Embedded Function

Embedded std::function alternative: lightweight, deterministic, heap-free.

📌 Overview

Embedded Function is an embedded-friendly lightweight function wrapper implemented based on the C++11 standard, tailored specifically for embedded systems.

While functionally and conceptually analogous to std::function, it offers substantially reduced overhead and superior real-time performance characteristics. Notably, Embedded Function eliminates dynamic heap memory allocations entirely, ensuring deterministic execution behavior and predictable real-time performance for embedded applications.

In only one header file, 4 function wrappers are provided as follows:

namespace ebd {
  // Wrapper for copyable callable objects.
  template <class Signature, size_t BufferSize> fn;
  // Wrapper for movable, especially move-only callable objects.
  template <class Signature, size_t BufferSize> unique_fn;
  // Wrapper for copyable callable objects which assert no-throw in Ctor and Dtor.
  template <class Signature, size_t BufferSize> safe_fn;
  // View (aka reference) for callable objects.
  template <class Signature, size_t Unused> fn_view;
}

⚡ Quick start

• Clone the repository or download the header_only.zip in the "Release".

• Add include path <repo_root>/include.

• In program #include "embed/embed_function.hpp".

• Use the ebd::fn template class.

#include <iostream>
#include "embed/embed_function.hpp"

struct Example {
    static void static_mem_fn(int n) { std::cout << "Calling with number: " << n << "\n"; }
    void mem_fn(int n) const { std::cout << "Calling with number: " << n << "\n"; }
    void operator()(int n) { std::cout << "Calling with number: " << n << "\n"; }
};

auto main() -> int {
    Example e;
    ebd::fn<void(int)> fn_;

    fn_ = &Example::static_mem_fn;
    fn_(123); // Prints "Calling with number: 123"

    fn_ = [e](int arg) { e.mem_fn(arg); };
    fn_(456); // Prints "Calling with number: 456"

    fn_ = e;
    fn_(789); // Prints "Calling with number: 789"
}

🔧 Wrapper definition syntax

/// The definition of method of a function wrapper is as follows:
ebd::fn<int (int, float, char) const, 3*sizeof(void*)> fn_;
//       ^     ^     ^     ^     ^        ^
//       |     |     |     |     |        |
// Return type |     |     |     |        |
// Parameters ~|~~~~~|~~~~~|     |        |
// Qualifier ~~~~~~~~~~~~~~~~~~~~|        |
// Buffer size ~~~~~~~~~~~~~~~~~~~~~~~~~~~|

The Qualifier is used to restrict the callable objects wrapped within ebd::fn, rather than ebd::fn itself. In other words, the operator() of the ebd::fn object will be qualified with the Qualifier modifier.

The Buffer size is the size used to store the callable object, which can be omitted. If omitted, this parameter will be set to detail::default_buffer_size::value by default, which is sufficient to store most common callable objects, including function pointers, simple non-capturing and capturing lambdas, and lightweight custom classes.

🧠 Design goals driving the design

• Should behave close to a normal function pointer. Small, efficient, no heap allocation.

• Support the packaging of all callable objects in C++, including:

  • Free function.
  • Lambda function.
  • Functor.
  • Static member function.
  • Member function.

• Be usable with C++11 while offering more functionality for later editions.

• Be constexpr and exception friendly. As much as possible should be declared constexpr and noexcept.

• Should be based on the analysis of N4159, P2548 and LWG2393, and should avoid repeating the mistakes made by std::function. Therefore, Embedded Function should:

  • NOT implement the method target() and target_type().
  • Allow the application of qualifiers, such as const, volatile, & and &&, to the function signature.
  • Ensure that the qualifier of the underlying object is consistent or more restrictive than that of the function signature.

• Learn and refer to the optimization experience of std::function in libstdc++, libc++ and Microsoft C++ Standard Library.

• Provide a view or reference to the callable object, referring to the std::function_ref P0792.

