add event management, small fix for CAM handler loop

Cargo.lock

@@ -733,9 +733,9 @@ checksum = "e86697c916019a8588c99b5fac3cead74ec0b4b819707a682fd4d23fa0ce1ba1"
 
 [[package]]
 name = "satrs"
-version = "0.2.0-rc.3"
+version = "0.2.0-rc.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "6aa9241e4d6cb0cc395927cfe653d8bc4a9cb6b2c27f28fec713d5e6ceb0ba23"
+checksum = "2adc1d9369e3f7e21dabb3181e36c914d1a3f68f4900207a2baa129c2fd5baba"
 dependencies = [
  "bus",
  "cobs",
@@ -783,9 +783,9 @@ dependencies = [
 
 [[package]]
 name = "satrs-shared"
-version = "0.1.3"
+version = "0.1.4"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "f01df804b902334a23c539db5e37f11bf41ecb86596292e7cc091628bf2c4f67"
+checksum = "6042477018c2d43fffccaaa5099bc299a58485139b4d31c5b276889311e474f1"
 dependencies = [
  "serde",
  "spacepackets",

Cargo.toml

@@ -23,7 +23,7 @@ homedir = "0.2"
 socket2 = "0.5"
 
 [dependencies.satrs]
-version = "0.2.0-rc.3"
+version = "0.2.0-rc.5"
 # git = "https://egit.irs.uni-stuttgart.de/rust/sat-rs.git"
 # branch = "main"
 features = ["test_util"]

src/config.rs

@@ -1,5 +1,6 @@
 use lazy_static::lazy_static;
 use num_enum::{IntoPrimitive, TryFromPrimitive};
+use satrs::events::{EventU32TypedSev, SeverityInfo};
 use satrs::spacepackets::PacketId;
 use satrs_mib::res_code::ResultU16Info;
 use satrs_mib::resultcode;
@@ -39,6 +40,9 @@ pub enum GroupId {
     Action = 3,
 }
 
+pub const TEST_EVENT: EventU32TypedSev<SeverityInfo> =
+    EventU32TypedSev::<SeverityInfo>::new(GroupId::Tmtc as u16, 0);
+
 lazy_static! {
     pub static ref HOME_PATH: PathBuf = {
         let mut home_path = PathBuf::new();
@@ -280,6 +284,7 @@ pub mod tasks {
     pub const FREQ_MS_AOCS: u64 = 500;
     pub const FREQ_MS_PUS_STACK: u64 = 200;
     pub const FREQ_MS_CTRL: u64 = 400;
+    pub const FREQ_MS_CAMERA_HANDLING: u64 = 400;
 
     pub const STOP_CHECK_FREQUENCY_MS: u64 = 400;
     pub const STOP_CHECK_FREQUENCY: Duration = Duration::from_millis(STOP_CHECK_FREQUENCY_MS);

