Switch to fully composition based Transducers.

examples/ads1256/src/bin/multiplex.rs

@@ -33,8 +33,8 @@ use embassy_stm32::peripherals::{EXTI6, PF6, PF7, SPI3};
 use embassy_sync::blocking_mutex::raw::NoopRawMutex;
 use embassy_sync::pubsub::PubSubChannel;
 use physical_ads1256::{standard_input, SingleEnded};
-use physical_node::transducer::input::RawStatePubInput;
+use physical_node::transducer::input::StatefulPublisher;
-use physical_node::transducer::Publisher;
+use physical_node::transducer::Publish;
 
 const AUTOCAL_CONF: Config = Config {
     status: Status::setting(Buffer::Enabled, AutoCal::Enabled, BitOrder::MostSigFirst),
@@ -58,9 +58,9 @@ impl ads1256::BlockingDelay for Ads1256Delay {
 }
 
 struct Inputs {
-    ai1: RawStatePubInput<f32::ElectricPotential, NoopRawMutex, 10, 1>,
+    ai1: StatefulPublisher<f32::ElectricPotential, NoopRawMutex, 10, 1>,
-    ai2: RawStatePubInput<f32::ElectricPotential, NoopRawMutex, 10, 1>,
+    ai2: StatefulPublisher<f32::ElectricPotential, NoopRawMutex, 10, 1>,
-    ai3: RawStatePubInput<f32::ElectricPotential, NoopRawMutex, 10, 1>,
+    ai3: StatefulPublisher<f32::ElectricPotential, NoopRawMutex, 10, 1>,
 }
 
 // Inputs
@@ -101,17 +101,17 @@ async fn main(spawner: Spawner) {
     let ads_1256 = ADS_1256.init(Ads1256::new(Ads1256Delay, select_ads1256, ads1256_data_ready));
 
     let inputs = &*ANALOG_INPUTS.init(Inputs {
-        ai1: RawStatePubInput::new(
+        ai1: StatefulPublisher::new(
-            Cell::new(f32::ElectricPotential::new::<volt>(-1000.0)),
+            Cell::new(f32::ElectricPotential::new::<volt>(-1000.0)).into(),
-            PubSubChannel::new(),
+            PubSubChannel::new().into(),
         ),
-        ai2: RawStatePubInput::new(
+        ai2: StatefulPublisher::new(
-            Cell::new(f32::ElectricPotential::new::<volt>(-1000.0)),
+            Cell::new(f32::ElectricPotential::new::<volt>(-1000.0)).into(),
-            PubSubChannel::new(),
+            PubSubChannel::new().into(),
         ),
-        ai3: RawStatePubInput::new(
+        ai3: StatefulPublisher::new(
-            Cell::new(f32::ElectricPotential::new::<volt>(-1000.0)),
+            Cell::new(f32::ElectricPotential::new::<volt>(-1000.0)).into(),
-            PubSubChannel::new(),
+            PubSubChannel::new().into(),
         ),
     });
 

node/src/transducer/input.rs

@@ -1,105 +1,68 @@
 use crate::cell::CellView;
-use crate::transducer::Publisher;
+use crate::transducer::{Publish, Publisher};
 use core::cell::Cell;
 #[cfg(feature = "embassy-sync")]
 use embassy_sync::blocking_mutex::raw::RawMutex;
 #[cfg(feature = "embassy-sync")]
-use embassy_sync::pubsub::PubSubChannel;
+use embassy_sync::pubsub::{Error, PubSubChannel, Subscriber};
-use embassy_sync::pubsub::{Error, PubSubBehavior, Subscriber};
 pub use physical::transducer::input::*;
-use physical::transducer::Stateful;
+use physical::transducer::{State, Stateful};
 
