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/pus/action.rs

@@ -1,17 +1,79 @@
 use crate::requests::{ActionRequest, Request, RequestWithToken};
 use log::{error, warn};
+use satrs_core::pool::{SharedStaticMemoryPool, StoreAddr};
 use satrs_core::pus::verification::{
     FailParams, TcStateAccepted, VerificationReporterWithSender, VerificationToken,
 };
 use satrs_core::pus::{
-    EcssTcInMemConverter, EcssTcInSharedStoreConverter, EcssTcReceiver, EcssTmSender,
+    EcssTcAndToken, EcssTcInMemConverter, EcssTcInSharedStoreConverter, EcssTcInVecConverter,
+    EcssTcReceiver, EcssTmSender, MpscTcReceiver, MpscTmAsVecSender, MpscTmInStoreSender,
     PusPacketHandlerResult, PusPacketHandlingError, PusServiceBase, PusServiceHelper,
 };
 use satrs_core::spacepackets::ecss::tc::PusTcReader;
 use satrs_core::spacepackets::ecss::PusPacket;
-use satrs_example::{tmtc_err, TargetIdWithApid};
+use satrs_core::tmtc::tm_helper::SharedTmStore;
+use satrs_core::ChannelId;
+use satrs_example::config::{tmtc_err, TcReceiverId, TmSenderId, PUS_APID};
+use satrs_example::TargetIdWithApid;
 use std::collections::HashMap;
-use std::sync::mpsc::Sender;
+use std::sync::mpsc::{self, Sender};
+
+pub fn create_action_service_static(
+    shared_tm_store: SharedTmStore,
+    tm_funnel_tx: mpsc::Sender<StoreAddr>,
+    verif_reporter: VerificationReporterWithSender,
+    tc_pool: SharedStaticMemoryPool,
+    pus_action_rx: mpsc::Receiver<EcssTcAndToken>,
+    request_map: HashMap<TargetIdWithApid, mpsc::Sender<RequestWithToken>>,
+) -> Pus8Wrapper<EcssTcInSharedStoreConverter> {
+    let action_srv_tm_sender = MpscTmInStoreSender::new(
+        TmSenderId::PusAction as ChannelId,
+        "PUS_8_TM_SENDER",
+        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_pool.clone(), 2048),
+        request_map.clone(),
+    );
+    Pus8Wrapper { pus_8_handler }
+}
+
+pub fn create_action_service_dynamic(
+    tm_funnel_tx: mpsc::Sender<Vec<u8>>,
+    verif_reporter: VerificationReporterWithSender,
+    pus_action_rx: mpsc::Receiver<EcssTcAndToken>,
+    request_map: HashMap<TargetIdWithApid, mpsc::Sender<RequestWithToken>>,
+) -> Pus8Wrapper<EcssTcInVecConverter> {
+    let action_srv_tm_sender = MpscTmAsVecSender::new(
+        TmSenderId::PusAction as ChannelId,
+        "PUS_8_TM_SENDER",
+        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(),
+        EcssTcInVecConverter::default(),
+        request_map.clone(),
+    );
+    Pus8Wrapper { pus_8_handler }
+}
 
 pub struct PusService8ActionHandler<TcInMemConverter: EcssTcInMemConverter> {
     service_helper: PusServiceHelper<TcInMemConverter>,
@@ -141,11 +203,11 @@ impl<TcInMemConverter: EcssTcInMemConverter> PusService8ActionHandler<TcInMemCon
     }
 }
 
-pub struct Pus8Wrapper {
-    pub(crate) pus_8_handler: PusService8ActionHandler<EcssTcInSharedStoreConverter>,
+pub struct Pus8Wrapper<TcInMemConverter: EcssTcInMemConverter> {
+    pub(crate) pus_8_handler: PusService8ActionHandler<TcInMemConverter>,
 }
 
-impl Pus8Wrapper {
+impl<TcInMemConverter: EcssTcInMemConverter> Pus8Wrapper<TcInMemConverter> {
     pub fn handle_next_packet(&mut self) -> bool {
         match self.pus_8_handler.handle_one_tc() {
             Ok(result) => match result {

satrs-example/src/pus/event.rs

@@ -1,12 +1,85 @@
-use log::{error, warn};
-use satrs_core::pus::event_srv::PusService5EventHandler;
-use satrs_core::pus::{EcssTcInSharedStoreConverter, PusPacketHandlerResult};
+use std::sync::mpsc;
 
