bump sat-rs and improve PUS stack

Cargo.lock

@@ -248,6 +248,17 @@ dependencies = [
  "syn 1.0.109",
 ]
 
+[[package]]
+name = "delegate"
+version = "0.12.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "4e018fccbeeb50ff26562ece792ed06659b9c2dae79ece77c4456bb10d9bf79b"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn 2.0.60",
+]
+
 [[package]]
 name = "derive-new"
 version = "0.6.0"
@@ -631,6 +642,7 @@ name = "ops-sat-rs"
 version = "0.1.1"
 dependencies = [
  "chrono",
+ "delegate 0.12.0",
  "derive-new",
  "env_logger",
  "fern",
@@ -776,13 +788,13 @@ checksum = "e86697c916019a8588c99b5fac3cead74ec0b4b819707a682fd4d23fa0ce1ba1"
 [[package]]
 name = "satrs"
 version = "0.2.0-rc.5"
-source = "git+https://egit.irs.uni-stuttgart.de/rust/sat-rs.git?branch=main#29f71c2a571e7492cf5d997d4c11c3f844de83bc"
+source = "git+https://egit.irs.uni-stuttgart.de/rust/sat-rs.git?branch=main#9ffe4d0ae02064444da606b2cd1a3c0dd6858fbb"
 dependencies = [
  "bus",
  "cobs",
  "crc",
  "crossbeam-channel",
- "delegate",
+ "delegate 0.10.0",
  "derive-new",
  "downcast-rs",
  "dyn-clone",
@@ -835,9 +847,9 @@ dependencies = [
 
 [[package]]
 name = "serde"
-version = "1.0.199"
+version = "1.0.200"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "0c9f6e76df036c77cd94996771fb40db98187f096dd0b9af39c6c6e452ba966a"
+checksum = "ddc6f9cc94d67c0e21aaf7eda3a010fd3af78ebf6e096aa6e2e13c79749cce4f"
 dependencies = [
  "serde_derive",
 ]
@@ -855,9 +867,9 @@ dependencies = [
 
 [[package]]
 name = "serde_derive"
-version = "1.0.199"
+version = "1.0.200"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "11bd257a6541e141e42ca6d24ae26f7714887b47e89aa739099104c7e4d3b7fc"
+checksum = "856f046b9400cee3c8c94ed572ecdb752444c24528c035cd35882aad6f492bcb"
 dependencies = [
  "proc-macro2",
  "quote",
@@ -926,7 +938,7 @@ checksum = "fa9f4d7df5fa3bc25ecfc95f1f612fc3d16c566df538d3d3c82db0e523096216"
 dependencies = [
  "chrono",
  "crc",
- "delegate",
+ "delegate 0.10.0",
  "num-traits",
  "num_enum",
  "serde",

Cargo.toml

@@ -10,6 +10,7 @@ fern = "0.6"
 toml = "0.8"
 chrono = "0.4"
 log = "0.4"
+delegate = "0.12"
 lazy_static = "1"
 humantime = "2"
 strum = { version = "0.26", features = ["derive"] }

src/interface/udp_server.rs

@@ -2,8 +2,8 @@ use std::net::{SocketAddr, UdpSocket};
 use std::sync::mpsc;
 
 use log::{info, warn};
-use ops_sat_rs::HandlingStatus;
 use satrs::hal::std::udp_server::{ReceiveResult, UdpTcServer};
+use satrs::pus::HandlingStatus;
 use satrs::queue::GenericSendError;
 use satrs::tmtc::PacketAsVec;
 
@@ -125,7 +125,7 @@ mod tests {
         let (tx, rx) = mpsc::channel();
         let udp_tc_server = UdpTcServer::new(UDP_SERVER_ID, sock_addr, 2048, tx).unwrap();
         let tm_handler = TestTmHandler::default();
-        let tm_handler_calls = tm_handler.addrs_to_send_to.clone();
+        let _tm_handler_calls = tm_handler.addrs_to_send_to.clone();
         let mut udp_dyn_server = UdpTmtcServer {
             udp_tc_server,
             tm_handler,

src/lib.rs

@@ -3,12 +3,6 @@ use satrs::spacepackets::time::TimeWriter;
 
 pub mod config;
 
-#[derive(Debug, PartialEq, Eq, Copy, Clone)]
-pub enum HandlingStatus {
-    Empty,
-    HandledOne,
-}
-
 #[derive(Debug)]
 pub struct TimeStampHelper {
     stamper: CdsTime,

src/pus/action.rs

@@ -1,4 +1,4 @@
-use log::{error, warn};
+use log::warn;
 use ops_sat_rs::config::components::PUS_ACTION_SERVICE;
 use ops_sat_rs::config::tmtc_err;
 use ops_sat_rs::TimeStampHelper;
@@ -13,13 +13,13 @@ use satrs::pus::verification::{
 };
 use satrs::pus::{
     ActiveRequestProvider, EcssTcAndToken, EcssTcInVecConverter, EcssTmSender, EcssTmtcError,
-    GenericConversionError, PusPacketHandlerResult, PusReplyHandler, PusServiceHelper,
+    GenericConversionError, HandlingStatus, PusPacketHandlingError, PusReplyHandler,
-    PusTcToRequestConverter, PusTmVariant,
+    PusServiceHelper, PusTcToRequestConverter, PusTmVariant,
 };
 use satrs::request::{GenericMessage, UniqueApidTargetId};
 use satrs::spacepackets::ecss::tc::PusTcReader;
 use satrs::spacepackets::ecss::tm::{PusTmCreator, PusTmSecondaryHeader};
-use satrs::spacepackets::ecss::{EcssEnumU16, PusPacket};
+use satrs::spacepackets::ecss::{EcssEnumU16, PusPacket, PusServiceId};
 use satrs::spacepackets::SpHeader;
 use satrs::tmtc::PacketAsVec;
 use std::sync::mpsc;
@@ -28,8 +28,8 @@ use std::time::Duration;
 use crate::requests::GenericRequestRouter;
 
 use super::{
-    create_verification_reporter, generic_pus_request_timeout_handler, HandlingStatus,
+    create_verification_reporter, generic_pus_request_timeout_handler, PusTargetedRequestService,
-    PusTargetedRequestService, TargetedPusService,
+    TargetedPusService,
 };
 
