diff --git a/satrs-core/src/hal/host/mod.rs b/satrs-core/src/hal/host/mod.rs
index 051a2f7..dfd02c1 100644
--- a/satrs-core/src/hal/host/mod.rs
+++ b/satrs-core/src/hal/host/mod.rs
@@ -1,3 +1,4 @@
 //! Helper modules intended to be used on hosts with a full [std] runtime
+mod tcp_with_cobs_server;
 pub mod tcp_server;
 pub mod udp_server;
diff --git a/satrs-core/src/hal/host/tcp_server.rs b/satrs-core/src/hal/host/tcp_server.rs
index cfa3963..16bcce4 100644
--- a/satrs-core/src/hal/host/tcp_server.rs
+++ b/satrs-core/src/hal/host/tcp_server.rs
@@ -1,29 +1,14 @@
-use alloc::boxed::Box;
 use alloc::vec;
-use cobs::decode_in_place;
+use alloc::{boxed::Box, vec::Vec};
+use std::net::SocketAddr;
+use std::net::{TcpListener, ToSocketAddrs};
+
+use crate::tmtc::{ReceivesTc, TmPacketSource};
 use core::fmt::Display;
-use std::io::Write;
-use std::net::ToSocketAddrs;
-use std::vec::Vec;
-use std::{io::Read, net::TcpListener};
 use thiserror::Error;
 
-use crate::tmtc::ReceivesTc;
-
-pub trait TmPacketSource {
-    type Error;
-    fn retrieve_packet(&mut self, buffer: &mut [u8]) -> Result<usize, Self::Error>;
-}
-
-pub struct TcpTmtcServer<TcError, TmError> {
-    listener: TcpListener,
-    tm_source: Box<dyn TmPacketSource<Error = TmError>>,
-    tm_buffer: Vec<u8>,
-    tc_receiver: Box<dyn ReceivesTc<Error = TcError>>,
-    tc_buffer: Vec<u8>,
-    num_received_tcs: u32,
-    num_sent_tms: u32,
-}
+// Re-export the TMTC in COBS server.
+pub use crate::hal::host::tcp_with_cobs_server::TcpTmtcInCobsServer;
 
 #[derive(Error, Debug)]
 pub enum TcpTmtcError<TmError: Display, TcError: Display> {
@@ -35,8 +20,25 @@ pub enum TcpTmtcError<TmError: Display, TcError: Display> {
     Io(#[from] std::io::Error),
 }
 
-impl<TcError: 'static + Display, TmError: 'static + Display> TcpTmtcServer<TcError, TmError> {
-    pub fn new<A: ToSocketAddrs>(
+/// Result of one connection attempt. Contains the client address if a connection was established,
+/// in addition to the number of telecommands and telemetry packets exchanged.
+#[derive(Debug, Default)]
+pub struct ConnectionResult {
+    pub addr: Option<SocketAddr>,
+    pub num_received_tcs: u32,
+    pub num_sent_tms: u32,
+}
+
+pub(crate) struct TcpTmtcServerBase<TcError, TmError> {
+    pub (crate) listener: TcpListener,
+    pub (crate) tm_source: Box<dyn TmPacketSource<Error = TmError>>,
+    pub (crate) tm_buffer: Vec<u8>,
+    pub (crate) tc_receiver: Box<dyn ReceivesTc<Error = TcError>>,
+    pub (crate) tc_buffer: Vec<u8>,
+}
+
+impl<TcError, TmError> TcpTmtcServerBase<TcError, TmError> {
+    pub(crate) fn new<A: ToSocketAddrs>(
         addr: A,
         tm_buffer_size: usize,
         tm_source: Box<dyn TmPacketSource<Error = TmError>>,
@@ -49,300 +51,6 @@ impl<TcError: 'static + Display, TmError: 'static + Display> TcpTmtcServer<TcErr
             tm_buffer: vec![0; tm_buffer_size],
             tc_receiver,
             tc_buffer: vec![0; tc_buffer_size],
-            num_received_tcs: 0,
-            num_sent_tms: 0,
         })
     }
-
-    pub fn number_of_received_tcs(&self) -> u32 {
-        self.num_received_tcs
-    }
-
-    pub fn number_of_sent_tms(&self) -> u32 {
-        self.num_sent_tms
-    }
-
-    pub fn handle_connections(&mut self) -> Result<(), TcpTmtcError<TmError, TcError>> {
-        let mut current_write_idx;
-        let mut next_write_idx = 0;
-        for stream in self.listener.incoming() {
-            current_write_idx = next_write_idx;
-            next_write_idx = 0;
-            let mut stream = stream?;
-            loop {
-                let read_len = stream.read(&mut self.tc_buffer[current_write_idx..])?;
-                if read_len > 0 {
-                    current_write_idx += read_len;
-                    if current_write_idx == self.tc_buffer.capacity() {
-                        // Reader vec full, need to parse for packets.