-pub struct Pus5Wrapper {
-    pub pus_5_handler: PusService5EventHandler<EcssTcInSharedStoreConverter>,
+use log::{error, warn};
+use satrs_core::pool::{SharedStaticMemoryPool, StoreAddr};
+use satrs_core::pus::event_man::EventRequestWithToken;
+use satrs_core::pus::event_srv::PusService5EventHandler;
+use satrs_core::pus::verification::VerificationReporterWithSender;
+use satrs_core::pus::{
+    EcssTcAndToken, EcssTcInMemConverter, EcssTcInSharedStoreConverter, EcssTcInVecConverter,
+    MpscTcReceiver, MpscTmAsVecSender, MpscTmInStoreSender, PusPacketHandlerResult,
+    PusServiceHelper,
+};
+use satrs_core::tmtc::tm_helper::SharedTmStore;
+use satrs_core::ChannelId;
+use satrs_example::config::{TcReceiverId, TmSenderId, PUS_APID};
+
+pub fn create_event_service_static(
+    shared_tm_store: SharedTmStore,
+    tm_funnel_tx: mpsc::Sender<StoreAddr>,
+    verif_reporter: VerificationReporterWithSender,
+    tc_pool: SharedStaticMemoryPool,
+    pus_event_rx: mpsc::Receiver<EcssTcAndToken>,
+    event_request_tx: mpsc::Sender<EventRequestWithToken>,
+) -> Pus5Wrapper<EcssTcInSharedStoreConverter> {
+    let event_srv_tm_sender = MpscTmInStoreSender::new(
+        TmSenderId::PusEvent as ChannelId,
+        "PUS_5_TM_SENDER",
+        shared_tm_store.clone(),
+        tm_funnel_tx.clone(),
+    );
+    let event_srv_receiver = MpscTcReceiver::new(
+        TcReceiverId::PusEvent as ChannelId,
+        "PUS_5_TC_RECV",
+        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_pool.clone(), 2048),
+        ),
+        event_request_tx,
+    );
+    Pus5Wrapper { pus_5_handler }
 }
 
-impl Pus5Wrapper {
+pub fn create_event_service_dynamic(
+    tm_funnel_tx: mpsc::Sender<Vec<u8>>,
+    verif_reporter: VerificationReporterWithSender,
+    pus_event_rx: mpsc::Receiver<EcssTcAndToken>,
+    event_request_tx: mpsc::Sender<EventRequestWithToken>,
+) -> Pus5Wrapper<EcssTcInVecConverter> {
+    let event_srv_tm_sender = MpscTmAsVecSender::new(
+        TmSenderId::PusEvent as ChannelId,
+        "PUS_5_TM_SENDER",
+        tm_funnel_tx,
+    );
+    let event_srv_receiver = MpscTcReceiver::new(
+        TcReceiverId::PusEvent as ChannelId,
+        "PUS_5_TC_RECV",
+        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(),
+            EcssTcInVecConverter::default(),
+        ),
+        event_request_tx,
+    );
+    Pus5Wrapper { pus_5_handler }
+}
+
+pub struct Pus5Wrapper<TcInMemConverter: EcssTcInMemConverter> {
+    pub pus_5_handler: PusService5EventHandler<TcInMemConverter>,
+}
+
+impl<TcInMemConverter: EcssTcInMemConverter> Pus5Wrapper<TcInMemConverter> {
     pub fn handle_next_packet(&mut self) -> bool {
         match self.pus_5_handler.handle_one_tc() {
             Ok(result) => match result {