src/events.rs

@@ -0,0 +1,287 @@
+use std::sync::mpsc::{self};
+
+use crate::pus::create_verification_reporter;
+use ops_sat_rs::config::components::PUS_EVENT_MANAGEMENT;
+use satrs::event_man::{EventMessageU32, EventRoutingError};
+use satrs::params::WritableToBeBytes;
+use satrs::pus::event::EventTmHookProvider;
+use satrs::pus::verification::VerificationReporter;
+use satrs::request::UniqueApidTargetId;
+use satrs::tmtc::PacketAsVec;
+use satrs::{
+    event_man::{EventManagerWithBoundedMpsc, EventSendProvider, EventU32SenderMpscBounded},
+    pus::{
+        event_man::{
+            DefaultPusEventU32TmCreator, EventReporter, EventRequest, EventRequestWithToken,
+        },
+        verification::{TcStateStarted, VerificationReportingProvider, VerificationToken},
+    },
+    spacepackets::time::cds::CdsTime,
+};
+
+use ops_sat_rs::update_time;
+
+// This helper sets the APID of the event sender for the PUS telemetry.
+#[derive(Default)]
+pub struct EventApidSetter {
+    pub next_apid: u16,
+}
+
+impl EventTmHookProvider for EventApidSetter {
+    fn modify_tm(&self, tm: &mut satrs::spacepackets::ecss::tm::PusTmCreator) {
+        tm.set_apid(self.next_apid);
+    }
+}
+
+/// The PUS event handler subscribes for all events and converts them into ECSS PUS 5 event
+/// packets. It also handles the verification completion of PUS event service requests.
+pub struct PusEventHandler {
+    event_request_rx: mpsc::Receiver<EventRequestWithToken>,
+    pus_event_tm_creator: DefaultPusEventU32TmCreator<EventApidSetter>,
+    pus_event_man_rx: mpsc::Receiver<EventMessageU32>,
+    tm_sender: mpsc::Sender<PacketAsVec>,
+    time_provider: CdsTime,
+    timestamp: [u8; 7],
+    verif_handler: VerificationReporter,
+}
+
+impl PusEventHandler {
+    pub fn new(
+        tm_sender: mpsc::Sender<PacketAsVec>,
+        verif_handler: VerificationReporter,
+        event_manager: &mut EventManagerWithBoundedMpsc,
+        event_request_rx: mpsc::Receiver<EventRequestWithToken>,
+    ) -> Self {
+        let event_queue_cap = 30;
+        let (pus_event_man_tx, pus_event_man_rx) = mpsc::sync_channel(event_queue_cap);
+
+        // All events sent to the manager are routed to the PUS event manager, which generates PUS event
+        // telemetry for each event.
+        let event_reporter = EventReporter::new_with_hook(
+            PUS_EVENT_MANAGEMENT.raw(),
+            0,
+            0,
+            128,
+            EventApidSetter::default(),
+        )
+        .unwrap();
+        let pus_event_dispatcher =
+            DefaultPusEventU32TmCreator::new_with_default_backend(event_reporter);
+        let pus_event_man_send_provider = EventU32SenderMpscBounded::new(
+            PUS_EVENT_MANAGEMENT.raw(),
+            pus_event_man_tx,
+            event_queue_cap,
+        );
+
+        event_manager.subscribe_all(pus_event_man_send_provider.target_id());
+        event_manager.add_sender(pus_event_man_send_provider);
+
+        Self {
+            event_request_rx,
+            pus_event_tm_creator: pus_event_dispatcher,
+            pus_event_man_rx,
+            time_provider: CdsTime::new_with_u16_days(0, 0),
+            timestamp: [0; 7],
+            verif_handler,
+            tm_sender,
+        }
+    }
+
+    pub fn handle_event_requests(&mut self) {
+        let report_completion = |event_req: EventRequestWithToken, timestamp: &[u8]| {
+            let started_token: VerificationToken<TcStateStarted> = event_req
+                .token
+                .try_into()
+                .expect("expected start verification token");
+            self.verif_handler
+                .completion_success(&self.tm_sender, started_token, timestamp)
+                .expect("Sending completion success failed");
+        };
+        loop {
+            // handle event requests
+            match self.event_request_rx.try_recv() {
+                Ok(event_req) => match event_req.request {
+                    EventRequest::Enable(event) => {
+                        self.pus_event_tm_creator
+                            .enable_tm_for_event(&event)
+                            .expect("Enabling TM failed");
+                        update_time(&mut self.time_provider, &mut self.timestamp);
+                        report_completion(event_req, &self.timestamp);
+                    }
+                    EventRequest::Disable(event) => {
+                        self.pus_event_tm_creator
+                            .disable_tm_for_event(&event)
+                            .expect("Disabling TM failed");
+                        update_time(&mut self.time_provider, &mut self.timestamp);
+                        report_completion(event_req, &self.timestamp);
+                    }
+                },
+                Err(e) => match e {
+                    mpsc::TryRecvError::Empty => break,
+                    mpsc::TryRecvError::Disconnected => {
+                        log::warn!("all event request senders have disconnected");
+                        break;
+                    }
+                },
+            }
+        }
+    }
+
+    pub fn generate_pus_event_tm(&mut self) {
+        loop {
+            // Perform the generation of PUS event packets
+            match self.pus_event_man_rx.try_recv() {
+                Ok(event_msg) => {
+                    update_time(&mut self.time_provider, &mut self.timestamp);
+                    let param_vec = event_msg.params().map_or(Vec::new(), |param| {
+                        param.to_vec().expect("failed to convert params to vec")
