Merge pull request 'simplified PUS stack' (#178) from simplify-pus-stack into main

Reviewed-on: #178

satrs-example/src/interface/udp.rs

@@ -3,14 +3,13 @@ use std::net::{SocketAddr, UdpSocket};
 use std::sync::mpsc;
 
 use log::{info, warn};
+use satrs::pus::HandlingStatus;
 use satrs::tmtc::{PacketAsVec, PacketInPool, PacketSenderRaw};
 use satrs::{
     hal::std::udp_server::{ReceiveResult, UdpTcServer},
     pool::{PoolProviderWithGuards, SharedStaticMemoryPool},
 };
 
-use crate::pus::HandlingStatus;
-
 pub trait UdpTmHandler {
     fn send_tm_to_udp_client(&mut self, socket: &UdpSocket, recv_addr: &SocketAddr);
 }

satrs-example/src/pus/action.rs

@@ -1,4 +1,4 @@
-use log::{error, warn};
+use log::warn;
 use satrs::action::{ActionRequest, ActionRequestVariant};
 use satrs::pool::SharedStaticMemoryPool;
 use satrs::pus::action::{
@@ -12,7 +12,7 @@ use satrs::pus::verification::{
 use satrs::pus::{
     ActiveRequestProvider, EcssTcAndToken, EcssTcInMemConverter, EcssTcInSharedStoreConverter,
     EcssTcInVecConverter, EcssTmSender, EcssTmtcError, GenericConversionError, MpscTcReceiver,
-    MpscTmAsVecSender, PusPacketHandlerResult, PusReplyHandler, PusServiceHelper,
+    MpscTmAsVecSender, PusPacketHandlingError, PusReplyHandler, PusServiceHelper,
     PusTcToRequestConverter,
 };
 use satrs::request::{GenericMessage, UniqueApidTargetId};
@@ -278,43 +278,23 @@ pub struct ActionServiceWrapper<TmSender: EcssTmSender, TcInMemConverter: EcssTc
 impl<TmSender: EcssTmSender, TcInMemConverter: EcssTcInMemConverter> TargetedPusService
     for ActionServiceWrapper<TmSender, TcInMemConverter>
 {
-    /// Returns [true] if the packet handling is finished.
+    const SERVICE_ID: u8 = 8;
-    fn poll_and_handle_next_tc(&mut self, time_stamp: &[u8]) -> HandlingStatus {
+    const SERVICE_STR: &'static str = "action";
-        match self.service.poll_and_handle_next_tc(time_stamp) {
+
-            Ok(result) => match result {
+    delegate::delegate! {
-                PusPacketHandlerResult::RequestHandled => {}
+        to self.service {
-                PusPacketHandlerResult::RequestHandledPartialSuccess(e) => {
+            fn poll_and_handle_next_tc(
-                    warn!("PUS 8 partial packet handling success: {e:?}")
+                &mut self,
-                }
+                time_stamp: &[u8],
-                PusPacketHandlerResult::CustomSubservice(invalid, _) => {
+            ) -> Result<HandlingStatus, PusPacketHandlingError>;
-                    warn!("PUS 8 invalid subservice {invalid}");
+
-                }
+            fn poll_and_handle_next_reply(
-                PusPacketHandlerResult::SubserviceNotImplemented(subservice, _) => {
+                &mut self,
-                    warn!("PUS 8 subservice {subservice} not implemented");
+                time_stamp: &[u8],
-                }
+            ) -> Result<HandlingStatus, EcssTmtcError>;
-                PusPacketHandlerResult::Empty => return HandlingStatus::Empty,
+
-            },
+            fn check_for_request_timeouts(&mut self);
-            Err(error) => {
-                error!("PUS packet handling error: {error:?}");
-                // To avoid permanent loops on error cases.
-                return HandlingStatus::Empty;
-            }
         }
-        HandlingStatus::HandledOne
-    }
-
-    fn poll_and_handle_next_reply(&mut self, time_stamp: &[u8]) -> HandlingStatus {
-        // This only fails if all senders disconnected. Treat it like an empty queue.
-        self.service
-            .poll_and_check_next_reply(time_stamp)
-            .unwrap_or_else(|e| {
-                warn!("PUS 8: Handling reply failed with error {e:?}");
-                HandlingStatus::Empty
-            })
-    }
-
-    fn check_for_request_timeouts(&mut self) {
-        self.service.check_for_request_timeouts();
     }
 }
 
@@ -429,7 +409,7 @@ mod tests {
             }
             let result = result.unwrap();
             match result {
-                PusPacketHandlerResult::RequestHandled => (),
+                HandlingStatus::HandledOne => (),
                 _ => panic!("unexpected result {result:?}"),
             }
         }
@@ -441,19 +421,19 @@ mod tests {
             }
             let result = result.unwrap();
             match result {
-                PusPacketHandlerResult::Empty => (),
+                HandlingStatus::Empty => (),
                 _ => panic!("unexpected result {result:?}"),
             }
         }
 
         pub fn verify_next_reply_is_handled_properly(&mut self, time_stamp: &[u8]) {
-            let result = self.service.poll_and_check_next_reply(time_stamp);
+            let result = self.service.poll_and_handle_next_reply(time_stamp);
             assert!(result.is_ok());
             assert_eq!(result.unwrap(), HandlingStatus::HandledOne);
         }
 
         pub fn verify_all_replies_handled(&mut self, time_stamp: &[u8]) {
-            let result = self.service.poll_and_check_next_reply(time_stamp);
+            let result = self.service.poll_and_handle_next_reply(time_stamp);
             assert!(result.is_ok());
             assert_eq!(result.unwrap(), HandlingStatus::Empty);
         }

satrs-example/src/pus/event.rs

@@ -7,8 +7,9 @@ use satrs::pus::event_man::EventRequestWithToken;
 use satrs::pus::event_srv::PusEventServiceHandler;
 use satrs::pus::verification::VerificationReporter;
 use satrs::pus::{
-    EcssTcAndToken, EcssTcInMemConverter, EcssTcInSharedStoreConverter, EcssTcInVecConverter,
+    DirectPusPacketHandlerResult, EcssTcAndToken, EcssTcInMemConverter,
-    EcssTmSender, MpscTcReceiver, MpscTmAsVecSender, PusPacketHandlerResult, PusServiceHelper,
+    EcssTcInSharedStoreConverter, EcssTcInVecConverter, EcssTmSender, MpscTcReceiver,
+    MpscTmAsVecSender, PartialPusHandlingError, PusServiceHelper,
 };
 use satrs::tmtc::{PacketAsVec, PacketSenderWithSharedPool};
 use satrs_example::config::components::PUS_EVENT_MANAGEMENT;
@@ -65,22 +66,24 @@ impl<TmSender: EcssTmSender, TcInMemConverter: EcssTcInMemConverter>
     EventServiceWrapper<TmSender, TcInMemConverter>
 {
     pub fn poll_and_handle_next_tc(&mut self, time_stamp: &[u8]) -> HandlingStatus {
-        match self.handler.poll_and_handle_next_tc(time_stamp) {
+        let error_handler = |partial_error: &PartialPusHandlingError| {
+            log::warn!("PUS 5 partial error: {:?}", partial_error);
+        };
+        match self
+            .handler
+            .poll_and_handle_next_tc(error_handler, time_stamp)
+        {
             Ok(result) => match result {
-                PusPacketHandlerResult::RequestHandled => {}
+                DirectPusPacketHandlerResult::Handled(handling_status) => return handling_status,
-                PusPacketHandlerResult::RequestHandledPartialSuccess(e) => {
+                DirectPusPacketHandlerResult::CustomSubservice(invalid, _) => {
-                    warn!("PUS 5 partial packet handling success: {e:?}")
-                }
-                PusPacketHandlerResult::CustomSubservice(invalid, _) => {
                     warn!("PUS 5 invalid subservice {invalid}");
                 }
-                PusPacketHandlerResult::SubserviceNotImplemented(subservice, _) => {
+                DirectPusPacketHandlerResult::SubserviceNotImplemented(subservice, _) => {
                     warn!("PUS 5 subservice {subservice} not implemented");
                 }
-                PusPacketHandlerResult::Empty => return HandlingStatus::Empty,
             },
             Err(error) => {
-                error!("PUS packet handling error: {error:?}")
+                error!("PUS 5 packet handling error: {error:?}")
             }
         }
         HandlingStatus::HandledOne