 pub const DATA_REPLY: u8 = 130;
@@ -248,47 +248,23 @@ pub struct ActionServiceWrapper {
 }
 
 impl TargetedPusService for ActionServiceWrapper {
-    /// Returns [true] if the packet handling is finished.
+    const SERVICE_ID: u8 = PusServiceId::Action as u8;
-    fn poll_and_handle_next_tc(&mut self, time_stamp: &[u8]) -> HandlingStatus {
+    const SERVICE_STR: &'static str = "action";
-        match self.service.poll_and_handle_next_tc(time_stamp) {
-            Ok(result) => match result {
-                PusPacketHandlerResult::RequestHandled => {
-                    return HandlingStatus::HandledOne;
-                }
-                PusPacketHandlerResult::RequestHandledPartialSuccess(e) => {
-                    warn!("PUS 8 partial packet handling success: {e:?}");
-                    return HandlingStatus::HandledOne;
-                }
-                PusPacketHandlerResult::CustomSubservice(invalid, _) => {
-                    warn!("PUS 8 invalid subservice {invalid}");
-                    return HandlingStatus::HandledOne;
-                }
-                PusPacketHandlerResult::SubserviceNotImplemented(subservice, _) => {
-                    warn!("PUS 8 subservice {subservice} not implemented");
-                    return HandlingStatus::HandledOne;
-                }
-                PusPacketHandlerResult::Empty => (),
-            },
-            Err(error) => {
-                error!("PUS packet handling error: {error:?}");
-            }
-        }
-        // To avoid permanent loops, treat queue empty by default (all tasks done).
-        HandlingStatus::Empty
-    }
 
-    fn poll_and_handle_next_reply(&mut self, time_stamp: &[u8]) -> HandlingStatus {
+    delegate::delegate! {
-        // This only fails if all senders disconnected. Treat it like an empty queue.
+        to self.service {
-        self.service
+            fn poll_and_handle_next_tc(
-            .poll_and_check_next_reply(time_stamp)
+                &mut self,
-            .unwrap_or_else(|e| {
+                time_stamp: &[u8],
-                warn!("PUS 8: Handling reply failed with error {e:?}");
+            ) -> Result<HandlingStatus, PusPacketHandlingError>;
-                HandlingStatus::Empty
-            })
-    }
 
-    fn check_for_request_timeouts(&mut self) {
+            fn poll_and_handle_next_reply(
-        self.service.check_for_request_timeouts();
+                &mut self,
+                time_stamp: &[u8],
+            ) -> Result<HandlingStatus, EcssTmtcError>;
+
+            fn check_for_request_timeouts(&mut self);
+        }
     }
 }
 
@@ -317,8 +293,8 @@ mod tests {
     use satrs::pus::test_util::{
         TEST_APID, TEST_COMPONENT_ID_0, TEST_COMPONENT_ID_1, TEST_UNIQUE_ID_0, TEST_UNIQUE_ID_1,
     };
+    use satrs::pus::verification;
     use satrs::pus::verification::test_util::TestVerificationReporter;
-    use satrs::pus::{verification, TcInMemory};
     use satrs::request::MessageMetadata;
     use satrs::ComponentId;
     use satrs::{
@@ -423,7 +399,7 @@ mod tests {
             }
             let result = result.unwrap();
             match result {
-                PusPacketHandlerResult::RequestHandled => (),
+                HandlingStatus::HandledOne => (),
                 _ => panic!("unexpected result {result:?}"),
             }
         }
@@ -435,19 +411,19 @@ mod tests {
             }
             let result = result.unwrap();
             match result {
-                PusPacketHandlerResult::Empty => (),
+                HandlingStatus::Empty => (),
                 _ => panic!("unexpected result {result:?}"),
             }
         }
 
         pub fn verify_next_reply_is_handled_properly(&mut self, time_stamp: &[u8]) {
-            let result = self.service.poll_and_check_next_reply(time_stamp);
+            let result = self.service.poll_and_handle_next_reply(time_stamp);
             assert!(result.is_ok());
             assert_eq!(result.unwrap(), HandlingStatus::HandledOne);
         }
 
         pub fn verify_all_replies_handled(&mut self, time_stamp: &[u8]) {
-            let result = self.service.poll_and_check_next_reply(time_stamp);
+            let result = self.service.poll_and_handle_next_reply(time_stamp);
             assert!(result.is_ok());
             assert_eq!(result.unwrap(), HandlingStatus::Empty);
         }
@@ -472,11 +448,7 @@ mod tests {
                 .check_next_is_acceptance_success(id, accepted_token.request_id());
             self.pus_packet_tx
                 .send(EcssTcAndToken::new(
-                    TcInMemory::Vec(PacketAsVec::new(
+                    PacketAsVec::new(self.service.service_helper.id(), tc.to_vec().unwrap()),
-                        self.service.service_helper.id(),
-                        //tc.to_vec().unwrap().into(),
-                        tc.to_vec().unwrap(),
-                    )),
                     accepted_token,
                 ))
                 .unwrap();

src/pus/event.rs

@@ -1,15 +1,16 @@
 use std::sync::mpsc;
 
-use super::HandlingStatus;
+use super::{DirectPusService, HandlingStatus};
 use crate::pus::create_verification_reporter;
-use log::{error, warn};
 use ops_sat_rs::config::components::PUS_EVENT_MANAGEMENT;
 use satrs::pus::event_man::EventRequestWithToken;
 use satrs::pus::event_srv::PusEventServiceHandler;
 use satrs::pus::verification::VerificationReporter;
 use satrs::pus::{
-    EcssTcAndToken, EcssTcInVecConverter, MpscTcReceiver, PusPacketHandlerResult, PusServiceHelper,
+    DirectPusPacketHandlerResult, EcssTcAndToken, EcssTcInVecConverter, MpscTcReceiver,
+    PartialPusHandlingError, PusServiceHelper,
 };
+use satrs::spacepackets::ecss::PusServiceId;
 use satrs::tmtc::PacketAsVec;
 
 pub fn create_event_service(
@@ -41,32 +42,51 @@ pub struct EventServiceWrapper {
     >,
 }
 
