I don't think channel IDs are required anymore

satrs-example/src/acs/mgm.rs

@@ -0,0 +1,74 @@
+use std::sync::mpsc::{self};
+use std::sync::{Arc, Mutex};
+
+use satrs::mode::{ModeAndSubmode, ModeProvider, ModeReply, ModeRequest, ModeRequestHandler};
+use satrs::pus::EcssTmSenderCore;
+use satrs::request::GenericMessage;
+use satrs::ComponentId;
+
+use crate::pus::hk::HkReply;
+use crate::requests::RequestWithToken;
+
+pub trait SpiInterface {
+    type Error;
+    fn transfer(&mut self, data: &mut [u8]) -> Result<(), Self::Error>;
+}
+
+#[derive(Debug, Copy, Clone)]
+pub struct MgmData {
+    pub x: f32,
+    pub y: f32,
+    pub z: f32,
+}
+
+pub struct MgmHandler<ComInterface: SpiInterface, TmSender: EcssTmSenderCore> {
+    id: ComponentId,
+    dev_str: &'static str,
+    mode_request_receiver: mpsc::Receiver<GenericMessage<ModeRequest>>,
+    mode_reply_sender_to_pus: mpsc::Sender<GenericMessage<ModeReply>>,
+    mode_reply_sender_to_parent: mpsc::Sender<GenericMessage<ModeReply>>,
+    composite_request_receiver: mpsc::Receiver<RequestWithToken>,
+    hk_reply_sender: mpsc::Sender<GenericMessage<HkReply>>,
+    hk_tm_sender: TmSender,
+    mode: ModeAndSubmode,
+    spi_interface: ComInterface,
+    shared_mgm_set: Arc<Mutex<MgmData>>,
+}
+
+impl<ComInterface: SpiInterface, TmSender: EcssTmSenderCore> MgmHandler<ComInterface, TmSender> {
+    pub fn perform_operation(&mut self) {}
+}
+
+impl<ComInterface: SpiInterface, TmSender: EcssTmSenderCore> ModeProvider
+    for MgmHandler<ComInterface, TmSender>
+{
+    fn mode_and_submode(&self) -> ModeAndSubmode {
+        self.mode
+    }
+}
+
+impl<ComInterface: SpiInterface, TmSender: EcssTmSenderCore> ModeRequestHandler
+    for MgmHandler<ComInterface, TmSender>
+{
+    fn start_transition(
+        &mut self,
+        request_id: satrs::request::RequestId,
+        sender_id: ComponentId,
+        mode_and_submode: ModeAndSubmode,
+    ) -> Result<(), satrs::mode::ModeError> {
+        todo!()
+    }
+
+    fn announce_mode(
+        &self,
+        request_id: satrs::request::RequestId,
+        sender_id: satrs::ComponentId,
+        recursive: bool,
+    ) {
+        log::info!("{} announcing mode: {:?}", self.dev_str, self.mode);
+    }
+
+    fn handle_mode_reached(&mut self) -> Result<(), satrs::queue::GenericTargetedMessagingError> {
+        todo!()
+    }
+}

satrs-example/src/acs/mod.rs

@@ -1,26 +1,6 @@
-use std::sync::mpsc::{self, TryRecvError};
-
-use log::{info, warn};
-use satrs::pus::verification::VerificationReportingProvider;
-use satrs::pus::{EcssTmSender, PusTmWrapper};
-use satrs::request::TargetAndApidId;
-use satrs::spacepackets::ecss::hk::Subservice as HkSubservice;
-use satrs::{
-    hk::HkRequest,
-    spacepackets::{
-        ecss::tm::{PusTmCreator, PusTmSecondaryHeader},
-        time::cds::{DaysLen16Bits, TimeProvider},
-        SequenceFlags, SpHeader,
-    },
-};
-use satrs_example::config::{RequestTargetId, PUS_APID};
-
-use crate::{
-    hk::{AcsHkIds, HkUniqueId},
-    requests::{Request, RequestWithToken},
-    update_time,
-};
+mod mgm;
 