-                        self.num_received_tcs += parse_buffer_for_cobs_encoded_packets(
-                            &mut self.tc_buffer[..current_write_idx],
-                            self.tc_receiver.as_mut(),
-                            &mut next_write_idx,
-                        )
-                        .map_err(|e| TcpTmtcError::TcError(e))?;
-                    }
-                    current_write_idx = next_write_idx;
-                    continue;
-                }
-                break;
-            }
-            if current_write_idx > 0 {
-                self.num_received_tcs += parse_buffer_for_cobs_encoded_packets(
-                    &mut self.tc_buffer[..current_write_idx],
-                    self.tc_receiver.as_mut(),
-                    &mut next_write_idx,
-                )
-                .map_err(|e| TcpTmtcError::TcError(e))?;
-            }
-            loop {
-                // Write TM until TM source is exhausted. For now, there is no limit for the amount
-                // of TM written this way.
-                let read_tm_len = self
-                    .tm_source
-                    .retrieve_packet(&mut self.tm_buffer)
-                    .map_err(|e| TcpTmtcError::TmError(e))?;
-                if read_tm_len == 0 {
-                    break;
-                }
-                self.num_sent_tms += 1;
-                stream.write_all(&self.tm_buffer[..read_tm_len])?;
-            }
-        }
-        Ok(())
-    }
-}
-
-pub fn parse_buffer_for_cobs_encoded_packets<E>(
-    buf: &mut [u8],
-    tc_receiver: &mut dyn ReceivesTc<Error = E>,
-    next_write_idx: &mut usize,
-) -> Result<u32, E> {
-    let mut start_index_packet = 0;
-    let mut start_found = false;
-    let mut last_byte = false;
-    let mut packets_found = 0;
-    for i in 0..buf.len() {
-        if i == buf.len() - 1 {
-            last_byte = true;
-        }
-        if buf[i] == 0 {
-            if !start_found && !last_byte && buf[i + 1] == 0 {
-                // Special case: Consecutive sentinel values or all zeroes.
-                // Skip.
-                continue;
-            }
-            if start_found {
-                let decode_result = decode_in_place(&mut buf[start_index_packet..i]);
-                if let Ok(packet_len) = decode_result {
-                    packets_found += 1;
-                    tc_receiver
-                        .pass_tc(&buf[start_index_packet..start_index_packet + packet_len])?;
-                }
-                start_found = false;
-            } else {
-                start_index_packet = i + 1;
-                start_found = true;
-            }
-        }
-    }
-    // Split frame at the end for a multi-packet frame. Move it to the front of the buffer.
