Provide a looping executor for stable async tests

hil-test/Cargo.toml

@@ -197,6 +197,7 @@ cfg-if             = "1.0.0"
 critical-section   = "1.1.3"
 defmt              = "0.3.8"
 defmt-rtt          = { version = "0.4.1", optional = true }
+embassy-executor   = "0.6.0"
 embassy-futures    = "0.1.1"
 embassy-sync       = "0.6.0"
 embassy-time       = "0.3.2"
@@ -220,7 +221,7 @@ digest              = { version = "0.10.7", default-features = false }
 elliptic-curve      = { version = "0.13.8", default-features = false, features = ["sec1"] }
 embassy-executor    = { version = "0.6.0", default-features = false }
 # Add the `embedded-test/defmt` feature for more verbose testing
-embedded-test       = { version = "0.5.0", git = "https://github.com/probe-rs/embedded-test.git", rev = "7109473", default-features = false }
+embedded-test       = { version = "0.5.0", git = "https://github.com/probe-rs/embedded-test.git", rev = "7109473", default-features = false, features = ["embassy", "external-executor"] }
 fugit               = "0.3.7"
 hex-literal         = "0.4.1"
 nb                  = "1.1.0"
@@ -234,7 +235,7 @@ esp-build    = { path = "../esp-build" }
 esp-metadata = { path = "../esp-metadata" }
 
 [features]
-default = ["embassy"]
+default = []
 unstable = ["esp-hal/unstable"]
 
 defmt = ["dep:defmt-rtt", "esp-hal/defmt", "embedded-test/defmt"]
@@ -287,8 +288,6 @@ esp32s3 = [
 ]
 # Async & Embassy:
 embassy = [
-    "embedded-test/embassy",
-    "embedded-test/external-executor",
     "dep:esp-hal-embassy",
 ]
 generic-queue = [

hil-test/src/lib.rs

@@ -82,3 +82,42 @@ macro_rules! unconnected_pin {
         }
     }};
 }
+
+// A simple looping executor to test async code without esp-hal-embassy (which
+// needs `esp-hal/unstable`).
+#[cfg(not(feature = "embassy"))]
+mod executor {
+    use core::marker::PhantomData;
+
+    use embassy_executor::{raw, Spawner};
+
+    #[export_name = "__pender"]
+    fn __pender(_: *mut ()) {}
+
+    pub struct Executor {
+        inner: raw::Executor,
+        not_send: PhantomData<*mut ()>,
+    }
+
+    impl Executor {
+        pub fn new() -> Self {
+            Self {
+                inner: raw::Executor::new(core::ptr::null_mut()),
+                not_send: PhantomData,
+            }
+        }
+
+        pub fn run(&'static mut self, init: impl FnOnce(Spawner)) -> ! {
+            init(self.inner.spawner());
+
+            loop {
+                unsafe { self.inner.poll() };
+            }
+        }
+    }
+}
+
+#[cfg(feature = "embassy")]
+pub use esp_hal_embassy::Executor;
+#[cfg(not(feature = "embassy"))]
+pub use executor::Executor;

hil-test/tests/delay_async.rs

@@ -70,7 +70,7 @@ async fn test_async_delay_ms(mut timer: impl DelayNs, duration: u32) {
 }
 
 #[cfg(test)]
-#[embedded_test::tests(default_timeout = 2, executor = esp_hal_embassy::Executor::new())]
+#[embedded_test::tests(default_timeout = 2, executor = hil_test::Executor::new())]
 mod tests {
     use super::*;
 

hil-test/tests/embassy_interrupt_executor.rs

@@ -48,7 +48,7 @@ struct Context {
 }
 
 #[cfg(test)]
-#[embedded_test::tests(default_timeout = 3, executor = esp_hal_embassy::Executor::new())]
+#[embedded_test::tests(default_timeout = 3, executor = hil_test::Executor::new())]
 mod test {
     use super::*;
 

hil-test/tests/embassy_interrupt_spi_dma.rs

@@ -75,7 +75,7 @@ async fn interrupt_driven_task(mut i2s_tx: esp_hal::i2s::master::I2sTx<'static,
 }
 
