Refactor TMTC distribution modules

satrs-example/src/main.rs

@@ -182,7 +182,7 @@ fn static_tmtc_pool_main() {
     );
 
     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_ccsds_distributor = CcsdsDistributor::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 {
@@ -193,7 +193,7 @@ fn static_tmtc_pool_main() {
         },
     };
 
-    let tcp_ccsds_distributor = CcsdsDistributor::new(Box::new(ccsds_receiver));
+    let tcp_ccsds_distributor = CcsdsDistributor::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(
@@ -396,7 +396,7 @@ fn dyn_tmtc_pool_main() {
     );
 
     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_ccsds_distributor = CcsdsDistributor::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 {
@@ -406,7 +406,7 @@ fn dyn_tmtc_pool_main() {
         },
     };
 
-    let tcp_ccsds_distributor = CcsdsDistributor::new(Box::new(ccsds_receiver));
+    let tcp_ccsds_distributor = CcsdsDistributor::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(

satrs-example/src/tcp.rs

@@ -6,11 +6,14 @@ use std::{
 use log::{info, warn};
 use satrs::{
     hal::std::tcp_server::{ServerConfig, TcpSpacepacketsServer},
+    pus::ReceivesEcssPusTc,
     spacepackets::PacketId,
-    tmtc::{CcsdsDistributor, CcsdsError, TmPacketSourceCore},
+    tmtc::{CcsdsDistributor, CcsdsError, ReceivesCcsdsTc, TmPacketSourceCore},
 };
 use satrs_example::config::PUS_APID;
 
+use crate::ccsds::CcsdsReceiver;
+
 pub const PACKET_ID_LOOKUP: &[PacketId] = &[PacketId::const_tc(true, PUS_APID)];
 
 #[derive(Default, Clone)]
@@ -69,20 +72,37 @@ impl TmPacketSourceCore for SyncTcpTmSource {
     }
 }
 
-pub struct TcpTask<MpscErrorType: 'static> {
+pub type TcpServerType<TcSource, MpscErrorType> = TcpSpacepacketsServer<
-    server: TcpSpacepacketsServer<
+    (),
-        (),
+    CcsdsError<MpscErrorType>,
-        CcsdsError<MpscErrorType>,
+    SyncTcpTmSource,
-        SyncTcpTmSource,
+    CcsdsDistributor<CcsdsReceiver<TcSource, MpscErrorType>, MpscErrorType>,
-        CcsdsDistributor<MpscErrorType>,
+>;
-    >,
+
+pub struct TcpTask<
+    TcSource: ReceivesCcsdsTc<Error = MpscErrorType>
+        + ReceivesEcssPusTc<Error = MpscErrorType>
+        + Clone
+        + Send
+        + 'static,
+    MpscErrorType: 'static,
+> {
+    server: TcpServerType<TcSource, MpscErrorType>,
 }
 
-impl<MpscErrorType: 'static + core::fmt::Debug> TcpTask<MpscErrorType> {
+impl<
+        TcSource: ReceivesCcsdsTc<Error = MpscErrorType>
+            + ReceivesEcssPusTc<Error = MpscErrorType>
+            + Clone
+            + Send
+            + 'static,
+        MpscErrorType: 'static + core::fmt::Debug,
+    > TcpTask<TcSource, MpscErrorType>
+{
     pub fn new(
         cfg: ServerConfig,
         tm_source: SyncTcpTmSource,
-        tc_receiver: CcsdsDistributor<MpscErrorType>,
+        tc_receiver: CcsdsDistributor<CcsdsReceiver<TcSource, MpscErrorType>, MpscErrorType>,
     ) -> Result<Self, std::io::Error> {
         Ok(Self {
             server: TcpSpacepacketsServer::new(

satrs/CHANGELOG.md

@@ -18,6 +18,11 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
 - Refactored ECSS TM sender abstractions to be generic over different message queue backends.
 - Refactored Verification Reporter abstractions and implementation to be generic over the sender
   instead of using trait objects.
+- `PusServiceProvider` renamed to `PusServiceDistributor` to make the purpose of the object
+  more clear
+- `PusServiceProvider::handle_pus_tc_packet` renamed to `PusServiceDistributor::distribute_packet`.
+- `PusServiceDistibutor` and `CcsdsDistributor` now use generics instead of trait objects.
+  This makes accessing the concrete trait implementations more easy as well.
 