-    if start_index_packet > 0 && start_found && packets_found > 0 {
-        let (first_seg, last_seg) = buf.split_at_mut(start_index_packet - 1);
-        first_seg[..last_seg.len()].copy_from_slice(last_seg);
-        *next_write_idx = last_seg.len();
-    }
-    Ok(packets_found)
-}
-
-#[cfg(test)]
-mod tests {
-    use crate::tmtc::ReceivesTcCore;
-    use alloc::vec::Vec;
-    use cobs::encode;
-
-    use super::parse_buffer_for_cobs_encoded_packets;
-
-    const SIMPLE_PACKET: [u8; 5] = [1, 2, 3, 4, 5];
-
-    #[derive(Default)]
-    struct TestSender {
-        received_tcs: Vec<Vec<u8>>,
-    }
-
-    impl ReceivesTcCore for TestSender {
-        type Error = ();
-
-        fn pass_tc(&mut self, tc_raw: &[u8]) -> Result<(), Self::Error> {
-            self.received_tcs.push(tc_raw.to_vec());
-            Ok(())
-        }
-    }
-
-    fn encode_simple_packet(encoded_buf: &mut [u8], current_idx: &mut usize) {
-        encoded_buf[*current_idx] = 0;
-        *current_idx += 1;
-        *current_idx += encode(&SIMPLE_PACKET, &mut encoded_buf[*current_idx..]);
-        encoded_buf[*current_idx] = 0;
-        *current_idx += 1;
-    }
-
-    #[test]
-    fn test_parsing_simple_packet() {
-        let mut test_sender = TestSender::default();
-        let mut encoded_buf: [u8; 16] = [0; 16];
-        let mut current_idx = 0;
-        encode_simple_packet(&mut encoded_buf, &mut current_idx);
-        let mut next_read_idx = 0;
-        let packets = parse_buffer_for_cobs_encoded_packets(
-            &mut encoded_buf[0..current_idx],
-            &mut test_sender,
-            &mut next_read_idx,
-        )
-        .unwrap();
-        assert_eq!(packets, 1);
-        assert_eq!(test_sender.received_tcs.len(), 1);
-        let packet = &test_sender.received_tcs[0];
-        assert_eq!(packet, &SIMPLE_PACKET);
-    }
-
-    #[test]
-    fn test_parsing_consecutive_packets() {
-        let mut test_sender = TestSender::default();
-        let mut encoded_buf: [u8; 16] = [0; 16];
-        let mut current_idx = 0;
-        encode_simple_packet(&mut encoded_buf, &mut current_idx);
-
-        let inverted_packet: [u8; 5] = [5, 4, 3, 2, 1];
-        // Second packet
-        encoded_buf[current_idx] = 0;
-        current_idx += 1;
-        current_idx += encode(&inverted_packet, &mut encoded_buf[current_idx..]);
-        encoded_buf[current_idx] = 0;
-        current_idx += 1;
-        let mut next_read_idx = 0;
-        let packets = parse_buffer_for_cobs_encoded_packets(
-            &mut encoded_buf[0..current_idx],
-            &mut test_sender,
-            &mut next_read_idx,
-        )
-        .unwrap();
-        assert_eq!(packets, 2);
-        assert_eq!(test_sender.received_tcs.len(), 2);
-        let packet0 = &test_sender.received_tcs[0];
-        assert_eq!(packet0, &SIMPLE_PACKET);
-        let packet1 = &test_sender.received_tcs[1];
-        assert_eq!(packet1, &inverted_packet);
-    }
-
-    #[test]
-    fn test_split_tail_packet_only() {
-        let mut test_sender = TestSender::default();
-        let mut encoded_buf: [u8; 16] = [0; 16];
-        let mut current_idx = 0;
-        encode_simple_packet(&mut encoded_buf, &mut current_idx);
-        let mut next_read_idx = 0;
-        let packets = parse_buffer_for_cobs_encoded_packets(
-            // Cut off the sentinel byte at the end.