+                    });
+                    // We use the TM modification hook to set the sender APID for each event.
+                    self.pus_event_tm_creator.reporter.tm_hook.next_apid =
+                        UniqueApidTargetId::from(event_msg.sender_id()).apid;
+                    self.pus_event_tm_creator
+                        .generate_pus_event_tm_generic(
+                            &self.tm_sender,
+                            &self.timestamp,
+                            event_msg.event(),
+                            Some(&param_vec),
+                        )
+                        .expect("Sending TM as event failed");
+                }
+                Err(e) => match e {
+                    mpsc::TryRecvError::Empty => break,
+                    mpsc::TryRecvError::Disconnected => {
+                        log::warn!("All event senders have disconnected");
+                        break;
+                    }
+                },
+            }
+        }
+    }
+}
+
+pub struct EventHandler {
+    pub pus_event_handler: PusEventHandler,
+    event_manager: EventManagerWithBoundedMpsc,
+}
+
+impl EventHandler {
+    pub fn new(
+        tm_sender: mpsc::Sender<PacketAsVec>,
+        event_rx: mpsc::Receiver<EventMessageU32>,
+        event_request_rx: mpsc::Receiver<EventRequestWithToken>,
+    ) -> Self {
+        let mut event_manager = EventManagerWithBoundedMpsc::new(event_rx);
+        let pus_event_handler = PusEventHandler::new(
+            tm_sender,
+            create_verification_reporter(PUS_EVENT_MANAGEMENT.id(), PUS_EVENT_MANAGEMENT.apid),
+            &mut event_manager,
+            event_request_rx,
+        );
+
+        Self {
+            pus_event_handler,
+            event_manager,
+        }
+    }
+
+    #[allow(dead_code)]
+    pub fn event_manager(&mut self) -> &mut EventManagerWithBoundedMpsc {
+        &mut self.event_manager
+    }
+
+    pub fn periodic_operation(&mut self) {
+        self.pus_event_handler.handle_event_requests();
+        self.try_event_routing();
+        self.pus_event_handler.generate_pus_event_tm();
+    }
+
+    pub fn try_event_routing(&mut self) {
+        let error_handler = |event_msg: &EventMessageU32, error: EventRoutingError| {
+            self.routing_error_handler(event_msg, error)
+        };
+        // Perform the event routing.
+        self.event_manager.try_event_handling(error_handler);
+    }
+
+    pub fn routing_error_handler(&self, event_msg: &EventMessageU32, error: EventRoutingError) {
+        log::warn!("event routing error for event {event_msg:?}: {error:?}");
+    }
+}
+
+#[cfg(test)]
+mod tests {
+    use satrs::{
+        events::EventU32,
+        pus::verification::VerificationReporterCfg,
+        spacepackets::{
+            ecss::{tm::PusTmReader, PusPacket},
+            CcsdsPacket,
+        },
+        tmtc::PacketAsVec,
+    };
+
+    use super::*;
+
+    const TEST_CREATOR_ID: UniqueApidTargetId = UniqueApidTargetId::new(1, 2);
+    const TEST_EVENT: EventU32 = EventU32::new(satrs::events::Severity::Info, 1, 1);
+
+    pub struct EventManagementTestbench {
+        pub event_tx: mpsc::SyncSender<EventMessageU32>,
+        pub event_manager: EventManagerWithBoundedMpsc,
+        pub tm_receiver: mpsc::Receiver<PacketAsVec>,
+        pub pus_event_handler: PusEventHandler,
+    }
+
+    impl EventManagementTestbench {
+        pub fn new() -> Self {
+            let (event_tx, event_rx) = mpsc::sync_channel(10);
+            let (_event_req_tx, event_req_rx) = mpsc::sync_channel(10);
+            let (tm_sender, tm_receiver) = mpsc::channel();
+            let verif_reporter_cfg = VerificationReporterCfg::new(0x05, 2, 2, 128).unwrap();
+            let verif_reporter =
+                VerificationReporter::new(PUS_EVENT_MANAGEMENT.id(), &verif_reporter_cfg);
+            let mut event_manager = EventManagerWithBoundedMpsc::new(event_rx);
+            let pus_event_handler =
+                PusEventHandler::new(tm_sender, verif_reporter, &mut event_manager, event_req_rx);
+            Self {
+                event_tx,
+                tm_receiver,
+                event_manager,
+                pus_event_handler,
+            }
+        }
+    }
+
+    #[test]
+    fn test_basic_event_generation() {
+        let mut testbench = EventManagementTestbench::new();
+        testbench
+            .event_tx
+            .send(EventMessageU32::new(
+                TEST_CREATOR_ID.id(),
+                EventU32::new(satrs::events::Severity::Info, 1, 1),
+            ))
+            .expect("failed to send event");
+        testbench.pus_event_handler.handle_event_requests();
+        testbench.event_manager.try_event_handling(|_, _| {});
+        testbench.pus_event_handler.generate_pus_event_tm();
+        let tm_packet = testbench
+            .tm_receiver
+            .try_recv()
+            .expect("failed to receive TM packet");
+        assert_eq!(tm_packet.sender_id, PUS_EVENT_MANAGEMENT.id());
+        let tm_reader = PusTmReader::new(&tm_packet.packet, 7)
+            .expect("failed to create TM reader")
+            .0;
+        assert_eq!(tm_reader.apid(), TEST_CREATOR_ID.apid);
+        assert_eq!(tm_reader.user_data().len(), 4);
+        let event_read_back = EventU32::from_be_bytes(tm_reader.user_data().try_into().unwrap());
+        assert_eq!(event_read_back, TEST_EVENT);
+    }
+
+    #[test]
+    fn test_basic_event_disabled() {
+        // TODO: Add test.
+    }
+}

