Merge branch 'main' of https://egit.irs.uni-stuttgart.de/rust/satrs-launchpad

satrs-core/src/hal/host/udp_server.rs

@@ -89,6 +89,14 @@ impl<E: PartialEq> PartialEq for ReceiveResult<E> {
 
 impl<E: Eq + PartialEq> Eq for ReceiveResult<E> {}
 
+impl<E: 'static> ReceivesTc for UdpTcServer<E> {
+    type Error = E;
+
+    fn pass_tc(&mut self, tc_raw: &[u8]) -> Result<(), Self::Error> {
+        self.tc_receiver.pass_tc(tc_raw)
+    }
+}
+
 impl<E: 'static> UdpTcServer<E> {
     pub fn new<A: ToSocketAddrs>(
         addr: A,
@@ -140,6 +148,8 @@ mod tests {
     use std::net::{IpAddr, Ipv4Addr, SocketAddr, UdpSocket};
     use std::vec::Vec;
 
+    fn is_send<T: Send>(_: &T) {}
+
     #[derive(Default)]
     struct PingReceiver {
         pub sent_cmds: VecDeque<Vec<u8>>,
@@ -161,8 +171,10 @@ mod tests {
         let mut buf = [0; 32];
         let dest_addr = SocketAddr::new(IpAddr::V4(Ipv4Addr::new(127, 0, 0, 1)), 7777);
         let ping_receiver = PingReceiver::default();
+        is_send(&ping_receiver);
         let mut udp_tc_server = UdpTcServer::new(dest_addr, 2048, Box::new(ping_receiver))
             .expect("Creating UDP TMTC server failed");
+        is_send(&udp_tc_server);
         let mut sph = SpHeader::tc_unseg(0x02, 0, 0).unwrap();
         let pus_tc = PusTc::new_simple(&mut sph, 17, 1, None, true);
         let len = pus_tc

satrs-core/src/pool.rs

@@ -77,10 +77,13 @@ use alloc::format;
 use alloc::string::String;
 use alloc::vec;
 use alloc::vec::Vec;
+use core::fmt::{Display, Formatter};
 use delegate::delegate;
 #[cfg(feature = "std")]
 use std::boxed::Box;
 #[cfg(feature = "std")]
+use std::error::Error;
+#[cfg(feature = "std")]
 use std::sync::{Arc, RwLock};
 
 type NumBlocks = u16;
@@ -146,6 +149,22 @@ pub enum StoreIdError {
     InvalidPacketIdx(u16),
 }
 
+impl Display for StoreIdError {
+    fn fmt(&self, f: &mut Formatter<'_>) -> core::fmt::Result {
+        match self {
+            StoreIdError::InvalidSubpool(pool) => {
+                write!(f, "invalid subpool, index: {}", pool)
+            }
+            StoreIdError::InvalidPacketIdx(packet_idx) => {
+                write!(f, "invalid packet index: {}", packet_idx)
+            }
+        }
+    }
+}
+
+#[cfg(feature = "std")]
+impl Error for StoreIdError {}
+
 #[derive(Debug, Clone, PartialEq, Eq)]
 pub enum StoreError {
     /// Requested data block is too large
@@ -160,6 +179,38 @@ pub enum StoreError {
     InternalError(String),
 }
 
+impl Display for StoreError {
+    fn fmt(&self, f: &mut Formatter<'_>) -> core::fmt::Result {
+        match self {
+            StoreError::DataTooLarge(size) => {
+                write!(f, "data to store with size {} is too large", size)
+            }
+            StoreError::StoreFull(u16) => {
+                write!(f, "store is too full. index for full subpool: {}", u16)
+            }
+            StoreError::InvalidStoreId(id_e, addr) => {
+                write!(f, "invalid store ID: {}, address: {:?}", id_e, addr)
+            }
+            StoreError::DataDoesNotExist(addr) => {
+                write!(f, "no data exists at address {:?}", addr)
+            }
+            StoreError::InternalError(e) => {
+                write!(f, "internal error: {}", e)
+            }
+        }
+    }
+}
+
+#[cfg(feature = "std")]
+impl Error for StoreError {
+    fn source(&self) -> Option<&(dyn Error + 'static)> {
+        if let StoreError::InvalidStoreId(e, _) = self {
+            return Some(e);
+        }
+        None
+    }
+}
+
 pub trait PoolProvider {
     /// Add new data to the pool. The provider should attempt to reserve a memory block with the
     /// appropriate size and then copy the given data to the block. Yields a [StoreAddr] which can