-impl EventServiceWrapper {
+impl DirectPusService for EventServiceWrapper {
-    pub fn poll_and_handle_next_tc(&mut self, time_stamp: &[u8]) -> HandlingStatus {
+    const SERVICE_ID: u8 = PusServiceId::Event as u8;
-        match self.handler.poll_and_handle_next_tc(time_stamp) {
+
-            Ok(result) => match result {
+    const SERVICE_STR: &'static str = "events";
-                PusPacketHandlerResult::RequestHandled => {
+
+    fn poll_and_handle_next_tc(&mut self, time_stamp: &[u8]) -> HandlingStatus {
+        let error_handler = |partial_error: &PartialPusHandlingError| {
+            log::warn!(
+                "PUS {}({}) partial error: {:?}",
+                Self::SERVICE_ID,
+                Self::SERVICE_STR,
+                partial_error
+            );
+        };
+        let result = self
+            .handler
+            .poll_and_handle_next_tc(error_handler, time_stamp);
+        if let Err(e) = result {
+            log::warn!(
+                "PUS {}({}) error: {:?}",
+                Self::SERVICE_ID,
+                Self::SERVICE_STR,
+                e
+            );
             return HandlingStatus::HandledOne;
         }
-                PusPacketHandlerResult::RequestHandledPartialSuccess(e) => {
+        match result.unwrap() {
-                    warn!("PUS 5 partial packet handling success: {e:?}");
+            DirectPusPacketHandlerResult::Handled(handling_status) => return handling_status,
-                    return HandlingStatus::HandledOne;
+            DirectPusPacketHandlerResult::CustomSubservice(subservice, _) => {
+                log::warn!(
+                    "PUS {}({}) subservice {} not implemented",
+                    Self::SERVICE_ID,
+                    Self::SERVICE_STR,
+                    subservice
+                );
             }
-                PusPacketHandlerResult::CustomSubservice(invalid, _) => {
+            DirectPusPacketHandlerResult::SubserviceNotImplemented(subservice, _) => {
-                    warn!("PUS 5 invalid subservice {invalid}");
+                log::warn!(
-                    return HandlingStatus::HandledOne;
+                    "PUS {}({}) subservice {} not implemented",
-                }
+                    Self::SERVICE_ID,
-                PusPacketHandlerResult::SubserviceNotImplemented(subservice, _) => {
+                    Self::SERVICE_STR,
-                    warn!("PUS 5 subservice {subservice} not implemented");
+                    subservice
-                    return HandlingStatus::HandledOne;
+                );
-                }
-                PusPacketHandlerResult::Empty => (),
-            },
-            Err(error) => {
-                error!("PUS packet handling error: {error:?}");
             }
         }
-        // To avoid permanent loops, treat queue empty by default (all tasks done).
+        HandlingStatus::HandledOne
-        HandlingStatus::Empty
     }
 }

src/pus/hk.rs

@@ -1,5 +1,4 @@
 use derive_new::new;
-use log::{error, warn};
 use ops_sat_rs::config::components::PUS_HK_SERVICE;
 use ops_sat_rs::config::{hk_err, tmtc_err};
 use satrs::hk::{CollectionIntervalFactor, HkRequest, HkRequestVariant, UniqueId};
@@ -10,7 +9,7 @@ use satrs::pus::verification::{
 use satrs::pus::{
     ActivePusRequestStd, ActiveRequestProvider, DefaultActiveRequestMap, EcssTcAndToken,
     EcssTcInVecConverter, EcssTmSender, EcssTmtcError, GenericConversionError,
-    PusPacketHandlerResult, PusReplyHandler, PusServiceHelper, PusTcToRequestConverter,
+    PusPacketHandlingError, PusReplyHandler, PusServiceHelper, PusTcToRequestConverter,
 };
 use satrs::request::{GenericMessage, UniqueApidTargetId};
 use satrs::spacepackets::ecss::tc::PusTcReader;
@@ -22,7 +21,7 @@ use std::time::Duration;
 use crate::pus::{create_verification_reporter, generic_pus_request_timeout_handler};
 use crate::requests::GenericRequestRouter;
 
-use super::{HandlingStatus, PusTargetedRequestService};
+use super::{HandlingStatus, PusTargetedRequestService, TargetedPusService};
 
 #[derive(Clone, PartialEq, Debug, new)]
 pub struct HkReply {
@@ -267,47 +266,25 @@ pub struct HkServiceWrapper {
     >,
 }
 
-impl HkServiceWrapper {
+impl TargetedPusService for HkServiceWrapper {
-    pub fn poll_and_handle_next_tc(&mut self, time_stamp: &[u8]) -> HandlingStatus {
+    const SERVICE_ID: u8 = 3;
-        match self.service.poll_and_handle_next_tc(time_stamp) {
-            Ok(result) => match result {
-                PusPacketHandlerResult::RequestHandled => {
-                    return HandlingStatus::HandledOne;
-                }
-                PusPacketHandlerResult::RequestHandledPartialSuccess(e) => {
-                    warn!("PUS 3 partial packet handling success: {e:?}");
-                    return HandlingStatus::HandledOne;
-                }
-                PusPacketHandlerResult::CustomSubservice(invalid, _) => {
-                    warn!("PUS 3 invalid subservice {invalid}");
-                    return HandlingStatus::HandledOne;
-                }
-                PusPacketHandlerResult::SubserviceNotImplemented(subservice, _) => {
-                    warn!("PUS 3 subservice {subservice} not implemented");
-                    return HandlingStatus::HandledOne;
-                }
-                PusPacketHandlerResult::Empty => (),
-            },
-            Err(error) => {
-                error!("PUS packet handling error: {error:?}");
-            }
-        }
-        // To avoid permanent loops, treat queue empty by default (all tasks done).
-        HandlingStatus::Empty
-    }
 
-    pub fn poll_and_handle_next_reply(&mut self, time_stamp: &[u8]) -> HandlingStatus {
+    const SERVICE_STR: &'static str = "housekeeping";
-        // This only fails if all senders disconnected. Treat it like an empty queue.
-        self.service
-            .poll_and_check_next_reply(time_stamp)
-            .unwrap_or_else(|e| {
-                warn!("PUS 3: Handling reply failed with error {e:?}");
-                HandlingStatus::Empty
-            })
-    }
 