satrs-example/src/pus/hk.rs

@@ -1,5 +1,4 @@
 use derive_new::new;
-use log::{error, warn};
 use satrs::hk::{CollectionIntervalFactor, HkRequest, HkRequestVariant, UniqueId};
 use satrs::pool::SharedStaticMemoryPool;
 use satrs::pus::verification::{
@@ -10,7 +9,7 @@ use satrs::pus::{
     ActivePusRequestStd, ActiveRequestProvider, DefaultActiveRequestMap, EcssTcAndToken,
     EcssTcInMemConverter, EcssTcInSharedStoreConverter, EcssTcInVecConverter, EcssTmSender,
     EcssTmtcError, GenericConversionError, MpscTcReceiver, MpscTmAsVecSender,
-    PusPacketHandlerResult, PusReplyHandler, PusServiceHelper, PusTcToRequestConverter,
+    PusPacketHandlingError, PusReplyHandler, PusServiceHelper, PusTcToRequestConverter,
 };
 use satrs::request::{GenericMessage, UniqueApidTargetId};
 use satrs::spacepackets::ecss::tc::PusTcReader;
@@ -24,7 +23,7 @@ use std::time::Duration;
 use crate::pus::{create_verification_reporter, generic_pus_request_timeout_handler};
 use crate::requests::GenericRequestRouter;
 
-use super::{HandlingStatus, PusTargetedRequestService};
+use super::{HandlingStatus, PusTargetedRequestService, TargetedPusService};
 
 #[derive(Clone, PartialEq, Debug, new)]
 pub struct HkReply {
@@ -297,45 +296,27 @@ pub struct HkServiceWrapper<TmSender: EcssTmSender, TcInMemConverter: EcssTcInMe
     >,
 }
 
-impl<TmSender: EcssTmSender, TcInMemConverter: EcssTcInMemConverter>
+impl<TmSender: EcssTmSender, TcInMemConverter: EcssTcInMemConverter> TargetedPusService
-    HkServiceWrapper<TmSender, TcInMemConverter>
+    for HkServiceWrapper<TmSender, TcInMemConverter>
 {
-    pub fn poll_and_handle_next_tc(&mut self, time_stamp: &[u8]) -> HandlingStatus {
+    const SERVICE_ID: u8 = 3;
-        match self.service.poll_and_handle_next_tc(time_stamp) {
+
-            Ok(result) => match result {
+    const SERVICE_STR: &'static str = "housekeeping";
-                PusPacketHandlerResult::RequestHandled => {}
+
-                PusPacketHandlerResult::RequestHandledPartialSuccess(e) => {
+    delegate::delegate! {
-                    warn!("PUS 3 partial packet handling success: {e:?}")
+        to self.service {
-                }
+            fn poll_and_handle_next_tc(
-                PusPacketHandlerResult::CustomSubservice(invalid, _) => {
+                &mut self,
-                    warn!("PUS 3 invalid subservice {invalid}");
+                time_stamp: &[u8],
-                }
+            ) -> Result<HandlingStatus, PusPacketHandlingError>;
-                PusPacketHandlerResult::SubserviceNotImplemented(subservice, _) => {
+
-                    warn!("PUS 3 subservice {subservice} not implemented");
+            fn poll_and_handle_next_reply(
-                }
+                &mut self,
-                PusPacketHandlerResult::Empty => return HandlingStatus::Empty,
+                time_stamp: &[u8],
-            },
+            ) -> Result<HandlingStatus, EcssTmtcError>;
-            Err(error) => {
+
-                error!("PUS packet handling error: {error:?}");
+            fn check_for_request_timeouts(&mut self);
-                // To avoid permanent loops on error cases.
-                return HandlingStatus::Empty;
-            }
         }
-        HandlingStatus::HandledOne
-    }
-
-    pub fn poll_and_handle_next_reply(&mut self, time_stamp: &[u8]) -> HandlingStatus {
-        // This only fails if all senders disconnected. Treat it like an empty queue.
-        self.service
-            .poll_and_check_next_reply(time_stamp)
-            .unwrap_or_else(|e| {
-                warn!("PUS 3: Handling reply failed with error {e:?}");
-                HandlingStatus::Empty
-            })
-    }
-
-    pub fn check_for_request_timeouts(&mut self) {
-        self.service.check_for_request_timeouts();
     }
 }
 

satrs-example/src/pus/mod.rs

@@ -8,8 +8,8 @@ use satrs::pus::verification::{
 use satrs::pus::{
     ActiveRequestMapProvider, ActiveRequestProvider, EcssTcAndToken, EcssTcInMemConverter,
     EcssTcReceiver, EcssTmSender, EcssTmtcError, GenericConversionError, GenericRoutingError,
-    PusPacketHandlerResult, PusPacketHandlingError, PusReplyHandler, PusRequestRouter,
+    HandlingStatus, PusPacketHandlingError, PusReplyHandler, PusRequestRouter, PusServiceHelper,
-    PusServiceHelper, PusTcToRequestConverter, TcInMemory,
+    PusTcToRequestConverter, TcInMemory,
 };
 use satrs::queue::{GenericReceiveError, GenericSendError};
 use satrs::request::{Apid, GenericMessage, MessageMetadata};
@@ -31,12 +31,6 @@ pub mod scheduler;
 pub mod stack;
 pub mod test;
 
-#[derive(Debug, PartialEq, Eq, Copy, Clone)]
-pub enum HandlingStatus {
-    Empty,
-    HandledOne,
-}
-
 pub fn create_verification_reporter(owner_id: ComponentId, apid: Apid) -> VerificationReporter {
     let verif_cfg = VerificationReporterCfg::new(apid, 1, 2, 8).unwrap();
     // Every software component which needs to generate verification telemetry, gets a cloned
@@ -79,7 +73,7 @@ impl<TmSender: EcssTmSender> PusTcDistributor<TmSender> {
     pub fn handle_tc_packet_vec(
         &mut self,
         packet_as_vec: PacketAsVec,
-    ) -> Result<PusPacketHandlerResult, GenericSendError> {
+    ) -> Result<HandlingStatus, GenericSendError> {
         self.handle_tc_generic(packet_as_vec.sender_id, None, &packet_as_vec.packet)
     }
 