satrs-core/src/tmtc/ccsds_distrib.rs

@@ -99,7 +99,7 @@ use spacepackets::{ByteConversionError, CcsdsPacket, SizeMissmatch, SpHeader};
 /// This trait automatically implements the [downcast_rs::Downcast] to allow a more convenient API
 /// to cast trait objects back to their concrete type after the handler was passed to the
 /// distributor.
-pub trait CcsdsPacketHandler: Downcast {
+pub trait CcsdsPacketHandler: Downcast + Send {
     type Error;
 
     fn valid_apids(&self) -> &'static [u16];
@@ -199,6 +199,8 @@ pub(crate) mod tests {
     use std::sync::{Arc, Mutex};
     use std::vec::Vec;
 
+    fn is_send<T: Send>(_: &T) {}
+
     pub fn generate_ping_tc(buf: &mut [u8]) -> &[u8] {
         let mut sph = SpHeader::tc_unseg(0x002, 0x34, 0).unwrap();
         let pus_tc = PusTc::new_simple(&mut sph, 17, 1, None, true);
@@ -292,6 +294,7 @@ pub(crate) mod tests {
             unknown_packet_queue: unknown_packet_queue.clone(),
         };
         let mut ccsds_distrib = CcsdsDistributor::new(Box::new(apid_handler));
+        is_send(&ccsds_distrib);
         let mut test_buf: [u8; 32] = [0; 32];
         let tc_slice = generate_ping_tc(test_buf.as_mut_slice());
 

satrs-core/src/tmtc/mod.rs

@@ -42,6 +42,18 @@ impl AddressableId {
             unique_id: u32::from_be_bytes(buf[4..8].try_into().unwrap()),
         })
     }
+
+    pub fn write_to_be_bytes(&self, buf: &mut [u8]) -> Result<usize, ByteConversionError> {
+        if buf.len() < 8 {
+            return Err(ByteConversionError::ToSliceTooSmall(SizeMissmatch {
+                found: buf.len(),
+                expected: 8,
+            }));
+        }
+        buf[0..4].copy_from_slice(&self.target_id.to_be_bytes());
+        buf[4..8].copy_from_slice(&self.unique_id.to_be_bytes());
+        Ok(8)
+    }
 }
 
 /// Generic trait for object which can receive any telecommands in form of a raw bytestream, with
@@ -50,7 +62,7 @@ impl AddressableId {
 /// This trait is implemented by both the [crate::tmtc::pus_distrib::PusDistributor] and the
 /// [crate::tmtc::ccsds_distrib::CcsdsDistributor]  which allows to pass the respective packets in
 /// raw byte format into them.
-pub trait ReceivesTc: Downcast {
+pub trait ReceivesTc: Downcast + Send {
     type Error;
     fn pass_tc(&mut self, tc_raw: &[u8]) -> Result<(), Self::Error>;
 }

satrs-core/src/tmtc/pus_distrib.rs

@@ -67,7 +67,7 @@ use spacepackets::ecss::{PusError, PusPacket};
 use spacepackets::tc::PusTc;
 use spacepackets::SpHeader;
 
-pub trait PusServiceProvider: Downcast {
+pub trait PusServiceProvider: Downcast + Send {
     type Error;
     fn handle_pus_tc_packet(
         &mut self,
@@ -147,6 +147,8 @@ mod tests {
     #[cfg(feature = "std")]
     use std::sync::{Arc, Mutex};
 
+    fn is_send<T: Send>(_: &T) {}
+
     struct PusHandlerSharedQueue {
         pub pus_queue: Arc<Mutex<VecDeque<(u8, u16, Vec<u8>)>>>,
     }
@@ -263,7 +265,7 @@ mod tests {
         let pus_distrib = PusDistributor {
             service_provider: Box::new(pus_handler),
         };
-
+        is_send(&pus_distrib);
         let apid_handler = ApidHandlerShared {
             pus_distrib,
             handler_base,