 #[cfg(test)]
-#[embedded_test::tests(default_timeout = 3, executor = esp_hal_embassy::Executor::new())]
+#[embedded_test::tests(default_timeout = 3, executor = hil_test::Executor::new())]
 mod test {
     use super::*;
 

hil-test/tests/embassy_timers_executors.rs

@@ -122,7 +122,7 @@ fn set_up_embassy_with_systimer(peripherals: Peripherals) {
 }
 
 #[cfg(test)]
-#[embedded_test::tests(default_timeout = 3, executor = esp_hal_embassy::Executor::new())]
+#[embedded_test::tests(default_timeout = 3, executor = hil_test::Executor::new())]
 mod test {
     use super::*;
     use crate::test_cases::*;

hil-test/tests/gpio.rs

@@ -1,7 +1,8 @@
 //! GPIO Test
 
 //% CHIPS: esp32 esp32c2 esp32c3 esp32c6 esp32h2 esp32s2 esp32s3
-//% FEATURES: unstable generic-queue
+//% FEATURES: unstable embassy generic-queue
+//% FEATURES(stable):
 
 #![no_std]
 #![no_main]
@@ -9,14 +10,22 @@
 use core::cell::RefCell;
 
 use critical_section::Mutex;
+#[cfg(feature = "unstable")]
+use embassy_time::{Duration, Timer};
 use esp_hal::{
     delay::Delay,
-    gpio::{AnyPin, Input, Io, Level, Output, Pin, Pull},
-    interrupt::InterruptConfigurable,
+    gpio::{AnyPin, Input, Level, Output, OutputOpenDrain, Pin, Pull},
     macros::handler,
+};
+#[cfg(feature = "unstable")]
+use esp_hal::{
+    gpio::{Event, Flex, Io},
+    interrupt::InterruptConfigurable,
     timer::timg::TimerGroup,
 };
 use hil_test as _;
+#[cfg(feature = "unstable")]
+use portable_atomic::{AtomicUsize, Ordering};
 
 static COUNTER: Mutex<RefCell<u32>> = Mutex::new(RefCell::new(0));
 static INPUT_PIN: Mutex<RefCell<Option<Input>>> = Mutex::new(RefCell::new(None));
@@ -39,27 +48,25 @@ pub fn interrupt_handler() {
 }
 
 #[cfg(test)]
-#[embedded_test::tests(default_timeout = 3, executor = esp_hal_embassy::Executor::new())]
+#[embedded_test::tests(default_timeout = 3, executor = hil_test::Executor::new())]
 mod tests {
-    use embassy_time::{Duration, Timer};
-    use esp_hal::gpio::{Event, Flex, OutputOpenDrain};
-    use portable_atomic::{AtomicUsize, Ordering};
-
     use super::*;
 
     #[init]
     fn init() -> Context {
         let peripherals = esp_hal::init(esp_hal::Config::default());
 
-        let mut io = Io::new(peripherals.IO_MUX);
-        io.set_interrupt_handler(interrupt_handler);
-
         let delay = Delay::new();
 
         let (gpio1, gpio2) = hil_test::common_test_pins!(peripherals);
 
         #[cfg(feature = "unstable")]
         {
+            // Interrupts are unstable
+            let mut io = Io::new(peripherals.IO_MUX);
+            io.set_interrupt_handler(interrupt_handler);
+
+            // Timers are unstable
             let timg0 = TimerGroup::new(peripherals.TIMG0);
             esp_hal_embassy::init(timg0.timer0);
         }
@@ -72,6 +79,7 @@ mod tests {
     }
 
     #[test]
+    #[cfg(feature = "unstable")] // Timers are unstable
     async fn async_edge(ctx: Context) {
         let counter = AtomicUsize::new(0);
         let Context {
@@ -198,7 +206,7 @@ mod tests {
     }
 