-    pub fn check_for_request_timeouts(&mut self) {
+    delegate::delegate! {
-        self.service.check_for_request_timeouts();
+        to self.service {
+            fn poll_and_handle_next_tc(
+                &mut self,
+                time_stamp: &[u8],
+            ) -> Result<HandlingStatus, PusPacketHandlingError>;
+
+            fn poll_and_handle_next_reply(
+                &mut self,
+                time_stamp: &[u8],
+            ) -> Result<HandlingStatus, EcssTmtcError>;
+
+            fn check_for_request_timeouts(&mut self);
+        }
     }
 }
 

src/pus/mod.rs

@@ -10,7 +10,7 @@ use crate::requests::GenericRequestRouter;
 use log::warn;
 use ops_sat_rs::config::components::PUS_ROUTING_SERVICE;
 use ops_sat_rs::config::{tmtc_err, CustomPusServiceId};
-use ops_sat_rs::{HandlingStatus, TimeStampHelper};
+use ops_sat_rs::TimeStampHelper;
 use satrs::pus::verification::{
     self, FailParams, TcStateAccepted, TcStateStarted, VerificationReporter,
     VerificationReporterCfg, VerificationReportingProvider, VerificationToken,
@@ -18,8 +18,8 @@ use satrs::pus::verification::{
 use satrs::pus::{
     ActiveRequestMapProvider, ActiveRequestProvider, EcssTcAndToken, EcssTcInMemConverter,
     EcssTcInVecConverter, EcssTmSender, EcssTmtcError, GenericConversionError, GenericRoutingError,
-    MpscTcReceiver, MpscTmAsVecSender, PusPacketHandlerResult, PusPacketHandlingError,
+    HandlingStatus, MpscTcReceiver, MpscTmAsVecSender, PusPacketHandlingError, PusReplyHandler,
-    PusReplyHandler, PusRequestRouter, PusServiceHelper, PusTcToRequestConverter, TcInMemory,
+    PusRequestRouter, PusServiceHelper, PusTcToRequestConverter, TcInMemory,
 };
 use satrs::queue::{GenericReceiveError, GenericSendError};
 use satrs::request::{Apid, GenericMessage, MessageMetadata};
@@ -78,7 +78,7 @@ impl<TmSender: EcssTmSender> PusTcDistributor<TmSender> {
         &mut self,
         sender_id: ComponentId,
         tc: Vec<u8>,
-    ) -> Result<PusPacketHandlerResult, GenericSendError> {
+    ) -> Result<HandlingStatus, GenericSendError> {
         let pus_tc_result = PusTcReader::new(&tc);
         if pus_tc_result.is_err() {
             log::warn!(
@@ -87,7 +87,7 @@ impl<TmSender: EcssTmSender> PusTcDistributor<TmSender> {
                 pus_tc_result.unwrap_err()
             );
             log::warn!("raw data: {:x?}", tc);
-            return Ok(PusPacketHandlerResult::RequestHandled);
+            return Ok(HandlingStatus::HandledOne);
         }
         let pus_tc = pus_tc_result.unwrap().0;
         let init_token = self.verif_reporter.add_tc(&pus_tc);
@@ -159,17 +159,65 @@ impl<TmSender: EcssTmSender> PusTcDistributor<TmSender> {
                 }
             }
         }
-        Ok(PusPacketHandlerResult::RequestHandled)
+        Ok(HandlingStatus::HandledOne)
     }
 }
 
 pub trait TargetedPusService {
-    /// Returns [true] interface the packet handling is finished.
+    const SERVICE_ID: u8;
-    fn poll_and_handle_next_tc(&mut self, time_stamp: &[u8]) -> HandlingStatus;
+    const SERVICE_STR: &'static str;
-    fn poll_and_handle_next_reply(&mut self, time_stamp: &[u8]) -> HandlingStatus;
+
+    fn poll_and_handle_next_tc_default_handler(&mut self, time_stamp: &[u8]) -> HandlingStatus {
+        let result = self.poll_and_handle_next_tc(time_stamp);
+        if let Err(e) = result {
+            log::error!(
+                "PUS service {}({})packet handling error: {:?}",
+                Self::SERVICE_ID,
+                Self::SERVICE_STR,
+                e
+            );
+            // To avoid permanent loops on error cases.
+            return HandlingStatus::Empty;
+        }
+        result.unwrap()
+    }
+
+    fn poll_and_handle_next_reply_default_handler(&mut self, time_stamp: &[u8]) -> HandlingStatus {
+        // This only fails if all senders disconnected. Treat it like an empty queue.
+        self.poll_and_handle_next_reply(time_stamp)
+            .unwrap_or_else(|e| {
+                warn!(
+                    "PUS servce {}({}): Handling reply failed with error {:?}",
+                    Self::SERVICE_ID,
+                    Self::SERVICE_STR,
+                    e
+                );
+                HandlingStatus::Empty
+            })
+    }
+
+    fn poll_and_handle_next_tc(
+        &mut self,
+        time_stamp: &[u8],
+    ) -> Result<HandlingStatus, PusPacketHandlingError>;
+
+    fn poll_and_handle_next_reply(
+        &mut self,
+        time_stamp: &[u8],
+    ) -> Result<HandlingStatus, EcssTmtcError>;
+
     fn check_for_request_timeouts(&mut self);
 }
 
