Major example update

- Increased example modularization by moving the majority
  of app logic inside dedicated modules
- Added a new `dyn_tmtc` feature for the satrs-example which is used
  to configure the heap as the backing store for TMTC packages instead
  of static stores.
- Added dedicated satrs-example chapter in satrs-book

satrs-example/src/main.rs

@@ -1,152 +1,95 @@
+mod acs;
 mod ccsds;
+mod events;
 mod hk;
 mod logger;
 mod pus;
 mod requests;
 mod tcp;
+mod tm_funnel;
 mod tmtc;
 mod udp;
 
-use log::{info, warn};
+use crate::events::EventHandler;
+use crate::pus::stack::PusStack;
+use crate::tm_funnel::{TmFunnelDynamic, TmFunnelStatic};
+use log::info;
+use pus::test::create_test_service_dynamic;
 use satrs_core::hal::std::tcp_server::ServerConfig;
 use satrs_core::hal::std::udp_server::UdpTcServer;
+use satrs_example::config::pool::{create_sched_tc_pool, create_static_pools};
+use satrs_example::config::tasks::{
+    FREQ_MS_AOCS, FREQ_MS_EVENT_HANDLING, FREQ_MS_PUS_STACK, FREQ_MS_UDP_TMTC,
+};
+use satrs_example::config::{RequestTargetId, TmSenderId, OBSW_SERVER_ADDR, PUS_APID, SERVER_PORT};
+use tmtc::PusTcSourceProviderDynamic;
+use udp::DynamicUdpTmHandler;
 
+use crate::acs::AcsTask;
 use crate::ccsds::CcsdsReceiver;
-use crate::hk::{AcsHkIds, HkUniqueId};
 use crate::logger::setup_logger;
-use crate::pus::action::{Pus8Wrapper, PusService8ActionHandler};
-use crate::pus::event::Pus5Wrapper;
-use crate::pus::hk::{Pus3Wrapper, PusService3HkHandler};
-use crate::pus::scheduler::Pus11Wrapper;
-use crate::pus::test::Service17CustomWrapper;
+use crate::pus::action::{create_action_service_dynamic, create_action_service_static};
+use crate::pus::event::{create_event_service_dynamic, create_event_service_static};
+use crate::pus::hk::{create_hk_service_dynamic, create_hk_service_static};
+use crate::pus::scheduler::{create_scheduler_service_dynamic, create_scheduler_service_static};
+use crate::pus::test::create_test_service_static;
 use crate::pus::{PusReceiver, PusTcMpscRouter};
-use crate::requests::{Request, RequestWithToken};
+use crate::requests::RequestWithToken;
 use crate::tcp::{SyncTcpTmSource, TcpTask};
-use crate::tmtc::{PusTcSource, TcArgs, TcStore, TmArgs, TmFunnel, TmtcTask};
-use crate::udp::UdpTmtcServer;
-use satrs_core::event_man::{
-    EventManagerWithMpscQueue, MpscEventReceiver, MpscEventU32SendProvider, SendEventProvider,
-};
-use satrs_core::events::EventU32;
-use satrs_core::hk::HkRequest;
-use satrs_core::pool::{PoolProviderMemInPlace, StaticMemoryPool, StaticPoolConfig};
-use satrs_core::pus::event_man::{
-    DefaultPusMgmtBackendProvider, EventReporter, EventRequest, EventRequestWithToken,
-    PusEventDispatcher,
-};
-use satrs_core::pus::event_srv::PusService5EventHandler;
-use satrs_core::pus::hk::Subservice as HkSubservice;
-use satrs_core::pus::scheduler::PusScheduler;
-use satrs_core::pus::scheduler_srv::PusService11SchedHandler;
-use satrs_core::pus::test::PusService17TestHandler;
-use satrs_core::pus::verification::{
-    TcStateStarted, VerificationReporterCfg, VerificationReporterWithSender, VerificationToken,
-};
-use satrs_core::pus::{
-    EcssTcInSharedStoreConverter, MpscTcReceiver, MpscTmInStoreSender, PusServiceHelper,
-};
-use satrs_core::seq_count::{CcsdsSimpleSeqCountProvider, SequenceCountProviderCore};
-use satrs_core::spacepackets::ecss::tm::{PusTmCreator, PusTmZeroCopyWriter};
-use satrs_core::spacepackets::{
-    ecss::tm::PusTmSecondaryHeader, time::cds::TimeProvider, time::TimeWriter, SequenceFlags,
-    SpHeader,
+use crate::tmtc::{
+    PusTcSourceProviderSharedPool, SharedTcPool, TcArgs, TmArgs, TmtcTaskDynamic, TmtcTaskStatic,
 };
+use crate::udp::{StaticUdpTmHandler, UdpTmtcServer};
+use satrs_core::pus::event_man::EventRequestWithToken;
+use satrs_core::pus::verification::{VerificationReporterCfg, VerificationReporterWithSender};
+use satrs_core::pus::{EcssTmSender, MpscTmAsVecSender, MpscTmInStoreSender};
+use satrs_core::spacepackets::{time::cds::TimeProvider, time::TimeWriter};
 use satrs_core::tmtc::tm_helper::SharedTmStore;
 use satrs_core::tmtc::{CcsdsDistributor, TargetId};
 use satrs_core::ChannelId;
-use satrs_example::{
-    RequestTargetId, TargetIdWithApid, TcReceiverId, TmSenderId, OBSW_SERVER_ADDR, PUS_APID,
-    SERVER_PORT,
-};
+use satrs_example::TargetIdWithApid;
 use std::collections::HashMap;
 use std::net::{IpAddr, SocketAddr};
-use std::sync::mpsc::{channel, TryRecvError};
+use std::sync::mpsc::{self, channel};
 use std::sync::{Arc, RwLock};
 use std::thread;
 use std::time::Duration;
 