+/*
 pub struct AcsTask<VerificationReporter: VerificationReportingProvider> {
     timestamp: [u8; 7],
     time_provider: TimeProvider<DaysLen16Bits>,
@@ -112,3 +92,4 @@ impl<VerificationReporter: VerificationReportingProvider> AcsTask<VerificationRe
         }
     }
 }
+*/

satrs-example/src/config.rs

@@ -94,27 +94,16 @@ pub mod hk_err {
     ];
 }
 
-#[allow(clippy::enum_variant_names)]
 #[derive(Copy, Clone, PartialEq, Eq)]
-pub enum TmSenderId {
+pub enum ComponentIdList {
     PusVerification = 0,
-    PusTest = 1,
-    PusEvent = 2,
-    PusHk = 3,
-    PusAction = 4,
-    PusSched = 5,
-    AllEvents = 6,
-    AcsSubsystem = 7,
+    EventManagement = 1,
+    PusTest = 2,
+    PusAction = 3,
+    PusSched = 4,
+    PusHk = 5,
 }
 
-#[derive(Copy, Clone, PartialEq, Eq)]
-pub enum TcReceiverId {
-    PusTest = 1,
-    PusEvent = 2,
-    PusHk = 3,
-    PusAction = 4,
-    PusSched = 5,
-}
 pub mod pool {
     use super::*;
     pub fn create_static_pools() -> (StaticMemoryPool, StaticMemoryPool) {

satrs-example/src/events.rs

@@ -14,9 +14,9 @@ use satrs::{
         verification::{TcStateStarted, VerificationReportingProvider, VerificationToken},
         EcssTmSender,
     },
-    spacepackets::time::cds::{self, TimeProvider},
+    spacepackets::time::cds::{self, TimeProvider}, ComponentId,
 };
-use satrs_example::config::PUS_APID;
+use satrs_example::config::{PUS_APID, ComponentIdList};
 
 use crate::update_time;
 
@@ -48,9 +48,9 @@ impl<VerificationReporter: VerificationReportingProvider> PusEventHandler<Verifi
         let pus_event_dispatcher =
             DefaultPusEventU32Dispatcher::new_with_default_backend(event_reporter);
         let pus_event_man_send_provider =
-            EventU32SenderMpscBounded::new(1, pus_event_man_tx, event_queue_cap);
+            EventU32SenderMpscBounded::new(ComponentIdList::EventManagement as ComponentId, pus_event_man_tx, event_queue_cap);
 
-        event_manager.subscribe_all(pus_event_man_send_provider.channel_id());
+        event_manager.subscribe_all(pus_event_man_send_provider.target_id());
         event_manager.add_sender(pus_event_man_send_provider);
 
         Self {

satrs-example/src/main.rs

@@ -23,11 +23,13 @@ use satrs_example::config::pool::{create_sched_tc_pool, create_static_pools};
 use satrs_example::config::tasks::{
     FREQ_MS_AOCS, FREQ_MS_EVENT_HANDLING, FREQ_MS_PUS_STACK, FREQ_MS_UDP_TMTC,
 };
-use satrs_example::config::{RequestTargetId, TmSenderId, OBSW_SERVER_ADDR, PUS_APID, SERVER_PORT};
+use satrs_example::config::{
+    ComponentIdList, RequestTargetId, OBSW_SERVER_ADDR, PUS_APID, SERVER_PORT,
+};
 use tmtc::PusTcSourceProviderDynamic;
 use udp::DynamicUdpTmHandler;
 
-use crate::acs::AcsTask;
+// use crate::acs::AcsTask;
 use crate::ccsds::CcsdsReceiver;
 use crate::logger::setup_logger;
 use crate::pus::action::{create_action_service_dynamic, create_action_service_static};
@@ -47,7 +49,7 @@ use satrs::pus::verification::{VerificationReporterCfg, VerificationReporterWith
 use satrs::pus::{EcssTmSender, TmAsVecSenderWithId, TmInSharedPoolSenderWithId};
 use satrs::spacepackets::{time::cds::TimeProvider, time::TimeWriter};
 use satrs::tmtc::CcsdsDistributor;
-use satrs::ChannelId;
+use satrs::ComponentId;
 use std::net::{IpAddr, SocketAddr};
 use std::sync::mpsc::{self, channel};
 use std::sync::{Arc, RwLock};
@@ -77,7 +79,7 @@ fn static_tmtc_pool_main() {
     // Every software component which needs to generate verification telemetry, receives a cloned
     // verification reporter.
     let verif_reporter = create_verification_reporter(TmInSharedPoolSenderWithId::new(
-        TmSenderId::PusVerification as ChannelId,
+        ComponentIdList::PusVerification as ComponentId,
         "verif_sender",
         shared_tm_pool.clone(),
         tm_funnel_tx.clone(),
@@ -105,7 +107,7 @@ fn static_tmtc_pool_main() {
     // in the sat-rs documentation.
     let mut event_handler = EventHandler::new(
         TmInSharedPoolSenderWithId::new(
-            TmSenderId::AllEvents as ChannelId,
+            ComponentIdList::EventManagement as ComponentId,
             "ALL_EVENTS_TX",
             shared_tm_pool.clone(),
             tm_funnel_tx.clone(),
@@ -209,6 +211,7 @@ fn static_tmtc_pool_main() {
     )
     .expect("tcp server creation failed");
 