 ## Fixed
 

satrs/src/pus/mod.rs

@@ -920,7 +920,7 @@ pub mod std_mod {
             }
         }
 
-        /// This function can be used to poll the internal [EcssTcReceiver] object for the next
+        /// This function can be used to poll the internal [EcssTcReceiverCore] object for the next
         /// telecommand packet. It will return `Ok(None)` if there are not packets available.
         /// In any other case, it will perform the acceptance of the ECSS TC packet using the
         /// internal [VerificationReportingProvider] object. It will then return the telecommand

satrs/src/tmtc/ccsds_distrib.rs

@@ -52,7 +52,7 @@
 //! }
 //!
 //! let apid_handler = ConcreteApidHandler::default();
-//! let mut ccsds_distributor = CcsdsDistributor::new(Box::new(apid_handler));
+//! let mut ccsds_distributor = CcsdsDistributor::new(apid_handler);
 //!
 //! // Create and pass PUS telecommand with a valid APID
 //! let mut space_packet_header = SpHeader::tc_unseg(0x002, 0x34, 0).unwrap();
@@ -72,23 +72,17 @@
 //! let tc_slice = &test_buf[0..size];
 //! ccsds_distributor.pass_tc(&tc_slice).expect("Passing TC slice failed");
 //!
-//! // User helper function to retrieve concrete class
+//! // Retrieve the APID handler.
-//! let concrete_handler_ref: &ConcreteApidHandler = ccsds_distributor
+//! let handler_ref = ccsds_distributor.packet_handler();
-//!     .apid_handler_ref()
+//! assert_eq!(handler_ref.known_call_count, 1);
-//!     .expect("Casting back to concrete type failed");
+//! assert_eq!(handler_ref.unknown_call_count, 1);
-//! assert_eq!(concrete_handler_ref.known_call_count, 1);
-//! assert_eq!(concrete_handler_ref.unknown_call_count, 1);
 //!
-//! // It's also possible to retrieve a mutable reference
+//! // Mutable access to the handler.
-//! let mutable_ref: &mut ConcreteApidHandler = ccsds_distributor
+//! let mutable_handler_ref = ccsds_distributor.packet_handler_mut();
-//!     .apid_handler_mut()
+//! mutable_handler_ref.mutable_foo();
-//!     .expect("Casting back to concrete type failed");
-//! mutable_ref.mutable_foo();
 //! ```
 use crate::tmtc::{ReceivesCcsdsTc, ReceivesTcCore};
-use alloc::boxed::Box;
 use core::fmt::{Display, Formatter};
-use downcast_rs::Downcast;
 use spacepackets::{ByteConversionError, CcsdsPacket, SpHeader};
 #[cfg(feature = "std")]
 use std::error::Error;
@@ -99,11 +93,7 @@ use std::error::Error;
 /// instance of this handler to the [CcsdsDistributor]. The distributor will use the trait
 /// interface to dispatch received packets to the user based on the Application Process Identifier
 /// (APID) field of the CCSDS packet.
-///
+pub trait CcsdsPacketHandler {
-/// This trait automatically implements the [downcast_rs::Downcast] to allow a more convenient API
-/// to cast trait objects back to their concrete type after the handler was passed to the
-/// distributor.
-pub trait CcsdsPacketHandler: Downcast {
     type Error;
 
     fn valid_apids(&self) -> &'static [u16];
@@ -116,23 +106,12 @@ pub trait CcsdsPacketHandler: Downcast {
     ) -> Result<(), Self::Error>;
 }
 
-downcast_rs::impl_downcast!(CcsdsPacketHandler assoc Error);
-
-pub trait SendableCcsdsPacketHandler: CcsdsPacketHandler + Send {}
-
-impl<T: CcsdsPacketHandler + Send> SendableCcsdsPacketHandler for T {}
-
-downcast_rs::impl_downcast!(SendableCcsdsPacketHandler assoc Error);
-
 /// The CCSDS distributor dispatches received CCSDS packets to a user provided packet handler.
-///
+pub struct CcsdsDistributor<PacketHandler: CcsdsPacketHandler<Error = E>, E> {
-/// The passed APID handler is required to be [Send]able to allow more ergonomic usage with
-/// threads.
-pub struct CcsdsDistributor<E> {
     /// User provided APID handler stored as a generic trait object.
-    /// It can be cast back to the original concrete type using the [Self::apid_handler_ref] or
+    /// It can be cast back to the original concrete type using [Self::packet_handler] or
-    /// the [Self::apid_handler_mut] method.
+    /// the [Self::packet_handler_mut] method.
-    pub apid_handler: Box<dyn SendableCcsdsPacketHandler<Error = E>>,
+    packet_handler: PacketHandler,
 }
 
 #[derive(Debug, Copy, Clone, PartialEq, Eq)]
@@ -160,7 +139,9 @@ impl<E: Error> Error for CcsdsError<E> {
     }
 }
 
