we need to constrain somewhere..

satrs/src/mode.rs

@@ -26,6 +26,8 @@ pub struct ModeAndSubmode {
 }
 
 impl ModeAndSubmode {
+    const RAW_LEN: usize = size_of::<Mode>() + size_of::<Submode>();
+
     pub const fn new_mode_only(mode: Mode) -> Self {
         Self { mode, submode: 0 }
     }
@@ -34,14 +36,10 @@ impl ModeAndSubmode {
         Self { mode, submode }
     }
 
-    pub fn raw_len() -> usize {
-        size_of::<u32>() + size_of::<u16>()
-    }
-
     pub fn from_be_bytes(buf: &[u8]) -> Result<Self, ByteConversionError> {
         if buf.len() < 6 {
             return Err(ByteConversionError::FromSliceTooSmall {
-                expected: 6,
+                expected: Self::RAW_LEN,
                 found: buf.len(),
             });
         }
@@ -55,6 +53,18 @@ impl ModeAndSubmode {
         })
     }
 
+    pub fn to_be_bytes(&self, buf: &mut [u8]) -> Result<usize, ByteConversionError> {
+        if buf.len() < Self::RAW_LEN {
+            return Err(ByteConversionError::ToSliceTooSmall {
+                expected: Self::RAW_LEN,
+                found: buf.len(),
+            });
+        }
+        buf[0..size_of::<Mode>()].copy_from_slice(&self.mode.to_be_bytes());
+        buf[size_of::<Mode>()..Self::RAW_LEN].copy_from_slice(&self.submode.to_be_bytes());
+        Ok(Self::RAW_LEN)
+    }
+
     pub fn mode(&self) -> Mode {
         self.mode
     }
@@ -111,6 +121,7 @@ pub enum ModeReply {
     ModeInfo(ModeAndSubmode),
     /// Reply to a mode request to confirm the commanded mode was reached.
     ModeReply(ModeAndSubmode),
+    // Can not reach the commanded mode. Returns the mode which was reached in the end.
     CantReachMode(ModeAndSubmode),
     WrongMode {
         expected: ModeAndSubmode,

satrs/src/pus/action.rs

@@ -1,8 +1,8 @@
 use crate::{
     action::{ActionId, ActionRequest},
     params::Params,
-    request::RequestId,
-    TargetId,
+    request::{GenericMessage, RequestId},
+    ChannelId, TargetId,
 };
 
 use super::{verification::VerificationToken, ActiveRequest, ActiveRequestProvider};
@@ -26,13 +26,6 @@ pub struct ActionRequestWithId {
     pub request: ActionRequest,
 }
 
-#[derive(Clone, Debug)]
-pub struct ActionReplyPusWithIds {
-    pub request_id: RequestId,
-    pub action_id: ActionId,
-    pub reply: ActionReplyPus,
-}
-
 /// A reply to an action request, but tailored to the PUS standard verification process.
 #[non_exhaustive]
 #[derive(Clone, PartialEq, Debug)]
@@ -52,6 +45,35 @@ pub enum ActionReplyPus {
     },
 }
 
+#[derive(Debug, PartialEq, Clone)]
+pub struct ActionReplyPusWithActionId {
+    pub action_id: ActionId,
+    pub variant: ActionReplyPus,
+}
+
+impl ActionReplyPusWithActionId {
+    pub fn new(action_id: ActionId, variant: ActionReplyPus) -> Self {
+        Self { action_id, variant }
+    }
+}
+
+pub type GenericActionReplyPus = GenericMessage<ActionReplyPusWithActionId>;
+
+impl GenericActionReplyPus {
+    pub fn new_action_reply(
+        request_id: RequestId,
+        sender_id: ChannelId,
+        action_id: ActionId,
+        reply: ActionReplyPus,
+    ) -> Self {
+        Self::new(
+            request_id,
+            sender_id,
+            ActionReplyPusWithActionId::new(action_id, reply),
+        )
+    }
+}
+
 #[derive(Debug, Clone, PartialEq, Eq)]
 pub struct ActiveActionRequest {
     pub action_id: ActionId,
@@ -126,13 +148,13 @@ pub mod std_mod {
             UserHook,
             TmSender,
             ActiveActionRequest,
-            ActionReplyPusWithIds,
+            ActionReplyPusWithActionId,
         >;
 