satrs-example/pyclient/main.py

@@ -142,6 +142,15 @@ class PusHandler(SpecificApidHandlerBase):
                 self.verif_wrapper.log_to_console(tm_packet, res)
                 self.verif_wrapper.log_to_file(tm_packet, res)
             dedicated_handler = True
+        if service == 3:
+            LOGGER.info("No handling for HK packets implemented")
+            LOGGER.info(f"Raw packet: 0x[{packet.hex(sep=',')}]")
+            pus_tm = PusTelemetry.unpack(packet)
+            if pus_tm.subservice == 25:
+                if len(pus_tm.source_data) < 8:
+                    raise ValueError("No addressable ID in HK packet")
+                json_str = pus_tm.source_data[8:]
+            dedicated_handler = True
         if service == 5:
             tm_packet = Service5Tm.unpack(packet)
         if service == 17:

satrs-example/src/ccsds.rs

@@ -1,13 +1,13 @@
-use crate::tmtc::PUS_APID;
+use crate::tmtc::{MpscStoreAndSendError, PusTcSource, PUS_APID};
-use satrs_core::tmtc::{CcsdsPacketHandler, PusDistributor, ReceivesCcsdsTc};
+use satrs_core::tmtc::{CcsdsPacketHandler, ReceivesCcsdsTc};
 use spacepackets::{CcsdsPacket, SpHeader};
 
 pub struct CcsdsReceiver {
-    pub pus_handler: PusDistributor<()>,
+    pub tc_source: PusTcSource,
 }
 
 impl CcsdsPacketHandler for CcsdsReceiver {
-    type Error = ();
+    type Error = MpscStoreAndSendError;
 
     fn valid_apids(&self) -> &'static [u16] {
         &[PUS_APID]
@@ -19,9 +19,7 @@ impl CcsdsPacketHandler for CcsdsReceiver {
         tc_raw: &[u8],
     ) -> Result<(), Self::Error> {
         if sp_header.apid() == PUS_APID {
-            self.pus_handler
+            return self.tc_source.pass_ccsds(sp_header, tc_raw);
-                .pass_ccsds(sp_header, tc_raw)
-                .expect("Handling PUS packet failed");
         }
         Ok(())
     }

satrs-example/src/hk.rs

@@ -1,4 +1,5 @@
-#![allow(dead_code)]
+use satrs_core::tmtc::AddressableId;
+
 pub type CollectionIntervalFactor = u32;
 
 #[derive(Debug, Copy, Clone, PartialEq, Eq)]
@@ -8,8 +9,8 @@ pub enum AcsHkIds {
 
 #[derive(Debug, Copy, Clone, PartialEq, Eq)]
 pub enum HkRequest {
-    OneShot(u32),
+    OneShot(AddressableId),
-    Enable(u32),
+    Enable(AddressableId),
-    Disable(u32),
+    Disable(AddressableId),
-    ModifyCollectionInterval(CollectionIntervalFactor),
+    ModifyCollectionInterval(AddressableId, CollectionIntervalFactor),
 }

satrs-example/src/main.rs

@@ -4,28 +4,31 @@ mod pus;
 mod requests;
 mod tmtc;
 
-use crate::requests::RequestWithToken;
+use crate::hk::{AcsHkIds, HkRequest};
-use crate::tmtc::{core_tmtc_task, CoreTmtcArgs, TmStore, PUS_APID};
+use crate::requests::{Request, RequestWithToken};
+use crate::tmtc::{
+    core_tmtc_task, OtherArgs, PusTcSource, TcArgs, TcStore, TmArgs, TmFunnel, TmStore, PUS_APID,
+};
 use satrs_core::event_man::{
     EventManagerWithMpscQueue, MpscEventReceiver, MpscEventU32SendProvider, SendEventProvider,
 };
 use satrs_core::events::EventU32;
-use satrs_core::hal::host::udp_server::UdpTcServer;
+use satrs_core::pool::{LocalPool, PoolCfg, StoreAddr};
-use satrs_core::pool::{LocalPool, PoolCfg, SharedPool, StoreAddr};
 use satrs_core::pus::event_man::{
     DefaultPusMgmtBackendProvider, EventReporter, EventRequest, EventRequestWithToken,
     PusEventDispatcher,
 };
+use satrs_core::pus::hk::Subservice;
 use satrs_core::pus::verification::{
     MpscVerifSender, VerificationReporterCfg, VerificationReporterWithSender,
 };
 use satrs_core::pus::{EcssTmError, EcssTmSender};
 use satrs_core::seq_count::SimpleSeqCountProvider;
-use satrs_core::tmtc::CcsdsError;
 use satrs_example::{RequestTargetId, OBSW_SERVER_ADDR, SERVER_PORT};
 use spacepackets::time::cds::TimeProvider;
 use spacepackets::time::TimeWriter;
-use spacepackets::tm::PusTm;
+use spacepackets::tm::{PusTm, PusTmSecondaryHeader};
+use spacepackets::{SequenceFlags, SpHeader};
 use std::collections::HashMap;
 use std::net::{IpAddr, SocketAddr};
 use std::sync::mpsc::{channel, TryRecvError};
@@ -33,19 +36,6 @@ use std::sync::{mpsc, Arc, RwLock};
 use std::thread;
 use std::time::Duration;
 