-impl<E: 'static> ReceivesCcsdsTc for CcsdsDistributor<E> {
+impl<PacketHandler: CcsdsPacketHandler<Error = E>, E: 'static> ReceivesCcsdsTc
+    for CcsdsDistributor<PacketHandler, E>
+{
     type Error = CcsdsError<E>;
 
     fn pass_ccsds(&mut self, header: &SpHeader, tc_raw: &[u8]) -> Result<(), Self::Error> {
@@ -168,7 +149,9 @@ impl<E: 'static> ReceivesCcsdsTc for CcsdsDistributor<E> {
     }
 }
 
-impl<E: 'static> ReceivesTcCore for CcsdsDistributor<E> {
+impl<PacketHandler: CcsdsPacketHandler<Error = E>, E: 'static> ReceivesTcCore
+    for CcsdsDistributor<PacketHandler, E>
+{
     type Error = CcsdsError<E>;
 
     fn pass_tc(&mut self, tc_raw: &[u8]) -> Result<(), Self::Error> {
@@ -186,36 +169,31 @@ impl<E: 'static> ReceivesTcCore for CcsdsDistributor<E> {
     }
 }
 
-impl<E: 'static> CcsdsDistributor<E> {
+impl<PacketHandler: CcsdsPacketHandler<Error = E>, E: 'static> CcsdsDistributor<PacketHandler, E> {
-    pub fn new(apid_handler: Box<dyn SendableCcsdsPacketHandler<Error = E>>) -> Self {
+    pub fn new(packet_handler: PacketHandler) -> Self {
-        CcsdsDistributor { apid_handler }
+        CcsdsDistributor { packet_handler }
     }
 
-    /// This function can be used to retrieve a reference to the concrete instance of the APID
+    pub fn packet_handler(&self) -> &PacketHandler {
-    /// handler after it was passed to the distributor. See the
+        &self.packet_handler
-    /// [module documentation][crate::tmtc::ccsds_distrib] for an fsrc-example.
-    pub fn apid_handler_ref<T: SendableCcsdsPacketHandler<Error = E>>(&self) -> Option<&T> {
-        self.apid_handler.downcast_ref::<T>()
     }
 
-    /// This function can be used to retrieve a mutable reference to the concrete instance of the
+    pub fn packet_handler_mut(&mut self) -> &mut PacketHandler {
-    /// APID handler after it was passed to the distributor.
+        &mut self.packet_handler
-    pub fn apid_handler_mut<T: SendableCcsdsPacketHandler<Error = E>>(&mut self) -> Option<&mut T> {
-        self.apid_handler.downcast_mut::<T>()
     }
 
     fn dispatch_ccsds(&mut self, sp_header: &SpHeader, tc_raw: &[u8]) -> Result<(), CcsdsError<E>> {
         let apid = sp_header.apid();
-        let valid_apids = self.apid_handler.valid_apids();
+        let valid_apids = self.packet_handler.valid_apids();
         for &valid_apid in valid_apids {
             if valid_apid == apid {
                 return self
-                    .apid_handler
+                    .packet_handler
                     .handle_known_apid(sp_header, tc_raw)
                     .map_err(|e| CcsdsError::CustomError(e));
             }
         }
-        self.apid_handler
+        self.packet_handler
             .handle_unknown_apid(sp_header, tc_raw)
             .map_err(|e| CcsdsError::CustomError(e))
     }
@@ -244,6 +222,13 @@ pub(crate) mod tests {
         &buf[0..size]
     }
 
+    pub fn generate_ping_tc_as_vec() -> Vec<u8> {
+        let mut sph = SpHeader::tc_unseg(0x002, 0x34, 0).unwrap();
+        PusTcCreator::new_simple(&mut sph, 17, 1, None, true)
+            .to_vec()
+            .unwrap()
+    }
+
     type SharedPacketQueue = Arc<Mutex<VecDeque<(u16, Vec<u8>)>>>;
     pub struct BasicApidHandlerSharedQueue {
         pub known_packet_queue: SharedPacketQueue,
@@ -305,7 +290,8 @@ pub(crate) mod tests {
         ) -> Result<(), Self::Error> {
             let mut vec = Vec::new();
             vec.extend_from_slice(tc_raw);
-            Ok(self.known_packet_queue.push_back((sp_header.apid(), vec)))
+            self.known_packet_queue.push_back((sp_header.apid(), vec));
+            Ok(())
         }
 
         fn handle_unknown_apid(
@@ -315,7 +301,8 @@ pub(crate) mod tests {
         ) -> Result<(), Self::Error> {
             let mut vec = Vec::new();
             vec.extend_from_slice(tc_raw);
-            Ok(self.unknown_packet_queue.push_back((sp_header.apid(), vec)))
+            self.unknown_packet_queue.push_back((sp_header.apid(), vec));
+            Ok(())
         }
     }
 