@@ -87,7 +81,7 @@ impl<TmSender: EcssTmSender> PusTcDistributor<TmSender> {
         &mut self,
         packet_in_pool: PacketInPool,
         pus_tc_copy: &[u8],
-    ) -> Result<PusPacketHandlerResult, GenericSendError> {
+    ) -> Result<HandlingStatus, GenericSendError> {
         self.handle_tc_generic(
             packet_in_pool.sender_id,
             Some(packet_in_pool.store_addr),
@@ -100,7 +94,7 @@ impl<TmSender: EcssTmSender> PusTcDistributor<TmSender> {
         sender_id: ComponentId,
         addr_opt: Option<PoolAddr>,
         raw_tc: &[u8],
-    ) -> Result<PusPacketHandlerResult, GenericSendError> {
+    ) -> Result<HandlingStatus, GenericSendError> {
         let pus_tc_result = PusTcReader::new(raw_tc);
         if pus_tc_result.is_err() {
             log::warn!(
@@ -109,7 +103,8 @@ impl<TmSender: EcssTmSender> PusTcDistributor<TmSender> {
                 pus_tc_result.unwrap_err()
             );
             log::warn!("raw data: {:x?}", raw_tc);
-            return Ok(PusPacketHandlerResult::RequestHandled);
+            // TODO: Shouldn't this be an error?
+            return Ok(HandlingStatus::HandledOne);
         }
         let pus_tc = pus_tc_result.unwrap().0;
         let init_token = self.verif_reporter.add_tc(&pus_tc);
@@ -189,14 +184,53 @@ impl<TmSender: EcssTmSender> PusTcDistributor<TmSender> {
                 }
             }
         }
-        Ok(PusPacketHandlerResult::RequestHandled)
+        Ok(HandlingStatus::HandledOne)
     }
 }
 
 pub trait TargetedPusService {
-    /// Returns [true] if the packet handling is finished.
+    const SERVICE_ID: u8;
-    fn poll_and_handle_next_tc(&mut self, time_stamp: &[u8]) -> HandlingStatus;
+    const SERVICE_STR: &'static str;
-    fn poll_and_handle_next_reply(&mut self, time_stamp: &[u8]) -> HandlingStatus;
+
+    fn poll_and_handle_next_tc_default_handler(&mut self, time_stamp: &[u8]) -> HandlingStatus {
+        let result = self.poll_and_handle_next_tc(time_stamp);
+        if let Err(e) = result {
+            log::error!(
+                "PUS service {}({})packet handling error: {:?}",
+                Self::SERVICE_ID,
+                Self::SERVICE_STR,
+                e
+            );
+            // To avoid permanent loops on error cases.
+            return HandlingStatus::Empty;
+        }
+        result.unwrap()
+    }
+
+    fn poll_and_handle_next_reply_default_handler(&mut self, time_stamp: &[u8]) -> HandlingStatus {
+        // This only fails if all senders disconnected. Treat it like an empty queue.
+        self.poll_and_handle_next_reply(time_stamp)
+            .unwrap_or_else(|e| {
+                warn!(
+                    "PUS servce {}({}): Handling reply failed with error {:?}",
+                    Self::SERVICE_ID,
+                    Self::SERVICE_STR,
+                    e
+                );
+                HandlingStatus::Empty
+            })
+    }
+
+    fn poll_and_handle_next_tc(
+        &mut self,
+        time_stamp: &[u8],
+    ) -> Result<HandlingStatus, PusPacketHandlingError>;
+
+    fn poll_and_handle_next_reply(
+        &mut self,
+        time_stamp: &[u8],
+    ) -> Result<HandlingStatus, EcssTmtcError>;
+
     fn check_for_request_timeouts(&mut self);
 }
 
@@ -297,10 +331,10 @@ where
     pub fn poll_and_handle_next_tc(
         &mut self,
         time_stamp: &[u8],
-    ) -> Result<PusPacketHandlerResult, PusPacketHandlingError> {
+    ) -> Result<HandlingStatus, PusPacketHandlingError> {
         let possible_packet = self.service_helper.retrieve_and_accept_next_packet()?;
         if possible_packet.is_none() {
-            return Ok(PusPacketHandlerResult::Empty);
+            return Ok(HandlingStatus::Empty);
         }
         let ecss_tc_and_token = possible_packet.unwrap();
         self.service_helper
@@ -356,7 +390,7 @@ where
                 return Err(e.into());
             }
         }
-        Ok(PusPacketHandlerResult::RequestHandled)
+        Ok(HandlingStatus::HandledOne)
     }
 
     fn handle_conversion_to_request_error(
@@ -409,7 +443,7 @@ where
         }
     }
 
-    pub fn poll_and_check_next_reply(
+    pub fn poll_and_handle_next_reply(
         &mut self,
         time_stamp: &[u8],
     ) -> Result<HandlingStatus, EcssTmtcError> {

satrs-example/src/pus/mode.rs

@@ -1,5 +1,4 @@
 use derive_new::new;
-use log::{error, warn};
 use satrs::tmtc::{PacketAsVec, PacketSenderWithSharedPool};
 use std::sync::mpsc;
 use std::time::Duration;
@@ -9,7 +8,7 @@ use satrs::pool::SharedStaticMemoryPool;
 use satrs::pus::verification::VerificationReporter;
 use satrs::pus::{
     DefaultActiveRequestMap, EcssTcAndToken, EcssTcInMemConverter, EcssTcInSharedStoreConverter,
-    EcssTcInVecConverter, MpscTcReceiver, MpscTmAsVecSender, PusPacketHandlerResult,
+    EcssTcInVecConverter, MpscTcReceiver, MpscTmAsVecSender, PusPacketHandlingError,
     PusServiceHelper,
 };
 use satrs::request::GenericMessage;
@@ -36,7 +35,7 @@ use satrs::{
     ComponentId,
 };
 use satrs_example::config::components::PUS_MODE_SERVICE;
-use satrs_example::config::{mode_err, tmtc_err};
+use satrs_example::config::{mode_err, tmtc_err, CustomPusServiceId};
 
 use super::{
     create_verification_reporter, generic_pus_request_timeout_handler, HandlingStatus,
@@ -272,44 +271,27 @@ pub struct ModeServiceWrapper<TmSender: EcssTmSender, TcInMemConverter: EcssTcIn
 impl<TmSender: EcssTmSender, TcInMemConverter: EcssTcInMemConverter> TargetedPusService
     for ModeServiceWrapper<TmSender, TcInMemConverter>
 {
-    /// Returns [true] if the packet handling is finished.
+    const SERVICE_ID: u8 = CustomPusServiceId::Mode as u8;
-    fn poll_and_handle_next_tc(&mut self, time_stamp: &[u8]) -> HandlingStatus {
+
-        match self.service.poll_and_handle_next_tc(time_stamp) {
+    const SERVICE_STR: &'static str = "mode";
-            Ok(result) => match result {
+
-                PusPacketHandlerResult::RequestHandled => {}
+    delegate::delegate! {
-                PusPacketHandlerResult::RequestHandledPartialSuccess(e) => {
+        to self.service {
-                    warn!("PUS mode service: partial packet handling success: {e:?}")
+            fn poll_and_handle_next_tc(
-                }
+                &mut self,
-                PusPacketHandlerResult::CustomSubservice(invalid, _) => {
+                time_stamp: &[u8],
-                    warn!("PUS mode service: invalid subservice {invalid}");
+            ) -> Result<HandlingStatus, PusPacketHandlingError>;
-                }
+
-                PusPacketHandlerResult::SubserviceNotImplemented(subservice, _) => {
+            fn poll_and_handle_next_reply(
-                    warn!("PUS mode service: {subservice} not implemented");
+                &mut self,
-                }
+                time_stamp: &[u8],
-                PusPacketHandlerResult::Empty => return HandlingStatus::Empty,
+            ) -> Result<HandlingStatus, EcssTmtcError>;
-            },
+
-            Err(error) => {
+            fn check_for_request_timeouts(&mut self);
-                error!("PUS mode service: packet handling error: {error:?}");
-                // To avoid permanent loops on error cases.
-                return HandlingStatus::Empty;
-            }
         }
-        HandlingStatus::HandledOne
-    }
-
-    fn poll_and_handle_next_reply(&mut self, time_stamp: &[u8]) -> HandlingStatus {
-        self.service
-            .poll_and_check_next_reply(time_stamp)
-            .unwrap_or_else(|e| {
-                warn!("PUS action service: Handling reply failed with error {e:?}");
-                HandlingStatus::HandledOne
-            })
-    }
-
-    fn check_for_request_timeouts(&mut self) {
-        self.service.check_for_request_timeouts();
     }
 }
+
 #[cfg(test)]
 mod tests {
     use satrs::pus::test_util::{TEST_APID, TEST_COMPONENT_ID_0, TEST_UNIQUE_ID_0};