 #[cfg(feature = "embassy-sync")]
-pub struct RawPublishInput<T: Copy, MutexT: RawMutex, const CAPACITY: usize, const NUM_SUBS: usize>
+pub struct StatefulPublisher<
-{
-    pub channel: PubSubChannel<MutexT, T, CAPACITY, NUM_SUBS, 0>,
-}
-
-impl<T: Copy, MutexT: RawMutex, const CAPACITY: usize, const NUM_SUBS: usize>
-    RawPublishInput<T, MutexT, CAPACITY, NUM_SUBS>
-{
-    #[inline(always)]
-    pub fn new(channel: PubSubChannel<MutexT, T, CAPACITY, NUM_SUBS, 0>) -> Self {
-        Self { channel }
-    }
-
-    #[inline(always)]
-    pub fn update(&self, value: T) {
-        self.channel.publish_immediate(value);
-    }
-}
-
-impl<T: Copy, MutexT: RawMutex, const CAPACITY: usize, const NUM_SUBS: usize>
-    Publisher<CAPACITY, NUM_SUBS> for RawPublishInput<T, MutexT, CAPACITY, NUM_SUBS>
-{
-    type Value = T;
-    type Mutex = MutexT;
-
-    #[inline(always)]
-    fn subscribe(
-        &self,
-    ) -> Result<Subscriber<Self::Mutex, Self::Value, CAPACITY, NUM_SUBS, 0>, Error> {
-        self.channel.subscriber()
-    }
-}
-
-#[cfg(feature = "embassy-sync")]
-pub struct RawStatePubInput<
     T: Copy,
     MutexT: RawMutex,
     const CAPACITY: usize,
     const NUM_SUBS: usize,
 > {
-    pub state_cell: Cell<T>,
+    pub state: State<T>,
-    pub channel: PubSubChannel<MutexT, T, CAPACITY, NUM_SUBS, 0>,
+    pub publisher: Publisher<T, MutexT, CAPACITY, NUM_SUBS>,
 }
 
 impl<T: Copy, MutexT: RawMutex, const CAPACITY: usize, const NUM_SUBS: usize>
-    RawStatePubInput<T, MutexT, CAPACITY, NUM_SUBS>
+    StatefulPublisher<T, MutexT, CAPACITY, NUM_SUBS>
 {
     #[inline(always)]
     pub fn new(
-        state_cell: Cell<T>,
+        state: State<T>,
-        channel: PubSubChannel<MutexT, T, CAPACITY, NUM_SUBS, 0>,
+        publisher: Publisher<T, MutexT, CAPACITY, NUM_SUBS>,
     ) -> Self {
-        Self {
+        Self { state, publisher }
-            state_cell,
-            channel,
-        }
     }
 
-    #[inline]
+    #[inline(always)]
     pub fn update(&self, value: T) {
-        self.state_cell.set(value);
+        self.state.update(value);
-        self.channel.publish_immediate(value);
+        self.publisher.update(value);
     }
 }
 
 impl<T: Copy, MutexT: RawMutex, const CAPACITY: usize, const NUM_SUBS: usize> Stateful
-    for RawStatePubInput<T, MutexT, CAPACITY, NUM_SUBS>
+    for StatefulPublisher<T, MutexT, CAPACITY, NUM_SUBS>
 {
     type Value = T;
 
     #[inline(always)]
     fn state_cell(&self) -> CellView<Self::Value> {
-        (&self.state_cell).into()
+        self.state.state_cell()
     }
 
     #[inline(always)]
     fn state(&self) -> Self::Value {
-        self.state_cell.get()
+        self.state.state()
     }
 }
 
 impl<T: Copy, MutexT: RawMutex, const CAPACITY: usize, const NUM_SUBS: usize>
-    Publisher<CAPACITY, NUM_SUBS> for RawStatePubInput<T, MutexT, CAPACITY, NUM_SUBS>
+    Publish<CAPACITY, NUM_SUBS> for StatefulPublisher<T, MutexT, CAPACITY, NUM_SUBS>
 {
     type Value = T;
     type Mutex = MutexT;
 
+    #[inline(always)]
     fn subscribe(
         &self,
     ) -> Result<Subscriber<Self::Mutex, Self::Value, CAPACITY, NUM_SUBS, 0>, Error> {
-        self.channel.subscriber()
+        self.publisher.subscribe()
     }
 }

node/src/transducer/mod.rs

@@ -8,10 +8,10 @@ use embassy_sync::blocking_mutex::raw::RawMutex;
 #[cfg(feature = "embassy-sync")]
 use embassy_sync::pubsub;
 #[cfg(feature = "embassy-sync")]
-use embassy_sync::pubsub::Subscriber;
+use embassy_sync::pubsub::{PubSubBehavior, PubSubChannel, Subscriber};
 
 #[cfg(feature = "embassy-sync")]
-pub trait Publisher<const CAPACITY: usize, const NUM_SUBS: usize> {
+pub trait Publish<const CAPACITY: usize, const NUM_SUBS: usize> {
     type Value: Copy;
     type Mutex: RawMutex;
 