src/interface/tcp_spp_client.rs

@@ -44,7 +44,6 @@ pub struct TcpSppClientCommon {
 #[allow(dead_code)]
 impl TcpSppClientCommon {
     pub fn handle_read_bytstream(&mut self, read_bytes: usize) -> Result<(), ClientError> {
-        let mut dummy = 0;
         if SPP_CLIENT_WIRETAPPING_RX {
             log::debug!(
                 "SPP TCP RX {} bytes: {:x?}",
@@ -54,11 +53,10 @@ impl TcpSppClientCommon {
         }
         // This parser is able to deal with broken tail packets, but we ignore those for now..
         parse_buffer_for_ccsds_space_packets(
-            &mut self.read_buf[..read_bytes],
+            &self.read_buf[..read_bytes],
             &self.validator,
             self.id,
             &self.tc_source_tx,
-            &mut dummy,
         )?;
         Ok(())
     }

src/lib.rs

@@ -32,3 +32,12 @@ impl Default for TimeStampHelper {
         }
     }
 }
+
+pub fn update_time(time_provider: &mut CdsTime, timestamp: &mut [u8]) {
+    time_provider
+        .update_from_now()
+        .expect("Could not get current time");
+    time_provider
+        .write_to_bytes(timestamp)
+        .expect("Writing timestamp failed");
+}

src/main.rs

@@ -6,25 +6,31 @@ use std::{
 };
 
