap: PrioBitmap;
 
+    type TaskReadyQueue: BorrowMut<[StaticListHead<TaskCb<Self>>]> + Init + 'static;
+
     /// Access the kernel's global state.
     fn state() -> &'static State<Self>;
 
@@ -239,6 +241,7 @@ pub struct State<
     System: KernelCfg2,
     PortTaskState: 'static = <System as Port>::PortTaskState,
     TaskReadyBitmap: PrioBitmap = <System as KernelCfg2>::TaskReadyBitmap,
+    TaskReadyQueue: 'static = <System as KernelCfg2>::TaskReadyQueue,
     TaskPriority: 'static = <System as KernelCfg1>::TaskPriority,
 > {
     // TODO: Make `running_task` non-null to simplify runtime code
@@ -248,38 +251,51 @@ pub struct State<
     /// The task ready bitmap, in which each bit indicates whether the
     /// task ready queue corresponding to that bit contains a task or not.
     task_ready_bitmap: utils::CpuLockCell<System, TaskReadyBitmap>,
+
+    /// The task ready queues, in which each queue represents the list of
+    /// runnable task at the corresponding priority level.
+    task_ready_queue: utils::CpuLockCell<System, TaskReadyQueue>,
 }
 
 impl<
         System: KernelCfg2,
         PortTaskState: 'static,
         TaskReadyBitmap: PrioBitmap,
+        TaskReadyQueue: 'static + Init,
         TaskPriority: 'static,
-    > Init for State<System, PortTaskState, TaskReadyBitmap, TaskPriority>
+    > Init for State<System, PortTaskState, TaskReadyBitmap, TaskReadyQueue, TaskPriority>
 {
     const INIT: Self = Self {
         running_task: AtomicRef::new(None),
         task_ready_bitmap: Init::INIT,
+        task_ready_queue: Init::INIT,
     };
 }
 
 impl<
         System: Kernel,
         PortTaskState: 'static + fmt::Debug,
         TaskReadyBitmap: PrioBitmap,
+        TaskReadyQueue: 'static + fmt::Debug,
         TaskPriority: 'static,
-    > fmt::Debug for State<System, PortTaskState, TaskReadyBitmap, TaskPriority>
+    > fmt::Debug for State<System, PortTaskState, TaskReadyBitmap, TaskReadyQueue, TaskPriority>
 {
     fn fmt(&self, f: &mut fmt::Formatter) -> fmt::Result {
         f.debug_struct("State")
             .field("running_task", &self.running_task)
             .field("task_ready_bitmap", &self.task_ready_bitmap)
+            .field("task_ready_queue", &self.task_ready_queue)
             .finish()
     }
 }
 
-impl<System: KernelCfg2, PortTaskState: 'static, TaskReadyBitmap: PrioBitmap, TaskPriority>
-    State<System, PortTaskState, TaskReadyBitmap, TaskPriority>
+impl<
+        System: KernelCfg2,
+        PortTaskState: 'static,
+        TaskReadyBitmap: PrioBitmap,
+        TaskReadyQueue: BorrowMut<[StaticListHead<TaskCb<System, PortTaskState, TaskPriority>>]> + Init + 'static,
+        TaskPriority,
+    > State<System, PortTaskState, TaskReadyBitmap, TaskReadyQueue, TaskPriority>
 {
     /// Get the currently running task.
     pub fn running_task(&self) -> Option<&'static TaskCb<System, PortTaskState, TaskPriority>> {

src/constance/src/kernel/cfg.rs

@@ -152,7 +152,10 @@ macro_rules! build {
                 CfgBuilder, HunkAttr, HunkInitAttr, KernelCfg1, KernelCfg2, Port, State, TaskAttr,
                 TaskCb,
             },
-            utils::{AlignedStorage, FixedPrioBitmap, Init, RawCell, UIntegerWithBound},
+            utils::{
+                intrusive_list::StaticListHead, AlignedStorage, FixedPrioBitmap, Init, RawCell,
+                UIntegerWithBound,
+            },
         };
 
         // `$configure` produces two values: a `CfgBuilder` and an ID map
@@ -205,6 +208,7 @@ macro_rules! build {
         // Safety: We are `build!`, so it's okay to `impl` this
         unsafe impl KernelCfg2 for $sys {
             type TaskReadyBitmap = TaskReadyBitmap;
+            type TaskReadyQueue = [StaticListHead<TaskCb<Self>>; CFG.num_task_priority_levels];
 
             fn state() -> &'static KernelState {
                 &KERNEL_STATE

src/constance/src/utils.rs

@@ -17,7 +17,7 @@ macro_rules! If {
 mod aligned_storage;
 mod init;
 mod int;
-pub(crate) mod intrusive_list;
+pub mod intrusive_list;
 mod prio_bitmap;
 mod rawcell;
 mod zeroinit;

src/constance_port_std/src/lib.rs

@@ -1,7 +1,7 @@
 #![feature(unsafe_block_in_unsafe_fn)] // `unsafe fn` doesn't imply `unsafe {}`
 #![deny(unsafe_op_in_unsafe_fn)]
 use atomic_ref::AtomicRef;
-use constance::prelude::*;
+use constance::{prelude::*, utils::intrusive_list::StaticListHead};
 use parking_lot::{lock_api::RawMutex, Mutex};
 use std::{
     mem::ManuallyDrop,
@@ -121,6 +121,8 @@ impl State {
     pub unsafe fn dispatch_first_task<System: Kernel>(&'static self) -> !
     where
         System: Port<PortTaskState = TaskState>,
+        // FIXME: Work-around for <https://github.com/rust-lang/rust/issues/43475>
+        System::TaskReadyQueue: std::borrow::BorrowMut<[StaticListHead<TaskCb<System>>]>,
     {
         log::trace!("dispatch_first_task");
         assert!(self.is_cpu_lock_active());
@@ -197,6 +199,8 @@ impl State {
     pub unsafe fn yield_cpu<System: Kernel>(&self)
     where
         System: Port<PortTaskState = TaskState>,
+        // FIXME: Work-around for <https://github.com/rust-lang/rust/issues/43475>
+        System::TaskReadyQueue: std::borrow::BorrowMut<[StaticListHead<TaskCb<System>>]>,
     {
         log::trace!("yield_cpu");
         assert!(!self.is_cpu_lock_active());
@@ -208,6 +212,8 @@ impl State {
     pub unsafe fn exit_and_dispatch<System: Kernel>(&self) -> !
     where
         System: Port<PortTaskState = TaskState>,
+        // Work-around <https://github.com/rust-lang/rust/issues/43475>
+        System::TaskReadyQueue: std::borrow::BorrowMut<[StaticListHead<TaskCb<System>>]>,
     {
         log::trace!("exit_and_dispatch");
         assert!(self.is_cpu_lock_active());