satrs-example/src/pus/scheduler.rs

@@ -8,8 +8,9 @@ use satrs::pus::scheduler::{PusScheduler, TcInfo};
 use satrs::pus::scheduler_srv::PusSchedServiceHandler;
 use satrs::pus::verification::VerificationReporter;
 use satrs::pus::{
-    EcssTcAndToken, EcssTcInMemConverter, EcssTcInSharedStoreConverter, EcssTcInVecConverter,
+    DirectPusPacketHandlerResult, EcssTcAndToken, EcssTcInMemConverter,
-    EcssTmSender, MpscTcReceiver, MpscTmAsVecSender, PusPacketHandlerResult, PusServiceHelper,
+    EcssTcInSharedStoreConverter, EcssTcInVecConverter, EcssTmSender, MpscTcReceiver,
+    MpscTmAsVecSender, PartialPusHandlingError, PusServiceHelper,
 };
 use satrs::tmtc::{PacketAsVec, PacketInPool, PacketSenderWithSharedPool};
 use satrs::ComponentId;
@@ -105,25 +106,25 @@ impl<TmSender: EcssTmSender, TcInMemConverter: EcssTcInMemConverter>
     }
 
     pub fn poll_and_handle_next_tc(&mut self, time_stamp: &[u8]) -> HandlingStatus {
-        match self
+        let error_handler = |patial_error: &PartialPusHandlingError| {
-            .pus_11_handler
+            log::warn!("PUS 11 partial error: {:?}", patial_error);
-            .poll_and_handle_next_tc(time_stamp, &mut self.sched_tc_pool)
+        };
-        {
+        match self.pus_11_handler.poll_and_handle_next_tc(
+            error_handler,
+            time_stamp,
+            &mut self.sched_tc_pool,
+        ) {
             Ok(result) => match result {
-                PusPacketHandlerResult::RequestHandled => {}
+                DirectPusPacketHandlerResult::Handled(handling_status) => return handling_status,
-                PusPacketHandlerResult::RequestHandledPartialSuccess(e) => {
+                DirectPusPacketHandlerResult::CustomSubservice(invalid, _) => {
-                    warn!("PUS11 partial packet handling success: {e:?}")
+                    warn!("PUS 11 invalid subservice {invalid}");
                 }
-                PusPacketHandlerResult::CustomSubservice(invalid, _) => {
+                DirectPusPacketHandlerResult::SubserviceNotImplemented(subservice, _) => {
-                    warn!("PUS11 invalid subservice {invalid}");
+                    warn!("PUS 11 Subservice {subservice} not implemented");
                 }
-                PusPacketHandlerResult::SubserviceNotImplemented(subservice, _) => {
-                    warn!("PUS11: Subservice {subservice} not implemented");
-                }
-                PusPacketHandlerResult::Empty => return HandlingStatus::Empty,
             },
             Err(error) => {
-                error!("PUS packet handling error: {error:?}")
+                error!("PUS 11 packet handling error: {error:?}")
             }
         }
         HandlingStatus::HandledOne

satrs-example/src/pus/stack.rs

@@ -2,8 +2,12 @@ use crate::pus::mode::ModeServiceWrapper;
 use derive_new::new;
 use satrs::{
     pus::{EcssTcInMemConverter, EcssTmSender},
-    spacepackets::time::{cds, TimeWriter},
+    spacepackets::{
+        ecss::PusServiceId,
+        time::{cds, TimeWriter},
+    },
 };
+use satrs_example::config::CustomPusServiceId;
 
 use super::{
     action::ActionServiceWrapper, event::EventServiceWrapper, hk::HkServiceWrapper,
@@ -32,6 +36,7 @@ impl<TmSender: EcssTmSender, TcInMemConverter: EcssTcInMemConverter>
             .expect("time stamp generation error")
             .to_vec()
             .unwrap();
+        // Hot loop which will run continuously until all request and reply handling is done.
         loop {
             let mut nothing_to_do = true;
             let mut is_srv_finished =
@@ -46,33 +51,46 @@ impl<TmSender: EcssTmSender, TcInMemConverter: EcssTcInMemConverter>
                     }
                 };
             is_srv_finished(
-                17,
+                PusServiceId::Test as u8,
-                self.test_srv.poll_and_handle_next_packet(&time_stamp),
+                self.test_srv.poll_and_handle_next_tc(&time_stamp),
                 None,
             );
             is_srv_finished(
-                11,
+                PusServiceId::Scheduling as u8,
                 self.schedule_srv.poll_and_handle_next_tc(&time_stamp),
                 None,
             );
-            is_srv_finished(5, self.event_srv.poll_and_handle_next_tc(&time_stamp), None);
             is_srv_finished(
-                8,
+                PusServiceId::Event as u8,
-                self.action_srv_wrapper.poll_and_handle_next_tc(&time_stamp),
+                self.event_srv.poll_and_handle_next_tc(&time_stamp),
+                None,
+            );
+            is_srv_finished(
+                PusServiceId::Action as u8,
+                self.action_srv_wrapper
+                    .poll_and_handle_next_tc_default_handler(&time_stamp),
                 Some(
                     self.action_srv_wrapper
-                        .poll_and_handle_next_reply(&time_stamp),
+                        .poll_and_handle_next_reply_default_handler(&time_stamp),
                 ),
             );
             is_srv_finished(
-                3,
+                PusServiceId::Housekeeping as u8,
-                self.hk_srv_wrapper.poll_and_handle_next_tc(&time_stamp),
+                self.hk_srv_wrapper
-                Some(self.hk_srv_wrapper.poll_and_handle_next_reply(&time_stamp)),
+                    .poll_and_handle_next_tc_default_handler(&time_stamp),
+                Some(
+                    self.hk_srv_wrapper
+                        .poll_and_handle_next_reply_default_handler(&time_stamp),
+                ),
             );
             is_srv_finished(
-                200,
+                CustomPusServiceId::Mode as u8,
-                self.mode_srv.poll_and_handle_next_tc(&time_stamp),
+                self.mode_srv
-                Some(self.mode_srv.poll_and_handle_next_reply(&time_stamp)),
+                    .poll_and_handle_next_tc_default_handler(&time_stamp),
+                Some(
+                    self.mode_srv
+                        .poll_and_handle_next_reply_default_handler(&time_stamp),
+                ),
             );
             if nothing_to_do {
                 // Timeout checking is only done once.