 use log::info;
-use ops_sat_rs::config::components::CAMERA_HANDLER;
 use ops_sat_rs::config::{
     cfg_file::create_app_config,
     components::{CONTROLLER_ID, TCP_SERVER, TCP_SPP_CLIENT, UDP_SERVER},
     pool::create_sched_tc_pool,
-    tasks::{FREQ_MS_CTRL, FREQ_MS_PUS_STACK, STOP_CHECK_FREQUENCY},
+    tasks::{FREQ_MS_CAMERA_HANDLING, FREQ_MS_CTRL, FREQ_MS_PUS_STACK, STOP_CHECK_FREQUENCY},
     VALID_PACKET_ID_LIST,
 };
+use ops_sat_rs::config::{components::CAMERA_HANDLER, tasks::FREQ_MS_EVENT_HANDLING};
 use ops_sat_rs::config::{tasks::FREQ_MS_UDP_TMTC, OBSW_SERVER_ADDR, SERVER_PORT};
 use ops_sat_rs::TimeStampHelper;
-use satrs::hal::std::{tcp_server::ServerConfig, udp_server::UdpTcServer};
+use satrs::{
-
+    hal::std::{tcp_server::ServerConfig, udp_server::UdpTcServer},
-use crate::handlers::camera::IMS100BatchHandler;
+    pus::event_man::EventRequestWithToken,
-use crate::pus::{
-    hk::create_hk_service, mode::create_mode_service, scheduler::create_scheduler_service,
-    PusTcDistributor, PusTcMpscRouter,
 };
+
 use crate::tmtc::tm_sink::TmFunnelDynamic;
 use crate::{controller::ExperimentController, pus::test::create_test_service};
+use crate::{
+    events::EventHandler,
+    pus::{
+        hk::create_hk_service, mode::create_mode_service, scheduler::create_scheduler_service,
+        PusTcDistributor, PusTcMpscRouter,
+    },
+};
+use crate::{handlers::camera::IMS100BatchHandler, pus::event::create_event_service};
 use crate::{
     interface::tcp_server::{SyncTcpTmSource, TcpTask},
     interface::udp_server::{DynamicUdpTmHandler, UdpTmtcServer},
@@ -37,6 +43,7 @@ use crate::{
 };
 
 mod controller;
+mod events;
 mod handlers;
 mod interface;
 mod logger;
@@ -59,12 +66,21 @@ fn main() {
     let (tm_tcp_client_tx, tm_tcp_client_rx) = mpsc::channel();
 
     let (pus_test_tx, pus_test_rx) = mpsc::channel();
-    // let (pus_event_tx, pus_event_rx) = mpsc::channel();
+    let (pus_event_tx, pus_event_rx) = mpsc::channel();
     let (pus_sched_tx, pus_sched_rx) = mpsc::channel();
     let (pus_hk_tx, pus_hk_rx) = mpsc::channel();
     let (pus_action_tx, pus_action_rx) = mpsc::channel();
     let (pus_mode_tx, pus_mode_rx) = mpsc::channel();
 
+    // Create event handling components
+    // These sender handles are used to send event requests, for example to enable or disable
+    // certain events.
+    let (event_tx, event_rx) = mpsc::sync_channel(100);
+    let (event_request_tx, event_request_rx) = mpsc::channel::<EventRequestWithToken>();
+    // The event task is the core handler to perform the event routing and TM handling as specified
+    // in the sat-rs documentation.
+    let mut event_handler = EventHandler::new(tm_funnel_tx.clone(), event_rx, event_request_rx);
+
     let (pus_action_reply_tx, pus_action_reply_rx) = mpsc::channel();
     let (_pus_hk_reply_tx, pus_hk_reply_rx) = mpsc::channel();
     let (_pus_mode_reply_tx, pus_mode_reply_rx) = mpsc::channel();
@@ -83,27 +99,22 @@ fn main() {
 
     let pus_router = PusTcMpscRouter {
         test_tc_sender: pus_test_tx,
-        // event_tc_sender: pus_event_tx,
+        event_tc_sender: pus_event_tx,
         sched_tc_sender: pus_sched_tx,
         hk_tc_sender: pus_hk_tx,
         action_tc_sender: pus_action_tx,
         mode_tc_sender: pus_mode_tx,
     };
 