-struct TmFunnel {
-    tm_funnel_rx: mpsc::Receiver<StoreAddr>,
-    tm_server_tx: mpsc::Sender<StoreAddr>,
-}
-
-struct UdpTmtcServer {
-    udp_tc_server: UdpTcServer<CcsdsError<()>>,
-    tm_rx: mpsc::Receiver<StoreAddr>,
-    tm_store: SharedPool,
-}
-
-unsafe impl Send for UdpTmtcServer {}
-
 #[derive(Clone)]
 struct EventTmSender {
     store_helper: TmStore,
@@ -69,18 +59,37 @@ impl EcssTmSender for EventTmSender {
         self.sender.send(addr).map_err(EcssTmError::SendError)
     }
 }
+
 fn main() {
     println!("Running OBSW example");
-    let pool_cfg = PoolCfg::new(vec![(8, 32), (4, 64), (2, 128)]);
+    let tm_pool = LocalPool::new(PoolCfg::new(vec![
-    let tm_pool = LocalPool::new(pool_cfg);
+        (30, 32),
-    let tm_store: SharedPool = Arc::new(RwLock::new(Box::new(tm_pool)));
+        (15, 64),
-    let tm_store_helper = TmStore {
+        (15, 128),
-        pool: tm_store.clone(),
+        (15, 256),
+        (15, 1024),
+        (15, 2048),
+    ]));
+    let tm_store = TmStore {
+        pool: Arc::new(RwLock::new(Box::new(tm_pool))),
     };
-    let addr = SocketAddr::new(IpAddr::V4(OBSW_SERVER_ADDR), SERVER_PORT);
+    let tc_pool = LocalPool::new(PoolCfg::new(vec![
+        (30, 32),
+        (15, 64),
+        (15, 128),
+        (15, 256),
+        (15, 1024),
+        (15, 2048),
+    ]));
+    let tc_store = TcStore {
+        pool: Arc::new(RwLock::new(Box::new(tc_pool))),
+    };
+
+    let sock_addr = SocketAddr::new(IpAddr::V4(OBSW_SERVER_ADDR), SERVER_PORT);
+    let (tc_source_tx, tc_source_rx) = channel();
     let (tm_funnel_tx, tm_funnel_rx) = channel();
     let (tm_server_tx, tm_server_rx) = channel();
-    let sender = MpscVerifSender::new(tm_store.clone(), tm_funnel_tx.clone());
+    let verif_sender = MpscVerifSender::new(tm_store.pool.clone(), tm_funnel_tx.clone());
     let verif_cfg = VerificationReporterCfg::new(
         PUS_APID,
         #[allow(clippy::box_default)]
@@ -90,7 +99,7 @@ fn main() {
         8,
     )
     .unwrap();
-    let reporter_with_sender_0 = VerificationReporterWithSender::new(&verif_cfg, Box::new(sender));
+    let verif_reporter = VerificationReporterWithSender::new(&verif_cfg, Box::new(verif_sender));
 
     // Create event handling components
     let (event_request_tx, event_request_rx) = channel::<EventRequestWithToken>();
@@ -103,26 +112,43 @@ fn main() {
         PusEventDispatcher::new(event_reporter, Box::new(pus_tm_backend));
     let (pus_event_man_tx, pus_event_man_rx) = channel();
     let pus_event_man_send_provider = MpscEventU32SendProvider::new(1, pus_event_man_tx);
-    let mut reporter_event_handler = reporter_with_sender_0.clone();
+    let mut reporter_event_handler = verif_reporter.clone();
-    let mut reporter_aocs = reporter_with_sender_0.clone();
+    let mut reporter_aocs = verif_reporter.clone();
     event_man.subscribe_all(pus_event_man_send_provider.id());
 
     let mut request_map = HashMap::new();
     let (acs_thread_tx, acs_thread_rx) = channel::<RequestWithToken>();
     request_map.insert(RequestTargetId::AcsSubsystem as u32, acs_thread_tx);
 