+    /*
     let mut acs_task = AcsTask::new(
         TmInSharedPoolSenderWithId::new(
             TmSenderId::AcsSubsystem as ChannelId,
@@ -219,6 +222,7 @@ fn static_tmtc_pool_main() {
         acs_thread_rx,
         verif_reporter,
     );
+    */
 
     let mut tm_funnel = TmFunnelStatic::new(
         shared_tm_pool,
@@ -272,7 +276,7 @@ fn static_tmtc_pool_main() {
     let jh_aocs = thread::Builder::new()
         .name("AOCS".to_string())
         .spawn(move || loop {
-            acs_task.periodic_operation();
+            // acs_task.periodic_operation();
             thread::sleep(Duration::from_millis(FREQ_MS_AOCS));
         })
         .unwrap();
@@ -312,7 +316,7 @@ fn dyn_tmtc_pool_main() {
     // Every software component which needs to generate verification telemetry, gets a cloned
     // verification reporter.
     let verif_reporter = create_verification_reporter(TmAsVecSenderWithId::new(
-        TmSenderId::PusVerification as ChannelId,
+        ComponentIdList::PusVerification as ComponentId,
         "verif_sender",
         tm_funnel_tx.clone(),
     ));
@@ -333,7 +337,7 @@ fn dyn_tmtc_pool_main() {
     // in the sat-rs documentation.
     let mut event_handler = EventHandler::new(
         TmAsVecSenderWithId::new(
-            TmSenderId::AllEvents as ChannelId,
+            ComponentIdList::EventManagement as ComponentId,
             "ALL_EVENTS_TX",
             tm_funnel_tx.clone(),
         ),
@@ -428,15 +432,17 @@ fn dyn_tmtc_pool_main() {
     )
     .expect("tcp server creation failed");
 
+    /*
     let mut acs_task = AcsTask::new(
         TmAsVecSenderWithId::new(
-            TmSenderId::AcsSubsystem as ChannelId,
+            TmSenderId::AcsSubsystem as ComponentId,
             "ACS_TASK_SENDER",
             tm_funnel_tx.clone(),
         ),
         acs_thread_rx,
         verif_reporter,
     );
+    */
     let mut tm_funnel = TmFunnelDynamic::new(sync_tm_tcp_source, tm_funnel_rx, tm_server_tx);
 
     info!("Starting TMTC and UDP task");
@@ -484,7 +490,7 @@ fn dyn_tmtc_pool_main() {
     let jh_aocs = thread::Builder::new()
         .name("AOCS".to_string())
         .spawn(move || loop {
-            acs_task.periodic_operation();
+            // acs_task.periodic_operation();
             thread::sleep(Duration::from_millis(FREQ_MS_AOCS));
         })
         .unwrap();