satrs-example/src/pus/test.rs

@@ -4,11 +4,11 @@ use satrs::event_man::{EventMessage, EventMessageU32};
 use satrs::pool::SharedStaticMemoryPool;
 use satrs::pus::test::PusService17TestHandler;
 use satrs::pus::verification::{FailParams, VerificationReporter, VerificationReportingProvider};
-use satrs::pus::EcssTcInSharedStoreConverter;
 use satrs::pus::{
-    EcssTcAndToken, EcssTcInMemConverter, EcssTcInVecConverter, EcssTmSender, MpscTcReceiver,
+    DirectPusPacketHandlerResult, EcssTcAndToken, EcssTcInMemConverter, EcssTcInVecConverter,
-    MpscTmAsVecSender, PusPacketHandlerResult, PusServiceHelper,
+    EcssTmSender, MpscTcReceiver, MpscTmAsVecSender, PusServiceHelper,
 };
+use satrs::pus::{EcssTcInSharedStoreConverter, PartialPusHandlingError};
 use satrs::spacepackets::ecss::tc::PusTcReader;
 use satrs::spacepackets::ecss::PusPacket;
 use satrs::spacepackets::time::cds::CdsTime;
@@ -67,27 +67,29 @@ pub struct TestCustomServiceWrapper<TmSender: EcssTmSender, TcInMemConverter: Ec
 impl<TmSender: EcssTmSender, TcInMemConverter: EcssTcInMemConverter>
     TestCustomServiceWrapper<TmSender, TcInMemConverter>
 {
-    pub fn poll_and_handle_next_packet(&mut self, time_stamp: &[u8]) -> HandlingStatus {
+    pub fn poll_and_handle_next_tc(&mut self, time_stamp: &[u8]) -> HandlingStatus {
-        let res = self.handler.poll_and_handle_next_tc(time_stamp);
+        let error_handler = |patial_error: &PartialPusHandlingError| {
+            log::warn!("PUS 17 partial error: {:?}", patial_error);
+        };
+        let res = self
+            .handler
+            .poll_and_handle_next_tc(error_handler, time_stamp);
         if res.is_err() {
-            warn!("PUS17 handler failed with error {:?}", res.unwrap_err());
+            warn!("PUS 17 handler error: {:?}", res.unwrap_err());
             return HandlingStatus::HandledOne;
         }
         match res.unwrap() {
-            PusPacketHandlerResult::RequestHandled => {
+            DirectPusPacketHandlerResult::Handled(handling_status) => {
-                info!("Received PUS ping command TC[17,1]");
+                if handling_status == HandlingStatus::HandledOne {
-                info!("Sent ping reply PUS TM[17,2]");
+                    info!("Received PUS ping command TC[17,1]");
+                    info!("Sent ping reply PUS TM[17,2]");
+                }
+                return handling_status;
             }
-            PusPacketHandlerResult::RequestHandledPartialSuccess(partial_err) => {
+            DirectPusPacketHandlerResult::SubserviceNotImplemented(subservice, _) => {
-                warn!(
-                    "Handled PUS ping command with partial success: {:?}",
-                    partial_err
-                );
-            }
-            PusPacketHandlerResult::SubserviceNotImplemented(subservice, _) => {
                 warn!("PUS17: Subservice {subservice} not implemented")
             }
-            PusPacketHandlerResult::CustomSubservice(subservice, token) => {
+            DirectPusPacketHandlerResult::CustomSubservice(subservice, token) => {
                 let (tc, _) = PusTcReader::new(
                     self.handler
                         .service_helper
@@ -135,7 +137,6 @@ impl<TmSender: EcssTmSender, TcInMemConverter: EcssTcInMemConverter>
                         .expect("Sending start failure verification failed");
                 }
             }
-            PusPacketHandlerResult::Empty => return HandlingStatus::Empty,
         }
         HandlingStatus::HandledOne
     }

satrs-example/src/tmtc/tc_source.rs

@@ -1,12 +1,13 @@
 use satrs::{
     pool::PoolProvider,
+    pus::HandlingStatus,
     tmtc::{PacketAsVec, PacketInPool, PacketSenderWithSharedPool, SharedPacketPool},
 };
 use std::sync::mpsc::{self, TryRecvError};
 
 use satrs::pus::MpscTmAsVecSender;
 
-use crate::pus::{HandlingStatus, PusTcDistributor};
+use crate::pus::PusTcDistributor;
 
 // TC source components where static pools are the backing memory of the received telecommands.
 pub struct TcSourceTaskStatic {

satrs/src/pus/action.rs

@@ -54,11 +54,11 @@ pub type GenericActionReplyPus = GenericMessage<ActionReplyPus>;
 
 impl GenericActionReplyPus {
     pub fn new_action_reply(
-        requestor_info: MessageMetadata,
+        replier_info: MessageMetadata,
         action_id: ActionId,
         reply: ActionReplyVariant,
     ) -> Self {
-        Self::new(requestor_info, ActionReplyPus::new(action_id, reply))
+        Self::new(replier_info, ActionReplyPus::new(action_id, reply))
     }
 }
 

satrs/src/pus/event_srv.rs

@@ -1,7 +1,7 @@
 use crate::events::EventU32;
 use crate::pus::event_man::{EventRequest, EventRequestWithToken};
 use crate::pus::verification::TcStateToken;
-use crate::pus::{PartialPusHandlingError, PusPacketHandlerResult, PusPacketHandlingError};
+use crate::pus::{DirectPusPacketHandlerResult, PartialPusHandlingError, PusPacketHandlingError};
 use crate::queue::GenericSendError;
 use spacepackets::ecss::event::Subservice;
 use spacepackets::ecss::PusPacket;
@@ -10,7 +10,7 @@ use std::sync::mpsc::Sender;
 use super::verification::VerificationReportingProvider;
 use super::{
     EcssTcInMemConverter, EcssTcReceiver, EcssTmSender, GenericConversionError,
-    GenericRoutingError, PusServiceHelper,
+    GenericRoutingError, HandlingStatus, PusServiceHelper,
 };
 
 pub struct PusEventServiceHandler<
@@ -46,13 +46,14 @@ impl<
         }
     }
 
-    pub fn poll_and_handle_next_tc(
+    pub fn poll_and_handle_next_tc<ErrorCb: FnMut(&PartialPusHandlingError)>(
         &mut self,
+        mut error_callback: ErrorCb,
         time_stamp: &[u8],
-    ) -> Result<PusPacketHandlerResult, PusPacketHandlingError> {
+    ) -> Result<DirectPusPacketHandlerResult, PusPacketHandlingError> {
         let possible_packet = self.service_helper.retrieve_and_accept_next_packet()?;
         if possible_packet.is_none() {
-            return Ok(PusPacketHandlerResult::Empty);
+            return Ok(HandlingStatus::Empty.into());
         }
         let ecss_tc_and_token = possible_packet.unwrap();
         self.service_helper
@@ -62,13 +63,13 @@ impl<
         let subservice = tc.subservice();
         let srv = Subservice::try_from(subservice);
         if srv.is_err() {
-            return Ok(PusPacketHandlerResult::CustomSubservice(
+            return Ok(DirectPusPacketHandlerResult::CustomSubservice(
                 tc.subservice(),
                 ecss_tc_and_token.token,
             ));
         }
-        let handle_enable_disable_request =
+        let mut handle_enable_disable_request =
-            |enable: bool| -> Result<PusPacketHandlerResult, PusPacketHandlingError> {
+            |enable: bool| -> Result<DirectPusPacketHandlerResult, PusPacketHandlingError> {
                 if tc.user_data().len() < 4 {
                     return Err(GenericConversionError::NotEnoughAppData {
                         expected: 4,
@@ -79,21 +80,20 @@ impl<
                 let user_data = tc.user_data();
                 let event_u32 =
                     EventU32::from(u32::from_be_bytes(user_data[0..4].try_into().unwrap()));
-                let start_token = self
-                    .service_helper
-                    .common
-                    .verif_reporter
-                    .start_success(
-                        &self.service_helper.common.tm_sender,
-                        ecss_tc_and_token.token,
-                        time_stamp,
-                    )
-                    .map_err(|_| PartialPusHandlingError::Verification);
-                let partial_error = start_token.clone().err();
                 let mut token: TcStateToken = ecss_tc_and_token.token.into();
-                if let Ok(start_token) = start_token {
+                match self.service_helper.common.verif_reporter.start_success(
-                    token = start_token.into();
+                    &self.service_helper.common.tm_sender,
+                    ecss_tc_and_token.token,
+                    time_stamp,
+                ) {
+                    Ok(start_token) => {
+                        token = start_token.into();
+                    }
+                    Err(e) => {
+                        error_callback(&PartialPusHandlingError::Verification(e));
+                    }
                 }
+
                 let event_req_with_token = if enable {
                     EventRequestWithToken {
                         request: EventRequest::Enable(event_u32),
@@ -112,12 +112,7 @@ impl<
                             GenericSendError::RxDisconnected,
                         ))
                     })?;
-                if let Some(partial_error) = partial_error {
+                Ok(HandlingStatus::HandledOne.into())
-                    return Ok(PusPacketHandlerResult::RequestHandledPartialSuccess(
-                        partial_error,
-                    ));
-                }
-                Ok(PusPacketHandlerResult::RequestHandled)
             };
 
         match srv.unwrap() {
@@ -136,14 +131,14 @@ impl<
                 handle_enable_disable_request(false)?;
             }
             Subservice::TcReportDisabledList | Subservice::TmDisabledEventsReport => {
-                return Ok(PusPacketHandlerResult::SubserviceNotImplemented(
+                return Ok(DirectPusPacketHandlerResult::SubserviceNotImplemented(
                     subservice,
                     ecss_tc_and_token.token,
                 ));
             }
         }
 