• Following the above design goals, ebd::fn, ebd::unique_fn, ebd::safe_fn and ebd::fn_view were designed for developers to use.

✨ Core function wrappers

Summary table

Wrapper Type	Copyable	View (Non-owning)	Throws on Empty Call	Assert No-Throw (Ctor/Dtor)	Buffer Size	Primary Use Case
ebd::fn	Yes	No	Yes (std::bad_function_call)	No	Configurable (aligned, default: sizeof(void(Class::*)()))	Copyable callable wrapper
ebd::unique_fn	No	No	Yes (std::bad_function_call)	No	Configurable (aligned, default: sizeof(void(Class::*)()))	Move-only callable wrapper
ebd::safe_fn	Yes	No	No (std::terminate())	Yes	Configurable (aligned, default: sizeof(void(Class::*)()))	Exception-safe copyable callable wrapper
ebd::fn_view	Yes	Yes	No (std::terminate())	No	Fixed (sizeof(void(Class::*)()), template param unused)	Lightweight non-owning view of callables

Key takeaways

1. Ownership & Copy: fn/safe_fn own callables (copyable), unique_fn owns but is move-only, fn_view is non-owning (view).

2. Exception Behavior: Only fn/unique_fn throw on empty calls; safe_fn/fn_view terminate (no exceptions).

3. Buffer Configuration: fn/unique_fn/safe_fn support configurable buffer sizes (aligned), while fn_view uses a fixed buffer (unused template param).

4. Triviality: fn_view is trivially copyable (same as std::function_ref).

🚀 Performance optimization

Branch elimination

ebd::fn / ebd::unique_fn / ebd::safe_fn / ebd::fn_view completely eliminate runtime checks for empty function states during invocation, significantly boosting performance of frequent function calls.

Smart forwarding

ebd::fn / ebd::unique_fn / ebd::safe_fn / ebd::fn_view enable scalar arguments and small-sized trivial arguments to be passed via registers instead of having to be passed via the stack as in std::function. This significantly reduces the memory access overhead during parameter passing.

Click x64-asm, rv32-asm and arm32-asm to see more details.

🧩 Automatic deduction

Brief introduction

In order to simplify the use of ebd::fn, function ebd::make_fn() is provided, which can automatically deduce the signature and buffer size of the callable object and create a ebd::fn or ebd::unique_fn object. (Return ebd::unique_fn only when the callable object is of the move-only type.)

NOTE: The Concepts language feature is available for use provided that the compiler is configured to support the C++20 standard. On platforms that do not support C++20, enable_if will be used instead.

Usage

• [] means optional.
• Signature: The signature of the callable object. (such as void(int))
• BufferSize: The buffer size of the callable object. (such as 2*sizeof(void*))

// Create empty ebd::fn with specified signature and buffer size.
// If the BufferSize is omitted, it will be set by default (usually 2*sizeof(void*)).
auto f = ebd::make_fn<Signature[, BufferSize]>();
auto f = ebd::make_fn<Signature[, BufferSize]>(nullptr);

// Create ebd::fn or ebd::unique_fn from unambiguous callable object.
// If the Signature is omitted, the signature will be deduced from Callable_Object.
auto f = ebd::make_fn[<Signature>](Callable_Object);

// Create ebd::fn or ebd::unique_fn from ambiguous callable object with specified signature, such as overload free function, overload member function, etc.
auto f = ebd::make_fn<Signature>(Ambiguous_Callable_Object);

// Create specified function wrapper and automatically deduce the template arguments.
// The Callable_Object should be unambiguously callable (non-overload).
auto f = ebd::make_fn<ebd::fn>(Callable_Object);
auto f = ebd::make_fn<ebd::unique_fn>(Callable_Object);
auto f = ebd::make_fn<ebd::safe_fn>(Callable_Object);
auto f = ebd::make_fn<ebd::fn_view>(Callable_Object);

// In place build functor within buffer. Functor should be unambiguously callable (non-overload).
auto f = ebd::make_fn(std::in_place_type<Functor>, CArgs...); // Since C++17
auto f = ebd::make_fn(std::in_place_type<Functor>, {/*std::initializer_list*/}, CArgs...); // Since C++17

🔗 Back to function pointer

Brief introduction

In embedded MCU development, it is often necessary to pass a C-style free function pointer as an argument, as existing libraries are typically written in C. To address this, we have implemented an operator* overload that simplifies converting an object of type ebd::fn / ebd::unique_fn / ebd::safe_fn / ebd::fn_view to a C-style free function pointer.