satrs-example/src/pus/hk.rs

@@ -1,15 +1,73 @@
 use crate::requests::{Request, RequestWithToken};
 use log::{error, warn};
 use satrs_core::hk::{CollectionIntervalFactor, HkRequest};
-use satrs_core::pus::verification::{FailParams, StdVerifReporterWithSender};
+use satrs_core::pool::{SharedStaticMemoryPool, StoreAddr};
+use satrs_core::pus::verification::{
+    FailParams, StdVerifReporterWithSender, VerificationReporterWithSender,
+};
 use satrs_core::pus::{
-    EcssTcInMemConverter, EcssTcInSharedStoreConverter, EcssTcReceiver, EcssTmSender,
+    EcssTcAndToken, EcssTcInMemConverter, EcssTcInSharedStoreConverter, EcssTcInVecConverter,
+    EcssTcReceiver, EcssTmSender, MpscTcReceiver, MpscTmAsVecSender, MpscTmInStoreSender,
     PusPacketHandlerResult, PusPacketHandlingError, PusServiceBase, PusServiceHelper,
 };
 use satrs_core::spacepackets::ecss::{hk, PusPacket};
-use satrs_example::{hk_err, tmtc_err, TargetIdWithApid};
+use satrs_core::tmtc::tm_helper::SharedTmStore;
+use satrs_core::ChannelId;
+use satrs_example::config::{hk_err, tmtc_err, TcReceiverId, TmSenderId, PUS_APID};
+use satrs_example::TargetIdWithApid;
 use std::collections::HashMap;
-use std::sync::mpsc::Sender;
+use std::sync::mpsc::{self, Sender};
+
+pub fn create_hk_service_static(
+    shared_tm_store: SharedTmStore,
+    tm_funnel_tx: mpsc::Sender<StoreAddr>,
+    verif_reporter: VerificationReporterWithSender,
+    tc_pool: SharedStaticMemoryPool,
+    pus_hk_rx: mpsc::Receiver<EcssTcAndToken>,
+    request_map: HashMap<TargetIdWithApid, mpsc::Sender<RequestWithToken>>,
+) -> Pus3Wrapper<EcssTcInSharedStoreConverter> {
+    let hk_srv_tm_sender = MpscTmInStoreSender::new(
+        TmSenderId::PusHk as ChannelId,
+        "PUS_3_TM_SENDER",
+        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_pool, 2048),
+        request_map,
+    );
+    Pus3Wrapper { pus_3_handler }
+}
+
+pub fn create_hk_service_dynamic(
+    tm_funnel_tx: mpsc::Sender<Vec<u8>>,
+    verif_reporter: VerificationReporterWithSender,
+    pus_hk_rx: mpsc::Receiver<EcssTcAndToken>,
+    request_map: HashMap<TargetIdWithApid, mpsc::Sender<RequestWithToken>>,
+) -> Pus3Wrapper<EcssTcInVecConverter> {
+    let hk_srv_tm_sender = MpscTmAsVecSender::new(
+        TmSenderId::PusHk as ChannelId,
+        "PUS_3_TM_SENDER",
+        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(),
+        EcssTcInVecConverter::default(),
+        request_map,
+    );
+    Pus3Wrapper { pus_3_handler }
+}
 
 pub struct PusService3HkHandler<TcInMemConverter: EcssTcInMemConverter> {
     psb: PusServiceHelper<TcInMemConverter>,
@@ -147,11 +205,11 @@ impl<TcInMemConverter: EcssTcInMemConverter> PusService3HkHandler<TcInMemConvert
     }
 }
 
-pub struct Pus3Wrapper {
-    pub(crate) pus_3_handler: PusService3HkHandler<EcssTcInSharedStoreConverter>,
+pub struct Pus3Wrapper<TcInMemConverter: EcssTcInMemConverter> {
+    pub(crate) pus_3_handler: PusService3HkHandler<TcInMemConverter>,
 }
 
-impl Pus3Wrapper {
+impl<TcInMemConverter: EcssTcInMemConverter> Pus3Wrapper<TcInMemConverter> {
     pub fn handle_next_packet(&mut self) -> bool {
         match self.pus_3_handler.handle_one_tc() {
             Ok(result) => match result {

satrs-example/src/pus/mod.rs

@@ -6,13 +6,14 @@ use satrs_core::spacepackets::ecss::tc::PusTcReader;
 use satrs_core::spacepackets::ecss::PusServiceId;
 use satrs_core::spacepackets::time::cds::TimeProvider;
 use satrs_core::spacepackets::time::TimeWriter;
-use satrs_example::{tmtc_err, CustomPusServiceId};
+use satrs_example::config::{tmtc_err, CustomPusServiceId};
 use std::sync::mpsc::Sender;
 
 pub mod action;
 pub mod event;
 pub mod hk;
 pub mod scheduler;
+pub mod stack;
 pub mod test;
 