-        Ok(PusPacketHandlerResult::RequestHandled)
+        Ok(HandlingStatus::HandledOne.into())
     }
 }
 
@@ -167,7 +162,7 @@ mod tests {
     use crate::pus::verification::{
         RequestId, VerificationReporter, VerificationReportingProvider,
     };
-    use crate::pus::{GenericConversionError, MpscTcReceiver};
+    use crate::pus::{GenericConversionError, HandlingStatus, MpscTcReceiver};
     use crate::tmtc::PacketSenderWithSharedPool;
     use crate::{
         events::EventU32,
@@ -175,7 +170,7 @@ mod tests {
             event_man::EventRequestWithToken,
             tests::PusServiceHandlerWithSharedStoreCommon,
             verification::{TcStateAccepted, VerificationToken},
-            EcssTcInSharedStoreConverter, PusPacketHandlerResult, PusPacketHandlingError,
+            DirectPusPacketHandlerResult, EcssTcInSharedStoreConverter, PusPacketHandlingError,
         },
     };
 
@@ -229,9 +224,11 @@ mod tests {
     }
 
     impl SimplePusPacketHandler for Pus5HandlerWithStoreTester {
-        fn handle_one_tc(&mut self) -> Result<PusPacketHandlerResult, PusPacketHandlingError> {
+        fn handle_one_tc(
+            &mut self,
+        ) -> Result<DirectPusPacketHandlerResult, PusPacketHandlingError> {
             let time_stamp = cds::CdsTime::new_with_u16_days(0, 0).to_vec().unwrap();
-            self.handler.poll_and_handle_next_tc(&time_stamp)
+            self.handler.poll_and_handle_next_tc(|_| {}, &time_stamp)
         }
     }
 
@@ -293,10 +290,13 @@ mod tests {
         let result = test_harness.handle_one_tc();
         assert!(result.is_ok());
         let result = result.unwrap();
-        if let PusPacketHandlerResult::Empty = result {
+        assert!(
-        } else {
+            matches!(
-            panic!("unexpected result type {result:?}")
+                result,
-        }
+                DirectPusPacketHandlerResult::Handled(HandlingStatus::Empty)
+            ),
+            "unexpected result type {result:?}"
+        )
     }
 
     #[test]
@@ -311,7 +311,7 @@ mod tests {
         let result = test_harness.handle_one_tc();
         assert!(result.is_ok());
         let result = result.unwrap();
-        if let PusPacketHandlerResult::CustomSubservice(subservice, _) = result {
+        if let DirectPusPacketHandlerResult::CustomSubservice(subservice, _) = result {
             assert_eq!(subservice, 200);
         } else {
             panic!("unexpected result type {result:?}")

satrs/src/pus/mod.rs

@@ -45,6 +45,15 @@ pub use std_mod::*;
 
 use self::verification::VerificationReportingProvider;
 
+/// Generic handling status for an object which is able to continuosly handle a queue to handle
+/// request or replies until the queue is empty.
+#[derive(Debug, PartialEq, Eq, Copy, Clone)]
+#[cfg_attr(feature = "serde", derive(serde::Serialize, serde::Deserialize))]
+pub enum HandlingStatus {
+    HandledOne,
+    Empty,
+}
+
 #[derive(Debug, PartialEq, Eq, Clone)]
 pub enum PusTmVariant<'time, 'src_data> {
     InStore(PoolAddr),
@@ -649,14 +658,11 @@ pub mod alloc_mod {
 
 #[cfg(feature = "std")]
 pub mod std_mod {
+    use super::*;
     use crate::pool::{
         PoolAddr, PoolError, PoolProvider, PoolProviderWithGuards, SharedStaticMemoryPool,
     };
     use crate::pus::verification::{TcStateAccepted, VerificationToken};
-    use crate::pus::{
-        EcssTcAndToken, EcssTcReceiver, EcssTmSender, EcssTmtcError, GenericReceiveError,
-        GenericSendError, PusTmVariant, TryRecvTmtcError,
-    };
     use crate::tmtc::{PacketAsVec, PacketSenderWithSharedPool};
     use crate::ComponentId;
     use alloc::vec::Vec;
@@ -920,26 +926,24 @@ pub mod std_mod {
         #[error("generic timestamp generation error")]
         Time(#[from] StdTimestampError),
         #[error("error sending telemetry: {0}")]
-        TmSend(#[from] EcssTmtcError),
+        TmSend(EcssTmtcError),
         #[error("error sending verification message")]
-        Verification,
+        Verification(EcssTmtcError),
         #[error("invalid verification token")]
         NoVerificationToken,
     }
 
     /// Generic result type for handlers which can process PUS packets.
     #[derive(Debug, Clone)]
-    pub enum PusPacketHandlerResult {
+    pub enum DirectPusPacketHandlerResult {
-        RequestHandled,
+        Handled(HandlingStatus),
-        RequestHandledPartialSuccess(PartialPusHandlingError),
         SubserviceNotImplemented(u8, VerificationToken<TcStateAccepted>),
         CustomSubservice(u8, VerificationToken<TcStateAccepted>),
-        Empty,
     }
 
-    impl From<PartialPusHandlingError> for PusPacketHandlerResult {
+    impl From<HandlingStatus> for DirectPusPacketHandlerResult {
-        fn from(value: PartialPusHandlingError) -> Self {
+        fn from(value: HandlingStatus) -> Self {
-            Self::RequestHandledPartialSuccess(value)
+            Self::Handled(value)
         }
     }
 
@@ -1222,7 +1226,7 @@ pub mod test_util {
 
     use super::{
         verification::{self, TcStateAccepted, VerificationToken},
-        PusPacketHandlerResult, PusPacketHandlingError,
+        DirectPusPacketHandlerResult, PusPacketHandlingError,
     };
 
     pub const TEST_APID: u16 = 0x101;
@@ -1246,7 +1250,8 @@ pub mod test_util {
     }
 
     pub trait SimplePusPacketHandler {
-        fn handle_one_tc(&mut self) -> Result<PusPacketHandlerResult, PusPacketHandlingError>;
+        fn handle_one_tc(&mut self)
+            -> Result<DirectPusPacketHandlerResult, PusPacketHandlingError>;
     }
 }
 

satrs/src/pus/scheduler_srv.rs

@@ -1,11 +1,12 @@
 use super::scheduler::PusSchedulerProvider;
 use super::verification::{VerificationReporter, VerificationReportingProvider};
 use super::{
-    EcssTcInMemConverter, EcssTcInSharedStoreConverter, EcssTcInVecConverter, EcssTcReceiver,
+    DirectPusPacketHandlerResult, EcssTcInMemConverter, EcssTcInSharedStoreConverter,
-    EcssTmSender, MpscTcReceiver, PusServiceHelper,
+    EcssTcInVecConverter, EcssTcReceiver, EcssTmSender, HandlingStatus, MpscTcReceiver,
+    PartialPusHandlingError, PusServiceHelper,
 };
 use crate::pool::PoolProvider;
-use crate::pus::{PusPacketHandlerResult, PusPacketHandlingError};
+use crate::pus::PusPacketHandlingError;
 use crate::tmtc::{PacketAsVec, PacketSenderWithSharedPool};
 use alloc::string::ToString;
 use spacepackets::ecss::{scheduling, PusPacket};
@@ -64,14 +65,15 @@ impl<
         &self.scheduler
     }
 