+/// Generic trait for services which handle packets directly. Kept minimal right now because
+/// of the difficulty to allow flexible user code for these services..
+pub trait DirectPusService {
+    const SERVICE_ID: u8;
+    const SERVICE_STR: &'static str;
+
+    fn poll_and_handle_next_tc(&mut self, timestamp: &[u8]) -> HandlingStatus;
+}
+
 /// This is a generic handlers class for all PUS services where a PUS telecommand is converted
 /// to a targeted request.
 ///
@@ -262,10 +310,10 @@ where
     pub fn poll_and_handle_next_tc(
         &mut self,
         time_stamp: &[u8],
-    ) -> Result<PusPacketHandlerResult, PusPacketHandlingError> {
+    ) -> Result<HandlingStatus, PusPacketHandlingError> {
         let possible_packet = self.service_helper.retrieve_and_accept_next_packet()?;
         if possible_packet.is_none() {
-            return Ok(PusPacketHandlerResult::Empty);
+            return Ok(HandlingStatus::Empty);
         }
         let ecss_tc_and_token = possible_packet.unwrap();
         self.service_helper
@@ -321,7 +369,7 @@ where
                 return Err(e.into());
             }
         }
-        Ok(PusPacketHandlerResult::RequestHandled)
+        Ok(HandlingStatus::HandledOne)
     }
 
     fn handle_conversion_to_request_error(
@@ -374,7 +422,7 @@ where
         }
     }
 
-    pub fn poll_and_check_next_reply(
+    pub fn poll_and_handle_next_reply(
         &mut self,
         time_stamp: &[u8],
     ) -> Result<HandlingStatus, EcssTmtcError> {

src/pus/mode.rs

@@ -1,15 +1,14 @@
 use derive_new::new;
-use log::{error, warn};
 use satrs::tmtc::PacketAsVec;
 use std::sync::mpsc;
 use std::time::Duration;
 
 use crate::requests::GenericRequestRouter;
 use ops_sat_rs::config::components::PUS_MODE_SERVICE;
-use ops_sat_rs::config::{mode_err, tmtc_err};
+use ops_sat_rs::config::{mode_err, tmtc_err, CustomPusServiceId};
 use satrs::pus::verification::VerificationReporter;
 use satrs::pus::{
-    DefaultActiveRequestMap, EcssTcAndToken, EcssTcInVecConverter, PusPacketHandlerResult,
+    DefaultActiveRequestMap, EcssTcAndToken, EcssTcInVecConverter, PusPacketHandlingError,
     PusServiceHelper,
 };
 use satrs::request::GenericMessage;
@@ -239,48 +238,27 @@ pub struct ModeServiceWrapper {
 }
 
 impl TargetedPusService for ModeServiceWrapper {
-    /// Returns [true] if the packet handling is finished.
+    const SERVICE_ID: u8 = CustomPusServiceId::Mode as u8;
-    fn poll_and_handle_next_tc(&mut self, time_stamp: &[u8]) -> HandlingStatus {
-        match self.service.poll_and_handle_next_tc(time_stamp) {
-            Ok(result) => match result {
-                PusPacketHandlerResult::RequestHandled => {
-                    return HandlingStatus::HandledOne;
-                }
-                PusPacketHandlerResult::RequestHandledPartialSuccess(e) => {
-                    warn!("PUS mode service: partial packet handling success: {e:?}");
-                    return HandlingStatus::HandledOne;
-                }
-                PusPacketHandlerResult::CustomSubservice(invalid, _) => {
-                    warn!("PUS mode service: invalid subservice {invalid}");
-                    return HandlingStatus::HandledOne;
-                }
-                PusPacketHandlerResult::SubserviceNotImplemented(subservice, _) => {
-                    warn!("PUS mode service: {subservice} not implemented");
-                    return HandlingStatus::HandledOne;
-                }
-                PusPacketHandlerResult::Empty => (),
-            },
-            Err(error) => {
-                error!("PUS mode service: packet handling error: {error:?}");
-            }
-        }
-        // To avoid permanent loops, treat queue empty by default (all tasks done).
-        HandlingStatus::Empty
-    }
 
-    fn poll_and_handle_next_reply(&mut self, time_stamp: &[u8]) -> HandlingStatus {
+    const SERVICE_STR: &'static str = "mode";
-        self.service
-            .poll_and_check_next_reply(time_stamp)
-            .unwrap_or_else(|e| {
-                warn!("PUS action service: Handling reply failed with error {e:?}");
-                HandlingStatus::HandledOne
-            })
-    }
 
-    fn check_for_request_timeouts(&mut self) {
+    delegate::delegate! {
-        self.service.check_for_request_timeouts();
+        to self.service {
+            fn poll_and_handle_next_tc(
+                &mut self,
+                time_stamp: &[u8],
+            ) -> Result<HandlingStatus, PusPacketHandlingError>;
+
+            fn poll_and_handle_next_reply(
+                &mut self,
+                time_stamp: &[u8],
+            ) -> Result<HandlingStatus, EcssTmtcError>;
+
+            fn check_for_request_timeouts(&mut self);
+        }
     }
 }
+
 #[cfg(test)]
 mod tests {
     use ops_sat_rs::config::tmtc_err;

src/pus/scheduler.rs

@@ -2,65 +2,20 @@ use std::sync::mpsc;
 use std::time::Duration;
 
 use crate::pus::create_verification_reporter;
-use log::{error, info, warn};
+use log::info;
 use ops_sat_rs::config::components::PUS_SCHEDULER_SERVICE;
-use satrs::pool::{PoolProvider, StaticMemoryPool};
+use satrs::pool::StaticMemoryPool;
 use satrs::pus::scheduler::{PusScheduler, TcInfo};
 use satrs::pus::scheduler_srv::PusSchedServiceHandler;
 use satrs::pus::verification::VerificationReporter;
 use satrs::pus::{
-    EcssTcAndToken, EcssTcInVecConverter, MpscTcReceiver, PusPacketHandlerResult, PusServiceHelper,
+    DirectPusPacketHandlerResult, EcssTcAndToken, EcssTcInVecConverter, HandlingStatus,
+    MpscTcReceiver, PartialPusHandlingError, PusServiceHelper,
 };
-use satrs::tmtc::{PacketAsVec, PacketInPool, PacketSenderWithSharedPool};
+use satrs::spacepackets::ecss::PusServiceId;
-use satrs::ComponentId;
+use satrs::tmtc::PacketAsVec;
 