@@ -327,7 +314,7 @@ pub(crate) mod tests {
             known_packet_queue: known_packet_queue.clone(),
             unknown_packet_queue: unknown_packet_queue.clone(),
         };
-        let mut ccsds_distrib = CcsdsDistributor::new(Box::new(apid_handler));
+        let mut ccsds_distrib = CcsdsDistributor::new(apid_handler);
         is_send(&ccsds_distrib);
         let mut test_buf: [u8; 32] = [0; 32];
         let tc_slice = generate_ping_tc(test_buf.as_mut_slice());
@@ -342,14 +329,9 @@ pub(crate) mod tests {
     }
 
     #[test]
-    fn test_distribs_unknown_apid() {
+    fn test_unknown_apid_handling() {
-        let known_packet_queue = Arc::new(Mutex::default());
+        let apid_handler = BasicApidHandlerOwnedQueue::default();
-        let unknown_packet_queue = Arc::new(Mutex::default());
+        let mut ccsds_distrib = CcsdsDistributor::new(apid_handler);
-        let apid_handler = BasicApidHandlerSharedQueue {
-            known_packet_queue: known_packet_queue.clone(),
-            unknown_packet_queue: unknown_packet_queue.clone(),
-        };
-        let mut ccsds_distrib = CcsdsDistributor::new(Box::new(apid_handler));
         let mut sph = SpHeader::tc_unseg(0x004, 0x34, 0).unwrap();
         let pus_tc = PusTcCreator::new_simple(&mut sph, 17, 1, None, true);
         let mut test_buf: [u8; 32] = [0; 32];
@@ -357,11 +339,52 @@ pub(crate) mod tests {
             .write_to_bytes(test_buf.as_mut_slice())
             .expect("Error writing TC to buffer");
         ccsds_distrib.pass_tc(&test_buf).expect("Passing TC failed");
-        let recvd = unknown_packet_queue.lock().unwrap().pop_front();
+        assert!(ccsds_distrib.packet_handler().known_packet_queue.is_empty());
-        assert!(known_packet_queue.lock().unwrap().is_empty());
+        let apid_handler = ccsds_distrib.packet_handler_mut();
+        let recvd = apid_handler.unknown_packet_queue.pop_front();
         assert!(recvd.is_some());
         let (apid, packet) = recvd.unwrap();
         assert_eq!(apid, 0x004);
         assert_eq!(packet.as_slice(), test_buf);
     }
+
+    #[test]
+    fn test_ccsds_distribution() {
+        let mut ccsds_distrib = CcsdsDistributor::new(BasicApidHandlerOwnedQueue::default());
+        let mut sph = SpHeader::tc_unseg(0x002, 0x34, 0).unwrap();
+        let pus_tc = PusTcCreator::new_simple(&mut sph, 17, 1, None, true);
+        let tc_vec = pus_tc.to_vec().unwrap();
+        ccsds_distrib
+            .pass_ccsds(&sph, &tc_vec)
+            .expect("passing CCSDS TC failed");
+        let recvd = ccsds_distrib
+            .packet_handler_mut()
+            .known_packet_queue
+            .pop_front();
+        assert!(recvd.is_some());
+        let recvd = recvd.unwrap();
+        assert_eq!(recvd.0, 0x002);
+        assert_eq!(recvd.1, tc_vec);
+    }
+
+    #[test]
+    fn test_distribution_short_packet_fails() {
+        let mut ccsds_distrib = CcsdsDistributor::new(BasicApidHandlerOwnedQueue::default());
+        let mut sph = SpHeader::tc_unseg(0x002, 0x34, 0).unwrap();
+        let pus_tc = PusTcCreator::new_simple(&mut sph, 17, 1, None, true);
+        let tc_vec = pus_tc.to_vec().unwrap();
+        let result = ccsds_distrib.pass_tc(&tc_vec[0..6]);
+        assert!(result.is_err());
+        let error = result.unwrap_err();
+        if let CcsdsError::ByteConversionError(ByteConversionError::FromSliceTooSmall {
+            found,
+            expected,
+        }) = error
+        {
+            assert_eq!(found, 6);
+            assert_eq!(expected, 7);
+        } else {
+            panic!("Unexpected error variant");
+        }
+    }
 }

satrs/src/tmtc/mod.rs

@@ -18,7 +18,7 @@ pub mod tm_helper;
 #[cfg(feature = "alloc")]
 pub use ccsds_distrib::{CcsdsDistributor, CcsdsError, CcsdsPacketHandler};
 #[cfg(feature = "alloc")]
-pub use pus_distrib::{PusDistributor, PusServiceProvider};
+pub use pus_distrib::{PusDistributor, PusServiceDistributor};
 