-    let pus_test_service = create_test_service(
+    let pus_test_service = create_test_service(tm_funnel_tx.clone(), event_tx.clone(), pus_test_rx);
-        tm_funnel_tx.clone(),
-        // event_handler.clone_event_sender(),
-        pus_test_rx,
-    );
     let pus_scheduler_service = create_scheduler_service(
         tm_funnel_tx.clone(),
         tc_source_tx.clone(),
         pus_sched_rx,
         create_sched_tc_pool(),
     );
-    //
+    let pus_event_service =
-    // let pus_event_service =
+        create_event_service(tm_funnel_tx.clone(), pus_event_rx, event_request_tx);
-    //     create_event_service_dynamic(tm_funnel_tx.clone(), pus_event_rx, event_request_tx);
     let pus_action_service = create_action_service(
         tm_funnel_tx.clone(),
         pus_action_rx,
@@ -125,7 +136,7 @@ fn main() {
     let mut pus_stack = PusStack::new(
         pus_test_service,
         pus_hk_service,
-        // pus_event_service,
+        pus_event_service,
         pus_action_service,
         pus_scheduler_service,
         pus_mode_service,
@@ -163,7 +174,7 @@ fn main() {
     )
     .expect("tcp server creation failed");
 
-    let mut tm_funnel = TmFunnelDynamic::new(
+    let mut tm_sink = TmFunnelDynamic::new(
         sync_tm_tcp_source,
         tm_funnel_rx,
         tm_tcp_server_tx,
@@ -270,17 +281,26 @@ fn main() {
 
     // TM Funnel Task
     info!("Starting TM funnel task");
-    let funnel_stop_signal = stop_signal.clone();
+    let tm_sink_stop_signal = stop_signal.clone();
     let jh_tm_funnel = thread::Builder::new()
-        .name("ops-sat tm-funnel".to_string())
+        .name("ops-sat tm-sink".to_string())
         .spawn(move || loop {
-            tm_funnel.operation();
+            tm_sink.operation();
-            if funnel_stop_signal.load(std::sync::atomic::Ordering::Relaxed) {
+            if tm_sink_stop_signal.load(std::sync::atomic::Ordering::Relaxed) {
                 break;
             }
         })
         .unwrap();
 
+    info!("Starting event handling task");
+    let jh_event_handling = thread::Builder::new()
+        .name("sat-rs events".to_string())
+        .spawn(move || loop {
+            event_handler.periodic_operation();
+            thread::sleep(Duration::from_millis(FREQ_MS_EVENT_HANDLING));
+        })
+        .unwrap();
+
     // PUS Handler Task
     info!("Starting PUS handlers task");
     let pus_stop_signal = stop_signal.clone();
@@ -305,6 +325,7 @@ fn main() {
             if camera_stop_signal.load(std::sync::atomic::Ordering::Relaxed) {
                 break;
             }
+            thread::sleep(Duration::from_millis(FREQ_MS_CAMERA_HANDLING));
         })
         .unwrap();
 
@@ -327,6 +348,9 @@ fn main() {
     jh_pus_handler
         .join()
         .expect("Joining PUS handlers thread failed");
+    jh_event_handling
+        .join()
+        .expect("Joining PUS handlers thread failed");
     jh_camera_handler
         .join()
         .expect("Joining camera handler thread failed");

