Merge #19369

19369: sys/cpp11-compat: Remove xtimer deps r=MrKevinWeiss a=MrKevinWeiss

### Contribution description

This replaces the `xtimer` calls with explicit `ztimer64` calls, since `xtimer` is somewhat deprecated. 

### Testing procedure

- Green murdock
- I suppose the following `tests/`
```
c11_atomics_cpp_compat
cpp11_condition_variable
cpp11_mutex
cpp11_thread
cpp_ctors
cpp_exclude
cpp_ext
irq_cpp
rmutex_cp
```
- run `compile_and_test_for_board.py` and `compile_like_murdock.py` for the subset of tests.

### Issues/PRs references



Co-authored-by: MrKevinWeiss <weiss.kevin604@gmail.com>

sys/Makefile.dep

@@ -417,7 +417,7 @@ endif
 
 ifneq (,$(filter cpp11-compat,$(USEMODULE)))
   USEMODULE += cpp_new_delete
-  USEMODULE += xtimer
+  USEMODULE += ztimer64_usec
   USEMODULE += timex
   FEATURES_REQUIRED += cpp
   FEATURES_REQUIRED += libstdcpp

sys/cpp11-compat/Kconfig

@@ -15,6 +15,5 @@ config MODULE_CPP11-COMPAT
     select MODULE_CPP
     select MODULE_LIBSTDCPP
     select MODULE_CPP_NEW_DELETE
-    select MODULE_XTIMER
+    select ZTIMER64_USEC
     select MODULE_TIMEX
-    select MODULE_ZTIMER64_XTIMER_COMPAT if MODULE_ZTIMER_XTIMER_COMPAT

sys/cpp11-compat/condition_variable.cpp

@@ -24,8 +24,8 @@
 #include "irq.h"
 #include "sched.h"
 #include "thread.h"
-#include "timex.h"
-#include "xtimer.h"
+#include "time_units.h"
+#include "ztimer64.h"
 #include "priority_queue.h"
 
 #include "riot/condition_variable.hpp"
@@ -99,18 +99,19 @@ void condition_variable::wait(unique_lock<mutex>& lock) noexcept {
 
 cv_status condition_variable::wait_until(unique_lock<mutex>& lock,
                                          const time_point& timeout_time) {
-  xtimer_t timer;
-  // todo: use function to wait for absolute timepoint once available
-  timex_t before;
-  xtimer_now_timex(&before);
-  auto diff = timex_sub(timeout_time.native_handle(), before);
-  xtimer_set_wakeup(&timer, timex_uint64(diff), thread_getpid());
+  ztimer64_t timer;
+  uint64_t total_timeout_time_us = timeout_time.microseconds();
+  total_timeout_time_us += timeout_time.seconds() * US_PER_SEC;
+
+  ztimer64_set_wakeup_at(ZTIMER64_USEC, &timer, total_timeout_time_us,
+                         thread_getpid());
   wait(lock);
-  timex_t after;
-  xtimer_now_timex(&after);
-  xtimer_remove(&timer);
-  auto cmp = timex_cmp(after, timeout_time.native_handle());
-  return cmp < 1 ? cv_status::no_timeout : cv_status::timeout;
+  if (ztimer64_now(ZTIMER64_USEC) >= total_timeout_time_us) {
+    ztimer64_remove(ZTIMER64_USEC, &timer);
+    return cv_status::timeout;
+  }
+  ztimer64_remove(ZTIMER64_USEC, &timer);
+  return cv_status::no_timeout;
 }
 
 } // namespace riot

sys/cpp11-compat/include/riot/chrono.hpp

@@ -12,7 +12,7 @@
  *
  * @file
  * @brief  C++11 chrono drop in replacement that adds the function now based on
- *         xtimer/timex
+ *         ztimer/timex
  * @see    <a href="http://en.cppreference.com/w/cpp/thread/thread">
  *           std::thread, defined in header thread
  *         </a>
@@ -29,7 +29,8 @@
 #include <algorithm>
 