satrs-example/src/pus/action.rs

@@ -3,11 +3,11 @@ use satrs::action::{ActionRequest, ActionRequestVariant};
 use satrs::params::WritableToBeBytes;
 use satrs::pool::{SharedStaticMemoryPool, StoreAddr};
 use satrs::pus::action::{
-    ActionReplyPus, ActionReplyPusWithActionId, ActionRequestWithId, ActivePusActionRequestStd,
+    ActionReplyPus, ActionReplyPusWithActionId, ActivePusActionRequestStd,
     DefaultActiveActionRequestMap,
 };
 use satrs::pus::verification::{
-    self, FailParams, FailParamsWithStep, TcStateAccepted,
+    FailParams, FailParamsWithStep, TcStateAccepted,
     VerificationReporterWithSharedPoolMpscBoundedSender, VerificationReporterWithVecMpscSender,
     VerificationReportingProvider, VerificationToken,
 };
@@ -22,8 +22,8 @@ use satrs::request::{GenericMessage, TargetAndApidId};
 use satrs::spacepackets::ecss::tc::PusTcReader;
 use satrs::spacepackets::ecss::{EcssEnumU16, PusPacket};
 use satrs::tmtc::tm_helper::SharedTmPool;
-use satrs::ChannelId;
-use satrs_example::config::{tmtc_err, TcReceiverId, TmSenderId, PUS_APID};
+use satrs::ComponentId;
+use satrs_example::config::{tmtc_err, ComponentIdList, PUS_APID};
 use std::sync::mpsc::{self};
 use std::time::Duration;
 
@@ -135,7 +135,7 @@ impl PusReplyHandler<ActivePusActionRequestStd, ActionReplyPusWithActionId> for
 #[derive(Default)]
 pub struct ExampleActionRequestConverter {}
 
-impl PusTcToRequestConverter<ActivePusActionRequestStd, ActionRequestWithId>
+impl PusTcToRequestConverter<ActivePusActionRequestStd, ActionRequest>
     for ExampleActionRequestConverter
 {
     type Error = GenericConversionError;
@@ -146,7 +146,7 @@ impl PusTcToRequestConverter<ActivePusActionRequestStd, ActionRequestWithId>
         tc: &PusTcReader,
         time_stamp: &[u8],
         verif_reporter: &impl VerificationReportingProvider,
-    ) -> Result<(ActivePusActionRequestStd, ActionRequestWithId), Self::Error> {
+    ) -> Result<(ActivePusActionRequestStd, ActionRequest), Self::Error> {
         let subservice = tc.subservice();
         let user_data = tc.user_data();
         if user_data.len() < 8 {
@@ -174,13 +174,10 @@ impl PusTcToRequestConverter<ActivePusActionRequestStd, ActionRequestWithId>
                     token,
                     Duration::from_secs(30),
                 ),
-                ActionRequestWithId {
-                    request_id: verification::RequestId::new(tc).into(),
-                    request: ActionRequest::new(
-                        action_id,
-                        ActionRequestVariant::VecData(user_data[8..].to_vec()),
-                    ),
-                },
+                ActionRequest::new(
+                    action_id,
+                    ActionRequestVariant::VecData(user_data[8..].to_vec()),
+                ),
             ))
         } else {
             verif_reporter
@@ -209,13 +206,13 @@ pub fn create_action_service_static(
     VerificationReporterWithSharedPoolMpscBoundedSender,
 > {
     let action_srv_tm_sender = TmInSharedPoolSenderWithId::new(
-        TmSenderId::PusAction as ChannelId,
+        ComponentIdList::PusAction as ComponentId,
         "PUS_8_TM_SENDER",
         shared_tm_store.clone(),
         tm_funnel_tx.clone(),
     );
     let action_srv_receiver = MpscTcReceiver::new(
-        TcReceiverId::PusAction as ChannelId,
+        ComponentIdList::PusAction as ComponentId,
         "PUS_8_TC_RECV",
         pus_action_rx,
     );
@@ -253,12 +250,12 @@ pub fn create_action_service_dynamic(
     VerificationReporterWithVecMpscSender,
 > {
     let action_srv_tm_sender = TmAsVecSenderWithId::new(
-        TmSenderId::PusAction as ChannelId,
+        ComponentIdList::PusAction as ComponentId,
         "PUS_8_TM_SENDER",
         tm_funnel_tx.clone(),
     );
     let action_srv_receiver = MpscTcReceiver::new(
-        TcReceiverId::PusAction as ChannelId,
+        ComponentIdList::PusAction as ComponentId,
         "PUS_8_TC_RECV",
         pus_action_rx,
     );
@@ -296,7 +293,7 @@ pub struct Pus8Wrapper<
         ActionReplyHandler,
         DefaultActiveActionRequestMap,
         ActivePusActionRequestStd,
-        ActionRequestWithId,
+        ActionRequest,
         ActionReplyPusWithActionId,
     >,
 }