If the object encapsulated by the function wrapper is a valid function pointer, this mechanism returns the pointer; otherwise, it returns nullptr. Basically, it is equivalent to a highly restricted target() method.

Example

void free_function() {}
struct Functor { void operator()() {} };

ebd::fn<void()> fn_ = &free_function;
void(*free_function_pointer)() = *fn_;
ASSERT_EQ(free_function_pointer, &free_function);

fn_ = +[]() { /* ... */ }; // lambda -> function pointer
free_function_pointer = *fn_;
ASSERT_NE(free_function_pointer, nullptr); // NOT equal nullptr

fn_ = []() { /* ... */ };
free_function_pointer = *fn_;
ASSERT_EQ(free_function_pointer, nullptr);

fn_ = Functor{};
free_function_pointer = *fn_;
ASSERT_EQ(free_function_pointer, nullptr);

📦 C++20 Module support

Brief introduction

Embedded Function provides support for C++20 modules. You can wrap the library into a module according to the guide below.

Usage

To create a module named ebd.function, create a module interface file (e.g., ebd_function.cppm or ebd_function.ixx):

module;
#include "embed/embed_function.hpp"
export module ebd.function;

export namespace ebd {
  using ::ebd::fn;
  using ::ebd::unique_fn;
  using ::ebd::safe_fn;
  using ::ebd::fn_view;
  using ::ebd::make_fn; // NOLINT(misc-unused-using-decls)
}

Then you can use it in other files:

import ebd.function;

auto main() -> int {
    ebd::fn<void()> fn1 = []() { /* ... */ };
    ebd::unique_fn<void()> fn2 = []() { /* ... */ };
    ebd::safe_fn<void()> fn3 = []() { /* ... */ };
    ebd::fn_view<void()> fn4 = fn2;
    auto fn5 = ebd::make_fn([]() { /* ... */ });

    fn1(); fn2(); fn3(); fn4(); fn5();
}

✅ Compatibility

Every compiler with modern C++11 support should work. Embedded Function only depends on the standard library.

• GCC 5.1+
• Clang 3.7+
• MSVC v19.34+ (VS17.4+)

🧪 Test

Go to the <root>/test/ directory, and follow the instructions in HOW-TO-TEST.md to run the tests.

⏱️ Benchmark

Go to the <root>/benchmark/ directory, and follow the instructions in HOW-TO-BENCHMARK.md to run the tests.

( Compiler: MSVC Standard: C++14 Config: Release Tool: picobench )

std: std::function, ebd: ebd::fn, fu2: fu2::function

## FreeFunction.ScalarParameters:

 Name (* = baseline)      |   Dim   |  Total ms |  ns/op  |Baseline| Ops/second
--------------------------|--------:|----------:|--------:|-------:|----------:
 free_scalar_std *        |   10000 |     0.030 |       3 |      - |332225913.6
 free_scalar_ebd          |   10000 |     0.028 |       2 |  0.930 |357142857.1
 free_scalar_fu2          |   10000 |     0.052 |       5 |  1.731 |191938579.7
 free_scalar_std *        |  100000 |     0.301 |       3 |      - |332667997.3
 free_scalar_ebd          |  100000 |     0.265 |       2 |  0.881 |377643504.5
 free_scalar_fu2          |  100000 |     0.523 |       5 |  1.742 |191021967.5
 free_scalar_std *        | 1000000 |     3.006 |       3 |      - |332712270.4
 free_scalar_ebd          | 1000000 |     2.708 |       2 |  0.901 |369317132.6
 free_scalar_fu2          | 1000000 |     5.264 |       5 |  1.751 |189958778.9