-    // Create clones here to allow move for thread 0
+    let tc_source = PusTcSource {
-    let core_args = CoreTmtcArgs {
+        tc_store,
-        tm_store: tm_store_helper.clone(),
+        tc_source: tc_source_tx,
-        tm_sender: tm_funnel_tx.clone(),
+    };
+
+    // Create clones here to allow moving the values
+    let core_args = OtherArgs {
+        sock_addr,
+        verif_reporter,
         event_sender,
         event_request_tx,
         request_map,
     };
+    let tc_args = TcArgs {
+        tc_source,
+        tc_receiver: tc_source_rx,
+    };
+    let tm_args = TmArgs {
+        tm_store: tm_store.clone(),
+        tm_sink_sender: tm_funnel_tx.clone(),
+        tm_server_rx,
+    };
+
+    let aocs_to_funnel = tm_funnel_tx.clone();
+    let mut aocs_tm_store = tm_store.clone();
 
     println!("Starting TMTC task");
     let jh0 = thread::spawn(move || {
-        core_tmtc_task(core_args, tm_server_rx, addr, reporter_with_sender_0);
+        core_tmtc_task(core_args, tc_args, tm_args);
     });
 
     println!("Starting TM funnel task");
@@ -144,7 +170,7 @@ fn main() {
     println!("Starting event handling task");
     let jh2 = thread::spawn(move || {
         let mut timestamp: [u8; 7] = [0; 7];
-        let mut sender = EventTmSender::new(tm_store_helper, tm_funnel_tx);
+        let mut sender = EventTmSender::new(tm_store, tm_funnel_tx);
         let mut time_provider = TimeProvider::new_with_u16_days(0, 0);
         let mut report_completion = |event_req: EventRequestWithToken, timestamp: &[u8]| {
             reporter_event_handler
@@ -176,6 +202,7 @@ fn main() {
                     .generate_pus_event_tm_generic(&mut sender, &timestamp, event, None)
                     .expect("Sending TM as event failed");
             }
+            thread::sleep(Duration::from_millis(400));
         }
     });
 
@@ -188,6 +215,32 @@ fn main() {
                 Ok(request) => {
                     println!("ACS thread: Received HK request {:?}", request.0);
                     update_time(&mut time_provider, &mut timestamp);
+                    match request.0 {
+                        Request::HkRequest(hk_req) => match hk_req {
+                            HkRequest::OneShot(address) => {
+                                assert_eq!(address.target_id, RequestTargetId::AcsSubsystem as u32);
+                                if address.unique_id == AcsHkIds::TestMgmSet as u32 {
+                                    let mut sp_header =
+                                        SpHeader::tm(PUS_APID, SequenceFlags::Unsegmented, 0, 0)
+                                            .unwrap();
+                                    let sec_header = PusTmSecondaryHeader::new_simple(
+                                        3,
+                                        Subservice::TmHkPacket as u8,
+                                        &timestamp,
+                                    );
+                                    let mut buf: [u8; 8] = [0; 8];
+                                    address.write_to_be_bytes(&mut buf).unwrap();
+                                    let pus_tm =
+                                        PusTm::new(&mut sp_header, sec_header, Some(&buf), true);
+                                    let addr = aocs_tm_store.add_pus_tm(&pus_tm);
+                                    aocs_to_funnel.send(addr).expect("Sending HK TM failed");
+                                }
+                            }
+                            HkRequest::Enable(_) => {}
+                            HkRequest::Disable(_) => {}
+                            HkRequest::ModifyCollectionInterval(_, _) => {}
+                        },
+                    }
                     let started_token = reporter_aocs
                         .start_success(request.1, &timestamp)
                         .expect("Sending start success failed");