-            &mut encoded_buf[0..current_idx - 1],
-            &mut test_sender,
-            &mut next_read_idx,
-        )
-        .unwrap();
-        assert_eq!(packets, 0);
-        assert_eq!(test_sender.received_tcs.len(), 0);
-        assert_eq!(next_read_idx, 0);
-    }
-
-    fn generic_test_split_packet(cut_off: usize) {
-        let mut test_sender = TestSender::default();
-        let mut encoded_buf: [u8; 16] = [0; 16];
-        let inverted_packet: [u8; 5] = [5, 4, 3, 2, 1];
-        assert!(cut_off < inverted_packet.len() + 1);
-        let mut current_idx = 0;
-        encode_simple_packet(&mut encoded_buf, &mut current_idx);
-        // Second packet
-        encoded_buf[current_idx] = 0;
-        let packet_start = current_idx;
-        current_idx += 1;
-        let encoded_len = encode(&inverted_packet, &mut encoded_buf[current_idx..]);
-        assert_eq!(encoded_len, 6);
-        current_idx += encoded_len;
-        // We cut off the sentinel byte, so we expecte the write index to be the length of the
-        // packet minus the sentinel byte plus the first sentinel byte.
-        let next_expected_write_idx = 1 + encoded_len - cut_off + 1;
-        encoded_buf[current_idx] = 0;
-        current_idx += 1;
-        let mut next_write_idx = 0;
-        let expected_at_start = encoded_buf[packet_start..current_idx - cut_off].to_vec();
-        let packets = parse_buffer_for_cobs_encoded_packets(
-            // Cut off the sentinel byte at the end.
-            &mut encoded_buf[0..current_idx - cut_off],
-            &mut test_sender,
-            &mut next_write_idx,
-        )
-        .unwrap();
-        assert_eq!(packets, 1);
-        assert_eq!(test_sender.received_tcs.len(), 1);
-        assert_eq!(&test_sender.received_tcs[0], &SIMPLE_PACKET);
-        assert_eq!(next_write_idx, next_expected_write_idx);
-        assert_eq!(encoded_buf[..next_expected_write_idx], expected_at_start);
-    }
-
-    #[test]
-    fn test_one_packet_and_split_tail_packet_0() {
-        generic_test_split_packet(1);
-    }
-
-    #[test]
-    fn test_one_packet_and_split_tail_packet_1() {
-        generic_test_split_packet(2);
-    }
-
-    #[test]
-    fn test_one_packet_and_split_tail_packet_2() {
-        generic_test_split_packet(3);
-    }
-
-    #[test]
-    fn test_zero_at_end() {
-        let mut test_sender = TestSender::default();
-        let mut encoded_buf: [u8; 16] = [0; 16];
-        let mut next_write_idx = 0;
-        let mut current_idx = 0;
-        encoded_buf[current_idx] = 5;
-        current_idx += 1;
-        encode_simple_packet(&mut encoded_buf, &mut current_idx);
-        encoded_buf[current_idx] = 0;
-        current_idx += 1;
-        let packets = parse_buffer_for_cobs_encoded_packets(
-            // Cut off the sentinel byte at the end.
-            &mut encoded_buf[0..current_idx],
-            &mut test_sender,
-            &mut next_write_idx,
-        )
-        .unwrap();
-        assert_eq!(packets, 1);
-        assert_eq!(test_sender.received_tcs.len(), 1);
-        assert_eq!(&test_sender.received_tcs[0], &SIMPLE_PACKET);
-        assert_eq!(next_write_idx, 1);
-        assert_eq!(encoded_buf[0], 0);
-    }
-
-    #[test]
-    fn test_all_zeroes() {
-        let mut test_sender = TestSender::default();
-        let mut all_zeroes: [u8; 5] = [0; 5];
-        let mut next_write_idx = 0;
-        let packets = parse_buffer_for_cobs_encoded_packets(
-            // Cut off the sentinel byte at the end.