satrs-example/src/pus/event.rs

@@ -15,8 +15,8 @@ use satrs::pus::{
     TmInSharedPoolSenderWithId,
 };
 use satrs::tmtc::tm_helper::SharedTmPool;
-use satrs::ChannelId;
-use satrs_example::config::{TcReceiverId, TmSenderId, PUS_APID};
+use satrs::ComponentId;
+use satrs_example::config::{ComponentIdList, PUS_APID};
 
 pub fn create_event_service_static(
     shared_tm_store: SharedTmPool,
@@ -32,13 +32,13 @@ pub fn create_event_service_static(
     VerificationReporterWithSharedPoolMpscBoundedSender,
 > {
     let event_srv_tm_sender = TmInSharedPoolSenderWithId::new(
-        TmSenderId::PusEvent as ChannelId,
+        ComponentIdList::EventManagement as ComponentId,
         "PUS_5_TM_SENDER",
         shared_tm_store.clone(),
         tm_funnel_tx.clone(),
     );
     let event_srv_receiver = MpscTcReceiver::new(
-        TcReceiverId::PusEvent as ChannelId,
+        ComponentIdList::EventManagement as ComponentId,
         "PUS_5_TC_RECV",
         pus_event_rx,
     );
@@ -69,12 +69,12 @@ pub fn create_event_service_dynamic(
     VerificationReporterWithVecMpscSender,
 > {
     let event_srv_tm_sender = TmAsVecSenderWithId::new(
-        TmSenderId::PusEvent as ChannelId,
+        ComponentIdList::EventManagement as ComponentId,
         "PUS_5_TM_SENDER",
         tm_funnel_tx,
     );
     let event_srv_receiver = MpscTcReceiver::new(
-        TcReceiverId::PusEvent as ChannelId,
+        ComponentIdList::EventManagement as ComponentId,
         "PUS_5_TC_RECV",
         pus_event_rx,
     );

satrs-example/src/pus/hk.rs

@@ -17,8 +17,8 @@ use satrs::request::{GenericMessage, TargetAndApidId};
 use satrs::spacepackets::ecss::tc::PusTcReader;
 use satrs::spacepackets::ecss::{hk, PusPacket};
 use satrs::tmtc::tm_helper::SharedTmPool;
-use satrs::ChannelId;
-use satrs_example::config::{hk_err, tmtc_err, TcReceiverId, TmSenderId, PUS_APID};
+use satrs::ComponentId;
+use satrs_example::config::{hk_err, tmtc_err, ComponentIdList, PUS_APID};
 use std::sync::mpsc::{self};
 use std::time::Duration;
 
@@ -227,13 +227,16 @@ pub fn create_hk_service_static(
     VerificationReporterWithSharedPoolMpscBoundedSender,
 > {
     let hk_srv_tm_sender = TmInSharedPoolSenderWithId::new(
-        TmSenderId::PusHk as ChannelId,
+        ComponentIdList::PusHk as ComponentId,
         "PUS_3_TM_SENDER",
         shared_tm_store.clone(),
         tm_funnel_tx.clone(),
     );
-    let hk_srv_receiver =
-        MpscTcReceiver::new(TcReceiverId::PusHk as ChannelId, "PUS_8_TC_RECV", pus_hk_rx);
+    let hk_srv_receiver = MpscTcReceiver::new(
+        ComponentIdList::PusHk as ComponentId,
+        "PUS_8_TC_RECV",
+        pus_hk_rx,
+    );
     let pus_3_handler = PusTargetedRequestService::new(
         PusServiceHelper::new(
             hk_srv_receiver,
@@ -266,12 +269,15 @@ pub fn create_hk_service_dynamic(
     VerificationReporterWithVecMpscSender,
 > {
     let hk_srv_tm_sender = TmAsVecSenderWithId::new(
-        TmSenderId::PusHk as ChannelId,
+        ComponentIdList::PusHk as ComponentId,
         "PUS_3_TM_SENDER",
         tm_funnel_tx.clone(),
     );
-    let hk_srv_receiver =
-        MpscTcReceiver::new(TcReceiverId::PusHk as ChannelId, "PUS_8_TC_RECV", pus_hk_rx);
+    let hk_srv_receiver = MpscTcReceiver::new(
+        ComponentIdList::PusHk as ComponentId,
+        "PUS_8_TC_RECV",
+        pus_hk_rx,
+    );
     let pus_3_handler = PusTargetedRequestService::new(
         PusServiceHelper::new(
             hk_srv_receiver,