satrs-example/src/pus.rs

@@ -1,6 +1,6 @@
 use crate::hk::{CollectionIntervalFactor, HkRequest};
 use crate::requests::{Request, RequestWithToken};
-use crate::tmtc::TmStore;
+use crate::tmtc::{PusTcSource, TmStore};
 use satrs_core::events::EventU32;
 use satrs_core::pool::StoreAddr;
 use satrs_core::pus::event::Subservices;
@@ -26,6 +26,8 @@ pub struct PusReceiver {
     pub tm_tx: Sender<StoreAddr>,
     pub tm_store: TmStore,
     pub verif_reporter: StdVerifReporterWithSender,
+    #[allow(dead_code)]
+    tc_source: PusTcSource,
     event_request_tx: Sender<EventRequestWithToken>,
     request_map: HashMap<u32, Sender<RequestWithToken>>,
     stamper: TimeProvider,
@@ -38,6 +40,7 @@ impl PusReceiver {
         tm_tx: Sender<StoreAddr>,
         tm_store: TmStore,
         verif_reporter: StdVerifReporterWithSender,
+        tc_source: PusTcSource,
         event_request_tx: Sender<EventRequestWithToken>,
         request_map: HashMap<u32, Sender<RequestWithToken>>,
     ) -> Self {
@@ -46,6 +49,7 @@ impl PusReceiver {
             tm_tx,
             tm_store,
             verif_reporter,
+            tc_source,
             event_request_tx,
             request_map,
             stamper: TimeProvider::new_with_u16_days(0, 0),
@@ -167,11 +171,11 @@ impl PusReceiver {
                 .unwrap_or_else(|_| panic!("Sending HK request {:?} failed", request));
         };
         if PusPacket::subservice(pus_tc) == hk::Subservice::TcEnableGeneration as u8 {
-            send_request(HkRequest::Enable(addressable_id.unique_id));
+            send_request(HkRequest::Enable(addressable_id));
         } else if PusPacket::subservice(pus_tc) == hk::Subservice::TcDisableGeneration as u8 {
-            send_request(HkRequest::Disable(addressable_id.unique_id));
+            send_request(HkRequest::Disable(addressable_id));
         } else if PusPacket::subservice(pus_tc) == hk::Subservice::TcGenerateOneShotHk as u8 {
-            send_request(HkRequest::OneShot(addressable_id.unique_id));
+            send_request(HkRequest::OneShot(addressable_id));
         } else if PusPacket::subservice(pus_tc) == hk::Subservice::TcModifyCollectionInterval as u8
         {
             if user_data.len() < 12 {
@@ -189,6 +193,7 @@ impl PusReceiver {
                 return;
             }
             send_request(HkRequest::ModifyCollectionInterval(
+                addressable_id,
                 CollectionIntervalFactor::from_be_bytes(user_data[8..12].try_into().unwrap()),
             ));
         }

satrs-example/src/tmtc.rs

@@ -2,89 +2,225 @@ use satrs_core::events::EventU32;
 use satrs_core::hal::host::udp_server::{ReceiveResult, UdpTcServer};
 use satrs_core::params::Params;
 use std::collections::HashMap;
+use std::error::Error;
+use std::fmt::{Display, Formatter};
 use std::net::SocketAddr;
-use std::sync::mpsc;
+use std::sync::mpsc::{Receiver, SendError, Sender, TryRecvError};
-use std::sync::mpsc::Sender;
 use std::thread;
 use std::time::Duration;
 
 use crate::ccsds::CcsdsReceiver;
 use crate::pus::PusReceiver;
 use crate::requests::RequestWithToken;
-use crate::UdpTmtcServer;
+use satrs_core::pool::{SharedPool, StoreAddr, StoreError};
-use satrs_core::pool::{SharedPool, StoreAddr};
 use satrs_core::pus::event_man::EventRequestWithToken;
 use satrs_core::pus::verification::StdVerifReporterWithSender;
-use satrs_core::tmtc::{CcsdsDistributor, CcsdsError, PusDistributor};
+use satrs_core::tmtc::{
+    CcsdsDistributor, CcsdsError, PusServiceProvider, ReceivesCcsdsTc, ReceivesEcssPusTc,
+};
+use spacepackets::ecss::PusPacket;
+use spacepackets::tc::PusTc;
 use spacepackets::tm::PusTm;
+use spacepackets::SpHeader;
 
 pub const PUS_APID: u16 = 0x02;
 
-pub struct CoreTmtcArgs {
+pub struct OtherArgs {
-    pub tm_store: TmStore,
+    pub sock_addr: SocketAddr,
-    pub tm_sender: Sender<StoreAddr>,
+    pub verif_reporter: StdVerifReporterWithSender,
     pub event_sender: Sender<(EventU32, Option<Params>)>,
     pub event_request_tx: Sender<EventRequestWithToken>,
     pub request_map: HashMap<u32, Sender<RequestWithToken>>,
 }
 