-fn main() {
-    setup_logger().expect("setting up logging with fern failed");
-    println!("Running OBSW example");
-    let tm_pool = StaticMemoryPool::new(StaticPoolConfig::new(vec![
-        (30, 32),
-        (15, 64),
-        (15, 128),
-        (15, 256),
-        (15, 1024),
-        (15, 2048),
-    ]));
+fn create_verification_reporter(verif_sender: impl EcssTmSender) -> VerificationReporterWithSender {
+    let verif_cfg = VerificationReporterCfg::new(PUS_APID, 1, 2, 8).unwrap();
+    // Every software component which needs to generate verification telemetry, gets a cloned
+    // verification reporter.
+    VerificationReporterWithSender::new(&verif_cfg, Box::new(verif_sender))
+}
+
+#[allow(dead_code)]
+fn static_tmtc_pool_main() {
+    let (tm_pool, tc_pool) = create_static_pools();
     let shared_tm_store = SharedTmStore::new(tm_pool);
-    let tm_store_event = shared_tm_store.clone();
-    let tc_pool = StaticMemoryPool::new(StaticPoolConfig::new(vec![
-        (30, 32),
-        (15, 64),
-        (15, 128),
-        (15, 256),
-        (15, 1024),
-        (15, 2048),
-    ]));
-    let tc_store = TcStore {
+    let shared_tc_pool = SharedTcPool {
         pool: Arc::new(RwLock::new(tc_pool)),
     };
-    let sched_tc_pool = StaticMemoryPool::new(StaticPoolConfig::new(vec![
-        (30, 32),
-        (15, 64),
-        (15, 128),
-        (15, 256),
-        (15, 1024),
-        (15, 2048),
-    ]));
-
-    let seq_count_provider = CcsdsSimpleSeqCountProvider::new();
-    let mut msg_counter_map: HashMap<u8, u16> = HashMap::new();
-    let sock_addr = SocketAddr::new(IpAddr::V4(OBSW_SERVER_ADDR), SERVER_PORT);
     let (tc_source_tx, tc_source_rx) = channel();
     let (tm_funnel_tx, tm_funnel_rx) = channel();
     let (tm_server_tx, tm_server_rx) = channel();
-    let verif_sender = MpscTmInStoreSender::new(
+
+    // Every software component which needs to generate verification telemetry, receives a cloned
+    // verification reporter.
+    let verif_reporter = create_verification_reporter(MpscTmInStoreSender::new(
         TmSenderId::PusVerification as ChannelId,
         "verif_sender",
         shared_tm_store.clone(),
         tm_funnel_tx.clone(),
-    );
-    let verif_cfg = VerificationReporterCfg::new(PUS_APID, 1, 2, 8).unwrap();
-    // Every software component which needs to generate verification telemetry, gets a cloned
-    // verification reporter.
-    let verif_reporter = VerificationReporterWithSender::new(&verif_cfg, Box::new(verif_sender));
-    let reporter_event_handler = verif_reporter.clone();
-    let reporter_aocs = verif_reporter.clone();
-
-    // Create event handling components
-    // These sender handles are used to send event requests, for example to enable or disable
-    // certain events
-    let (event_request_tx, event_request_rx) = channel::<EventRequestWithToken>();
-    // The sender handle is the primary sender handle for all components which want to create events.
-    // The event manager will receive the RX handle to receive all the events.
-    let (event_sender, event_man_rx) = channel();
-    let event_recv = MpscEventReceiver::<EventU32>::new(event_man_rx);
-    let test_srv_event_sender = event_sender;
-    let mut event_man = EventManagerWithMpscQueue::new(Box::new(event_recv));
-
-    // 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(PUS_APID, 128).unwrap();
-    let pus_tm_backend = DefaultPusMgmtBackendProvider::<EventU32>::default();
-    let mut pus_event_dispatcher =
-        PusEventDispatcher::new(event_reporter, Box::new(pus_tm_backend));
-    let (pus_event_man_tx, pus_event_man_rx) = channel();
-    let pus_event_man_send_provider = MpscEventU32SendProvider::new(1, pus_event_man_tx);
-    event_man.subscribe_all(pus_event_man_send_provider.id());
-    event_man.add_sender(pus_event_man_send_provider);
+    ));
 