-    pub fn poll_and_handle_next_tc(
+    pub fn poll_and_handle_next_tc<ErrorCb: FnMut(&PartialPusHandlingError)>(
         &mut self,
+        mut error_callback: ErrorCb,
         time_stamp: &[u8],
         sched_tc_pool: &mut (impl PoolProvider + ?Sized),
-    ) -> Result<PusPacketHandlerResult, PusPacketHandlingError> {
+    ) -> Result<DirectPusPacketHandlerResult, PusPacketHandlingError> {
         let possible_packet = self.service_helper.retrieve_and_accept_next_packet()?;
         if possible_packet.is_none() {
-            return Ok(PusPacketHandlerResult::Empty);
+            return Ok(HandlingStatus::Empty.into());
         }
         let ecss_tc_and_token = possible_packet.unwrap();
         self.service_helper
@@ -81,34 +83,34 @@ impl<
         let subservice = PusPacket::subservice(&tc);
         let standard_subservice = scheduling::Subservice::try_from(subservice);
         if standard_subservice.is_err() {
-            return Ok(PusPacketHandlerResult::CustomSubservice(
+            return Ok(DirectPusPacketHandlerResult::CustomSubservice(
                 subservice,
                 ecss_tc_and_token.token,
             ));
         }
-        let partial_error = None;
         match standard_subservice.unwrap() {
             scheduling::Subservice::TcEnableScheduling => {
-                let start_token = self
+                let opt_started_token = match self.service_helper.verif_reporter().start_success(
-                    .service_helper
+                    &self.service_helper.common.tm_sender,
-                    .verif_reporter()
+                    ecss_tc_and_token.token,
-                    .start_success(
+                    time_stamp,
-                        &self.service_helper.common.tm_sender,
+                ) {
-                        ecss_tc_and_token.token,
+                    Ok(started_token) => Some(started_token),
-                        time_stamp,
+                    Err(e) => {
-                    )
+                        error_callback(&PartialPusHandlingError::Verification(e));
-                    .expect("Error sending start success");
+                        None
-
+                    }
+                };
                 self.scheduler.enable();
-                if self.scheduler.is_enabled() {
+
-                    self.service_helper
+                if self.scheduler.is_enabled() && opt_started_token.is_some() {
-                        .verif_reporter()
+                    if let Err(e) = self.service_helper.verif_reporter().completion_success(
-                        .completion_success(
+                        &self.service_helper.common.tm_sender,
-                            &self.service_helper.common.tm_sender,
+                        opt_started_token.unwrap(),
-                            start_token,
+                        time_stamp,
-                            time_stamp,
+                    ) {
-                        )
+                        error_callback(&PartialPusHandlingError::Verification(e));
-                        .expect("Error sending completion success");
+                    }
                 } else {
                     return Err(PusPacketHandlingError::Other(
                         "failed to enabled scheduler".to_string(),
@@ -116,26 +118,27 @@ impl<
                 }
             }
             scheduling::Subservice::TcDisableScheduling => {
-                let start_token = self
+                let opt_started_token = match self.service_helper.verif_reporter().start_success(
-                    .service_helper
+                    &self.service_helper.common.tm_sender,
-                    .verif_reporter()
+                    ecss_tc_and_token.token,
-                    .start_success(
+                    time_stamp,
-                        &self.service_helper.common.tm_sender,
+                ) {
-                        ecss_tc_and_token.token,
+                    Ok(started_token) => Some(started_token),
-                        time_stamp,
+                    Err(e) => {
-                    )
+                        error_callback(&PartialPusHandlingError::Verification(e));
-                    .expect("Error sending start success");
+                        None
+                    }
+                };
 
                 self.scheduler.disable();
-                if !self.scheduler.is_enabled() {
+                if !self.scheduler.is_enabled() && opt_started_token.is_some() {
-                    self.service_helper
+                    if let Err(e) = self.service_helper.verif_reporter().completion_success(
-                        .verif_reporter()
+                        &self.service_helper.common.tm_sender,
-                        .completion_success(
+                        opt_started_token.unwrap(),
-                            &self.service_helper.common.tm_sender,
+                        time_stamp,
-                            start_token,
+                    ) {
-                            time_stamp,
+                        error_callback(&PartialPusHandlingError::Verification(e));
-                        )
+                    }
-                        .expect("Error sending completion success");
                 } else {
                     return Err(PusPacketHandlingError::Other(
                         "failed to disable scheduler".to_string(),
@@ -194,18 +197,13 @@ impl<
             }
             _ => {
                 // Treat unhandled standard subservices as custom subservices for now.
-                return Ok(PusPacketHandlerResult::CustomSubservice(
+                return Ok(DirectPusPacketHandlerResult::CustomSubservice(
                     subservice,
                     ecss_tc_and_token.token,
                 ));
             }
         }
-        if let Some(partial_error) = partial_error {
+        Ok(HandlingStatus::HandledOne.into())
-            return Ok(PusPacketHandlerResult::RequestHandledPartialSuccess(
-                partial_error,
-            ));
-        }
-        Ok(PusPacketHandlerResult::RequestHandled)
     }
 }
 /// Helper type definition for a PUS 11 handler with a dynamic TMTC memory backend and regular
@@ -257,7 +255,7 @@ mod tests {
         verification::{RequestId, TcStateAccepted, VerificationToken},
         EcssTcInSharedStoreConverter,
     };
-    use crate::pus::{MpscTcReceiver, PusPacketHandlerResult, PusPacketHandlingError};
+    use crate::pus::{DirectPusPacketHandlerResult, MpscTcReceiver, PusPacketHandlingError};
     use crate::tmtc::PacketSenderWithSharedPool;
     use alloc::collections::VecDeque;
     use delegate::delegate;
@@ -298,10 +296,12 @@ mod tests {
             }
         }
 
-        pub fn handle_one_tc(&mut self) -> Result<PusPacketHandlerResult, PusPacketHandlingError> {
+        pub fn handle_one_tc(
+            &mut self,
+        ) -> Result<DirectPusPacketHandlerResult, PusPacketHandlingError> {
             let time_stamp = cds::CdsTime::new_with_u16_days(0, 0).to_vec().unwrap();
             self.handler
-                .poll_and_handle_next_tc(&time_stamp, &mut self.sched_tc_pool)
+                .poll_and_handle_next_tc(|_| {}, &time_stamp, &mut self.sched_tc_pool)
         }
     }
 
@@ -387,7 +387,7 @@ mod tests {
         let time_stamp = cds::CdsTime::new_with_u16_days(0, 0).to_vec().unwrap();
         test_harness
             .handler
-            .poll_and_handle_next_tc(&time_stamp, &mut test_harness.sched_tc_pool)
+            .poll_and_handle_next_tc(|_| {}, &time_stamp, &mut test_harness.sched_tc_pool)
             .unwrap();
         test_harness.check_next_verification_tm(1, request_id);
         test_harness.check_next_verification_tm(3, request_id);

satrs/src/pus/test.rs

@@ -1,5 +1,5 @@
 use crate::pus::{
-    PartialPusHandlingError, PusPacketHandlerResult, PusPacketHandlingError, PusTmVariant,
+    DirectPusPacketHandlerResult, PartialPusHandlingError, PusPacketHandlingError, PusTmVariant,
 };
 use crate::tmtc::{PacketAsVec, PacketSenderWithSharedPool};
 use spacepackets::ecss::tm::{PusTmCreator, PusTmSecondaryHeader};
@@ -10,7 +10,7 @@ use std::sync::mpsc;
 use super::verification::{VerificationReporter, VerificationReportingProvider};
 use super::{
     EcssTcInMemConverter, EcssTcInSharedStoreConverter, EcssTcInVecConverter, EcssTcReceiver,
-    EcssTmSender, GenericConversionError, MpscTcReceiver, PusServiceHelper,
+    EcssTmSender, GenericConversionError, HandlingStatus, MpscTcReceiver, PusServiceHelper,
 };
 
