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Currently blocked on #54 and #56. Requires a rebase once those are merged.
As the title says, this PR makes the interface non-blocking (more explanation in the commit messages). Also contains some clean-ups that can stand on their own. I plan to break those out into separate pull requests for easier review, once the pull requests this is blocked on are merged.
This adds quite a bit of complexity, but I think it's worth it (or rather, non-optional). A lot of this can get cleaned up significantly once we can use async/await, but that requires more support in the embedded ecosystem. There's some movement there, from what I hear, but all of it is a bit too tenuous to block this pull request, in my opinion.
List of things to do after merging this:
Close #5