-            &mut all_zeroes,
-            &mut test_sender,
-            &mut next_write_idx,
-        )
-        .unwrap();
-        assert_eq!(packets, 0);
-        assert!(test_sender.received_tcs.is_empty());
-        assert_eq!(next_write_idx, 0);
-    }
 }
diff --git a/satrs-core/src/hal/host/tcp_spacepackets_server.rs b/satrs-core/src/hal/host/tcp_spacepackets_server.rs
new file mode 100644
index 0000000..e69de29
diff --git a/satrs-core/src/hal/host/tcp_with_cobs_server.rs b/satrs-core/src/hal/host/tcp_with_cobs_server.rs
new file mode 100644
index 0000000..6c72254
--- /dev/null
+++ b/satrs-core/src/hal/host/tcp_with_cobs_server.rs
@@ -0,0 +1,347 @@
+use alloc::boxed::Box;
+use alloc::vec;
+use cobs::decode_in_place;
+use cobs::encode;
+use cobs::max_encoding_length;
+use core::fmt::Display;
+use std::io::Read;
+use std::io::Write;
+use std::net::ToSocketAddrs;
+use std::vec::Vec;
+
+use crate::tmtc::ReceivesTc;
+use crate::tmtc::TmPacketSource;
+use crate::hal::host::tcp_server::TcpTmtcServerBase;
+
+use super::tcp_server::ConnectionResult;
+use super::tcp_server::TcpTmtcError;
+
+/// TCP TMTC server implementation for exchange of generic TMTC packets which are framed with the
+/// [COBS protocol](https://en.wikipedia.org/wiki/Consistent_Overhead_Byte_Stuffing).
+///
+/// Using a framing protocol like COBS imposes minimal restrictions on the type of TMTC data
+/// exchanged while also allowing packets with flexible size and a reliable way to reconstruct full
+/// packets even from a data stream which is split up.
+pub struct TcpTmtcInCobsServer<TcError, TmError> {
+    base: TcpTmtcServerBase<TcError, TmError>,
+    tm_encoding_buffer: Vec<u8>,
+}
+
+impl<TcError: 'static + Display, TmError: 'static + Display> TcpTmtcInCobsServer<TcError, TmError> {
+    pub fn new<A: ToSocketAddrs>(
+        addr: A,
+        tm_buffer_size: usize,
+        tm_source: Box<dyn TmPacketSource<Error = TmError>>,
+        tc_buffer_size: usize,
+        tc_receiver: Box<dyn ReceivesTc<Error = TcError>>,
+    ) -> Result<Self, std::io::Error> {
+        Ok(Self {
+            base: TcpTmtcServerBase::new(
+                addr,
+                tm_buffer_size,
+                tm_source,
+                tc_buffer_size,
+                tc_receiver,
+            )?,
+            tm_encoding_buffer: vec![0; max_encoding_length(tc_buffer_size)],
+        })
+    }
+
+    pub fn handle_next_connection(
+        &mut self,
+    ) -> Result<ConnectionResult, TcpTmtcError<TmError, TcError>> {
+        let mut connection_result = ConnectionResult::default();
+        let mut current_write_idx;
+        let mut next_write_idx = 0;
+        let (mut stream, addr) = self.base.listener.accept()?;
+        connection_result.addr = Some(addr);
+        current_write_idx = next_write_idx;
+        next_write_idx = 0;
+        loop {
+            let read_len = stream.read(&mut self.base.tc_buffer[current_write_idx..])?;
+            if read_len > 0 {
+                current_write_idx += read_len;
+                if current_write_idx == self.base.tc_buffer.capacity() {
+                    // Reader vec full, need to parse for packets.