 #include "time.h"
-#include "xtimer.h"
+#include "timex.h"
+#include "ztimer64.h"
 
 namespace riot {
 
@@ -106,7 +107,7 @@ class time_point {
  */
 inline time_point now() {
   timex_t tp;
-  xtimer_now_timex(&tp);
+  tp = timex_from_uint64(ztimer64_now(ZTIMER64_USEC));
   return time_point(std::move(tp));
 }
 

sys/cpp11-compat/include/riot/condition_variable.hpp

@@ -25,7 +25,7 @@
 #define RIOT_CONDITION_VARIABLE_HPP
 
 #include "sched.h"
-#include "xtimer.h"
+#include "ztimer64.h"
 #include "priority_queue.h"
 
 #include "riot/mutex.hpp"
@@ -171,20 +171,18 @@ cv_status condition_variable::wait_for(unique_lock<mutex>& lock,
   if (timeout_duration <= timeout_duration.zero()) {
     return cv_status::timeout;
   }
-  timex_t timeout, before, after;
-  auto s = duration_cast<seconds>(timeout_duration);
-  timeout.seconds = s.count();
-  timeout.microseconds
-    = (duration_cast<microseconds>(timeout_duration - s)).count();
-  xtimer_now_timex(&before);
-  xtimer_t timer;
-  xtimer_set_wakeup(&timer, timex_uint64(timeout), thread_getpid());
+  uint64_t timeout, before, after;
+  timeout = (duration_cast<microseconds>(timeout_duration)).count();
+  before = ztimer64_now(ZTIMER64_USEC);
+  ztimer64_t timer;
+  ztimer64_set_wakeup(ZTIMER64_USEC, &timer, timeout, thread_getpid());
   wait(lock);
-  xtimer_now_timex(&after);
-  xtimer_remove(&timer);
-  auto passed = timex_sub(after, before);
-  auto cmp = timex_cmp(passed, timeout);
-  return cmp < 1 ? cv_status::no_timeout : cv_status::timeout;
+  after = ztimer64_now(ZTIMER64_USEC);
+  ztimer64_remove(ZTIMER64_USEC, &timer);
+  if (after - before >= timeout) {
+    return cv_status::timeout;
+  }
+  return cv_status::no_timeout;
 }
 
 template <class Rep, class Period, class Predicate>

sys/cpp11-compat/thread.cpp

@@ -17,12 +17,10 @@
  *
  * @}
  */
-
-#include "xtimer.h"
-
 #include <cerrno>
 #include <system_error>
 
+#include "ztimer64.h"
 #include "riot/thread.hpp"
 
 using namespace std;
@@ -73,7 +71,8 @@ namespace this_thread {
 void sleep_for(const chrono::nanoseconds& ns) {
   using namespace chrono;
   if (ns > nanoseconds::zero()) {
-    xtimer_usleep64(static_cast<uint64_t>(duration_cast<microseconds>(ns).count()));
+    ztimer64_sleep(ZTIMER64_USEC,
+        static_cast<uint64_t>(duration_cast<microseconds>(ns).count()));
   }
 }
 

tests/cpp11_condition_variable/Makefile

@@ -7,7 +7,6 @@ ifneq (,$(filter nucleo-f303k8 nucleo-f334r8,$(BOARD)))
 endif
 
 USEMODULE += cpp11-compat
-USEMODULE += xtimer
-USEMODULE += timex
+USEMODULE += ztimer64_usec
 
