docs

README.md

@@ -17,6 +17,10 @@ together.
 RoboPLC is a part of [EVA ICS](https://www.eva-ics.com/) industrial
 automation platform.
 
+Real-time-safe data synchronization primitives are re-exported from the
+[RTSC](https://docs.rs/rtsc) crate which is a part of RoboPLC project and can
+be used directly, with no requirement to use RoboPLC.
+
 ## Technical documentation
 
 Available at <https://info.bma.ai/en/actual/roboplc/index.html>
@@ -65,7 +69,7 @@ width="550" />
 
 ## pdeque and pchannel
 
-A policy-based deque [`pdeque::Deque`] is a component to build policy-based
+A policy-based deque [`rtsc::pdeque::Deque`] is a component to build policy-based
 channels.
 
 [`pchannel`] is a channel module, based on the policy-based deque.

examples/modbus-master.rs

@@ -3,6 +3,7 @@ use roboplc::{
     time::interval,
 };
 use roboplc::{io::modbus::prelude::*, prelude::*};
+use rtsc::cell::TtlCell;
 use tracing::{error, info, warn};
 
 const MODBUS_TIMEOUT: Duration = Duration::from_secs(1);

src/io/modbus/server.rs

 use crate::io::{modbus::ModbusRegister, IoMapping};
 use crate::{
     comm::{self, Protocol},
-    semaphore::Semaphore,
     Error, Result,
 };
 use binrw::{BinRead, BinWrite};
@@ -10,6 +9,7 @@ use rmodbus::{
     server::{context::ModbusContext, storage::ModbusStorage, ModbusFrame},
     ModbusFrameBuf, ModbusProto,
 };
+use rtsc::semaphore::Semaphore;
 use serial::SystemPort;
 use std::time::Duration;
 use std::{