 /// This is a helper class for [std] environments to handle generic PUS 17 (test service) packets.
@@ -43,13 +43,14 @@ impl<
         Self { service_helper }
     }
 
-    pub fn poll_and_handle_next_tc(
+    pub fn poll_and_handle_next_tc<ErrorCb: FnMut(&PartialPusHandlingError)>(
         &mut self,
+        mut error_callback: ErrorCb,
         time_stamp: &[u8],
-    ) -> Result<PusPacketHandlerResult, PusPacketHandlingError> {
+    ) -> Result<DirectPusPacketHandlerResult, PusPacketHandlingError> {
         let possible_packet = self.service_helper.retrieve_and_accept_next_packet()?;
         if possible_packet.is_none() {
-            return Ok(PusPacketHandlerResult::Empty);
+            return Ok(HandlingStatus::Empty.into());
         }
         let ecss_tc_and_token = possible_packet.unwrap();
         self.service_helper
@@ -60,21 +61,16 @@ impl<
             return Err(GenericConversionError::WrongService(tc.service()).into());
         }
         if tc.subservice() == 1 {
-            let mut partial_error = None;
+            let opt_started_token = match self.service_helper.verif_reporter().start_success(
-            let result = self
+                &self.service_helper.common.tm_sender,
-                .service_helper
+                ecss_tc_and_token.token,
-                .verif_reporter()
+                time_stamp,
-                .start_success(
+            ) {
-                    &self.service_helper.common.tm_sender,
+                Ok(token) => Some(token),
-                    ecss_tc_and_token.token,
+                Err(e) => {
-                    time_stamp,
+                    error_callback(&PartialPusHandlingError::Verification(e));
-                )
+                    None
-                .map_err(|_| PartialPusHandlingError::Verification);
+                }
-            let start_token = if let Ok(result) = result {
-                Some(result)
-            } else {
-                partial_error = Some(result.unwrap_err());
-                None
             };
             // Sequence count will be handled centrally in TM funnel.
             // It is assumed that the verification reporter was built with a valid APID, so we use
@@ -83,42 +79,30 @@ impl<
                 SpHeader::new_for_unseg_tm(self.service_helper.verif_reporter().apid(), 0, 0);
             let tc_header = PusTmSecondaryHeader::new_simple(17, 2, time_stamp);
             let ping_reply = PusTmCreator::new(reply_header, tc_header, &[], true);
-            let result = self
+            if let Err(e) = self
                 .service_helper
                 .common
                 .tm_sender
                 .send_tm(self.service_helper.id(), PusTmVariant::Direct(ping_reply))
-                .map_err(PartialPusHandlingError::TmSend);
+            {
-            if let Err(err) = result {
+                error_callback(&PartialPusHandlingError::TmSend(e));
-                partial_error = Some(err);
             }
-
+            if let Some(start_token) = opt_started_token {
-            if let Some(start_token) = start_token {
+                if let Err(e) = self.service_helper.verif_reporter().completion_success(
-                if self
+                    &self.service_helper.common.tm_sender,
-                    .service_helper
+                    start_token,
-                    .verif_reporter()
+                    time_stamp,
-                    .completion_success(
+                ) {
-                        &self.service_helper.common.tm_sender,
+                    error_callback(&PartialPusHandlingError::Verification(e));
-                        start_token,
-                        time_stamp,
-                    )
-                    .is_err()
-                {
-                    partial_error = Some(PartialPusHandlingError::Verification)
                 }
             }
-            if let Some(partial_error) = partial_error {
-                return Ok(PusPacketHandlerResult::RequestHandledPartialSuccess(
-                    partial_error,
-                ));
-            };
         } else {
-            return Ok(PusPacketHandlerResult::CustomSubservice(
+            return Ok(DirectPusPacketHandlerResult::CustomSubservice(
                 tc.subservice(),
                 ecss_tc_and_token.token,
             ));
         }
-        Ok(PusPacketHandlerResult::RequestHandled)
+        Ok(HandlingStatus::HandledOne.into())
     }
 }
 
@@ -158,8 +142,9 @@ mod tests {
     };
     use crate::pus::verification::{TcStateAccepted, VerificationToken};
     use crate::pus::{
-        EcssTcInSharedStoreConverter, EcssTcInVecConverter, GenericConversionError, MpscTcReceiver,
+        DirectPusPacketHandlerResult, EcssTcInSharedStoreConverter, EcssTcInVecConverter,
-        MpscTmAsVecSender, PusPacketHandlerResult, PusPacketHandlingError,
+        GenericConversionError, HandlingStatus, MpscTcReceiver, MpscTmAsVecSender,
+        PartialPusHandlingError, PusPacketHandlingError,
     };
     use crate::tmtc::PacketSenderWithSharedPool;
     use crate::ComponentId;
@@ -221,9 +206,12 @@ mod tests {
         }
     }
     impl SimplePusPacketHandler for Pus17HandlerWithStoreTester {
-        fn handle_one_tc(&mut self) -> Result<PusPacketHandlerResult, PusPacketHandlingError> {
+        fn handle_one_tc(
+            &mut self,
+        ) -> Result<DirectPusPacketHandlerResult, PusPacketHandlingError> {
             let time_stamp = cds::CdsTime::new_with_u16_days(0, 0).to_vec().unwrap();
-            self.handler.poll_and_handle_next_tc(&time_stamp)
+            self.handler
+                .poll_and_handle_next_tc(|_partial_error: &PartialPusHandlingError| {}, &time_stamp)
         }
     }
 
@@ -276,9 +264,12 @@ mod tests {
         }
     }
     impl SimplePusPacketHandler for Pus17HandlerWithVecTester {
-        fn handle_one_tc(&mut self) -> Result<PusPacketHandlerResult, PusPacketHandlingError> {
+        fn handle_one_tc(
+            &mut self,
+        ) -> Result<DirectPusPacketHandlerResult, PusPacketHandlingError> {
             let time_stamp = cds::CdsTime::new_with_u16_days(0, 0).to_vec().unwrap();
-            self.handler.poll_and_handle_next_tc(&time_stamp)
+            self.handler
+                .poll_and_handle_next_tc(|_partial_error: &PartialPusHandlingError| {}, &time_stamp)
         }
     }
 
@@ -328,10 +319,11 @@ mod tests {
         let mut test_harness = Pus17HandlerWithStoreTester::new(0);
         let result = test_harness.handle_one_tc();
         assert!(result.is_ok());
-        let result = result.unwrap();
+        match result.unwrap() {
-        if let PusPacketHandlerResult::Empty = result {
+            DirectPusPacketHandlerResult::Handled(handled) => {
-        } else {
+                assert_eq!(handled, HandlingStatus::Empty);
-            panic!("unexpected result type {result:?}")
+            }
+            _ => panic!("unexpected result"),
         }
     }
 
@@ -367,7 +359,7 @@ mod tests {
         let result = test_harness.handle_one_tc();
         assert!(result.is_ok());
         let result = result.unwrap();
-        if let PusPacketHandlerResult::CustomSubservice(subservice, _) = result {
+        if let DirectPusPacketHandlerResult::CustomSubservice(subservice, _) = result {
             assert_eq!(subservice, 200);
         } else {
             panic!("unexpected result type {result:?}")