+    let acs_target_id = TargetIdWithApid::new(PUS_APID, RequestTargetId::AcsSubsystem as TargetId);
+    let (acs_thread_tx, acs_thread_rx) = channel::<RequestWithToken>();
     // Some request are targetable. This map is used to retrieve sender handles based on a target ID.
     let mut request_map = HashMap::new();
-    let (acs_thread_tx, acs_thread_rx) = channel::<RequestWithToken>();
-    let target_apid = TargetIdWithApid::new(PUS_APID, RequestTargetId::AcsSubsystem as TargetId);
-    request_map.insert(target_apid, acs_thread_tx);
+    request_map.insert(acs_target_id, acs_thread_tx);
 
-    let tc_source_wrapper = PusTcSource {
-        tc_store: tc_store.clone(),
+    let tc_source_wrapper = PusTcSourceProviderSharedPool {
+        shared_pool: shared_tc_pool.clone(),
         tc_source: tc_source_tx,
     };
 
@@ -161,8 +104,23 @@ fn main() {
         tm_udp_server_rx: tm_server_rx,
     };
 
-    let aocs_tm_funnel = tm_funnel_tx.clone();
-    let aocs_tm_store = shared_tm_store.clone();
+    // Create event handling components
+    // These sender handles are used to send event requests, for example to enable or disable
+    // certain events.
+    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(
+        MpscTmInStoreSender::new(
+            TmSenderId::AllEvents as ChannelId,
+            "ALL_EVENTS_TX",
+            shared_tm_store.clone(),
+            tm_funnel_tx.clone(),
+        ),
+        verif_reporter.clone(),
+        event_request_rx,
+    );
 