 pub struct PusTcMpscRouter {

satrs-example/src/pus/scheduler.rs

@@ -1,36 +1,66 @@
-use crate::tmtc::PusTcSource;
+use std::sync::mpsc;
+use std::time::Duration;
+
 use log::{error, info, warn};
-use satrs_core::pool::{PoolProviderMemInPlace, StaticMemoryPool};
+use satrs_core::pool::{PoolProviderMemInPlace, StaticMemoryPool, StoreAddr};
 use satrs_core::pus::scheduler::{PusScheduler, TcInfo};
 use satrs_core::pus::scheduler_srv::PusService11SchedHandler;
-use satrs_core::pus::{EcssTcInSharedStoreConverter, PusPacketHandlerResult};
+use satrs_core::pus::verification::VerificationReporterWithSender;
+use satrs_core::pus::{
+    EcssTcAndToken, EcssTcInMemConverter, EcssTcInSharedStoreConverter, EcssTcInVecConverter,
+    MpscTcReceiver, MpscTmAsVecSender, MpscTmInStoreSender, PusPacketHandlerResult,
+    PusServiceHelper,
+};
+use satrs_core::tmtc::tm_helper::SharedTmStore;
+use satrs_core::ChannelId;
+use satrs_example::config::{TcReceiverId, TmSenderId, PUS_APID};
 
-pub struct Pus11Wrapper {
-    pub pus_11_handler: PusService11SchedHandler<EcssTcInSharedStoreConverter, PusScheduler>,
-    pub sched_tc_pool: StaticMemoryPool,
-    pub tc_source_wrapper: PusTcSource,
+use crate::tmtc::PusTcSourceProviderSharedPool;
+
+pub trait TcReleaser {
+    fn release(&mut self, enabled: bool, info: &TcInfo, tc: &[u8]) -> bool;
 }
 
-impl Pus11Wrapper {
-    pub fn release_tcs(&mut self) {
-        let releaser = |enabled: bool, _info: &TcInfo, tc: &[u8]| -> bool {
-            if enabled {
-                // Transfer TC from scheduler TC pool to shared TC pool.
-                let released_tc_addr = self
-                    .tc_source_wrapper
-                    .tc_store
-                    .pool
-                    .write()
-                    .expect("locking pool failed")
-                    .add(tc)
-                    .expect("adding TC to shared pool failed");
+impl TcReleaser for PusTcSourceProviderSharedPool {
+    fn release(&mut self, enabled: bool, _info: &TcInfo, tc: &[u8]) -> bool {
+        if enabled {
+            // Transfer TC from scheduler TC pool to shared TC pool.
+            let released_tc_addr = self
+                .shared_pool
+                .pool
+                .write()
+                .expect("locking pool failed")
+                .add(tc)
+                .expect("adding TC to shared pool failed");
+            self.tc_source
+                .send(released_tc_addr)
+                .expect("sending TC to TC source failed");
+        }
+        true
+    }
+}
 
-                self.tc_source_wrapper
-                    .tc_source
-                    .send(released_tc_addr)
-                    .expect("sending TC to TC source failed");
-            }
-            true
+impl TcReleaser for mpsc::Sender<Vec<u8>> {
+    fn release(&mut self, enabled: bool, _info: &TcInfo, tc: &[u8]) -> bool {
+        if enabled {
+            // Send released TC to centralized TC source.
+            self.send(tc.to_vec())
+                .expect("sending TC to TC source failed");
+        }
+        true
+    }
+}
+
+pub struct Pus11Wrapper<TcInMemConverter: EcssTcInMemConverter> {
+    pub pus_11_handler: PusService11SchedHandler<TcInMemConverter, PusScheduler>,
+    pub sched_tc_pool: StaticMemoryPool,
+    pub tc_releaser: Box<dyn TcReleaser + Send>,
+}
+
+impl<TcInMemConverter: EcssTcInMemConverter> Pus11Wrapper<TcInMemConverter> {
+    pub fn release_tcs(&mut self) {
+        let releaser = |enabled: bool, info: &TcInfo, tc: &[u8]| -> bool {
+            self.tc_releaser.release(enabled, info, tc)
         };
 