## FreeFunction.TrivialParameters:

 Name (* = baseline)      |   Dim   |  Total ms |  ns/op  |Baseline| Ops/second
--------------------------|--------:|----------:|--------:|-------:|----------:
 free_trivial_std *       |   10000 |     0.032 |       3 |      - |311526479.8
 free_trivial_ebd         |   10000 |     0.024 |       2 |  0.754 |413223140.5
 free_trivial_fu2         |   10000 |     0.052 |       5 |  1.626 |191570881.2
 free_trivial_std *       |  100000 |     0.322 |       3 |      - |310366232.2
 free_trivial_ebd         |  100000 |     0.240 |       2 |  0.746 |415800415.8
 free_trivial_fu2         |  100000 |     0.510 |       5 |  1.583 |196001568.0
 free_trivial_std *       | 1000000 |     3.222 |       3 |      - |310375865.2
 free_trivial_ebd         | 1000000 |     2.508 |       2 |  0.778 |398692289.3
 free_trivial_fu2         | 1000000 |     5.792 |       5 |  1.798 |172660876.8

## FreeFunction.CopyHardParameters:

 Name (* = baseline)      |   Dim   |  Total ms |  ns/op  |Baseline| Ops/second
--------------------------|--------:|----------:|--------:|-------:|----------:
 free_copyhard_std *      |   10000 |     0.197 |      19 |      - | 50684237.2
 free_copyhard_ebd        |   10000 |     0.198 |      19 |  1.004 | 50505050.5
 free_copyhard_fu2        |   10000 |     0.303 |      30 |  1.537 | 32981530.3
 free_copyhard_std *      |  100000 |     1.976 |      19 |      - | 50604726.5
 free_copyhard_ebd        |  100000 |     1.982 |      19 |  1.003 | 50456632.5
 free_copyhard_fu2        |  100000 |     3.044 |      30 |  1.541 | 32849352.9
 free_copyhard_std *      | 1000000 |    19.898 |      19 |      - | 50256307.2
 free_copyhard_ebd        | 1000000 |    20.052 |      20 |  1.008 | 49870088.4
 free_copyhard_fu2        | 1000000 |    31.358 |      31 |  1.576 | 31889890.6

## FreeFunction.CallTrivialParameters:

 Name (* = baseline)      |   Dim   |  Total ms |  ns/op  |Baseline| Ops/second
--------------------------|--------:|----------:|--------:|-------:|----------:
 free_calltrivial_std *   |   10000 |     0.032 |       3 |      - |311526479.8
 free_calltrivial_ebd     |   10000 |     0.024 |       2 |  0.751 |414937759.3
 free_calltrivial_fu2     |   10000 |     0.056 |       5 |  1.757 |177304964.5
 free_calltrivial_std *   |  100000 |     0.320 |       3 |      - |312597686.8
 free_calltrivial_ebd     |  100000 |     0.257 |       2 |  0.802 |389711613.4
 free_calltrivial_fu2     |  100000 |     0.584 |       5 |  1.827 |171115674.2
 free_calltrivial_std *   | 1000000 |     3.223 |       3 |      - |310269934.8
 free_calltrivial_ebd     | 1000000 |     2.407 |       2 |  0.747 |415506710.4
 free_calltrivial_fu2     | 1000000 |     5.934 |       5 |  1.841 |168517551.1

See here for more benchmark results.

🧭 Future learning & evolution reference

• llvm::function_ref.

• C++26-std::function_ref-P0792.

• C++26-std::copyable_function-P2548.

📚 Similar implementations

• std::function

• Naios/function2

• pmed/fixed_size_function

• rigtorp/Function

• rosbacke/delegate

• winterscar/functional-avr

• bdiamand/Delegate

• potswa/cxx_function