+                    connection_result.num_received_tcs += parse_buffer_for_cobs_encoded_packets(
+                        &mut self.base.tc_buffer[..current_write_idx],
+                        self.base.tc_receiver.as_mut(),
+                        &mut next_write_idx,
+                    )
+                    .map_err(|e| TcpTmtcError::TcError(e))?;
+                }
+                current_write_idx = next_write_idx;
+                continue;
+            }
+            break;
+        }
+        if current_write_idx > 0 {
+            connection_result.num_received_tcs += parse_buffer_for_cobs_encoded_packets(
+                &mut self.base.tc_buffer[..current_write_idx],
+                self.base.tc_receiver.as_mut(),
+                &mut next_write_idx,
+            )
+            .map_err(|e| TcpTmtcError::TcError(e))?;
+        }
+        loop {
+            // Write TM until TM source is exhausted. For now, there is no limit for the amount
+            // of TM written this way.
+            let read_tm_len = self
+                .base
+                .tm_source
+                .retrieve_packet(&mut self.base.tm_buffer)
+                .map_err(|e| TcpTmtcError::TmError(e))?;
+            if read_tm_len == 0 {
+                break;
+            }
+            connection_result.num_sent_tms += 1;
+
+            // Encode into COBS and sent to client.
+            let mut current_idx = 0;
+            self.tm_encoding_buffer[current_idx] = 0;
+            current_idx += 1;
+            current_idx += encode(
+                &self.base.tm_buffer[..read_tm_len],
+                &mut self.tm_encoding_buffer,
+            );
+            self.tm_encoding_buffer[current_idx] = 0;
+            current_idx += 1;
+            stream.write_all(&self.tm_encoding_buffer[..current_idx])?;
+        }
+        Ok(connection_result)
+    }
+}
+
+pub fn parse_buffer_for_cobs_encoded_packets<E>(
+    buf: &mut [u8],
+    tc_receiver: &mut dyn ReceivesTc<Error = E>,
+    next_write_idx: &mut usize,
+) -> Result<u32, E> {
+    let mut start_index_packet = 0;
+    let mut start_found = false;
+    let mut last_byte = false;
+    let mut packets_found = 0;
+    for i in 0..buf.len() {
+        if i == buf.len() - 1 {
+            last_byte = true;
+        }
+        if buf[i] == 0 {
+            if !start_found && !last_byte && buf[i + 1] == 0 {
+                // Special case: Consecutive sentinel values or all zeroes.
+                // Skip.
+                continue;
+            }
+            if start_found {
+                let decode_result = decode_in_place(&mut buf[start_index_packet..i]);
+                if let Ok(packet_len) = decode_result {
+                    packets_found += 1;
+                    tc_receiver
+                        .pass_tc(&buf[start_index_packet..start_index_packet + packet_len])?;
+                }
+                start_found = false;
+            } else {
+                start_index_packet = i + 1;
+                start_found = true;
+            }
+        }
+    }
+    // Split frame at the end for a multi-packet frame. Move it to the front of the buffer.
+    if start_index_packet > 0 && start_found && packets_found > 0 {
+        let (first_seg, last_seg) = buf.split_at_mut(start_index_packet - 1);
+        first_seg[..last_seg.len()].copy_from_slice(last_seg);
+        *next_write_idx = last_seg.len();
+    }
+    Ok(packets_found)
+}
+
+#[cfg(test)]
+mod tests {
+    use crate::tmtc::ReceivesTcCore;
+    use alloc::vec::Vec;
+    use cobs::encode;
+
+    use super::parse_buffer_for_cobs_encoded_packets;
+
+    const SIMPLE_PACKET: [u8; 5] = [1, 2, 3, 4, 5];
+
+    #[derive(Default)]
+    struct TestSender {
+        received_tcs: Vec<Vec<u8>>,
+    }
+
+    impl ReceivesTcCore for TestSender {