         self.pus_11_handler
@@ -71,3 +101,77 @@ impl Pus11Wrapper {
         false
     }
 }
+
+pub fn create_scheduler_service_static(
+    shared_tm_store: SharedTmStore,
+    tm_funnel_tx: mpsc::Sender<StoreAddr>,
+    verif_reporter: VerificationReporterWithSender,
+    tc_releaser: PusTcSourceProviderSharedPool,
+    pus_sched_rx: mpsc::Receiver<EcssTcAndToken>,
+    sched_tc_pool: StaticMemoryPool,
+) -> Pus11Wrapper<EcssTcInSharedStoreConverter> {
+    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_releaser.clone_backing_pool(), 2048),
+        ),
+        scheduler,
+    );
+    Pus11Wrapper {
+        pus_11_handler,
+        sched_tc_pool,
+        tc_releaser: Box::new(tc_releaser),
+    }
+}
+
+pub fn create_scheduler_service_dynamic(
+    tm_funnel_tx: mpsc::Sender<Vec<u8>>,
+    verif_reporter: VerificationReporterWithSender,
+    tc_source_sender: mpsc::Sender<Vec<u8>>,
+    pus_sched_rx: mpsc::Receiver<EcssTcAndToken>,
+    sched_tc_pool: StaticMemoryPool,
+) -> Pus11Wrapper<EcssTcInVecConverter> {
+    let sched_srv_tm_sender = MpscTmAsVecSender::new(
+        TmSenderId::PusSched as ChannelId,
+        "PUS_11_TM_SENDER",
+        tm_funnel_tx,
+    );
+    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(),
+            EcssTcInVecConverter::default(),
+        ),
+        scheduler,
+    );
+    Pus11Wrapper {
+        pus_11_handler,
+        sched_tc_pool,
+        tc_releaser: Box::new(tc_source_sender),
+    }
+}

satrs-example/src/pus/stack.rs

@@ -0,0 +1,52 @@
+use satrs_core::pus::EcssTcInMemConverter;
+
+use super::{
+    action::Pus8Wrapper, event::Pus5Wrapper, hk::Pus3Wrapper, scheduler::Pus11Wrapper,
+    test::Service17CustomWrapper,
+};
+
+pub struct PusStack<TcInMemConverter: EcssTcInMemConverter> {
+    event_srv: Pus5Wrapper<TcInMemConverter>,
+    hk_srv: Pus3Wrapper<TcInMemConverter>,
+    action_srv: Pus8Wrapper<TcInMemConverter>,
+    schedule_srv: Pus11Wrapper<TcInMemConverter>,
+    test_srv: Service17CustomWrapper<TcInMemConverter>,
+}
+
+impl<TcInMemConverter: EcssTcInMemConverter> PusStack<TcInMemConverter> {
+    pub fn new(
+        hk_srv: Pus3Wrapper<TcInMemConverter>,
+        event_srv: Pus5Wrapper<TcInMemConverter>,
+        action_srv: Pus8Wrapper<TcInMemConverter>,
+        schedule_srv: Pus11Wrapper<TcInMemConverter>,
+        test_srv: Service17CustomWrapper<TcInMemConverter>,
+    ) -> Self {
+        Self {
+            event_srv,
+            action_srv,
+            schedule_srv,
+            test_srv,
+            hk_srv,
+        }
+    }
+
+    pub fn periodic_operation(&mut self) {
+        self.schedule_srv.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(self.test_srv.handle_next_packet());
+            is_srv_finished(self.schedule_srv.handle_next_packet());
+            is_srv_finished(self.event_srv.handle_next_packet());
+            is_srv_finished(self.action_srv.handle_next_packet());
+            is_srv_finished(self.hk_srv.handle_next_packet());
+            if all_queues_empty {
+                break;
+            }
+        }
+    }
+}