     let (pus_test_tx, pus_test_rx) = channel();
     let (pus_event_tx, pus_event_rx) = channel();
@@ -176,134 +134,102 @@ fn main() {
         hk_service_receiver: pus_hk_tx,
         action_service_receiver: pus_action_tx,
     };
-    let test_srv_tm_sender = MpscTmInStoreSender::new(
-        TmSenderId::PusTest as ChannelId,
-        "PUS_17_TM_SENDER",
+    let pus_test_service = create_test_service_static(
         shared_tm_store.clone(),
         tm_funnel_tx.clone(),
-    );
-    let test_srv_receiver = MpscTcReceiver::new(
-        TcReceiverId::PusTest as ChannelId,
-        "PUS_17_TC_RECV",
+        verif_reporter.clone(),
+        shared_tc_pool.pool.clone(),
+        event_handler.clone_event_sender(),
         pus_test_rx,
     );
-    let pus17_handler = PusService17TestHandler::new(PusServiceHelper::new(
-        Box::new(test_srv_receiver),
-        Box::new(test_srv_tm_sender),
-        PUS_APID,
+    let pus_scheduler_service = create_scheduler_service_static(
+        shared_tm_store.clone(),
+        tm_funnel_tx.clone(),
         verif_reporter.clone(),
-        EcssTcInSharedStoreConverter::new(tc_store.pool.clone(), 2048),
-    ));
-    let mut pus_17_wrapper = Service17CustomWrapper {
-        pus17_handler,
-        test_srv_event_sender,
-    };
-
-    let sched_srv_tm_sender = MpscTmInStoreSender::new(
-        TmSenderId::PusSched as ChannelId,
-        "PUS_11_TM_SENDER",
-        shared_tm_store.clone(),
-        tm_funnel_tx.clone(),
-    );
-    let sched_srv_receiver = MpscTcReceiver::new(
-        TcReceiverId::PusSched as ChannelId,
-        "PUS_11_TC_RECV",
-        pus_sched_rx,
-    );
-    let scheduler = PusScheduler::new_with_current_init_time(Duration::from_secs(5))
-        .expect("Creating PUS Scheduler failed");
-    let pus_11_handler = PusService11SchedHandler::new(
-        PusServiceHelper::new(
-            Box::new(sched_srv_receiver),
-            Box::new(sched_srv_tm_sender),
-            PUS_APID,
-            verif_reporter.clone(),
-            EcssTcInSharedStoreConverter::new(tc_store.pool.clone(), 2048),
-        ),
-        scheduler,
-    );
-    let mut pus_11_wrapper = Pus11Wrapper {
-        pus_11_handler,
-        sched_tc_pool,
         tc_source_wrapper,
-    };
-
-    let event_srv_tm_sender = MpscTmInStoreSender::new(
-        TmSenderId::PusEvent as ChannelId,
-        "PUS_5_TM_SENDER",
+        pus_sched_rx,
+        create_sched_tc_pool(),
+    );
+    let pus_event_service = create_event_service_static(
         shared_tm_store.clone(),
         tm_funnel_tx.clone(),
-    );
-    let event_srv_receiver = MpscTcReceiver::new(
-        TcReceiverId::PusEvent as ChannelId,
-        "PUS_5_TC_RECV",
+        verif_reporter.clone(),
+        shared_tc_pool.pool.clone(),
         pus_event_rx,
-    );
-    let pus_5_handler = PusService5EventHandler::new(
-        PusServiceHelper::new(
-            Box::new(event_srv_receiver),
-            Box::new(event_srv_tm_sender),
-            PUS_APID,
-            verif_reporter.clone(),
-            EcssTcInSharedStoreConverter::new(tc_store.pool.clone(), 2048),
-        ),
         event_request_tx,
     );
-    let mut pus_5_wrapper = Pus5Wrapper { pus_5_handler };
-
-    let action_srv_tm_sender = MpscTmInStoreSender::new(
-        TmSenderId::PusAction as ChannelId,
-        "PUS_8_TM_SENDER",
+    let pus_action_service = create_action_service_static(
         shared_tm_store.clone(),
         tm_funnel_tx.clone(),
-    );
-    let action_srv_receiver = MpscTcReceiver::new(
-        TcReceiverId::PusAction as ChannelId,
-        "PUS_8_TC_RECV",
-        pus_action_rx,
-    );
-    let pus_8_handler = PusService8ActionHandler::new(
-        Box::new(action_srv_receiver),
-        Box::new(action_srv_tm_sender),
-        PUS_APID,
         verif_reporter.clone(),
-        EcssTcInSharedStoreConverter::new(tc_store.pool.clone(), 2048),
+        shared_tc_pool.pool.clone(),
+        pus_action_rx,
         request_map.clone(),
     );
-    let mut pus_8_wrapper = Pus8Wrapper { pus_8_handler };
-
-    let hk_srv_tm_sender = MpscTmInStoreSender::new(
-        TmSenderId::PusHk as ChannelId,
-        "PUS_3_TM_SENDER",
+    let pus_hk_service = create_hk_service_static(
         shared_tm_store.clone(),
         tm_funnel_tx.clone(),
-    );
-    let hk_srv_receiver =
-        MpscTcReceiver::new(TcReceiverId::PusHk as ChannelId, "PUS_8_TC_RECV", pus_hk_rx);
-    let pus_3_handler = PusService3HkHandler::new(
-        Box::new(hk_srv_receiver),
-        Box::new(hk_srv_tm_sender),
-        PUS_APID,
         verif_reporter.clone(),
-        EcssTcInSharedStoreConverter::new(tc_store.pool.clone(), 2048),
+        shared_tc_pool.pool.clone(),
+        pus_hk_rx,
         request_map,
     );
-    let mut pus_3_wrapper = Pus3Wrapper { pus_3_handler };
+    let mut pus_stack = PusStack::new(
+        pus_hk_service,
+        pus_event_service,
+        pus_action_service,
+        pus_scheduler_service,
+        pus_test_service,
+    );
 
     let ccsds_receiver = CcsdsReceiver {
         tc_source: tc_args.tc_source.clone(),
     };
-    let mut tmtc_task = TmtcTask::new(tc_args, PusReceiver::new(verif_reporter, pus_router));
+    let mut tmtc_task = TmtcTaskStatic::new(
+        tc_args,
+        PusReceiver::new(verif_reporter.clone(), pus_router),
+    );
 
+    let sock_addr = SocketAddr::new(IpAddr::V4(OBSW_SERVER_ADDR), SERVER_PORT);
     let udp_ccsds_distributor = CcsdsDistributor::new(Box::new(ccsds_receiver.clone()));
     let udp_tc_server = UdpTcServer::new(sock_addr, 2048, Box::new(udp_ccsds_distributor))
         .expect("creating UDP TMTC server failed");
     let mut udp_tmtc_server = UdpTmtcServer {
         udp_tc_server,
-        tm_rx: tm_args.tm_udp_server_rx,
-        tm_store: tm_args.tm_store.clone_backing_pool(),
+        tm_handler: StaticUdpTmHandler {
+            tm_rx: tm_args.tm_udp_server_rx,
+            tm_store: tm_args.tm_store.clone_backing_pool(),
+        },
     };
 