+pub struct TmArgs {
+    pub tm_store: TmStore,
+    pub tm_sink_sender: Sender<StoreAddr>,
+    pub tm_server_rx: Receiver<StoreAddr>,
+}
+
+pub struct TcArgs {
+    pub tc_source: PusTcSource,
+    pub tc_receiver: Receiver<StoreAddr>,
+}
+
+#[derive(Debug, Clone, PartialEq, Eq)]
+pub enum MpscStoreAndSendError {
+    StoreError(StoreError),
+    SendError(SendError<StoreAddr>),
+}
+
+impl Display for MpscStoreAndSendError {
+    fn fmt(&self, f: &mut Formatter<'_>) -> std::fmt::Result {
+        match self {
+            MpscStoreAndSendError::StoreError(s) => {
+                write!(f, "store error {}", s)
+            }
+            MpscStoreAndSendError::SendError(s) => {
+                write!(f, "send error {}", s)
+            }
+        }
+    }
+}
+
+impl Error for MpscStoreAndSendError {
+    fn source(&self) -> Option<&(dyn Error + 'static)> {
+        match self {
+            MpscStoreAndSendError::StoreError(s) => Some(s),
+            MpscStoreAndSendError::SendError(s) => Some(s),
+        }
+    }
+}
+
+impl From<StoreError> for MpscStoreAndSendError {
+    fn from(value: StoreError) -> Self {
+        Self::StoreError(value)
+    }
+}
+
+impl From<SendError<StoreAddr>> for MpscStoreAndSendError {
+    fn from(value: SendError<StoreAddr>) -> Self {
+        Self::SendError(value)
+    }
+}
+
 #[derive(Clone)]
 pub struct TmStore {
     pub pool: SharedPool,
 }
 
+#[derive(Clone)]
+pub struct TcStore {
+    pub pool: SharedPool,
+}
+
 impl TmStore {
     pub fn add_pus_tm(&mut self, pus_tm: &PusTm) -> StoreAddr {
-        let mut pg = self.pool.write().expect("Error locking TM store");
+        let mut pg = self.pool.write().expect("error locking TM store");
         let (addr, buf) = pg.free_element(pus_tm.len_packed()).expect("Store error");
         pus_tm
             .write_to_bytes(buf)
-            .expect("Writing PUS TM to store failed");
+            .expect("writing PUS TM to store failed");
         addr
     }
 }
 
-pub fn core_tmtc_task(
+impl TcStore {
-    args: CoreTmtcArgs,
+    pub fn add_pus_tc(&mut self, pus_tc: &PusTc) -> Result<StoreAddr, StoreError> {
-    tm_server_rx: mpsc::Receiver<StoreAddr>,
+        let mut pg = self.pool.write().expect("error locking TC store");
-    addr: SocketAddr,
+        let (addr, buf) = pg.free_element(pus_tc.len_packed())?;
-    verif_reporter: StdVerifReporterWithSender,
+        pus_tc
-) {
+            .write_to_bytes(buf)
-    let pus_receiver = PusReceiver::new(
+            .expect("writing PUS TC to store failed");
+        Ok(addr)
+    }
+}
+
+pub struct TmFunnel {
+    pub tm_funnel_rx: Receiver<StoreAddr>,
+    pub tm_server_tx: Sender<StoreAddr>,
+}
+
+pub struct UdpTmtcServer {
+    udp_tc_server: UdpTcServer<CcsdsError<MpscStoreAndSendError>>,
+    tm_rx: Receiver<StoreAddr>,
+    tm_store: SharedPool,
+}
+
+#[derive(Clone)]
+pub struct PusTcSource {
+    pub tc_source: Sender<StoreAddr>,
+    pub tc_store: TcStore,
+}
+
+impl ReceivesEcssPusTc for PusTcSource {
+    type Error = MpscStoreAndSendError;
+
+    fn pass_pus_tc(&mut self, _: &SpHeader, pus_tc: &PusTc) -> Result<(), Self::Error> {
+        let addr = self.tc_store.add_pus_tc(pus_tc)?;
+        self.tc_source.send(addr)?;
+        Ok(())
+    }
+}
+
+impl ReceivesCcsdsTc for PusTcSource {
+    type Error = MpscStoreAndSendError;
+
+    fn pass_ccsds(&mut self, _: &SpHeader, tc_raw: &[u8]) -> Result<(), Self::Error> {
+        let mut pool = self.tc_store.pool.write().expect("locking pool failed");
+        let addr = pool.add(tc_raw)?;
+        drop(pool);
+        self.tc_source.send(addr)?;
+        Ok(())
+    }
+}
+pub fn core_tmtc_task(args: OtherArgs, mut tc_args: TcArgs, tm_args: TmArgs) {
+    let mut pus_receiver = PusReceiver::new(
         PUS_APID,
-        args.tm_sender,
+        tm_args.tm_sink_sender,
-        args.tm_store.clone(),
+        tm_args.tm_store.clone(),
-        verif_reporter,
+        args.verif_reporter,
+        tc_args.tc_source.clone(),
         args.event_request_tx,
         args.request_map,
     );
-    let pus_distributor = PusDistributor::new(Box::new(pus_receiver));
     let ccsds_receiver = CcsdsReceiver {
-        pus_handler: pus_distributor,
+        tc_source: tc_args.tc_source.clone(),
     };
     let ccsds_distributor = CcsdsDistributor::new(Box::new(ccsds_receiver));
-    let udp_tc_server = UdpTcServer::new(addr, 2048, Box::new(ccsds_distributor))
+    let udp_tc_server = UdpTcServer::new(args.sock_addr, 2048, Box::new(ccsds_distributor))
         .expect("Creating UDP TMTC server failed");
 