-use super::HandlingStatus;
+use super::DirectPusService;
-
-pub trait TcReleaser {
-    fn release(&mut self, sender_id: ComponentId, enabled: bool, info: &TcInfo, tc: &[u8]) -> bool;
-}
-
-impl TcReleaser for PacketSenderWithSharedPool {
-    fn release(
-        &mut self,
-        sender_id: ComponentId,
-        enabled: bool,
-        _info: &TcInfo,
-        tc: &[u8],
-    ) -> bool {
-        if enabled {
-            let shared_pool = self.shared_pool.get_mut();
-            // Transfer TC from scheduler TC pool to shared TC pool.
-            let released_tc_addr = shared_pool
-                .0
-                .write()
-                .expect("locking pool failed")
-                .add(tc)
-                .expect("adding TC to shared pool failed");
-            self.sender
-                .send(PacketInPool::new(sender_id, released_tc_addr))
-                .expect("sending TC to TC source failed");
-        }
-        true
-    }
-}
-
-impl TcReleaser for mpsc::Sender<PacketAsVec> {
-    fn release(
-        &mut self,
-        sender_id: ComponentId,
-        enabled: bool,
-        _info: &TcInfo,
-        tc: &[u8],
-    ) -> bool {
-        if enabled {
-            // Send released TC to centralized TC source.
-            self.send(PacketAsVec::new(sender_id, tc.to_vec()))
-                .expect("sending TC to TC source failed");
-        }
-        true
-    }
-}
 
 pub struct SchedulingService {
     pub pus_11_handler: PusSchedServiceHandler<
@@ -72,14 +27,72 @@ pub struct SchedulingService {
     >,
     pub sched_tc_pool: StaticMemoryPool,
     pub releaser_buf: [u8; 4096],
-    pub tc_releaser: Box<dyn TcReleaser + Send>,
+    pub tc_releaser: mpsc::Sender<PacketAsVec>,
+}
+
+impl DirectPusService for SchedulingService {
+    const SERVICE_ID: u8 = PusServiceId::Verification as u8;
+
+    const SERVICE_STR: &'static str = "verification";
+
+    fn poll_and_handle_next_tc(&mut self, time_stamp: &[u8]) -> HandlingStatus {
+        let error_handler = |partial_error: &PartialPusHandlingError| {
+            log::warn!(
+                "PUS {}({}) partial error: {:?}",
+                Self::SERVICE_ID,
+                Self::SERVICE_STR,
+                partial_error
+            );
+        };
+
+        let result = self.pus_11_handler.poll_and_handle_next_tc(
+            error_handler,
+            time_stamp,
+            &mut self.sched_tc_pool,
+        );
+        if let Err(e) = result {
+            log::warn!(
+                "PUS {}({}) error: {:?}",
+                Self::SERVICE_ID,
+                Self::SERVICE_STR,
+                e
+            );
+            return HandlingStatus::HandledOne;
+        }
+        match result.unwrap() {
+            DirectPusPacketHandlerResult::Handled(handling_status) => return handling_status,
+            DirectPusPacketHandlerResult::CustomSubservice(subservice, _) => {
+                log::warn!(
+                    "PUS {}({}) subservice {} not implemented",
+                    Self::SERVICE_ID,
+                    Self::SERVICE_STR,
+                    subservice
+                );
+            }
+            DirectPusPacketHandlerResult::SubserviceNotImplemented(subservice, _) => {
+                log::warn!(
+                    "PUS {}({}) subservice {} not implemented",
+                    Self::SERVICE_ID,
+                    Self::SERVICE_STR,
+                    subservice
+                );
+            }
+        }
+        HandlingStatus::HandledOne
+    }
 }
 
 impl SchedulingService {
     pub fn release_tcs(&mut self) {
         let id = self.pus_11_handler.service_helper.id();
-        let releaser = |enabled: bool, info: &TcInfo, tc: &[u8]| -> bool {
+        let releaser = |enabled: bool, _info: &TcInfo, tc: &[u8]| -> bool {
-            self.tc_releaser.release(id, enabled, info, tc)
+            if enabled {
+                // Send released TC to centralized TC source.
+                self.tc_releaser
+                    .send(PacketAsVec::new(id, tc.to_vec()))
+                    .expect("sending TC to TC source failed");
+            }
+            true
         };
 
         self.pus_11_handler
@@ -99,37 +112,6 @@ impl SchedulingService {
             info!("{released_tcs} TC(s) released from scheduler");
         }
     }
-
-    pub fn poll_and_handle_next_tc(&mut self, time_stamp: &[u8]) -> HandlingStatus {
-        match self
-            .pus_11_handler
-            .poll_and_handle_next_tc(time_stamp, &mut self.sched_tc_pool)
-        {
-            Ok(result) => match result {
-                PusPacketHandlerResult::RequestHandled => {
-                    return HandlingStatus::HandledOne;
-                }
-                PusPacketHandlerResult::RequestHandledPartialSuccess(e) => {
-                    warn!("PUS11 partial packet handling success: {e:?}");
-                    return HandlingStatus::HandledOne;
-                }
-                PusPacketHandlerResult::CustomSubservice(invalid, _) => {
-                    warn!("PUS11 invalid subservice {invalid}");
-                    return HandlingStatus::HandledOne;
-                }
-                PusPacketHandlerResult::SubserviceNotImplemented(subservice, _) => {
-                    warn!("PUS11: Subservice {subservice} not implemented");
-                    return HandlingStatus::HandledOne;
-                }
-                PusPacketHandlerResult::Empty => (),
-            },
-            Err(error) => {
-                error!("PUS packet handling error: {error:?}")
-            }
-        }
-        // To avoid permanent loops, treat queue empty by default (all tasks done).
-        HandlingStatus::Empty
-    }
 }
 
 pub fn create_scheduler_service(
@@ -158,6 +140,6 @@ pub fn create_scheduler_service(
         pus_11_handler,
         sched_tc_pool,
         releaser_buf: [0; 4096],
-        tc_releaser: Box::new(tc_source_sender),
+        tc_releaser: tc_source_sender,
     }
 }

src/pus/stack.rs

@@ -5,7 +5,7 @@ use satrs::spacepackets::time::{cds, TimeWriter};
 
 use super::{
     action::ActionServiceWrapper, event::EventServiceWrapper, hk::HkServiceWrapper,
-    mode::ModeServiceWrapper, scheduler::SchedulingService, TargetedPusService,
+    mode::ModeServiceWrapper, scheduler::SchedulingService, DirectPusService, TargetedPusService,
 };
 