satrs-example/src/pus/test.rs

@@ -1,22 +1,89 @@
 use log::{info, warn};
 use satrs_core::params::Params;
+use satrs_core::pool::{SharedStaticMemoryPool, StoreAddr};
 use satrs_core::pus::test::PusService17TestHandler;
-use satrs_core::pus::verification::FailParams;
-use satrs_core::pus::{EcssTcInMemConverter, PusPacketHandlerResult};
+use satrs_core::pus::verification::{FailParams, VerificationReporterWithSender};
+use satrs_core::pus::{
+    EcssTcAndToken, EcssTcInMemConverter, EcssTcInVecConverter, MpscTcReceiver, MpscTmAsVecSender,
+    MpscTmInStoreSender, PusPacketHandlerResult, PusServiceHelper,
+};
 use satrs_core::spacepackets::ecss::tc::PusTcReader;
 use satrs_core::spacepackets::ecss::PusPacket;
 use satrs_core::spacepackets::time::cds::TimeProvider;
 use satrs_core::spacepackets::time::TimeWriter;
+use satrs_core::tmtc::tm_helper::SharedTmStore;
+use satrs_core::ChannelId;
 use satrs_core::{events::EventU32, pus::EcssTcInSharedStoreConverter};
-use satrs_example::{tmtc_err, TEST_EVENT};
-use std::sync::mpsc::Sender;
+use satrs_example::config::{tmtc_err, TcReceiverId, TmSenderId, PUS_APID, TEST_EVENT};
+use std::sync::mpsc::{self, Sender};
 
-pub struct Service17CustomWrapper {
-    pub pus17_handler: PusService17TestHandler<EcssTcInSharedStoreConverter>,
+pub fn create_test_service_static(
+    shared_tm_store: SharedTmStore,
+    tm_funnel_tx: mpsc::Sender<StoreAddr>,
+    verif_reporter: VerificationReporterWithSender,
+    tc_pool: SharedStaticMemoryPool,
+    event_sender: mpsc::Sender<(EventU32, Option<Params>)>,
+    pus_test_rx: mpsc::Receiver<EcssTcAndToken>,
+) -> Service17CustomWrapper<EcssTcInSharedStoreConverter> {
+    let test_srv_tm_sender = MpscTmInStoreSender::new(
+        TmSenderId::PusTest as ChannelId,
+        "PUS_17_TM_SENDER",
+        shared_tm_store.clone(),
+        tm_funnel_tx.clone(),
+    );
+    let test_srv_receiver = MpscTcReceiver::new(
+        TcReceiverId::PusTest as ChannelId,
+        "PUS_17_TC_RECV",
+        pus_test_rx,
+    );
+    let pus17_handler = PusService17TestHandler::new(PusServiceHelper::new(
+        Box::new(test_srv_receiver),
+        Box::new(test_srv_tm_sender),
+        PUS_APID,
+        verif_reporter.clone(),
+        EcssTcInSharedStoreConverter::new(tc_pool, 2048),
+    ));
+    Service17CustomWrapper {
+        pus17_handler,
+        test_srv_event_sender: event_sender,
+    }
+}
+
+pub fn create_test_service_dynamic(
+    tm_funnel_tx: mpsc::Sender<Vec<u8>>,
+    verif_reporter: VerificationReporterWithSender,
+    event_sender: mpsc::Sender<(EventU32, Option<Params>)>,
+    pus_test_rx: mpsc::Receiver<EcssTcAndToken>,
+) -> Service17CustomWrapper<EcssTcInVecConverter> {
+    let test_srv_tm_sender = MpscTmAsVecSender::new(
+        TmSenderId::PusTest as ChannelId,
+        "PUS_17_TM_SENDER",
+        tm_funnel_tx.clone(),
+    );
+    let test_srv_receiver = MpscTcReceiver::new(
+        TcReceiverId::PusTest as ChannelId,
+        "PUS_17_TC_RECV",
+        pus_test_rx,
+    );
+    let pus17_handler = PusService17TestHandler::new(PusServiceHelper::new(
+        Box::new(test_srv_receiver),
+        Box::new(test_srv_tm_sender),
+        PUS_APID,
+        verif_reporter.clone(),
+        EcssTcInVecConverter::default(),
+    ));
+    Service17CustomWrapper {
+        pus17_handler,
+        test_srv_event_sender: event_sender,
+    }
+}
+
+pub struct Service17CustomWrapper<TcInMemConverter: EcssTcInMemConverter> {
+    pub pus17_handler: PusService17TestHandler<TcInMemConverter>,
     pub test_srv_event_sender: Sender<(EventU32, Option<Params>)>,
 }
 
-impl Service17CustomWrapper {
+impl<TcInMemConverter: EcssTcInMemConverter> Service17CustomWrapper<TcInMemConverter> {
     pub fn handle_next_packet(&mut self) -> bool {
         let res = self.pus17_handler.handle_one_tc();
         if res.is_err() {