     let mut udp_tmtc_server = UdpTmtcServer {
         udp_tc_server,
-        tm_rx: tm_server_rx,
+        tm_rx: tm_args.tm_server_rx,
-        tm_store: args.tm_store.pool.clone(),
+        tm_store: tm_args.tm_store.pool.clone(),
     };
     loop {
-        core_tmtc_loop(&mut udp_tmtc_server);
+        core_tmtc_loop(&mut udp_tmtc_server, &mut tc_args, &mut pus_receiver);
         thread::sleep(Duration::from_millis(400));
     }
 }
 
-fn core_tmtc_loop(udp_tmtc_server: &mut UdpTmtcServer) {
+fn core_tmtc_loop(
-    while core_tc_handling(udp_tmtc_server) {}
+    udp_tmtc_server: &mut UdpTmtcServer,
+    tc_args: &mut TcArgs,
+    pus_receiver: &mut PusReceiver,
+) {
+    while poll_tc_server(udp_tmtc_server) {}
+    match tc_args.tc_receiver.try_recv() {
+        Ok(addr) => {
+            let pool = tc_args
+                .tc_source
+                .tc_store
+                .pool
+                .read()
+                .expect("locking tc pool failed");
+            let data = pool.read(&addr).expect("reading pool failed");
+            match PusTc::from_bytes(data) {
+                Ok((pus_tc, _)) => {
+                    pus_receiver
+                        .handle_pus_tc_packet(pus_tc.service(), pus_tc.sp_header(), &pus_tc)
+                        .ok();
+                }
+                Err(e) => {
+                    println!("error creating PUS TC from raw data: {}", e);
+                    println!("raw data: {:x?}", data);
+                }
+            }
+        }
+        Err(e) => {
+            if let TryRecvError::Disconnected = e {
+                println!("tmtc thread: sender disconnected")
+            }
+        }
+    }
     if let Some(recv_addr) = udp_tmtc_server.udp_tc_server.last_sender() {
         core_tm_handling(udp_tmtc_server, &recv_addr);
     }
 }
 
-fn core_tc_handling(udp_tmtc_server: &mut UdpTmtcServer) -> bool {
+fn poll_tc_server(udp_tmtc_server: &mut UdpTmtcServer) -> bool {
     match udp_tmtc_server.udp_tc_server.try_recv_tc() {
         Ok(_) => true,
         Err(e) => match e {
@@ -112,9 +248,9 @@ fn core_tm_handling(udp_tmtc_server: &mut UdpTmtcServer, recv_addr: &SocketAddr)
         let mut store_lock = udp_tmtc_server
             .tm_store
             .write()
-            .expect("Locking TM store failed");
+            .expect("locking TM store failed");
         let pg = store_lock.read_with_guard(addr);
-        let buf = pg.read().expect("Error reading TM pool data");
+        let buf = pg.read().expect("error reading TM pool data");
         if buf.len() > 9 {
             let service = buf[7];
             let subservice = buf[8];
@@ -126,6 +262,6 @@ fn core_tm_handling(udp_tmtc_server: &mut UdpTmtcServer, recv_addr: &SocketAddr)
             .udp_tc_server
             .socket
             .send_to(buf, recv_addr)
-            .expect("Sending TM failed");
+            .expect("sending TM failed");
     }
 }