add some more missing docs

satrs/src/pus/action.rs

@@ -75,14 +75,16 @@ pub mod std_mod {
     /// 1. Retrieve the next TC packet from the [PusServiceHelper]. The [EcssTcInMemConverter]
     ///    allows to configure the used telecommand memory backend.
     /// 2. Convert the TC to a targeted action request using the provided
-    ///    [PusActionToRequestConverter].
+    ///    [PusActionToRequestConverter]. The generic error type is constrained to the
+    ///    [PusPacketHandlingError] for the concrete implementation which offers a packet handler.
     /// 3. Route the action request using the provided [PusActionRequestRouter].
     /// 4. Handle all routing errors using the provided [PusRoutingErrorHandler].
     pub struct PusService8ActionHandler<
         TcInMemConverter: EcssTcInMemConverter,
         RequestConverter: PusActionToRequestConverter,
-        RequestRouter: PusActionRequestRouter,
+        RequestRouter: PusActionRequestRouter<Error=RoutingError>,
-        RoutingErrorHandler: PusRoutingErrorHandler,
+        RoutingErrorHandler: PusRoutingErrorHandler<Error=RoutingError>,
+        RoutingError = GenericRoutingError
     > {
         service_helper: PusServiceHelper<TcInMemConverter>,
         request_converter: RequestConverter,
@@ -93,14 +95,16 @@ pub mod std_mod {
     impl<
             TcInMemConverter: EcssTcInMemConverter,
             RequestConverter: PusActionToRequestConverter<Error = PusPacketHandlingError>,
-            RequestRouter: PusActionRequestRouter<Error = GenericRoutingError>,
+            RequestRouter: PusActionRequestRouter<Error = RoutingError>,
-            RoutingErrorHandler: PusRoutingErrorHandler<Error = GenericRoutingError>,
+            RoutingErrorHandler: PusRoutingErrorHandler<Error = RoutingError>,
+            RoutingError
         >
         PusService8ActionHandler<
             TcInMemConverter,
             RequestConverter,
             RequestRouter,
             RoutingErrorHandler,
+            RoutingError
         >
     {
         pub fn new(

satrs/src/pus/hk.rs

@@ -12,6 +12,8 @@ use crate::{hk::HkRequest, TargetId};
 
 use super::verification::{TcStateAccepted, VerificationToken};
 
+/// This trait is an abstraction for the routing of PUS service 3 housekeeping requests to a
+/// dedicated recipient using the generic [TargetId].
 pub trait PusHkRequestRouter {
     type Error;
     fn route(
@@ -31,6 +33,21 @@ pub mod alloc_mod {
 
     use super::*;
 
+    /// This trait is an abstraction for the conversion of a PUS service 8 action telecommand into
+    /// a [HkRequest].
+    ///
+    /// Having a dedicated trait for this allows maximum flexiblity and tailoring of the standard.
+    /// The only requirement is that a valid [TargetId] and a [HkRequest] are returned by the
+    /// core conversion function.
+    ///
+    /// The user should take care of performing the error handling as well. Some of the following
+    /// aspects might be relevant:
+    ///
+    /// - Checking the validity of the APID, service ID, subservice ID.
+    /// - Checking the validity of the user data.
+    ///
+    /// A [VerificationReporterWithSender] instance is passed to the user to also allow handling
+    /// of the verification process as part of the PUS standard requirements.
     pub trait PusHkToRequestConverter {
         type Error;
         fn convert(
@@ -53,11 +70,25 @@ pub mod std_mod {
 
     use super::*;
 
+    /// This is a generic high-level handler for the PUS service 3 housekeeping service.
+    ///
+    /// It performs the following handling steps:
+    ///
+    /// 1. Retrieve the next TC packet from the [PusServiceHelper]. The [EcssTcInMemConverter]
+    ///    allows to configure the used telecommand memory backend.
+    /// 2. Convert the TC to a targeted action request using the provided
+    ///    [PusActionToRequestConverter]. The generic error type is constrained to the
+    ///    [PusPacketHandlerResult] for the concrete implementation which offers a packet handler.
+    /// 3. Route the action request using the provided [PusActionRequestRouter]. The generic error
+    ///    type is constrained to the [GenericRoutingError] for the concrete implementation.
+    /// 4. Handle all routing errors using the provided [PusRoutingErrorHandler]. The generic error
+    ///    type is constrained to the [GenericRoutingError] for the concrete implementation.
     pub struct PusService3HkHandler<
         TcInMemConverter: EcssTcInMemConverter,
         RequestConverter: PusHkToRequestConverter,
-        RequestRouter: PusHkRequestRouter,
+        RequestRouter: PusHkRequestRouter<Error=RoutingError>,
-        RoutingErrorHandler: PusRoutingErrorHandler,
+        RoutingErrorHandler: PusRoutingErrorHandler<Error=RoutingError>,
+        RoutingError = GenericRoutingError
     > {
         service_helper: PusServiceHelper<TcInMemConverter>,
         request_converter: RequestConverter,
@@ -68,10 +99,11 @@ pub mod std_mod {
     impl<
             TcInMemConverter: EcssTcInMemConverter,
             RequestConverter: PusHkToRequestConverter<Error = PusPacketHandlingError>,
-            RequestRouter: PusHkRequestRouter<Error = GenericRoutingError>,
+            RequestRouter: PusHkRequestRouter<Error = RoutingError>,
-            RoutingErrorHandler: PusRoutingErrorHandler<Error = GenericRoutingError>,
+            RoutingErrorHandler: PusRoutingErrorHandler<Error = RoutingError>,
+            RoutingError,
         >
-        PusService3HkHandler<TcInMemConverter, RequestConverter, RequestRouter, RoutingErrorHandler>
+        PusService3HkHandler<TcInMemConverter, RequestConverter, RequestRouter, RoutingErrorHandler, RoutingError>
     {
         pub fn new(
             service_helper: PusServiceHelper<TcInMemConverter>,

satrs/src/pus/mod.rs

@@ -353,7 +353,7 @@ mod alloc_mod {
             target_id: TargetId,
             token: VerificationToken<TcStateAccepted>,
             tc: &PusTcReader,
-            error: GenericRoutingError,
+            error: Self::Error,
             time_stamp: &[u8],
             verif_reporter: &mut VerificationReporterWithSender,
         );