+        type Error = ();
+
+        fn pass_tc(&mut self, tc_raw: &[u8]) -> Result<(), Self::Error> {
+            self.received_tcs.push(tc_raw.to_vec());
+            Ok(())
+        }
+    }
+
+    fn encode_simple_packet(encoded_buf: &mut [u8], current_idx: &mut usize) {
+        encoded_buf[*current_idx] = 0;
+        *current_idx += 1;
+        *current_idx += encode(&SIMPLE_PACKET, &mut encoded_buf[*current_idx..]);
+        encoded_buf[*current_idx] = 0;
+        *current_idx += 1;
+    }
+
+    #[test]
+    fn test_parsing_simple_packet() {
+        let mut test_sender = TestSender::default();
+        let mut encoded_buf: [u8; 16] = [0; 16];
+        let mut current_idx = 0;
+        encode_simple_packet(&mut encoded_buf, &mut current_idx);
+        let mut next_read_idx = 0;
+        let packets = parse_buffer_for_cobs_encoded_packets(
+            &mut encoded_buf[0..current_idx],
+            &mut test_sender,
+            &mut next_read_idx,
+        )
+        .unwrap();
+        assert_eq!(packets, 1);
+        assert_eq!(test_sender.received_tcs.len(), 1);
+        let packet = &test_sender.received_tcs[0];
+        assert_eq!(packet, &SIMPLE_PACKET);
+    }
+
+    #[test]
+    fn test_parsing_consecutive_packets() {
+        let mut test_sender = TestSender::default();
+        let mut encoded_buf: [u8; 16] = [0; 16];
+        let mut current_idx = 0;
+        encode_simple_packet(&mut encoded_buf, &mut current_idx);
+
+        let inverted_packet: [u8; 5] = [5, 4, 3, 2, 1];
+        // Second packet
+        encoded_buf[current_idx] = 0;
+        current_idx += 1;
+        current_idx += encode(&inverted_packet, &mut encoded_buf[current_idx..]);
+        encoded_buf[current_idx] = 0;
+        current_idx += 1;
+        let mut next_read_idx = 0;
+        let packets = parse_buffer_for_cobs_encoded_packets(
+            &mut encoded_buf[0..current_idx],
+            &mut test_sender,
+            &mut next_read_idx,
+        )
+        .unwrap();
+        assert_eq!(packets, 2);
+        assert_eq!(test_sender.received_tcs.len(), 2);
+        let packet0 = &test_sender.received_tcs[0];
+        assert_eq!(packet0, &SIMPLE_PACKET);
+        let packet1 = &test_sender.received_tcs[1];
+        assert_eq!(packet1, &inverted_packet);
+    }
+
+    #[test]
+    fn test_split_tail_packet_only() {
+        let mut test_sender = TestSender::default();
+        let mut encoded_buf: [u8; 16] = [0; 16];
+        let mut current_idx = 0;
+        encode_simple_packet(&mut encoded_buf, &mut current_idx);
+        let mut next_read_idx = 0;
+        let packets = parse_buffer_for_cobs_encoded_packets(
+            // Cut off the sentinel byte at the end.
+            &mut encoded_buf[0..current_idx - 1],
+            &mut test_sender,
+            &mut next_read_idx,
+        )
+        .unwrap();
+        assert_eq!(packets, 0);
+        assert_eq!(test_sender.received_tcs.len(), 0);
+        assert_eq!(next_read_idx, 0);
+    }
+
+    fn generic_test_split_packet(cut_off: usize) {
+        let mut test_sender = TestSender::default();
+        let mut encoded_buf: [u8; 16] = [0; 16];
+        let inverted_packet: [u8; 5] = [5, 4, 3, 2, 1];
+        assert!(cut_off < inverted_packet.len() + 1);
+        let mut current_idx = 0;
+        encode_simple_packet(&mut encoded_buf, &mut current_idx);
+        // Second packet
+        encoded_buf[current_idx] = 0;
+        let packet_start = current_idx;
+        current_idx += 1;
+        let encoded_len = encode(&inverted_packet, &mut encoded_buf[current_idx..]);
+        assert_eq!(encoded_len, 6);
+        current_idx += encoded_len;
+        // We cut off the sentinel byte, so we expecte the write index to be the length of the
+        // packet minus the sentinel byte plus the first sentinel byte.