     impl<
             VerificationReporter: VerificationReportingProvider,
             ActiveRequestMap: ActiveRequestMapProvider<ActiveActionRequest>,
-            UserHook: ReplyHandlerHook<ActiveActionRequest, ActionReplyPusWithIds>,
+            UserHook: ReplyHandlerHook<ActiveActionRequest, ActionReplyPusWithActionId>,
             TmSender: EcssTmSenderCore,
         > PusService8ReplyHandler<VerificationReporter, ActiveRequestMap, UserHook, TmSender>
     {
@@ -162,7 +184,7 @@ pub mod std_mod {
         /// Main handler function to handle all received action replies.
         pub fn handle_action_reply(
             &mut self,
-            action_reply_with_ids: ActionReplyPusWithIds,
+            action_reply_with_ids: GenericMessage<ActionReplyPusWithActionId>,
             time_stamp: &[u8],
         ) -> Result<(), EcssTmtcError> {
             let active_req = self
@@ -174,7 +196,7 @@ pub mod std_mod {
                 return Ok(());
             }
             let active_req = active_req.unwrap().clone();
-            let remove_entry = match action_reply_with_ids.reply {
+            let remove_entry = match action_reply_with_ids.message.variant {
                 ActionReplyPus::CompletionFailed { error_code, params } => {
                     let fail_data_len = params.write_to_be_bytes(&mut self.fail_data_buf)?;
                     self.verification_reporter
@@ -233,7 +255,7 @@ pub mod std_mod {
 
     impl<
             VerificationReporter: VerificationReportingProvider,
-            UserHook: ReplyHandlerHook<ActiveActionRequest, ActionReplyPusWithIds>,
+            UserHook: ReplyHandlerHook<ActiveActionRequest, ActionReplyPusWithActionId>,
             TmSender: EcssTmSenderCore,
         >
         PusService8ReplyHandler<
@@ -303,7 +325,7 @@ mod tests {
     };
 
     use crate::{
-        action::ActionRequestVariant,
+        action::{ActionReplyVariant, ActionRequestVariant},
         params::{self, ParamsRaw, WritableToBeBytes},
         pus::{
             tests::{
@@ -459,12 +481,12 @@ mod tests {
 
     #[derive(Default)]
     pub struct TestReplyHandlerHook {
-        pub unexpected_replies: VecDeque<ActionReplyPusWithIds>,
+        pub unexpected_replies: VecDeque<GenericActionReplyPus>,
         pub timeouts: RefCell<VecDeque<ActiveActionRequest>>,
     }
 
-    impl ReplyHandlerHook<ActiveActionRequest, ActionReplyPusWithIds> for TestReplyHandlerHook {
-        fn handle_unexpected_reply(&mut self, reply: &ActionReplyPusWithIds) {
+    impl ReplyHandlerHook<ActiveActionRequest, ActionReplyPusWithActionId> for TestReplyHandlerHook {
+        fn handle_unexpected_reply(&mut self, reply: &GenericActionReplyPus) {
             self.unexpected_replies.push_back(reply.clone());
         }
 
@@ -545,7 +567,7 @@ mod tests {
             token
         }
 
-        pub fn next_unrequested_reply(&self) -> Option<ActionReplyPusWithIds> {
+        pub fn next_unrequested_reply(&self) -> Option<GenericActionReplyPus> {
             self.handler.user_hook.unexpected_replies.front().cloned()
         }
 
@@ -623,12 +645,11 @@ mod tests {
             to self.handler {
                 pub fn request_active(&self, request_id: RequestId) -> bool;
 
-                pub fn handle_action_reply(
-                    &mut self,
-                    action_reply_with_ids: ActionReplyPusWithIds,
-                    time_stamp: &[u8],
-                ) -> Result<(), EcssTmtcError>;
-
+        pub fn handle_action_reply(
+            &mut self,
+            action_reply_with_ids: GenericMessage<ActionReplyPusWithActionId>,
+            time_stamp: &[u8]
+        ) -> Result<(), EcssTmtcError>;
 
                 pub fn update_time_from_now(&mut self) -> Result<(), SystemTimeError>;
 