+    let tcp_ccsds_distributor = CcsdsDistributor::new(Box::new(ccsds_receiver));
+    let tcp_server_cfg = ServerConfig::new(sock_addr, Duration::from_millis(400), 4096, 8192);
+    let sync_tm_tcp_source = SyncTcpTmSource::new(200);
+    let mut tcp_server = TcpTask::new(
+        tcp_server_cfg,
+        sync_tm_tcp_source.clone(),
+        tcp_ccsds_distributor,
+    )
+    .expect("tcp server creation failed");
+
+    let mut acs_task = AcsTask::new(
+        MpscTmInStoreSender::new(
+            TmSenderId::AcsSubsystem as ChannelId,
+            "ACS_TASK_SENDER",
+            shared_tm_store.clone(),
+            tm_funnel_tx.clone(),
+        ),
+        acs_thread_rx,
+        verif_reporter,
+    );
+
+    let mut tm_funnel = TmFunnelStatic::new(
+        shared_tm_store,
+        sync_tm_tcp_source,
+        tm_funnel_rx,
+        tm_server_tx,
+    );
+
     info!("Starting TMTC and UDP task");
     let jh_udp_tmtc = thread::Builder::new()
         .name("TMTC and UDP".to_string())
@@ -312,20 +238,11 @@ fn main() {
             loop {
                 udp_tmtc_server.periodic_operation();
                 tmtc_task.periodic_operation();
-                thread::sleep(Duration::from_millis(400));
+                thread::sleep(Duration::from_millis(FREQ_MS_UDP_TMTC));
             }
         })
         .unwrap();
 
-    let tcp_ccsds_distributor = CcsdsDistributor::new(Box::new(ccsds_receiver));
-    let tcp_server_cfg = ServerConfig::new(sock_addr, Duration::from_millis(400), 4096, 8192);
-    let mut sync_tm_tcp_source = SyncTcpTmSource::new(200);
-    let mut tcp_server = TcpTask::new(
-        tcp_server_cfg,
-        sync_tm_tcp_source.clone(),
-        tcp_ccsds_distributor,
-    )
-    .expect("tcp server creation failed");
     info!("Starting TCP task");
     let jh_tcp = thread::Builder::new()
         .name("TCP".to_string())
@@ -338,225 +255,271 @@ fn main() {
         .unwrap();
 
     info!("Starting TM funnel task");
-    let jh1 = thread::Builder::new()
+    let jh_tm_funnel = thread::Builder::new()
         .name("TM Funnel".to_string())
-        .spawn(move || {
-            let tm_funnel = TmFunnel {
-                tm_server_tx,
-                tm_funnel_rx,
-            };
-            loop {
-                if let Ok(addr) = tm_funnel.tm_funnel_rx.recv() {
-                    // Read the TM, set sequence counter and message counter, and finally update
-                    // the CRC.
-                    let shared_pool = shared_tm_store.clone_backing_pool();
-                    let mut pool_guard = shared_pool.write().expect("Locking TM pool failed");
-                    let tm_raw = pool_guard
-                        .modify(&addr)
-                        .expect("Reading TM from pool failed");
-                    let mut zero_copy_writer = PusTmZeroCopyWriter::new(tm_raw)
-                        .expect("Creating TM zero copy writer failed");
-                    zero_copy_writer.set_apid(PUS_APID);
-                    zero_copy_writer.set_seq_count(seq_count_provider.get_and_increment());
-                    let entry = msg_counter_map
-                        .entry(zero_copy_writer.service())
-                        .or_insert(0);
-                    zero_copy_writer.set_msg_count(*entry);
-                    if *entry == u16::MAX {
-                        *entry = 0;
-                    } else {
-                        *entry += 1;
-                    }
-
-                    // This operation has to come last!
-                    zero_copy_writer.finish();
-                    tm_funnel
-                        .tm_server_tx
-                        .send(addr)
-                        .expect("Sending TM to server failed");
-                    sync_tm_tcp_source.add_tm(tm_raw);
-                }
-            }
+        .spawn(move || loop {
+            tm_funnel.operation();
         })
         .unwrap();
 
     info!("Starting event handling task");
-    let jh2 = thread::Builder::new()
+    let jh_event_handling = thread::Builder::new()
         .name("Event".to_string())
-        .spawn(move || {
-            let mut timestamp: [u8; 7] = [0; 7];
-            let mut sender = MpscTmInStoreSender::new(
-                TmSenderId::AllEvents as ChannelId,
-                "ALL_EVENTS_TX",
-                tm_store_event.clone(),
-                tm_funnel_tx,
-            );
-            let mut time_provider = TimeProvider::new_with_u16_days(0, 0);
-            let report_completion = |event_req: EventRequestWithToken, timestamp: &[u8]| {
-                let started_token: VerificationToken<TcStateStarted> = event_req
-                    .token
-                    .try_into()
-                    .expect("expected start verification token");
-                reporter_event_handler
-                    .completion_success(started_token, Some(timestamp))
-                    .expect("Sending completion success failed");
-            };
-            loop {
-                // handle event requests
-                if let Ok(event_req) = event_request_rx.try_recv() {
-                    match event_req.request {
-                        EventRequest::Enable(event) => {
-                            pus_event_dispatcher
-                                .enable_tm_for_event(&event)
-                                .expect("Enabling TM failed");
-                            update_time(&mut time_provider, &mut timestamp);
-                            report_completion(event_req, &timestamp);
-                        }
-                        EventRequest::Disable(event) => {
-                            pus_event_dispatcher
-                                .disable_tm_for_event(&event)
-                                .expect("Disabling TM failed");
-                            update_time(&mut time_provider, &mut timestamp);
-                            report_completion(event_req, &timestamp);
-                        }
-                    }
-                }
-
-                // Perform the event routing.
-                event_man
-                    .try_event_handling()
-                    .expect("event handling failed");
-
-                // Perform the generation of PUS event packets
-                if let Ok((event, _param)) = pus_event_man_rx.try_recv() {
-                    update_time(&mut time_provider, &mut timestamp);
-                    pus_event_dispatcher
-                        .generate_pus_event_tm_generic(&mut sender, &timestamp, event, None)
-                        .expect("Sending TM as event failed");
-                }
-                thread::sleep(Duration::from_millis(400));
-            }
+        .spawn(move || loop {
+            event_handler.periodic_operation();
+            thread::sleep(Duration::from_millis(FREQ_MS_EVENT_HANDLING));
         })
         .unwrap();
 