 /// Generic trait for object which can receive any telecommands in form of a raw bytestream, with
 /// no assumptions about the received protocol.

satrs/src/tmtc/pus_distrib.rs

@@ -2,7 +2,7 @@
 //!
 //! The routing components consist of two core components:
 //!  1. [PusDistributor] component which dispatches received packets to a user-provided handler.
-//!  2. [PusServiceProvider] trait which should be implemented by the user-provided PUS packet
+//!  2. [PusServiceDistributor] trait which should be implemented by the user-provided PUS packet
 //!     handler.
 //!
 //! The [PusDistributor] implements the [ReceivesEcssPusTc], [ReceivesCcsdsTc] and the
@@ -13,25 +13,26 @@
 //!    the raw bytestream. If this process fails, a [PusDistribError::PusError] is returned to the
 //!    user.
 //! 2. If it was possible to extract both components, the packet will be passed to the
-//!    [PusServiceProvider::handle_pus_tc_packet] method provided by the user.
+//!    [PusServiceDistributor::distribute_packet] method provided by the user.
 //!
 //! # Example
 //!
 //! ```rust
 //! use spacepackets::ecss::WritablePusPacket;
-//! use satrs::tmtc::pus_distrib::{PusDistributor, PusServiceProvider};
+//! use satrs::tmtc::pus_distrib::{PusDistributor, PusServiceDistributor};
 //! use satrs::tmtc::{ReceivesTc, ReceivesTcCore};
 //! use spacepackets::SpHeader;
 //! use spacepackets::ecss::tc::{PusTcCreator, PusTcReader};
+//!
 //! struct ConcretePusHandler {
 //!     handler_call_count: u32
 //! }
 //!
 //! // This is a very simple possible service provider. It increments an internal call count field,
 //! // which is used to verify the handler was called
-//! impl PusServiceProvider for ConcretePusHandler {
+//! impl PusServiceDistributor for ConcretePusHandler {
 //!     type Error = ();
-//!     fn handle_pus_tc_packet(&mut self, service: u8, header: &SpHeader, pus_tc: &PusTcReader) -> Result<(), Self::Error> {
+//!     fn distribute_packet(&mut self, service: u8, header: &SpHeader, pus_tc: &PusTcReader) -> Result<(), Self::Error> {
 //!         assert_eq!(service, 17);
 //!         assert_eq!(pus_tc.len_packed(), 13);
 //!         self.handler_call_count += 1;
@@ -42,7 +43,7 @@
 //! let service_handler = ConcretePusHandler {
 //!     handler_call_count: 0
 //! };
-//! let mut pus_distributor = PusDistributor::new(Box::new(service_handler));
+//! let mut pus_distributor = PusDistributor::new(service_handler);
 //!
 //! // Create and pass PUS ping telecommand with a valid APID
 //! let mut space_packet_header = SpHeader::tc_unseg(0x002, 0x34, 0).unwrap();
@@ -57,50 +58,42 @@
 //!
 //! // User helper function to retrieve concrete class. We check the call count here to verify
 //! // that the PUS ping telecommand was routed successfully.
-//! let concrete_handler_ref: &ConcretePusHandler = pus_distributor
+//! let concrete_handler = pus_distributor.service_distributor();
-//!     .service_provider_ref()
+//! assert_eq!(concrete_handler.handler_call_count, 1);
-//!     .expect("Casting back to concrete type failed");
-//! assert_eq!(concrete_handler_ref.handler_call_count, 1);
 //! ```
 use crate::pus::ReceivesEcssPusTc;
 use crate::tmtc::{ReceivesCcsdsTc, ReceivesTcCore};
-use alloc::boxed::Box;
 use core::fmt::{Display, Formatter};
-use downcast_rs::Downcast;
 use spacepackets::ecss::tc::PusTcReader;
 use spacepackets::ecss::{PusError, PusPacket};
 use spacepackets::SpHeader;
 #[cfg(feature = "std")]
 use std::error::Error;
 
-pub trait PusServiceProvider: Downcast {
+/// Trait for a generic distributor object which can distribute PUS packets based on packet
+/// properties like the PUS service, space packet header or any other content of the PUS packet.
+pub trait PusServiceDistributor {
     type Error;
-    fn handle_pus_tc_packet(
+    fn distribute_packet(
         &mut self,
         service: u8,
         header: &SpHeader,
         pus_tc: &PusTcReader,
     ) -> Result<(), Self::Error>;
 }
-downcast_rs::impl_downcast!(PusServiceProvider assoc Error);
-
-pub trait SendablePusServiceProvider: PusServiceProvider + Send {}
-
-impl<T: Send + PusServiceProvider> SendablePusServiceProvider for T {}
-
-downcast_rs::impl_downcast!(SendablePusServiceProvider assoc Error);
 