@@ -705,6 +726,7 @@ mod tests {
     #[test]
     fn test_reply_handler_completion_success() {
         let mut reply_testbench = Pus8ReplyTestbench::new(true);
+        let sender_id = 0x06;
         let request_id = 0x02;
         let target_id = 0x05;
         let action_id = 0x03;
@@ -717,11 +739,14 @@ mod tests {
             Duration::from_millis(1),
         );
         assert!(reply_testbench.request_active(request_id));
-        let action_reply = ActionReplyPusWithIds {
+        let action_reply = GenericMessage::new(
             request_id,
-            action_id,
-            reply: ActionReplyPus::Completed,
-        };
+            sender_id,
+            ActionReplyPusWithActionId {
+                action_id,
+                variant: ActionReplyPus::Completed,
+            },
+        );
         reply_testbench
             .handle_action_reply(action_reply, &[])
             .expect("reply handling failure");
@@ -742,19 +767,21 @@ mod tests {
             token,
             Duration::from_millis(1),
         );
-        let action_reply = ActionReplyPusWithIds {
+        let action_reply = GenericActionReplyPus::new_action_reply(
             request_id,
             action_id,
-            reply: ActionReplyPus::StepSuccess { step: 1 },
-        };
+            action_id,
+            ActionReplyPus::StepSuccess { step: 1 },
+        );
         reply_testbench
             .handle_action_reply(action_reply, &[])
             .expect("reply handling failure");
-        let action_reply = ActionReplyPusWithIds {
+        let action_reply = GenericActionReplyPus::new_action_reply(
             request_id,
             action_id,
-            reply: ActionReplyPus::Completed,
-        };
+            action_id,
+            ActionReplyPus::Completed,
+        );
         reply_testbench
             .handle_action_reply(action_reply, &[])
             .expect("reply handling failure");
@@ -764,6 +791,7 @@ mod tests {
     #[test]
     fn test_reply_handler_completion_failure() {
         let mut reply_testbench = Pus8ReplyTestbench::new(true);
+        let sender_id = 0x01;
         let request_id = 0x02;
         let target_id = 0x05;
         let action_id = 0x03;
@@ -776,14 +804,15 @@ mod tests {
             Duration::from_millis(1),
         );
         let params_raw = ParamsRaw::U32(params::U32(5));
-        let action_reply = ActionReplyPusWithIds {
+        let action_reply = GenericActionReplyPus::new_action_reply(
             request_id,
+            sender_id,
             action_id,
-            reply: ActionReplyPus::CompletionFailed {
+            ActionReplyPus::CompletionFailed {
                 error_code: COMPLETION_ERROR_CODE,
                 params: params_raw.into(),
             },
-        };
+        );
         reply_testbench
             .handle_action_reply(action_reply, &[])
             .expect("reply handling failure");
@@ -798,6 +827,7 @@ mod tests {
     #[test]
     fn test_reply_handler_step_failure() {
         let mut reply_testbench = Pus8ReplyTestbench::new(false);
+        let sender_id = 0x01;
         let request_id = 0x02;
         let target_id = 0x05;
         let action_id = 0x03;
@@ -809,15 +839,16 @@ mod tests {
             token,
             Duration::from_millis(1),
         );
-        let action_reply = ActionReplyPusWithIds {
+        let action_reply = GenericActionReplyPus::new_action_reply(
             request_id,
+            sender_id,
             action_id,
-            reply: ActionReplyPus::StepFailed {
+            ActionReplyPus::StepFailed {
                 error_code: COMPLETION_ERROR_CODE_STEP,
                 step: 2,
                 params: ParamsRaw::U32(crate::params::U32(5)).into(),
             },
-        };
+        );
         reply_testbench
             .handle_action_reply(action_reply, &[])
             .expect("reply handling failure");
@@ -856,21 +887,24 @@ mod tests {
     #[test]
     fn test_unrequested_reply() {
         let mut reply_testbench = Pus8ReplyTestbench::new(true);
+        let sender_id = 0x01;
         let request_id = 0x02;
         let action_id = 0x03;
-        let action_reply = ActionReplyPusWithIds {
+
+        let action_reply = GenericActionReplyPus::new_action_reply(
             request_id,
+            sender_id,
             action_id,
-            reply: ActionReplyPus::Completed,
-        };
+            ActionReplyPus::Completed,
+        );
         reply_testbench
             .handle_action_reply(action_reply, &[])
             .expect("reply handling failure");
         let reply = reply_testbench.next_unrequested_reply();
         assert!(reply.is_some());
         let reply = reply.unwrap();
-        assert_eq!(reply.action_id, action_id);
+        assert_eq!(reply.message.action_id, action_id);
         assert_eq!(reply.request_id, request_id);
-        assert_eq!(reply.reply, ActionReplyPus::Completed);
+        assert_eq!(reply.message.variant, ActionReplyPus::Completed);
     }
 }