@@ -19,3 +19,46 @@ pub trait Publisher<const CAPACITY: usize, const NUM_SUBS: usize> {
         &self,
     ) -> Result<Subscriber<Self::Mutex, Self::Value, CAPACITY, NUM_SUBS, 0>, pubsub::Error>;
 }
+
+#[cfg(feature = "embassy-sync")]
+pub struct Publisher<T: Copy, MutexT: RawMutex, const CAPACITY: usize, const NUM_SUBS: usize> {
+    channel: PubSubChannel<MutexT, T, CAPACITY, NUM_SUBS, 0>,
+}
+
+impl<T: Copy, MutexT: RawMutex, const CAPACITY: usize, const NUM_SUBS: usize>
+    Publisher<T, MutexT, CAPACITY, NUM_SUBS>
+{
+    #[inline(always)]
+    pub fn new(channel: PubSubChannel<MutexT, T, CAPACITY, NUM_SUBS, 0>) -> Self {
+        Self { channel }
+    }
+
+    #[inline(always)]
+    pub fn update(&self, value: T) {
+        self.channel.publish_immediate(value);
+    }
+}
+
+impl<T: Copy, MutexT: RawMutex, const CAPACITY: usize, const NUM_SUBS: usize>
+    Publish<CAPACITY, NUM_SUBS> for Publisher<T, MutexT, CAPACITY, NUM_SUBS>
+{
+    type Value = T;
+    type Mutex = MutexT;
+
+    #[inline(always)]
+    fn subscribe(
+        &self,
+    ) -> Result<Subscriber<Self::Mutex, Self::Value, CAPACITY, NUM_SUBS, 0>, pubsub::Error> {
+        self.channel.subscriber()
+    }
+}
+
+impl<T: Copy, MutexT: RawMutex, const CAPACITY: usize, const NUM_SUBS: usize>
+From<PubSubChannel<MutexT, T, CAPACITY, NUM_SUBS, 0>>
+for Publisher<T, MutexT, CAPACITY, NUM_SUBS>
+{
+    #[inline(always)]
+    fn from(channel: PubSubChannel<MutexT, T, CAPACITY, NUM_SUBS, 0>) -> Self {
+        Publisher::new(channel)
+    }
+}

src/transducer/input.rs

@@ -5,33 +5,3 @@ use crate::transducer::Stateful;
 pub trait Poll<T: Copy> {
     async fn poll() -> T;
 }
-
-pub struct RawStatefulInput<T: Copy> {
-    pub state_cell: Cell<T>,
-}
-
-impl<T: Copy> RawStatefulInput<T> {
-    #[inline(always)]
-    pub fn new(state_cell: Cell<T>) -> Self {
-        Self { state_cell }
-    }
-
-    #[inline(always)]
-    pub fn raw_update(&self, value: T) {
-        self.state_cell.set(value);
-    }
-}
-
-impl<T: Copy> Stateful for RawStatefulInput<T> {
-    type Value = T;
-
-    #[inline(always)]
-    fn state_cell(&self) -> CellView<Self::Value> {
-        (&self.state_cell).into()
-    }
-
-    #[inline(always)]
-    fn state(&self) -> Self::Value {
-        self.state_cell.get()
-    }
-}

src/transducer/mod.rs

@@ -1,3 +1,4 @@
+use core::cell::Cell;
 use crate::cell::CellView;
 
 pub mod input;
@@ -11,8 +12,42 @@ pub trait Stateful {
 
     fn state_cell(&self) -> CellView<Self::Value>;
 
+    fn state(&self) -> Self::Value;
+}
+
+pub struct State<T: Copy> {
+    state_cell: Cell<T>,
+}
+
+impl<T: Copy> State<T> {
     #[inline(always)]
-    fn state(&self) -> Self::Value {
+    pub fn new(state_cell: Cell<T>) -> Self {
-        self.state_cell().get()
+        Self { state_cell }
+    }
+
+    #[inline(always)]
+    pub fn update(&self, value: T) {
+        self.state_cell.set(value);
+    }
+}
+
+impl<T: Copy> Stateful for State<T> {
+    type Value = T;
+
+    #[inline(always)]
+    fn state_cell(&self) -> CellView<Self::Value> {
+        (&self.state_cell).into()
+    }
+
+    #[inline(always)]
+    fn state(&self) -> Self::Value {
+        self.state_cell.get()
+    }
+}
+
+impl<T: Copy> From<Cell<T>> for State<T> {
+    #[inline(always)]
+    fn from(state_cell: Cell<T>) -> Self {
+        State::new(state_cell)
     }
 }

src/transducer/output.rs

@@ -3,5 +3,5 @@ pub trait Output {
 
     //TODO: return result
     //TODO: Make maybe async
-    fn set(&mut self, setting: Self::Value);
+    fn output(&mut self, setting: Self::Value);
 }