 /// Generic distributor object which dispatches received packets to a user provided handler.
-///
+pub struct PusDistributor<ServiceDistributor: PusServiceDistributor<Error = E>, E> {
-/// This distributor expects the passed trait object to be [Send]able to allow more ergonomic
+    service_distributor: ServiceDistributor,
-/// usage with threads.
-pub struct PusDistributor<E> {
-    pub service_provider: Box<dyn SendablePusServiceProvider<Error = E>>,
 }
 
-impl<E> PusDistributor<E> {
+impl<ServiceDistributor: PusServiceDistributor<Error = E>, E>
-    pub fn new(service_provider: Box<dyn SendablePusServiceProvider<Error = E>>) -> Self {
+    PusDistributor<ServiceDistributor, E>
-        PusDistributor { service_provider }
+{
+    pub fn new(service_provider: ServiceDistributor) -> Self {
+        PusDistributor {
+            service_distributor: service_provider,
+        }
     }
 }
 
@@ -113,8 +106,8 @@ pub enum PusDistribError<E> {
 impl<E: Display> Display for PusDistribError<E> {
     fn fmt(&self, f: &mut Formatter<'_>) -> core::fmt::Result {
         match self {
-            PusDistribError::CustomError(e) => write!(f, "{e}"),
+            PusDistribError::CustomError(e) => write!(f, "pus distribution error: {e}"),
-            PusDistribError::PusError(e) => write!(f, "{e}"),
+            PusDistribError::PusError(e) => write!(f, "pus distribution error: {e}"),
         }
     }
 }
@@ -129,7 +122,9 @@ impl<E: Error> Error for PusDistribError<E> {
     }
 }
 
-impl<E: 'static> ReceivesTcCore for PusDistributor<E> {
+impl<ServiceDistributor: PusServiceDistributor<Error = E>, E: 'static> ReceivesTcCore
+    for PusDistributor<ServiceDistributor, E>
+{
     type Error = PusDistribError<E>;
     fn pass_tc(&mut self, tm_raw: &[u8]) -> Result<(), Self::Error> {
         // Convert to ccsds and call pass_ccsds
@@ -139,7 +134,9 @@ impl<E: 'static> ReceivesTcCore for PusDistributor<E> {
     }
 }
 
-impl<E: 'static> ReceivesCcsdsTc for PusDistributor<E> {
+impl<ServiceDistributor: PusServiceDistributor<Error = E>, E: 'static> ReceivesCcsdsTc
+    for PusDistributor<ServiceDistributor, E>
+{
     type Error = PusDistribError<E>;
     fn pass_ccsds(&mut self, header: &SpHeader, tm_raw: &[u8]) -> Result<(), Self::Error> {
         let (tc, _) = PusTcReader::new(tm_raw).map_err(|e| PusDistribError::PusError(e))?;
@@ -147,34 +144,39 @@ impl<E: 'static> ReceivesCcsdsTc for PusDistributor<E> {
     }
 }
 
-impl<E: 'static> ReceivesEcssPusTc for PusDistributor<E> {
+impl<ServiceDistributor: PusServiceDistributor<Error = E>, E: 'static> ReceivesEcssPusTc
+    for PusDistributor<ServiceDistributor, E>
+{
     type Error = PusDistribError<E>;
     fn pass_pus_tc(&mut self, header: &SpHeader, pus_tc: &PusTcReader) -> Result<(), Self::Error> {
-        self.service_provider
+        self.service_distributor
-            .handle_pus_tc_packet(pus_tc.service(), header, pus_tc)
+            .distribute_packet(pus_tc.service(), header, pus_tc)
             .map_err(|e| PusDistribError::CustomError(e))
     }
 }
 
-impl<E: 'static> PusDistributor<E> {
+impl<ServiceDistributor: PusServiceDistributor<Error = E>, E: 'static>
-    pub fn service_provider_ref<T: SendablePusServiceProvider<Error = E>>(&self) -> Option<&T> {
+    PusDistributor<ServiceDistributor, E>
-        self.service_provider.downcast_ref::<T>()
+{
+    pub fn service_distributor(&self) -> &ServiceDistributor {
+        &self.service_distributor
     }
 
-    pub fn service_provider_mut<T: SendablePusServiceProvider<Error = E>>(
+    pub fn service_distributor_mut(&mut self) -> &mut ServiceDistributor {
-        &mut self,
+        &mut self.service_distributor
-    ) -> Option<&mut T> {
-        self.service_provider.downcast_mut::<T>()
     }
 }
 
