adds command registration

flight/src/hardware/pin.rs

@@ -5,17 +5,18 @@ use std::time::Instant;
 pub trait PinDevice {
     fn set_pin(&self, pin: u8, value: PinState, valid_until: Instant, priority: u8);
 
-    fn new_pinset_callback(self) -> impl Fn(ValidPriorityCommand<SetPin>)
+    fn new_pinset_callback<'a>(&self) -> impl Fn(ValidPriorityCommand<SetPin>) + 'a
     where
-        Self: Sized,
+        Self: Sized + Clone + 'a,
     {
+        let this = self.clone();
         move |cmd| {
-            self.set_pin(
+            this.set_pin(
                 cmd.pin,
                 cmd.value.into(),
                 cmd.get_valid_until_instant(),
                 cmd.priority,
-            )
+            );
         }
     }
 }