1 files changed, 69 insertions, 0 deletions
diff --git a/rtic-sync/src/loom_cs.rs b/rtic-sync/src/loom_cs.rs
new file mode 100644
index 0000000..3291f52
--- /dev/null
+++ b/rtic-sync/src/loom_cs.rs
@@ -0,0 +1,69 @@
+//! A loom-based implementation of CriticalSection, effectively copied from the critical_section::std module.
+
+use core::cell::RefCell;
+use core::mem::MaybeUninit;
+
+use loom::cell::Cell;
+use loom::sync::{Mutex, MutexGuard};
+
+loom::lazy_static! {
+    static ref GLOBAL_MUTEX: Mutex<()> = Mutex::new(());
+    // This is initialized if a thread has acquired the CS, uninitialized otherwise.
+    static ref GLOBAL_GUARD: RefCell<MaybeUninit<MutexGuard<'static, ()>>> = RefCell::new(MaybeUninit::uninit());
+}
+
+loom::thread_local!(static IS_LOCKED: Cell<bool> = Cell::new(false));
+
+struct StdCriticalSection;
+critical_section::set_impl!(StdCriticalSection);
+
+unsafe impl critical_section::Impl for StdCriticalSection {
+    unsafe fn acquire() -> bool {
+        // Allow reentrancy by checking thread local state
+        IS_LOCKED.with(|l| {
+            if l.get() {
+                // CS already acquired in the current thread.
+                return true;
+            }
+
+            // Note: it is fine to set this flag *before* acquiring the mutex because it's thread local.
+            // No other thread can see its value, there's no potential for races.
+            // This way, we hold the mutex for slightly less time.
+            l.set(true);
+
+            // Not acquired in the current thread, acquire it.
+            let guard = match GLOBAL_MUTEX.lock() {
+                Ok(guard) => guard,
+                Err(err) => {
+                    // Ignore poison on the global mutex in case a panic occurred
+                    // while the mutex was held.
+                    err.into_inner()
+                }
+            };
+            GLOBAL_GUARD.borrow_mut().write(guard);
+
+            false
+        })
+    }
+
+    unsafe fn release(nested_cs: bool) {
+        if !nested_cs {
+            // SAFETY: As per the acquire/release safety contract, release can only be called
+            // if the critical section is acquired in the current thread,
+            // in which case we know the GLOBAL_GUARD is initialized.
+            //
+            // We have to `assume_init_read` then drop instead of `assume_init_drop` because:
+            // - drop requires exclusive access (&mut) to the contents
+            // - mutex guard drop first unlocks the mutex, then returns. In between those, there's a brief
+            //   moment where the mutex is unlocked but a `&mut` to the contents exists.
+            // - During this moment, another thread can go and use GLOBAL_GUARD, causing `&mut` aliasing.
+            #[allow(let_underscore_lock)]
+            let _ = GLOBAL_GUARD.borrow_mut().assume_init_read();
+
+            // Note: it is fine to clear this flag *after* releasing the mutex because it's thread local.
+            // No other thread can see its value, there's no potential for races.
+            // This way, we hold the mutex for slightly less time.
+            IS_LOCKED.with(|l| l.set(false));
+        }
+    }
+}