satrs/src/pus/mod.rs

@@ -5,7 +5,7 @@
 use crate::pool::{StoreAddr, StoreError};
 use crate::pus::verification::{TcStateAccepted, TcStateToken, VerificationToken};
 use crate::queue::{GenericReceiveError, GenericSendError};
-use crate::request::RequestId;
+use crate::request::{GenericMessage, RequestId};
 use crate::{ChannelId, TargetId};
 use core::fmt::{Display, Formatter};
 use core::marker::PhantomData;
@@ -332,7 +332,7 @@ impl ActiveRequestProvider for ActiveRequest {
 ///  2. It exposes callback methods which can be useful to perform custom user operations like
 ///     logging.
 pub trait ReplyHandlerHook<ActiveRequestType, ReplyType> {
-    fn handle_unexpected_reply(&mut self, reply: &ReplyType);
+    fn handle_unexpected_reply(&mut self, reply: &GenericMessage<ReplyType>);
     fn timeout_callback(&self, active_request: &ActiveRequestType);
     fn timeout_error_code(&self) -> ResultU16;
 }

satrs/src/pus/mode.rs

@@ -2,9 +2,9 @@ use num_enum::{IntoPrimitive, TryFromPrimitive};
 #[cfg(feature = "serde")]
 use serde::{Deserialize, Serialize};
 
-use crate::{mode::ModeRequest, TargetId};
+use crate::{mode::ModeReply, request::GenericMessage};
 
-use super::verification::{TcStateAccepted, VerificationToken};
+pub const MODE_SERVICE_ID: u8 = 200;
 
 #[derive(Debug, Eq, PartialEq, Copy, Clone, IntoPrimitive, TryFromPrimitive)]
 #[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
@@ -19,6 +19,8 @@ pub enum Subservice {
     TmWrongModeReply = 8,
 }
 
+pub type GenericModeReplyPus = GenericMessage<ModeReply>;
+
 #[cfg(feature = "alloc")]
 #[cfg_attr(doc_cfg, doc(cfg(feature = "alloc")))]
 pub mod alloc_mod {}
@@ -26,11 +28,30 @@ pub mod alloc_mod {}
 #[cfg(feature = "alloc")]
 #[cfg_attr(doc_cfg, doc(cfg(feature = "alloc")))]
 pub mod std_mod {
+    use core::time::Duration;
+
+    use satrs_shared::res_code::ResultU16;
+
     use crate::{
-        mode::ModeRequest,
-        pus::{GenericRoutingError, PusTargetedRequestHandler},
+        mode::{ModeReply, ModeRequest},
+        pus::{
+            verification::{
+                self, FailParams, TcStateStarted, VerificationReportingProvider, VerificationToken,
+            },
+            ActiveRequest, ActiveRequestMapProvider, EcssTmSenderCore, EcssTmtcError,
+            GenericRoutingError, PusServiceReplyHandler, PusTargetedRequestHandler,
+            ReplyHandlerHook,
+        },
+        TargetId,
     };
 
