From 8659f6b0c3c6095325459e4d8e206b4506a30b8e Mon Sep 17 00:00:00 2001
From: Gavin-Niederman <gavinniederman@gmail.com>
Date: Thu, 4 Jan 2024 14:37:39 -0800
Subject: [PATCH 1/3] fix: sleep in async executor loops

---
 pros/src/async_runtime/executor.rs | 5 ++++-
 1 file changed, 4 insertions(+), 1 deletion(-)

diff --git a/pros/src/async_runtime/executor.rs b/pros/src/async_runtime/executor.rs
index 3d1659cb..df030509 100644
--- a/pros/src/async_runtime/executor.rs
+++ b/pros/src/async_runtime/executor.rs
@@ -4,13 +4,14 @@ use core::{
     pin::Pin,
     sync::atomic::{AtomicBool, Ordering},
     task::{Context, Poll},
+    time::Duration,
 };
 
 use alloc::{collections::VecDeque, sync::Arc};
 use async_task::{Runnable, Task};
 use waker_fn::waker_fn;
 
-use crate::os_task_local;
+use crate::{os_task_local, task::delay};
 
 use super::reactor::Reactor;
 
@@ -82,6 +83,7 @@ impl Executor {
             }
 
             self.tick();
+            delay(Duration::from_millis(10));
         }
     }
 
@@ -90,6 +92,7 @@ impl Executor {
             if !self.tick() {
                 break;
             }
+            delay(Duration::from_millis(10));
         }
     }
 }

From f0f3ae67e32c0d3572db223d71f891cce8e37bdf Mon Sep 17 00:00:00 2001
From: Gavin-Niederman <gavinniederman@gmail.com>
Date: Thu, 4 Jan 2024 16:06:25 -0800
Subject: [PATCH 2/3] fix: only sleep when there are no futures to poll

---
 pros/src/async_runtime/executor.rs | 5 ++++-
 1 file changed, 4 insertions(+), 1 deletion(-)

diff --git a/pros/src/async_runtime/executor.rs b/pros/src/async_runtime/executor.rs
index df030509..b3f7fb9d 100644
--- a/pros/src/async_runtime/executor.rs
+++ b/pros/src/async_runtime/executor.rs
@@ -80,10 +80,13 @@ impl Executor {
                 if let Poll::Ready(output) = Pin::new(&mut task).poll(&mut cx) {
                     return output;
                 }
+                self.tick();
+                // there might be another future to poll, so we continue without sleeping
+                continue;
             }
 
-            self.tick();
             delay(Duration::from_millis(10));
+            self.tick();
         }
     }
 

From 5a6e1f91772b99874da8967b3c1c9297fdb66545 Mon Sep 17 00:00:00 2001
From: Gavin-Niederman <gavinniederman@gmail.com>
Date: Thu, 4 Jan 2024 16:41:35 -0800
Subject: [PATCH 3/3] fix: remove broken complete_all executor function

---
 pros/src/async_runtime/executor.rs | 9 ---------
 pros/src/async_runtime/mod.rs      | 8 --------
 pros/src/lib.rs                    | 4 ----
 3 files changed, 21 deletions(-)

diff --git a/pros/src/async_runtime/executor.rs b/pros/src/async_runtime/executor.rs
index b3f7fb9d..cef55081 100644
--- a/pros/src/async_runtime/executor.rs
+++ b/pros/src/async_runtime/executor.rs
@@ -89,13 +89,4 @@ impl Executor {
             self.tick();
         }
     }
-
-    pub fn complete(&self) {
-        loop {
-            if !self.tick() {
-                break;
-            }
-            delay(Duration::from_millis(10));
-        }
-    }
 }
diff --git a/pros/src/async_runtime/mod.rs b/pros/src/async_runtime/mod.rs
index 92d7009c..2fec27f4 100644
--- a/pros/src/async_runtime/mod.rs
+++ b/pros/src/async_runtime/mod.rs
@@ -22,11 +22,3 @@ pub fn spawn<T>(future: impl Future<Output = T> + 'static) -> Task<T> {
 pub fn block_on<F: Future + 'static>(future: F) -> F::Output {
     executor::EXECUTOR.with(|e| e.block_on(spawn(future)))
 }
-
-/// Completes all tasks.
-/// Return values can be extracted from the futures by awaiting any [`Task`]s you have not detached.
-pub fn complete_all() {
-    executor::EXECUTOR.with(|e| {
-        e.complete();
-    })
-}
diff --git a/pros/src/lib.rs b/pros/src/lib.rs
index c442debd..a4ffa42c 100644
--- a/pros/src/lib.rs
+++ b/pros/src/lib.rs
@@ -185,7 +185,6 @@ macro_rules! __gen_async_exports {
                     .expect("Expected initialize to run before opcontrol")
             }))
             .unwrap();
-            $crate::async_runtime::complete_all();
         }
 
         #[doc(hidden)]
@@ -197,7 +196,6 @@ macro_rules! __gen_async_exports {
                     .expect("Expected initialize to run before auto")
             }))
             .unwrap();
-            $crate::async_runtime::complete_all();
         }
 
         #[doc(hidden)]
@@ -209,7 +207,6 @@ macro_rules! __gen_async_exports {
                     .expect("Expected initialize to run before disabled")
             }))
             .unwrap();
-            $crate::async_runtime::complete_all();
         }
 
         #[doc(hidden)]
@@ -221,7 +218,6 @@ macro_rules! __gen_async_exports {
                     .expect("Expected initialize to run before comp_init")
             }))
             .unwrap();
-            $crate::async_runtime::complete_all();
         }
     };
 }