 #[derive(new)]
@@ -23,59 +23,28 @@ impl PusStack {
         // Release all telecommands which reached their release time before calling the service
         // handlers.
         self.schedule_srv.release_tcs();
-        let time_stamp = cds::CdsTime::now_with_u16_days()
+        let timestamp = cds::CdsTime::now_with_u16_days()
             .expect("time stamp generation error")
             .to_vec()
             .unwrap();
-        let mut loop_count = 0;
+        let mut loop_count = 0_u32;
+        // Hot loop which will run continuously until all request and reply handling is done.
         loop {
             let mut nothing_to_do = true;
-            let mut is_srv_finished =
+            Self::direct_service_checker(&mut self.test_srv, &timestamp, &mut nothing_to_do);
-                |_srv_id: u8,
+            Self::direct_service_checker(&mut self.schedule_srv, &timestamp, &mut nothing_to_do);
-                 tc_handling_status: HandlingStatus,
+            Self::direct_service_checker(&mut self.event_srv, &timestamp, &mut nothing_to_do);
-                 reply_handling_status: Option<HandlingStatus>| {
+            Self::targeted_service_checker(
-                    if tc_handling_status == HandlingStatus::HandledOne
+                &mut self.action_srv_wrapper,
-                        || (reply_handling_status.is_some()
+                &timestamp,
-                            && reply_handling_status.unwrap() == HandlingStatus::HandledOne)
+                &mut nothing_to_do,
-                    {
-                        nothing_to_do = false;
-                    }
-                };
-            is_srv_finished(
-                17,
-                self.test_srv.poll_and_handle_next_packet(&time_stamp),
-                None,
             );
-            is_srv_finished(
+            Self::targeted_service_checker(
-                11,
+                &mut self.hk_srv_wrapper,
-                self.schedule_srv.poll_and_handle_next_tc(&time_stamp),
+                &timestamp,
-                None,
+                &mut nothing_to_do,
             );
-            is_srv_finished(5, self.event_srv.poll_and_handle_next_tc(&time_stamp), None);
+            Self::targeted_service_checker(&mut self.mode_srv, &timestamp, &mut nothing_to_do);
-            is_srv_finished(
-                8,
-                self.action_srv_wrapper.poll_and_handle_next_tc(&time_stamp),
-                Some(
-                    self.action_srv_wrapper
-                        .poll_and_handle_next_reply(&time_stamp),
-                ),
-            );
-            is_srv_finished(
-                3,
-                self.hk_srv_wrapper.poll_and_handle_next_tc(&time_stamp),
-                Some(self.hk_srv_wrapper.poll_and_handle_next_reply(&time_stamp)),
-            );
-            is_srv_finished(
-                200,
-                self.mode_srv.poll_and_handle_next_tc(&time_stamp),
-                Some(self.mode_srv.poll_and_handle_next_reply(&time_stamp)),
-            );
-            // Safety mechanism to avoid infinite loops.
-            loop_count += 1;
-            if loop_count >= 500 {
-                log::warn!("reached PUS stack loop count 500, breaking");
-                break;
-            }
             if nothing_to_do {
                 // Timeout checking is only done once.
                 self.action_srv_wrapper.check_for_request_timeouts();
@@ -83,6 +52,37 @@ impl PusStack {
                 self.mode_srv.check_for_request_timeouts();
                 break;
             }
+            // Safety mechanism to avoid infinite loops.
+            loop_count += 1;
+            if loop_count >= 500 {
+                log::warn!("reached PUS stack loop count 500, breaking");
+                break;
+            }
+        }
+    }
+
+    pub fn direct_service_checker<S: DirectPusService>(
+        service: &mut S,
+        timestamp: &[u8],
+        nothing_to_do: &mut bool,
+    ) {
+        let handling_status = service.poll_and_handle_next_tc(timestamp);
+        if handling_status == HandlingStatus::HandledOne {
+            *nothing_to_do = false;
+        }
+    }
+
+    pub fn targeted_service_checker<S: TargetedPusService>(
+        service: &mut S,
+        timestamp: &[u8],
+        nothing_to_do: &mut bool,
+    ) {
+        let request_handling = service.poll_and_handle_next_tc_default_handler(timestamp);
+        let reply_handling = service.poll_and_handle_next_reply_default_handler(timestamp);
+        if request_handling == HandlingStatus::HandledOne
+            || reply_handling == HandlingStatus::HandledOne
+        {
+            *nothing_to_do = false;
         }
     }
 }

src/pus/test.rs

@@ -1,22 +1,20 @@
 use crate::pus::create_verification_reporter;
-use log::{info, warn};
+use log::info;
 use ops_sat_rs::config::components::PUS_TEST_SERVICE;
 use ops_sat_rs::config::{tmtc_err, TEST_EVENT};
 use satrs::event_man::{EventMessage, EventMessageU32};
 use satrs::pus::test::PusService17TestHandler;
 use satrs::pus::verification::{FailParams, VerificationReporter, VerificationReportingProvider};
 use satrs::pus::{
-    EcssTcAndToken, EcssTcInMemConverter, EcssTcInVecConverter, MpscTcReceiver, MpscTmAsVecSender,
+    DirectPusPacketHandlerResult, EcssTcAndToken, EcssTcInVecConverter, HandlingStatus,
-    PusPacketHandlerResult, PusServiceHelper,
+    MpscTcReceiver, MpscTmAsVecSender, PartialPusHandlingError, PusServiceHelper,
 };
-use satrs::spacepackets::ecss::tc::PusTcReader;
+use satrs::queue::GenericSendError;
-use satrs::spacepackets::ecss::PusPacket;
+use satrs::spacepackets::ecss::PusServiceId;
-use satrs::spacepackets::time::cds::CdsTime;
-use satrs::spacepackets::time::TimeWriter;
 use satrs::tmtc::PacketAsVec;
 use std::sync::mpsc;
 
-use super::HandlingStatus;
+use super::DirectPusService;
 
 pub fn create_test_service(
     tm_funnel_tx: mpsc::Sender<PacketAsVec>,
@@ -46,64 +44,84 @@ pub struct TestCustomServiceWrapper {
     pub event_tx: mpsc::SyncSender<EventMessageU32>,
 }
 