satrs-example/src/pus/mod.rs

@@ -199,15 +199,17 @@ where
                 return Err(e.into());
             }
         };
-        let verif_request_id = verification::RequestId::new(&tc);
+        let verif_request_id = verification::RequestId::new(&tc).raw();
         //if let Err(e) =
-        match self
-            .request_router
-            .route(request_info.target_id(), request, request_info.token())
-        {
+        match self.request_router.route(
+            request_info.target_id(),
+            verif_request_id,
+            request,
+            request_info.token(),
+        ) {
             Ok(()) => {
                 self.active_request_map
-                    .insert(&verif_request_id.into(), request_info);
+                    .insert(&verif_request_id, request_info);
             }
             Err(e) => {
                 self.request_router.handle_error_generic(

satrs-example/src/pus/scheduler.rs

@@ -16,8 +16,8 @@ use satrs::pus::{
     TmInSharedPoolSenderWithId,
 };
 use satrs::tmtc::tm_helper::SharedTmPool;
-use satrs::ChannelId;
-use satrs_example::config::{TcReceiverId, TmSenderId, PUS_APID};
+use satrs::ComponentId;
+use satrs_example::config::{ComponentIdList, PUS_APID};
 
 use crate::tmtc::PusTcSourceProviderSharedPool;
 
@@ -145,13 +145,13 @@ pub fn create_scheduler_service_static(
     VerificationReporterWithSharedPoolMpscBoundedSender,
 > {
     let sched_srv_tm_sender = TmInSharedPoolSenderWithId::new(
-        TmSenderId::PusSched as ChannelId,
+        ComponentIdList::PusSched as ComponentId,
         "PUS_11_TM_SENDER",
         shared_tm_store.clone(),
         tm_funnel_tx.clone(),
     );
     let sched_srv_receiver = MpscTcReceiver::new(
-        TcReceiverId::PusSched as ChannelId,
+        ComponentIdList::PusSched as ComponentId,
         "PUS_11_TC_RECV",
         pus_sched_rx,
     );
@@ -188,12 +188,12 @@ pub fn create_scheduler_service_dynamic(
     VerificationReporterWithVecMpscSender,
 > {
     let sched_srv_tm_sender = TmAsVecSenderWithId::new(
-        TmSenderId::PusSched as ChannelId,
+        ComponentIdList::PusSched as ComponentId,
         "PUS_11_TM_SENDER",
         tm_funnel_tx,
     );
     let sched_srv_receiver = MpscTcReceiver::new(
-        TcReceiverId::PusSched as ChannelId,
+        ComponentIdList::PusSched as ComponentId,
         "PUS_11_TC_RECV",
         pus_sched_rx,
     );

satrs-example/src/pus/test.rs

@@ -17,9 +17,9 @@ use satrs::spacepackets::ecss::PusPacket;
 use satrs::spacepackets::time::cds::TimeProvider;
 use satrs::spacepackets::time::TimeWriter;
 use satrs::tmtc::tm_helper::SharedTmPool;
-use satrs::ChannelId;
+use satrs::ComponentId;
 use satrs::{events::EventU32, pus::EcssTcInSharedStoreConverter};
-use satrs_example::config::{tmtc_err, TcReceiverId, TmSenderId, PUS_APID, TEST_EVENT};
+use satrs_example::config::{tmtc_err, ComponentIdList, PUS_APID, TEST_EVENT};
 use std::sync::mpsc::{self, Sender};
 
 pub fn create_test_service_static(
@@ -36,13 +36,13 @@ pub fn create_test_service_static(
     VerificationReporterWithSharedPoolMpscBoundedSender,
 > {
     let test_srv_tm_sender = TmInSharedPoolSenderWithId::new(
-        TmSenderId::PusTest as ChannelId,
+        ComponentIdList::PusTest as ComponentId,
         "PUS_17_TM_SENDER",
         shared_tm_store.clone(),
         tm_funnel_tx.clone(),
     );
     let test_srv_receiver = MpscTcReceiver::new(
-        TcReceiverId::PusTest as ChannelId,
+        ComponentIdList::PusTest as ComponentId,
         "PUS_17_TC_RECV",
         pus_test_rx,
     );
@@ -71,12 +71,12 @@ pub fn create_test_service_dynamic(
     VerificationReporterWithVecMpscSender,
 > {
     let test_srv_tm_sender = TmAsVecSenderWithId::new(
-        TmSenderId::PusTest as ChannelId,
+        ComponentIdList::PusTest as ComponentId,
         "PUS_17_TM_SENDER",
         tm_funnel_tx.clone(),
     );
     let test_srv_receiver = MpscTcReceiver::new(
-        TcReceiverId::PusTest as ChannelId,
+        ComponentIdList::PusTest as ComponentId,
         "PUS_17_TC_RECV",
         pus_test_rx,
     );

