Initial node implementation (#4)

Reviewed-on: #4
Co-authored-by: Zack <zack@bfpower.io>
Co-committed-by: Zack <zack@bfpower.io>

node/src/transducer/sync/mod.rs

@@ -0,0 +1,58 @@
+mod input;
+
+pub use input::*;
+
+use embassy_sync::blocking_mutex::raw::RawMutex;
+use embassy_sync::pubsub;
+use embassy_sync::pubsub::{PubSubBehavior, PubSubChannel, Subscriber};
+
+pub trait Publish<const CAPACITY: usize, const NUM_SUBS: usize> {
+    type Value: Copy;
+    type Mutex: RawMutex;
+
+    fn subscribe(
+        &self,
+    ) -> Result<Subscriber<Self::Mutex, Self::Value, CAPACITY, NUM_SUBS, 0>, pubsub::Error>;
+}
+
+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)
+    }
+}