 #[cfg(test)]
 mod tests {
     use super::*;
+    use crate::queue::GenericSendError;
     use crate::tmtc::ccsds_distrib::tests::{
-        generate_ping_tc, BasicApidHandlerOwnedQueue, BasicApidHandlerSharedQueue,
+        generate_ping_tc, generate_ping_tc_as_vec, BasicApidHandlerOwnedQueue,
+        BasicApidHandlerSharedQueue,
     };
     use crate::tmtc::ccsds_distrib::{CcsdsDistributor, CcsdsPacketHandler};
+    use alloc::format;
     use alloc::vec::Vec;
     use spacepackets::ecss::PusError;
     use spacepackets::CcsdsPacket;
@@ -185,54 +187,65 @@ mod tests {
 
     fn is_send<T: Send>(_: &T) {}
 
-    struct PusHandlerSharedQueue {
+    pub struct PacketInfo {
-        pub pus_queue: Arc<Mutex<VecDeque<(u8, u16, Vec<u8>)>>>,
+        pub service: u8,
+        pub apid: u16,
+        pub packet: Vec<u8>,
     }
 
+    struct PusHandlerSharedQueue(Arc<Mutex<VecDeque<PacketInfo>>>);
+
     #[derive(Default)]
-    struct PusHandlerOwnedQueue {
+    struct PusHandlerOwnedQueue(VecDeque<PacketInfo>);
-        pub pus_queue: VecDeque<(u8, u16, Vec<u8>)>,
-    }
 
-    impl PusServiceProvider for PusHandlerSharedQueue {
+    impl PusServiceDistributor for PusHandlerSharedQueue {
         type Error = PusError;
-        fn handle_pus_tc_packet(
+        fn distribute_packet(
             &mut self,
             service: u8,
             sp_header: &SpHeader,
             pus_tc: &PusTcReader,
         ) -> Result<(), Self::Error> {
-            let mut vec: Vec<u8> = Vec::new();
+            let mut packet: Vec<u8> = Vec::new();
-            vec.extend_from_slice(pus_tc.raw_data());
+            packet.extend_from_slice(pus_tc.raw_data());
-            Ok(self
+            self.0
-                .pus_queue
                 .lock()
                 .expect("Mutex lock failed")
-                .push_back((service, sp_header.apid(), vec)))
+                .push_back(PacketInfo {
+                    service,
+                    apid: sp_header.apid(),
+                    packet,
+                });
+            Ok(())
         }
     }
 
-    impl PusServiceProvider for PusHandlerOwnedQueue {
+    impl PusServiceDistributor for PusHandlerOwnedQueue {
         type Error = PusError;
-        fn handle_pus_tc_packet(
+        fn distribute_packet(
             &mut self,
             service: u8,
             sp_header: &SpHeader,
             pus_tc: &PusTcReader,
         ) -> Result<(), Self::Error> {
-            let mut vec: Vec<u8> = Vec::new();
+            let mut packet: Vec<u8> = Vec::new();
-            vec.extend_from_slice(pus_tc.raw_data());
+            packet.extend_from_slice(pus_tc.raw_data());
-            Ok(self.pus_queue.push_back((service, sp_header.apid(), vec)))
+            self.0.push_back(PacketInfo {
+                service,
+                apid: sp_header.apid(),
+                packet,
+            });
+            Ok(())
         }
     }
 
     struct ApidHandlerShared {
-        pub pus_distrib: PusDistributor<PusError>,
+        pub pus_distrib: PusDistributor<PusHandlerSharedQueue, PusError>,
         pub handler_base: BasicApidHandlerSharedQueue,
     }
 
     struct ApidHandlerOwned {
-        pub pus_distrib: PusDistributor<PusError>,
+        pub pus_distrib: PusDistributor<PusHandlerOwnedQueue, PusError>,
         handler_base: BasicApidHandlerOwnedQueue,
     }
 
@@ -285,28 +298,36 @@ mod tests {
     }
 
     #[test]
-    #[cfg(feature = "std")]
+    fn test_pus_distribution_as_raw_packet() {
-    fn test_pus_distribution() {
+        let mut pus_distrib = PusDistributor::new(PusHandlerOwnedQueue::default());
+        let tc = generate_ping_tc_as_vec();
+        let result = pus_distrib.pass_tc(&tc);
+        assert!(result.is_ok());
+        assert_eq!(pus_distrib.service_distributor_mut().0.len(), 1);
+        let packet_info = pus_distrib.service_distributor_mut().0.pop_front().unwrap();
+        assert_eq!(packet_info.service, 17);
+        assert_eq!(packet_info.apid, 0x002);
+        assert_eq!(packet_info.packet, tc);
+    }
+
+    #[test]
+    fn test_pus_distribution_combined_handler() {
         let known_packet_queue = Arc::new(Mutex::default());
         let unknown_packet_queue = Arc::new(Mutex::default());
         let pus_queue = Arc::new(Mutex::default());
-        let pus_handler = PusHandlerSharedQueue {
+        let pus_handler = PusHandlerSharedQueue(pus_queue.clone());
-            pus_queue: pus_queue.clone(),
-        };
         let handler_base = BasicApidHandlerSharedQueue {
             known_packet_queue: known_packet_queue.clone(),
             unknown_packet_queue: unknown_packet_queue.clone(),
         };
 