     info!("Starting AOCS thread");
-    let jh3 = thread::Builder::new()
+    let jh_aocs = thread::Builder::new()
         .name("AOCS".to_string())
-        .spawn(move || {
-            let mut timestamp: [u8; 7] = [0; 7];
-            let mut time_provider = TimeProvider::new_with_u16_days(0, 0);
-            loop {
-                // TODO: Move this into a separate function/task/module..
-                match acs_thread_rx.try_recv() {
-                    Ok(request) => {
-                        info!(
-                            "ACS thread: Received HK request {:?}",
-                            request.targeted_request
-                        );
-                        update_time(&mut time_provider, &mut timestamp);
-                        match request.targeted_request.request {
-                            Request::Hk(hk_req) => match hk_req {
-                                HkRequest::OneShot(unique_id) => {
-                                    // TODO: We should check whether the unique ID is even valid.
-                                    let target = request.targeted_request.target_id;
-                                    assert_eq!(
-                                        target.target_id(),
-                                        RequestTargetId::AcsSubsystem as u32
-                                    );
-                                    if request.targeted_request.target_id.target
-                                        == AcsHkIds::TestMgmSet as u32
-                                    {
-                                        let mut sp_header = SpHeader::tm(
-                                            PUS_APID,
-                                            SequenceFlags::Unsegmented,
-                                            0,
-                                            0,
-                                        )
-                                        .unwrap();
-                                        let sec_header = PusTmSecondaryHeader::new_simple(
-                                            3,
-                                            HkSubservice::TmHkPacket as u8,
-                                            &timestamp,
-                                        );
-                                        let mut buf: [u8; 8] = [0; 8];
-                                        let hk_id = HkUniqueId::new(target.target_id(), unique_id);
-                                        hk_id.write_to_be_bytes(&mut buf).unwrap();
-                                        let pus_tm = PusTmCreator::new(
-                                            &mut sp_header,
-                                            sec_header,
-                                            &buf,
-                                            true,
-                                        );
-                                        let addr = aocs_tm_store
-                                            .add_pus_tm(&pus_tm)
-                                            .expect("Adding PUS TM failed");
-                                        aocs_tm_funnel.send(addr).expect("Sending HK TM failed");
-                                    }
-                                }
-                                HkRequest::Enable(_) => {}
-                                HkRequest::Disable(_) => {}
-                                HkRequest::ModifyCollectionInterval(_, _) => {}
-                            },
-                            Request::Mode(_mode_req) => {
-                                warn!("mode request handling not implemented yet")
-                            }
-                            Request::Action(_action_req) => {
-                                warn!("action request handling not implemented yet")
-                            }
-                        }
-                        let started_token = reporter_aocs
-                            .start_success(request.token, Some(&timestamp))
-                            .expect("Sending start success failed");
-                        reporter_aocs
-                            .completion_success(started_token, Some(&timestamp))
-                            .expect("Sending completion success failed");
-                    }
-                    Err(e) => match e {
-                        TryRecvError::Empty => {}
-                        TryRecvError::Disconnected => {
-                            warn!("ACS thread: Message Queue TX disconnected!")
-                        }
-                    },
-                }
-                thread::sleep(Duration::from_millis(500));
-            }
+        .spawn(move || loop {
+            acs_task.periodic_operation();
+            thread::sleep(Duration::from_millis(FREQ_MS_AOCS));
         })
         .unwrap();
 