-impl TestCustomServiceWrapper {
+impl DirectPusService for TestCustomServiceWrapper {
-    pub fn poll_and_handle_next_packet(&mut self, time_stamp: &[u8]) -> HandlingStatus {
+    const SERVICE_ID: u8 = PusServiceId::Test as u8;
-        let res = self.handler.poll_and_handle_next_tc(time_stamp);
+    const SERVICE_STR: &'static str = "test";
-        if res.is_err() {
+
-            warn!("PUS17 handlers failed with error {:?}", res.unwrap_err());
+    fn poll_and_handle_next_tc(&mut self, timestamp: &[u8]) -> HandlingStatus {
-            return HandlingStatus::Empty;
+        let error_handler = |partial_error: &PartialPusHandlingError| {
-        }
+            log::warn!(
-        match res.unwrap() {
+                "PUS {}({}) partial error: {:?}",
-            PusPacketHandlerResult::RequestHandled => {
+                Self::SERVICE_ID,
-                info!("Received PUS ping command TC[17,1]");
+                Self::SERVICE_STR,
-                info!("Sent ping reply PUS TM[17,2]");
+                partial_error
-                return HandlingStatus::HandledOne;
+            );
-            }
+        };
-            PusPacketHandlerResult::RequestHandledPartialSuccess(partial_err) => {
+        let res = self
-                warn!(
+            .handler
-                    "Handled PUS ping command with partial success: {:?}",
+            .poll_and_handle_next_tc(error_handler, timestamp);
-                    partial_err
+        if let Err(e) = res {
+            log::warn!(
+                "PUS {}({}) error: {:?}",
+                Self::SERVICE_ID,
+                Self::SERVICE_STR,
+                e
             );
             return HandlingStatus::HandledOne;
         }
-            PusPacketHandlerResult::SubserviceNotImplemented(subservice, _) => {
+        match res.unwrap() {
-                warn!("PUS17: Subservice {subservice} not implemented");
+            DirectPusPacketHandlerResult::Handled(handling_status) => {
-                return HandlingStatus::HandledOne;
+                if handling_status == HandlingStatus::HandledOne {
+                    info!("Received PUS ping command TC[17,1]");
+                    info!("Sent ping reply PUS TM[17,2]");
                 }
-            // TODO: adapt interface events are implemented
+                return handling_status;
-            PusPacketHandlerResult::CustomSubservice(subservice, token) => {
+            }
-                let (tc, _) = PusTcReader::new(
+            DirectPusPacketHandlerResult::SubserviceNotImplemented(subservice, _) => {
-                    self.handler
+                log::warn!(
-                        .service_helper
+                    "PUS {}({}) subservice {} not implemented",
-                        .tc_in_mem_converter
+                    Self::SERVICE_ID,
-                        .tc_slice_raw(),
+                    Self::SERVICE_STR,
-                )
+                    subservice
-                .unwrap();
+                );
-                let time_stamper = CdsTime::now_with_u16_days().unwrap();
+            }
-                let mut stamp_buf: [u8; 7] = [0; 7];
+            DirectPusPacketHandlerResult::CustomSubservice(subservice, token) => {
-                time_stamper.write_to_bytes(&mut stamp_buf).unwrap();
                 if subservice == 128 {
-                    info!("Generating test event");
+                    info!("generating test event");
-                    self.event_tx
+                    if let Err(e) = self
+                        .event_tx
                         .send(EventMessage::new(PUS_TEST_SERVICE.id(), TEST_EVENT.into()))
-                        .expect("Sending test event failed");
+                        .map_err(|_| GenericSendError::RxDisconnected)
-                    let start_token = self
+                    {
+                        // This really should not happen but I want to avoid panicking..
+                        log::warn!("failed to send test event: {:?}", e);
+                    }
+
+                    match self.handler.service_helper.verif_reporter().start_success(
+                        self.handler.service_helper.tm_sender(),
+                        token,
+                        timestamp,
+                    ) {
+                        Ok(started_token) => {
+                            if let Err(e) = self
                                 .handler
-                        .service_helper
-                        .verif_reporter()
-                        .start_success(self.handler.service_helper.tm_sender(), token, &stamp_buf)
-                        .expect("Error sending start success");
-                    self.handler
                                 .service_helper
                                 .verif_reporter()
                                 .completion_success(
                                     self.handler.service_helper.tm_sender(),
-                            start_token,
+                                    started_token,
-                            &stamp_buf,
+                                    timestamp,
                                 )
-                        .expect("Error sending completion success");
+                            {
+                                error_handler(&PartialPusHandlingError::Verification(e));
+                            }
+                        }
+                        Err(e) => {
+                            error_handler(&PartialPusHandlingError::Verification(e));
+                        }
+                    }
                 } else {
-                    let fail_data = [tc.subservice()];
+                    let fail_data = [subservice];
                     self.handler
                         .service_helper
                         .verif_reporter()
@@ -111,18 +129,15 @@ impl TestCustomServiceWrapper {
                             self.handler.service_helper.tm_sender(),
                             token,
                             FailParams::new(
-                                &stamp_buf,
+                                timestamp,
                                 &tmtc_err::INVALID_PUS_SUBSERVICE,
                                 &fail_data,
                             ),
                         )
                         .expect("Sending start failure verification failed");
                 }
-                return HandlingStatus::HandledOne;
             }
-            PusPacketHandlerResult::Empty => (),
         }
-        // To avoid permanent loops, treat queue empty by default (all tasks done).
+        HandlingStatus::HandledOne
-        HandlingStatus::Empty
     }
 }

src/tmtc/tc_source.rs

@@ -1,7 +1,9 @@
 use std::sync::mpsc::{self, TryRecvError};
 
-use ops_sat_rs::HandlingStatus;
+use satrs::{
-use satrs::{pus::MpscTmAsVecSender, tmtc::PacketAsVec};
+    pus::{HandlingStatus, MpscTmAsVecSender},
+    tmtc::PacketAsVec,
+};
 
 use crate::pus::PusTcDistributor;