-        let pus_distrib = PusDistributor {
+        let pus_distrib = PusDistributor::new(pus_handler);
-            service_provider: Box::new(pus_handler),
-        };
         is_send(&pus_distrib);
         let apid_handler = ApidHandlerShared {
             pus_distrib,
             handler_base,
         };
-        let mut ccsds_distrib = CcsdsDistributor::new(Box::new(apid_handler));
+        let mut ccsds_distrib = CcsdsDistributor::new(apid_handler);
         let mut test_buf: [u8; 32] = [0; 32];
         let tc_slice = generate_ping_tc(test_buf.as_mut_slice());
 
@@ -322,25 +343,23 @@ mod tests {
         assert_eq!(packet.as_slice(), tc_slice);
         let recvd_pus = pus_queue.lock().unwrap().pop_front();
         assert!(recvd_pus.is_some());
-        let (service, apid, tc_raw) = recvd_pus.unwrap();
+        let packet_info = recvd_pus.unwrap();
-        assert_eq!(service, 17);
+        assert_eq!(packet_info.service, 17);
-        assert_eq!(apid, 0x002);
+        assert_eq!(packet_info.apid, 0x002);
-        assert_eq!(tc_raw, tc_slice);
+        assert_eq!(packet_info.packet, tc_slice);
     }
 
     #[test]
-    fn test_as_any_cast() {
+    fn test_accessing_combined_distributor() {
         let pus_handler = PusHandlerOwnedQueue::default();
         let handler_base = BasicApidHandlerOwnedQueue::default();
-        let pus_distrib = PusDistributor {
+        let pus_distrib = PusDistributor::new(pus_handler);
-            service_provider: Box::new(pus_handler),
-        };
 
         let apid_handler = ApidHandlerOwned {
             pus_distrib,
             handler_base,
         };
-        let mut ccsds_distrib = CcsdsDistributor::new(Box::new(apid_handler));
+        let mut ccsds_distrib = CcsdsDistributor::new(apid_handler);
 
         let mut test_buf: [u8; 32] = [0; 32];
         let tc_slice = generate_ping_tc(test_buf.as_mut_slice());
@@ -349,21 +368,38 @@ mod tests {
             .pass_tc(tc_slice)
             .expect("Passing TC slice failed");
 
-        let apid_handler_casted_back: &mut ApidHandlerOwned = ccsds_distrib
+        let apid_handler_casted_back = ccsds_distrib.packet_handler_mut();
-            .apid_handler_mut()
-            .expect("Cast to concrete type ApidHandler failed");
         assert!(!apid_handler_casted_back
             .handler_base
             .known_packet_queue
             .is_empty());
-        let handler_casted_back: &mut PusHandlerOwnedQueue = apid_handler_casted_back
+        let handler_owned_queue = apid_handler_casted_back
             .pus_distrib
-            .service_provider_mut()
+            .service_distributor_mut();
-            .expect("Cast to concrete type PusHandlerOwnedQueue failed");
+        assert!(!handler_owned_queue.0.is_empty());
-        assert!(!handler_casted_back.pus_queue.is_empty());
+        let packet_info = handler_owned_queue.0.pop_front().unwrap();
-        let (service, apid, packet_raw) = handler_casted_back.pus_queue.pop_front().unwrap();
+        assert_eq!(packet_info.service, 17);
-        assert_eq!(service, 17);
+        assert_eq!(packet_info.apid, 0x002);
-        assert_eq!(apid, 0x002);
+        assert_eq!(packet_info.packet, tc_slice);
-        assert_eq!(packet_raw.as_slice(), tc_slice);
+    }
+
+    #[test]
+    fn test_pus_distrib_error_custom_error() {
+        let error = PusDistribError::CustomError(GenericSendError::RxDisconnected);
+        let error_string = format!("{}", error);
+        assert_eq!(
+            error_string,
+            "pus distribution error: rx side has disconnected"
+        );
+    }
+
+    #[test]
+    fn test_pus_distrib_error_pus_error() {
+        let error = PusDistribError::<GenericSendError>::PusError(PusError::CrcCalculationMissing);
+        let error_string = format!("{}", error);
+        assert_eq!(
+            error_string,
+            "pus distribution error: crc16 was not calculated"
+        );
     }
 }