     info!("Starting PUS handler thread");
-    let jh4 = thread::Builder::new()
+    let jh_pus_handler = thread::Builder::new()
         .name("PUS".to_string())
         .spawn(move || loop {
-            pus_11_wrapper.release_tcs();
-            loop {
-                let mut all_queues_empty = true;
-                let mut is_srv_finished = |srv_handler_finished: bool| {
-                    if !srv_handler_finished {
-                        all_queues_empty = false;
-                    }
-                };
-                is_srv_finished(pus_17_wrapper.handle_next_packet());
-                is_srv_finished(pus_11_wrapper.handle_next_packet());
-                is_srv_finished(pus_5_wrapper.handle_next_packet());
-                is_srv_finished(pus_8_wrapper.handle_next_packet());
-                is_srv_finished(pus_3_wrapper.handle_next_packet());
-                if all_queues_empty {
-                    break;
-                }
-            }
-            thread::sleep(Duration::from_millis(200));
+            pus_stack.periodic_operation();
+            thread::sleep(Duration::from_millis(FREQ_MS_PUS_STACK));
         })
         .unwrap();
+
     jh_udp_tmtc
         .join()
         .expect("Joining UDP TMTC server thread failed");
     jh_tcp
         .join()
         .expect("Joining TCP TMTC server thread failed");
-    jh1.join().expect("Joining TM Funnel thread failed");
-    jh2.join().expect("Joining Event Manager thread failed");
-    jh3.join().expect("Joining AOCS thread failed");
-    jh4.join().expect("Joining PUS handler thread failed");
+    jh_tm_funnel
+        .join()
+        .expect("Joining TM Funnel thread failed");
+    jh_event_handling
+        .join()
+        .expect("Joining Event Manager thread failed");
+    jh_aocs.join().expect("Joining AOCS thread failed");
+    jh_pus_handler
+        .join()
+        .expect("Joining PUS handler thread failed");
+}
+
+#[allow(dead_code)]
+fn dyn_tmtc_pool_main() {
+    let (tc_source_tx, tc_source_rx) = channel();
+    let (tm_funnel_tx, tm_funnel_rx) = channel();
+    let (tm_server_tx, tm_server_rx) = channel();
+    // Every software component which needs to generate verification telemetry, gets a cloned
+    // verification reporter.
+    let verif_reporter = create_verification_reporter(MpscTmAsVecSender::new(
+        TmSenderId::PusVerification as ChannelId,
+        "verif_sender",
+        tm_funnel_tx.clone(),
+    ));
+
+    let acs_target_id = TargetIdWithApid::new(PUS_APID, RequestTargetId::AcsSubsystem as TargetId);
+    let (acs_thread_tx, acs_thread_rx) = channel::<RequestWithToken>();
+    // Some request are targetable. This map is used to retrieve sender handles based on a target ID.
+    let mut request_map = HashMap::new();
+    request_map.insert(acs_target_id, acs_thread_tx);
+
+    let tc_source = PusTcSourceProviderDynamic(tc_source_tx);
+
+    // Create event handling components
+    // These sender handles are used to send event requests, for example to enable or disable
+    // certain events.
+    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(
+        MpscTmAsVecSender::new(
+            TmSenderId::AllEvents as ChannelId,
+            "ALL_EVENTS_TX",
+            tm_funnel_tx.clone(),
+        ),
+        verif_reporter.clone(),
+        event_request_rx,
+    );
+
+    let (pus_test_tx, pus_test_rx) = channel();
+    let (pus_event_tx, pus_event_rx) = channel();
+    let (pus_sched_tx, pus_sched_rx) = channel();
+    let (pus_hk_tx, pus_hk_rx) = channel();
+    let (pus_action_tx, pus_action_rx) = channel();
+    let pus_router = PusTcMpscRouter {
+        test_service_receiver: pus_test_tx,
+        event_service_receiver: pus_event_tx,
+        sched_service_receiver: pus_sched_tx,
+        hk_service_receiver: pus_hk_tx,
+        action_service_receiver: pus_action_tx,
+    };
+
+    let pus_test_service = create_test_service_dynamic(
+        tm_funnel_tx.clone(),
+        verif_reporter.clone(),
+        event_handler.clone_event_sender(),
+        pus_test_rx,
+    );
+    let pus_scheduler_service = create_scheduler_service_dynamic(
+        tm_funnel_tx.clone(),
+        verif_reporter.clone(),
+        tc_source.0.clone(),
+        pus_sched_rx,
+        create_sched_tc_pool(),
+    );
+
+    let pus_event_service = create_event_service_dynamic(
+        tm_funnel_tx.clone(),
+        verif_reporter.clone(),
+        pus_event_rx,
+        event_request_tx,
+    );
+    let pus_action_service = create_action_service_dynamic(
+        tm_funnel_tx.clone(),
+        verif_reporter.clone(),
+        pus_action_rx,