satrs-example/src/requests.rs

@@ -1,50 +1,42 @@
 use std::collections::HashMap;
 use std::sync::mpsc;
 
-use derive_new::new;
 use log::warn;
+use satrs::action::ActionRequest;
 use satrs::hk::HkRequest;
-use satrs::mode::ModeRequest;
-use satrs::pus::action::ActionRequestWithId;
 use satrs::pus::verification::{
     FailParams, TcStateStarted, VerificationReportingProvider, VerificationToken,
 };
 use satrs::pus::{ActiveRequestProvider, GenericRoutingError, PusRequestRouter};
 use satrs::queue::GenericSendError;
+use satrs::request::{GenericMessage, RequestId};
 use satrs::spacepackets::ecss::tc::PusTcReader;
 use satrs::spacepackets::ecss::PusPacket;
 use satrs::ComponentId;
 use satrs_example::config::tmtc_err;
 
-#[allow(dead_code)]
 #[derive(Clone, Debug)]
 #[non_exhaustive]
-pub enum Request {
+pub enum CompositeRequest {
     Hk(HkRequest),
-    Mode(ModeRequest),
-    Action(ActionRequestWithId),
-}
-
-#[derive(Clone, Debug, new)]
-pub struct TargetedRequest {
-    pub(crate) target_id: ComponentId,
-    pub(crate) request: Request,
+    Action(ActionRequest),
 }
 
 #[derive(Clone, Debug)]
 pub struct RequestWithToken {
-    pub(crate) targeted_request: TargetedRequest,
+    pub(crate) targeted_request: GenericMessage<CompositeRequest>,
     pub(crate) token: VerificationToken<TcStateStarted>,
 }
 
 impl RequestWithToken {
     pub fn new(
         target_id: ComponentId,
-        request: Request,
+        request_id: RequestId,
+        request: CompositeRequest,
         token: VerificationToken<TcStateStarted>,
     ) -> Self {
         Self {
-            targeted_request: TargetedRequest::new(target_id, request),
+            targeted_request: GenericMessage::new(request_id, target_id, request),
             token,
         }
     }
@@ -96,6 +88,7 @@ impl PusRequestRouter<HkRequest> for GenericRequestRouter {
     fn route(
         &self,
         target_id: ComponentId,
+        request_id: RequestId,
         hk_request: HkRequest,
         token: VerificationToken<TcStateStarted>,
     ) -> Result<(), Self::Error> {
@@ -103,7 +96,8 @@ impl PusRequestRouter<HkRequest> for GenericRequestRouter {
             sender
                 .send(RequestWithToken::new(
                     target_id,
-                    Request::Hk(hk_request),
+                    request_id,
+                    CompositeRequest::Hk(hk_request),
                     token,
                 ))
                 .map_err(|_| GenericRoutingError::Send(GenericSendError::RxDisconnected))?;
@@ -112,20 +106,22 @@ impl PusRequestRouter<HkRequest> for GenericRequestRouter {
     }
 }
 
-impl PusRequestRouter<ActionRequestWithId> for GenericRequestRouter {
+impl PusRequestRouter<ActionRequest> for GenericRequestRouter {
     type Error = GenericRoutingError;
 
     fn route(
         &self,
         target_id: ComponentId,
-        action_request: ActionRequestWithId,
+        request_id: RequestId,
+        action_request: ActionRequest,
         token: VerificationToken<TcStateStarted>,
     ) -> Result<(), Self::Error> {
         if let Some(sender) = self.0.get(&target_id) {
             sender
                 .send(RequestWithToken::new(
                     target_id,
-                    Request::Action(action_request),
+                    request_id,
+                    CompositeRequest::Action(action_request),
                     token,
                 ))
                 .map_err(|_| GenericRoutingError::Send(GenericSendError::RxDisconnected))?;