 include $(RIOTBASE)/Makefile.include

tests/cpp11_condition_variable/app.config.test

@@ -1,3 +1,2 @@
 CONFIG_MODULE_CPP11-COMPAT=y
-CONFIG_MODULE_TIMEX=y
-CONFIG_MODULE_XTIMER=y
+CONFIG_ZTIMER64_USEC=y

tests/cpp11_condition_variable/main.cpp

@@ -22,6 +22,8 @@
 #include <cstdio>
 #include <system_error>
 
+#include "time_units.h"
+#include "ztimer64.h"
 #include "riot/mutex.hpp"
 #include "riot/chrono.hpp"
 #include "riot/thread.hpp"
@@ -95,13 +97,13 @@ int main() {
     constexpr unsigned timeout = 1;
     mutex m;
     condition_variable cv;
-    timex_t before, after;
+    uint64_t before, after;
     unique_lock<mutex> lk(m);
-    xtimer_now_timex(&before);
+    before = ztimer64_now(ZTIMER64_USEC);
     cv.wait_for(lk, chrono::seconds(timeout));
-    xtimer_now_timex(&after);
-    auto diff = timex_sub(after, before);
-    expect(diff.seconds >= timeout);
+    after = ztimer64_now(ZTIMER64_USEC);
+    auto diff = after - before;
+    expect(diff >= timeout * US_PER_SEC);
   }
   puts("Done\n");
 
@@ -111,14 +113,14 @@ int main() {
     constexpr unsigned timeout = 1;
     mutex m;
     condition_variable cv;
-    timex_t before, after;
+    uint64_t before, after;
     unique_lock<mutex> lk(m);
-    xtimer_now_timex(&before);
+    before = ztimer64_now(ZTIMER64_USEC);
     auto time = riot::now() += chrono::seconds(timeout);
     cv.wait_until(lk, time);
-    xtimer_now_timex(&after);
-    auto diff = timex_sub(after, before);
-    expect(diff.seconds >= timeout);
+    after = ztimer64_now(ZTIMER64_USEC);
+    auto diff = after - before;
+    expect(diff >= timeout * US_PER_SEC);
   }
   puts("Done\n");
 

tests/cpp11_thread/Makefile

@@ -1,7 +1,7 @@
 include ../Makefile.tests_common
 
 USEMODULE += cpp11-compat
-USEMODULE += xtimer
+USEMODULE += ztimer64_usec
 USEMODULE += timex
 
 include $(RIOTBASE)/Makefile.include

tests/cpp11_thread/Makefile.ci

@@ -1,6 +1,10 @@
 BOARD_INSUFFICIENT_MEMORY := \
+    nucleo-f031k6 \
+    nucleo-f042k6 \
     nucleo-l011k4 \
+    nucleo-l031k6 \
     samd10-xmini \
     stk3200 \
     stm32f030f4-demo \
+    stm32g0316-disco \
     #

tests/cpp11_thread/app.config.test

@@ -1,3 +1,3 @@
 CONFIG_MODULE_CPP11-COMPAT=y
 CONFIG_MODULE_TIMEX=y
-CONFIG_MODULE_XTIMER=y
+CONFIG_ZTIMER64_USEC=y

tests/cpp11_thread/main.cpp

@@ -22,6 +22,8 @@
 #include <cstdio>
 #include <system_error>
 
+#include "timex.h"
+#include "ztimer64.h"
 #include "riot/mutex.hpp"
 #include "riot/chrono.hpp"
 #include "riot/thread.hpp"
@@ -123,9 +125,9 @@ int main() {
   puts("Testing sleep_for ...");
   {
     timex_t before, after;
-    xtimer_now_timex(&before);
+    before = timex_from_uint64(ztimer64_now(ZTIMER64_USEC));
     this_thread::sleep_for(chrono::seconds(1));
-    xtimer_now_timex(&after);
+    after = timex_from_uint64(ztimer64_now(ZTIMER64_USEC));
     auto diff = timex_sub(after, before);
     expect(diff.seconds >= 1);
   }
@@ -136,9 +138,9 @@ int main() {
   puts("Testing sleep_until ...");
   {
     timex_t before, after;
-    xtimer_now_timex(&before);
+    before = timex_from_uint64(ztimer64_now(ZTIMER64_USEC));
     this_thread::sleep_until(riot::now() += chrono::seconds(1));
-    xtimer_now_timex(&after);
+    after = timex_from_uint64(ztimer64_now(ZTIMER64_USEC));
     auto diff = timex_sub(after, before);
     expect(diff.seconds >= 1);
   }