+        request_map.clone(),
+    );
+    let pus_hk_service = create_hk_service_dynamic(
+        tm_funnel_tx.clone(),
+        verif_reporter.clone(),
+        pus_hk_rx,
+        request_map,
+    );
+    let mut pus_stack = PusStack::new(
+        pus_hk_service,
+        pus_event_service,
+        pus_action_service,
+        pus_scheduler_service,
+        pus_test_service,
+    );
+
+    let ccsds_receiver = CcsdsReceiver { tc_source };
+
+    let mut tmtc_task = TmtcTaskDynamic::new(
+        tc_source_rx,
+        PusReceiver::new(verif_reporter.clone(), pus_router),
+    );
+
+    let sock_addr = SocketAddr::new(IpAddr::V4(OBSW_SERVER_ADDR), SERVER_PORT);
+    let udp_ccsds_distributor = CcsdsDistributor::new(Box::new(ccsds_receiver.clone()));
+    let udp_tc_server = UdpTcServer::new(sock_addr, 2048, Box::new(udp_ccsds_distributor))
+        .expect("creating UDP TMTC server failed");
+    let mut udp_tmtc_server = UdpTmtcServer {
+        udp_tc_server,
+        tm_handler: DynamicUdpTmHandler {
+            tm_rx: tm_server_rx,
+        },
+    };
+
+    let tcp_ccsds_distributor = CcsdsDistributor::new(Box::new(ccsds_receiver));
+    let tcp_server_cfg = ServerConfig::new(sock_addr, Duration::from_millis(400), 4096, 8192);
+    let sync_tm_tcp_source = SyncTcpTmSource::new(200);
+    let mut tcp_server = TcpTask::new(
+        tcp_server_cfg,
+        sync_tm_tcp_source.clone(),
+        tcp_ccsds_distributor,
+    )
+    .expect("tcp server creation failed");
+
+    let mut acs_task = AcsTask::new(
+        MpscTmAsVecSender::new(
+            TmSenderId::AcsSubsystem as ChannelId,
+            "ACS_TASK_SENDER",
+            tm_funnel_tx.clone(),
+        ),
+        acs_thread_rx,
+        verif_reporter,
+    );
+    let mut tm_funnel = TmFunnelDynamic::new(sync_tm_tcp_source, tm_funnel_rx, tm_server_tx);
+
+    info!("Starting TMTC and UDP task");
+    let jh_udp_tmtc = thread::Builder::new()
+        .name("TMTC and UDP".to_string())
+        .spawn(move || {
+            info!("Running UDP server on port {SERVER_PORT}");
+            loop {
+                udp_tmtc_server.periodic_operation();
+                tmtc_task.periodic_operation();
+                thread::sleep(Duration::from_millis(FREQ_MS_UDP_TMTC));
+            }
+        })
+        .unwrap();
+
+    info!("Starting TCP task");
+    let jh_tcp = thread::Builder::new()
+        .name("TCP".to_string())
+        .spawn(move || {
+            info!("Running TCP server on port {SERVER_PORT}");
+            loop {
+                tcp_server.periodic_operation();
+            }
+        })
+        .unwrap();
+
+    info!("Starting TM funnel task");
+    let jh_tm_funnel = thread::Builder::new()
+        .name("TM Funnel".to_string())
+        .spawn(move || loop {
+            tm_funnel.operation();
+        })
+        .unwrap();
+
+    info!("Starting event handling task");
+    let jh_event_handling = thread::Builder::new()
+        .name("Event".to_string())
+        .spawn(move || loop {
+            event_handler.periodic_operation();
+            thread::sleep(Duration::from_millis(FREQ_MS_EVENT_HANDLING));
+        })
+        .unwrap();
+
+    info!("Starting AOCS thread");
+    let jh_aocs = thread::Builder::new()
+        .name("AOCS".to_string())
+        .spawn(move || loop {
+            acs_task.periodic_operation();
+            thread::sleep(Duration::from_millis(FREQ_MS_AOCS));
+        })
+        .unwrap();
+
+    info!("Starting PUS handler thread");
+    let jh_pus_handler = thread::Builder::new()
+        .name("PUS".to_string())
+        .spawn(move || loop {
+            pus_stack.periodic_operation();
+            thread::sleep(Duration::from_millis(FREQ_MS_PUS_STACK));
+        })
+        .unwrap();
+
+    jh_udp_tmtc
+        .join()
+        .expect("Joining UDP TMTC server thread failed");
+    jh_tcp
+        .join()
+        .expect("Joining TCP TMTC server thread failed");
+    jh_tm_funnel
+        .join()
+        .expect("Joining TM Funnel thread failed");
+    jh_event_handling
+        .join()
+        .expect("Joining Event Manager thread failed");
+    jh_aocs.join().expect("Joining AOCS thread failed");
+    jh_pus_handler
+        .join()
+        .expect("Joining PUS handler thread failed");
+}
+
+fn main() {
+    setup_logger().expect("setting up logging with fern failed");
+    println!("Running OBSW example");
+    #[cfg(not(feature = "dyn_tmtc"))]
+    static_tmtc_pool_main();
+    #[cfg(feature = "dyn_tmtc")]
+    dyn_tmtc_pool_main();
 }
 
 pub fn update_time(time_provider: &mut TimeProvider, timestamp: &mut [u8]) {