+    pub trait ModeReplyHook: ReplyHandlerHook<ActiveRequest, ModeReply> {
+        fn wrong_mode_result_code(&self) -> ResultU16;
+        fn can_not_reach_mode_result_code(&self) -> ResultU16;
+    }
+
+    use super::GenericModeReplyPus;
+
     pub type PusModeServiceRequestHandler<
         TcReceiver,
         TmSender,
@@ -51,4 +72,100 @@ pub mod std_mod {
         ModeRequest,
         RoutingError,
     >;
+
+    /// Type definition for a PUS mode servicd reply handler which constrains the
+    /// [PusServiceReplyHandler] active request and reply generics to the [ActiveActionRequest] and
+    /// [ActionReplyPusWithIds] type.
+    pub type PusModeServiceReplyHandler<
+        VerificationReporter,
+        ActiveRequestMap,
+        UserHook,
+        TmSender,
+    > = PusServiceReplyHandler<
+        VerificationReporter,
+        ActiveRequestMap,
+        UserHook,
+        TmSender,
+        ActiveRequest,
+        ModeReply,
+    >;
+
+    impl<
+            VerificationReporter: VerificationReportingProvider,
+            ActiveRequestMap: ActiveRequestMapProvider<ActiveRequest>,
+            UserHook: ModeReplyHook,
+            TmSender: EcssTmSenderCore,
+        > PusModeServiceReplyHandler<VerificationReporter, ActiveRequestMap, UserHook, TmSender>
+    {
+        /// Helper method to register a recently routed action request.
+        pub fn add_routed_mode_request(
+            &mut self,
+            request_id: verification::RequestId,
+            target_id: TargetId,
+            token: VerificationToken<TcStateStarted>,
+            timeout: Duration,
+        ) {
+            self.active_request_map.insert(
+                &request_id.into(),
+                ActiveRequest {
+                    target_id,
+                    token,
+                    start_time: self.current_time,
+                    timeout,
+                },
+            )
+        }
+
+        /// Main handler function to handle all received action replies.
+        pub fn handle_mode_reply(
+            &mut self,
+            mode_reply_with_id: &GenericModeReplyPus,
+            time_stamp: &[u8],
+        ) -> Result<(), EcssTmtcError> {
+            let active_req = self.active_request_map.get(mode_reply_with_id.request_id);
+            if active_req.is_none() {
+                self.user_hook.handle_unexpected_reply(mode_reply_with_id);
+                return Ok(());
+            }
+            let active_req = active_req.unwrap().clone();
+            let remove_entry = match mode_reply_with_id.message {
+                ModeReply::ModeReply(reply) => {
+                    // TODO: Send dedicated TM to send mode information.
+                    // TODO: Generate TM. Service ID from hook, subservice ID is fixed for
+                    // framework purposes, APID can be retrieved from Request ID.
+
+                    self.verification_reporter
+                        .completion_success(active_req.token, time_stamp)
+                        .map_err(|e| e.0)?;
+                    true
+                }
+                ModeReply::CantReachMode(reached_mode) => {
+                    let fail_data_len = reached_mode.to_be_bytes(&mut self.fail_data_buf)?;
+                    self.verification_reporter
+                        .completion_failure(
+                            active_req.token,
+                            FailParams::new(
+                                time_stamp,
+                                &self.user_hook.can_not_reach_mode_result_code(),
+                                &self.fail_data_buf[0..fail_data_len],
+                            ),
+                        )
+                        .map_err(|e| e.0)?;
+                    true
+                }
+                ModeReply::WrongMode { expected, reached } => {
+                    // TODO: Generate completion failure with appropriate result code and reached
+                    // mode as context information.
+                    // self.verification_reporter.completion_success(active_req.token, time_stamp);
+                    true
+                }
+                _ => true,
+            };
+            if remove_entry {
+                self.active_request_map
+                    .remove(mode_reply_with_id.request_id);
+            }
+            Ok(())
+        }
+    }
 }

satrs/src/request.rs

@@ -88,7 +88,7 @@ impl fmt::Display for TargetAndApidId {
 
 /// Generic message type which is associated with a sender using a [ChannelId] and associated
 /// with a request using a [RequestId].
-#[derive(Debug, Copy, Clone, PartialEq, Eq)]
+#[derive(Debug, Clone, PartialEq, Eq)]
 #[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
 pub struct GenericMessage<MSG> {
     pub sender_id: ChannelId,