+        let next_expected_write_idx = 1 + encoded_len - cut_off + 1;
+        encoded_buf[current_idx] = 0;
+        current_idx += 1;
+        let mut next_write_idx = 0;
+        let expected_at_start = encoded_buf[packet_start..current_idx - cut_off].to_vec();
+        let packets = parse_buffer_for_cobs_encoded_packets(
+            // Cut off the sentinel byte at the end.
+            &mut encoded_buf[0..current_idx - cut_off],
+            &mut test_sender,
+            &mut next_write_idx,
+        )
+        .unwrap();
+        assert_eq!(packets, 1);
+        assert_eq!(test_sender.received_tcs.len(), 1);
+        assert_eq!(&test_sender.received_tcs[0], &SIMPLE_PACKET);
+        assert_eq!(next_write_idx, next_expected_write_idx);
+        assert_eq!(encoded_buf[..next_expected_write_idx], expected_at_start);
+    }
+
+    #[test]
+    fn test_one_packet_and_split_tail_packet_0() {
+        generic_test_split_packet(1);
+    }
+
+    #[test]
+    fn test_one_packet_and_split_tail_packet_1() {
+        generic_test_split_packet(2);
+    }
+
+    #[test]
+    fn test_one_packet_and_split_tail_packet_2() {
+        generic_test_split_packet(3);
+    }
+
+    #[test]
+    fn test_zero_at_end() {
+        let mut test_sender = TestSender::default();
+        let mut encoded_buf: [u8; 16] = [0; 16];
+        let mut next_write_idx = 0;
+        let mut current_idx = 0;
+        encoded_buf[current_idx] = 5;
+        current_idx += 1;
+        encode_simple_packet(&mut encoded_buf, &mut current_idx);
+        encoded_buf[current_idx] = 0;
+        current_idx += 1;
+        let packets = parse_buffer_for_cobs_encoded_packets(
+            // Cut off the sentinel byte at the end.
+            &mut encoded_buf[0..current_idx],
+            &mut test_sender,
+            &mut next_write_idx,
+        )
+        .unwrap();
+        assert_eq!(packets, 1);
+        assert_eq!(test_sender.received_tcs.len(), 1);
+        assert_eq!(&test_sender.received_tcs[0], &SIMPLE_PACKET);
+        assert_eq!(next_write_idx, 1);
+        assert_eq!(encoded_buf[0], 0);
+    }
+
+    #[test]
+    fn test_all_zeroes() {
+        let mut test_sender = TestSender::default();
+        let mut all_zeroes: [u8; 5] = [0; 5];
+        let mut next_write_idx = 0;
+        let packets = parse_buffer_for_cobs_encoded_packets(
+            // Cut off the sentinel byte at the end.
+            &mut all_zeroes,
+            &mut test_sender,
+            &mut next_write_idx,
+        )
+        .unwrap();
+        assert_eq!(packets, 0);
+        assert!(test_sender.received_tcs.is_empty());
+        assert_eq!(next_write_idx, 0);
+    }
+}
diff --git a/satrs-core/src/tmtc/mod.rs b/satrs-core/src/tmtc/mod.rs
index 7237196..2f8bdf3 100644
--- a/satrs-core/src/tmtc/mod.rs
+++ b/satrs-core/src/tmtc/mod.rs
@@ -92,3 +92,10 @@ pub trait ReceivesCcsdsTc {
     type Error;
     fn pass_ccsds(&mut self, header: &SpHeader, tc_raw: &[u8]) -> Result<(), Self::Error>;
 }
+
+/// Generic trait for a TM packet source, with no restrictions on the type of TM.
+/// Implementors write the telemetry into the provided buffer and return the size of the telemetry.
+pub trait TmPacketSource {
+    type Error;
+    fn retrieve_packet(&mut self, buffer: &mut [u8]) -> Result<usize, Self::Error>;
+}