events: rewrite some event buses to use multi-consumer pubsub instead of single-consumer channels

src/events.rs

@@ -1,7 +1,5 @@
 
-use core::sync::atomic::{AtomicBool, AtomicU8};
-
-use embassy_sync::{blocking_mutex::raw::{CriticalSectionRawMutex, NoopRawMutex}, channel::Channel, signal::Signal};
+use embassy_sync::{blocking_mutex::raw::{CriticalSectionRawMutex, NoopRawMutex}, channel::Channel, pubsub::PubSubChannel};
 use embassy_time::Duration;
 use nalgebra::{Vector2, Vector3};
 use alloc::sync::Arc;
@@ -133,7 +131,7 @@ impl Default for DisplayControls {
 #[derive(Debug)]
 pub struct BusGarage {
     pub motion: Channel<NoopRawMutex, Measurement, 5>,
-    pub notify: Channel<CriticalSectionRawMutex, Notification, 5>,
+    pub notify: PubSubChannel<CriticalSectionRawMutex, Notification, 5, 2, 4>,
     pub predict: Channel<CriticalSectionRawMutex, Prediction, 15>,
     pub display: Arc<DisplayControls>
 }
@@ -142,7 +140,7 @@ impl Default for BusGarage {
     fn default() -> Self {
         Self {
             motion: Channel::new(),
-            notify: Channel::new(),
+            notify: PubSubChannel::new(),
             predict: Channel::new(),
             display: Default::default()
         }