     #[test]
-    #[cfg(feature = "unstable")]
+    #[cfg(feature = "unstable")] // Interrupts are unstable
     fn gpio_interrupt(ctx: Context) {
         let mut test_gpio1 = Input::new(ctx.test_gpio1, Pull::Down);
         let mut test_gpio2 = Output::new(ctx.test_gpio2, Level::Low);

hil-test/tests/gpio_custom_handler.rs

@@ -66,7 +66,7 @@ async fn drive_pins(gpio1: impl Into<AnyPin>, gpio2: impl Into<AnyPin>) -> usize
 }
 
 #[cfg(test)]
-#[embedded_test::tests(executor = esp_hal_embassy::Executor::new())]
+#[embedded_test::tests(executor = hil_test::Executor::new())]
 mod tests {
 
     use super::*;

hil-test/tests/i2s.rs

@@ -97,7 +97,7 @@ fn enable_loopback() {
 }
 
 #[cfg(test)]
-#[embedded_test::tests(default_timeout = 3, executor = esp_hal_embassy::Executor::new())]
+#[embedded_test::tests(default_timeout = 3, executor = hil_test::Executor::new())]
 mod tests {
     use super::*;
 

hil-test/tests/lcd_cam_i8080_async.rs

@@ -28,7 +28,7 @@ struct Context<'d> {
 }
 
 #[cfg(test)]
-#[embedded_test::tests(default_timeout = 3, executor = esp_hal_embassy::Executor::new())]
+#[embedded_test::tests(default_timeout = 3, executor = hil_test::Executor::new())]
 mod tests {
     use super::*;
 

hil-test/tests/parl_io_tx_async.rs

@@ -43,7 +43,7 @@ struct Context {
 }
 
 #[cfg(test)]
-#[embedded_test::tests(default_timeout = 3, executor = esp_hal_embassy::Executor::new())]
+#[embedded_test::tests(default_timeout = 3, executor = hil_test::Executor::new())]
 mod tests {
     use defmt::info;
 

hil-test/tests/rsa_async.rs

@@ -49,7 +49,7 @@ const fn compute_mprime(modulus: &U512) -> u32 {
 }
 
 #[cfg(test)]
-#[embedded_test::tests(default_timeout = 5, executor = esp_hal_embassy::Executor::new())]
+#[embedded_test::tests(default_timeout = 5, executor = hil_test::Executor::new())]
 mod tests {
     use super::*;
 

hil-test/tests/spi_full_duplex.rs

@@ -48,7 +48,7 @@ struct Context {
 }
 
 #[cfg(test)]
-#[embedded_test::tests(default_timeout = 3, executor = esp_hal_embassy::Executor::new())]
+#[embedded_test::tests(default_timeout = 3, executor = hil_test::Executor::new())]
 mod tests {
     use super::*;
 

hil-test/tests/spi_slave.rs

@@ -95,7 +95,7 @@ impl BitbangSpi {
 }
 
 #[cfg(test)]
-#[embedded_test::tests(default_timeout = 10, executor = esp_hal_embassy::Executor::new())]
+#[embedded_test::tests(default_timeout = 10, executor = hil_test::Executor::new())]
 mod tests {
     use super::*;
 

hil-test/tests/uart_async.rs

@@ -17,7 +17,7 @@ struct Context {
 }
 
 #[cfg(test)]
-#[embedded_test::tests(default_timeout = 3, executor = esp_hal_embassy::Executor::new())]
+#[embedded_test::tests(default_timeout = 3, executor = hil_test::Executor::new())]
 mod tests {
     use super::*;
 

hil-test/tests/uart_tx_rx_async.rs

@@ -18,7 +18,7 @@ struct Context {
 }
 
 #[cfg(test)]
-#[embedded_test::tests(default_timeout = 3, executor = esp_hal_embassy::Executor::new())]
+#[embedded_test::tests(default_timeout = 3, executor = hil_test::Executor::new())]
 mod tests {
     use super::*;