adds initial rcs implementation

flight/src/scheduler/mod.rs

@@ -13,8 +13,6 @@ use std::time::{Duration, Instant};
 
 #[derive(Clone, Debug)]
 pub struct TaskHandle<Message, Data> {
-    #[allow(dead_code)]
-    pub name: String,
     pub sender: Sender<Message>,
     data: Data,
 }
@@ -46,7 +44,7 @@ pub trait CyclicTask {
 
 impl<F> CyclicTask for F
 where
-    F: Fn(),
+    F: FnMut(),
 {
     type Message = ();
     type Data = ();
@@ -58,7 +56,10 @@ where
     }
 }
 
-pub struct Scheduler<'s, 'e> {
+pub struct Scheduler<'s, 'e>
+where
+    'e: 's,
+{
     scope: &'s Scope<'s, 'e>,
     running: Arc<AtomicBool>,
 }
@@ -68,7 +69,7 @@ impl<'s> Scheduler<'s, '_> {
     where
         F: FnOnce(Scheduler<'_, 'env>) -> R,
     {
-        trace!("Scheduler::new(running: {running:?}, f)");
+        trace!("Scheduler::scope(running: {running:?}, f)");
         thread::scope(|scope: &Scope| {
             let running_result = running.clone();
             // This will automatically set running to false when it drops
@@ -83,16 +84,29 @@ impl<'s> Scheduler<'s, '_> {
         })
     }
 
+    // pub fn inner_scope<'env, F, R>(&self, f: F) -> R
+    // where
+    //     F: FnOnce(Scheduler<'_, 'env>) -> R,
+    //     's: 'env,
+    // {
+    //     trace!("Scheduler::inner_scope(self)");
+    //     thread::scope(|scope: &Scope<'_, 'env>| {
+    //         f(Scheduler {
+    //             scope,
+    //             running: self.running.clone(),
+    //         })
+    //     })
+    // }
+
     #[allow(dead_code)]
-    pub fn run<'t, T>(
+    pub fn run<T>(
         &self,
         name: impl Into<String>,
         task: T,
     ) -> Result<TaskHandle<T::Message, T::Data>>
     where
-        T: Task + Send + Debug + 't,
+        T: Task + Send + Debug + 's,
         T::Message: Send,
-        't: 's,
     {
         let name = name.into();
         trace!(
@@ -107,19 +121,18 @@ impl<'s> Scheduler<'s, '_> {
             .spawn_scoped(self.scope, move || {
                 task.run(receiver, running);
             })?;
-        Ok(TaskHandle { name, sender, data })
+        Ok(TaskHandle { sender, data })
     }
 
-    pub fn run_cyclic<'t, T>(
+    pub fn run_cyclic<T>(
         &self,
         name: impl Into<String>,
         mut task: T,
         frequency: u64,
     ) -> Result<TaskHandle<T::Message, T::Data>>
     where
-        T: CyclicTask + Send + 't,
+        T: CyclicTask + Send + 's,
         T::Message: Send,
-        't: 's,
     {
         let name = name.into();
         trace!(
@@ -144,6 +157,6 @@ impl<'s> Scheduler<'s, '_> {
                     }
                 }
             })?;
-        Ok(TaskHandle { name, sender, data })
+        Ok(TaskHandle { sender, data })
     }
 }