src/pus/event.rs

@@ -0,0 +1,66 @@
+use std::sync::mpsc;
+
+use super::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,
+};
+use satrs::tmtc::PacketAsVec;
+
+pub fn create_event_service(
+    tm_funnel_tx: mpsc::Sender<PacketAsVec>,
+    pus_event_rx: mpsc::Receiver<EcssTcAndToken>,
+    event_request_tx: mpsc::Sender<EventRequestWithToken>,
+) -> EventServiceWrapper {
+    let pus_5_handler = PusEventServiceHandler::new(
+        PusServiceHelper::new(
+            PUS_EVENT_MANAGEMENT.id(),
+            pus_event_rx,
+            tm_funnel_tx,
+            create_verification_reporter(PUS_EVENT_MANAGEMENT.id(), PUS_EVENT_MANAGEMENT.apid),
+            EcssTcInVecConverter::default(),
+        ),
+        event_request_tx,
+    );
+    EventServiceWrapper {
+        handler: pus_5_handler,
+    }
+}
+
+pub struct EventServiceWrapper {
+    pub handler: PusEventServiceHandler<
+        MpscTcReceiver,
+        mpsc::Sender<PacketAsVec>,
+        EcssTcInVecConverter,
+        VerificationReporter,
+    >,
+}
+
+impl EventServiceWrapper {
+    pub fn poll_and_handle_next_tc(&mut self, time_stamp: &[u8]) -> HandlingStatus {
+        match self.handler.poll_and_handle_next_tc(time_stamp) {
+            Ok(result) => match result {
+                PusPacketHandlerResult::RequestHandled => {}
+                PusPacketHandlerResult::RequestHandledPartialSuccess(e) => {
+                    warn!("PUS 5 partial packet handling success: {e:?}")
+                }
+                PusPacketHandlerResult::CustomSubservice(invalid, _) => {
+                    warn!("PUS 5 invalid subservice {invalid}");
+                }
+                PusPacketHandlerResult::SubserviceNotImplemented(subservice, _) => {
+                    warn!("PUS 5 subservice {subservice} not implemented");
+                }
+                PusPacketHandlerResult::Empty => return HandlingStatus::Empty,
+            },
+            Err(error) => {
+                error!("PUS packet handling error: {error:?}")
+            }
+        }
+        HandlingStatus::HandledOne
+    }
+}

src/pus/mod.rs

@@ -1,4 +1,5 @@
 pub mod action;
+pub mod event;
 pub mod hk;
 pub mod mode;
 pub mod scheduler;
@@ -46,7 +47,7 @@ pub fn create_verification_reporter(owner_id: ComponentId, apid: Apid) -> Verifi
 /// Simple router structure which forwards PUS telecommands to dedicated handlers.
 pub struct PusTcMpscRouter {
     pub test_tc_sender: Sender<EcssTcAndToken>,
-    // pub event_tc_sender: Sender<EcssTcAndToken>,
+    pub event_tc_sender: Sender<EcssTcAndToken>,
     pub sched_tc_sender: Sender<EcssTcAndToken>,
     pub hk_tc_sender: Sender<EcssTcAndToken>,
     pub action_tc_sender: Sender<EcssTcAndToken>,
@@ -109,16 +110,16 @@ impl<TmSender: EcssTmSender> PusTcDistributor<TmSender> {
                     tc_in_memory,
                     token: Some(accepted_token.into()),
                 })?,
-                // PusServiceId::Event => self.pus_router.event_tc_sender.send(EcssTcAndToken {
+                PusServiceId::Event => self.pus_router.event_tc_sender.send(EcssTcAndToken {
-                //     tc_in_memory,
+                    tc_in_memory,
-                //     token: Some(accepted_token.into()),
+                    token: Some(accepted_token.into()),
-                // })?,
+                })?,
-                // PusServiceId::Scheduling => {
+                PusServiceId::Scheduling => {
-                //     self.pus_router.sched_tc_sender.send(EcssTcAndToken {
+                    self.pus_router.sched_tc_sender.send(EcssTcAndToken {
-                //         tc_in_memory,
+                        tc_in_memory,
-                //         token: Some(accepted_token.into()),
+                        token: Some(accepted_token.into()),
-                //     })?
+                    })?
-                // }
+                }
                 _ => {
                     let result = self.verif_reporter.start_failure(
                         &self.tm_sender,
@@ -138,10 +139,10 @@ impl<TmSender: EcssTmSender> PusTcDistributor<TmSender> {
                 if let Ok(custom_service) = CustomPusServiceId::try_from(e.number) {
                     match custom_service {
                         CustomPusServiceId::Mode => {
-                            // self.pus_router.mode_tc_sender.send(EcssTcAndToken {
+                            self.pus_router.mode_tc_sender.send(EcssTcAndToken {
-                            //     tc_in_memory,
+                                tc_in_memory,
-                            //     token: Some(accepted_token.into()),
+                                token: Some(accepted_token.into()),
-                            // })?
+                            })?
                         }
                         CustomPusServiceId::Health => {}
                     }

src/pus/stack.rs

@@ -4,15 +4,15 @@ use derive_new::new;
 use satrs::spacepackets::time::{cds, TimeWriter};
 
 use super::{
-    action::ActionServiceWrapper, hk::HkServiceWrapper, mode::ModeServiceWrapper,
+    action::ActionServiceWrapper, event::EventServiceWrapper, hk::HkServiceWrapper,
-    scheduler::SchedulingService, TargetedPusService,
+    mode::ModeServiceWrapper, scheduler::SchedulingService, TargetedPusService,
 };
 
 #[derive(new)]
 pub struct PusStack {
     test_srv: TestCustomServiceWrapper,
     hk_srv_wrapper: HkServiceWrapper,
-    // event_srv: EventServiceWrapper<TmSender, TcInMemConverter>,
+    event_srv: EventServiceWrapper,
     action_srv_wrapper: ActionServiceWrapper,
     schedule_srv: SchedulingService,
     mode_srv: ModeServiceWrapper,
@@ -50,7 +50,7 @@ impl PusStack {
                 self.schedule_srv.poll_and_handle_next_tc(&time_stamp),
                 None,
             );
-            // is_srv_finished(self.event_srv.poll_and_handle_next_tc(&time_stamp), None);
+            is_srv_finished(5, self.event_srv.poll_and_handle_next_tc(&time_stamp), None);
             is_srv_finished(
                 8,
                 self.action_srv_wrapper.poll_and_handle_next_tc(&time_stamp),

src/pus/test.rs

@@ -1,8 +1,8 @@
 use crate::pus::create_verification_reporter;
 use log::{info, warn};
 use ops_sat_rs::config::components::PUS_TEST_SERVICE;
-use ops_sat_rs::config::tmtc_err;
+use ops_sat_rs::config::{tmtc_err, TEST_EVENT};
-// use satrs::event_man::{EventMessage, EventMessageU32};
+use satrs::event_man::{EventMessage, EventMessageU32};
 use satrs::pus::test::PusService17TestHandler;
 use satrs::pus::verification::{FailParams, VerificationReporter, VerificationReportingProvider};
 use satrs::pus::{
@@ -20,6 +20,7 @@ use super::HandlingStatus;
 
 pub fn create_test_service(
     tm_funnel_tx: mpsc::Sender<PacketAsVec>,
+    event_tx: mpsc::SyncSender<EventMessageU32>,
     pus_test_rx: mpsc::Receiver<EcssTcAndToken>,
 ) -> TestCustomServiceWrapper {
     let pus17_handler = PusService17TestHandler::new(PusServiceHelper::new(
@@ -31,7 +32,7 @@ pub fn create_test_service(
     ));
     TestCustomServiceWrapper {
         handler: pus17_handler,
-        // test_srv_event_sender: event_sender,
+        event_tx,
     }
 }
 
@@ -42,6 +43,7 @@ pub struct TestCustomServiceWrapper {
         EcssTcInVecConverter,
         VerificationReporter,
     >,
+    pub event_tx: mpsc::SyncSender<EventMessageU32>,
 }
 
 impl TestCustomServiceWrapper {
@@ -79,9 +81,9 @@ impl TestCustomServiceWrapper {
                 time_stamper.write_to_bytes(&mut stamp_buf).unwrap();
                 if subservice == 128 {
                     info!("Generating test event");
-                    // self.test_srv_event_sender
+                    self.event_tx
-                    //     .send(EventMessage::new(PUS_TEST_SERVICE.id(), TEST_EVENT.into()))
+                        .send(EventMessage::new(PUS_TEST_SERVICE.id(), TEST_EVENT.into()))
-                    //     .expect("Sending test event failed");
+                        .expect("Sending test event failed");
                     let start_token = self
                         .handler
                         .service_helper