Finish PUS service optimizations

- Better naming for pool abstractions
- Added last unittests for PUS helper services
- Introduce new abstraction for PUS schedulers

satrs-core/Cargo.toml

@@ -73,7 +73,7 @@ features = ["all"]
 optional = true
 
 [dependencies.spacepackets]
-version = "0.7.0-beta.4"
+version = "0.7.0"
 default-features = false
 # git = "https://egit.irs.uni-stuttgart.de/rust/spacepackets.git"
 # rev = "297cfad22637d3b07a1b27abe56d9a607b5b82a7"
@@ -123,4 +123,4 @@ doc-images = []
 
 [package.metadata.docs.rs]
 all-features = true
-rustdoc-args = ["--cfg", "doc_cfg"]
+rustdoc-args = ["--cfg", "doc_cfg", "--generate-link-to-definition"]

satrs-core/src/error.rs

@@ -1,49 +0,0 @@
-pub enum FsrcGroupIds {
-    Tmtc = 0,
-}
-
-pub struct FsrcErrorRaw {
-    pub group_id: u8,
-    pub unique_id: u8,
-    pub group_name: &'static str,
-    pub info: &'static str,
-}
-
-pub trait FsrcErrorHandler {
-    fn error(&mut self, e: FsrcErrorRaw);
-    fn error_with_one_param(&mut self, e: FsrcErrorRaw, _p1: u32) {
-        self.error(e);
-    }
-    fn error_with_two_params(&mut self, e: FsrcErrorRaw, _p1: u32, _p2: u32) {
-        self.error(e);
-    }
-}
-
-impl FsrcErrorRaw {
-    pub const fn new(
-        group_id: u8,
-        unique_id: u8,
-        group_name: &'static str,
-        info: &'static str,
-    ) -> Self {
-        FsrcErrorRaw {
-            group_id,
-            unique_id,
-            group_name,
-            info,
-        }
-    }
-}
-
-#[derive(Clone, Copy, Default)]
-pub struct SimpleStdErrorHandler {}
-
-#[cfg(feature = "use_std")]
-impl FsrcErrorHandler for SimpleStdErrorHandler {
-    fn error(&mut self, e: FsrcErrorRaw) {
-        println!(
-            "Received error from group {} with ID ({},{}): {}",
-            e.group_name, e.group_id, e.unique_id, e.info
-        );
-    }
-}

satrs-core/src/lib.rs

@@ -24,7 +24,6 @@ extern crate std;
 #[cfg_attr(doc_cfg, doc(cfg(feature = "alloc")))]
 pub mod cfdp;
 pub mod encoding;
-pub mod error;
 #[cfg(feature = "alloc")]
 #[cfg_attr(doc_cfg, doc(cfg(feature = "alloc")))]
 pub mod event_man;

satrs-core/src/pool.rs

@@ -1,23 +1,13 @@
-//! # Pool implementation providing pre-allocated sub-pools with fixed size memory blocks
+//! # Pool implementation providing memory pools for packet storage.
 //!
-//! This is a simple memory pool implementation which pre-allocates all sub-pools using a given pool
+//! # Example for the [StaticMemoryPool]
-//! configuration. After the pre-allocation, no dynamic memory allocation will be performed
-//! during run-time. This makes the implementation suitable for real-time applications and
-//! embedded environments. The pool implementation will also track the size of the data stored
-//! inside it.
-//!
-//! Transactions with the [pool][LocalPool] are done using a special [address][StoreAddr] type.
-//! Adding any data to the pool will yield a store address. Modification and read operations are
-//! done using a reference to a store address. Deletion will consume the store address.
-//!
-//! # Example
 //!
 //! ```
-//! use satrs_core::pool::{LocalPool, PoolCfg, PoolProvider};
+//! use satrs_core::pool::{PoolProviderMemInPlace, StaticMemoryPool, StaticPoolConfig};
 //!
 //! // 4 buckets of 4 bytes, 2 of 8 bytes and 1 of 16 bytes
-//! let pool_cfg = PoolCfg::new(vec![(4, 4), (2, 8), (1, 16)]);
+//! let pool_cfg = StaticPoolConfig::new(vec![(4, 4), (2, 8), (1, 16)]);
-//! let mut local_pool = LocalPool::new(pool_cfg);
+//! let mut local_pool = StaticMemoryPool::new(pool_cfg);
 //! let mut addr;
 //! {
 //!     // Add new data to the pool
@@ -77,22 +67,24 @@
 #[cfg_attr(doc_cfg, doc(cfg(feature = "alloc")))]
 pub use alloc_mod::*;
 use core::fmt::{Display, Formatter};
+use delegate::delegate;
 #[cfg(feature = "serde")]
 use serde::{Deserialize, Serialize};
 #[cfg(feature = "std")]
 use std::error::Error;
 
 type NumBlocks = u16;
+pub type StoreAddr = u64;
 
 /// Simple address type used for transactions with the local pool.
 #[derive(Debug, Copy, Clone, PartialEq, Eq)]
 #[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
-pub struct StoreAddr {
+pub struct StaticPoolAddr {
     pub(crate) pool_idx: u16,
     pub(crate) packet_idx: NumBlocks,
 }
 
-impl StoreAddr {
+impl StaticPoolAddr {
     pub const INVALID_ADDR: u32 = 0xFFFFFFFF;
 
     pub fn raw(&self) -> u32 {
@@ -100,7 +92,22 @@ impl StoreAddr {
     }
 }
 
-impl Display for StoreAddr {
+impl From<StaticPoolAddr> for StoreAddr {
+    fn from(value: StaticPoolAddr) -> Self {
+        ((value.pool_idx as u64) << 16) | value.packet_idx as u64
+    }
+}
+
+impl From<StoreAddr> for StaticPoolAddr {
+    fn from(value: StoreAddr) -> Self {
+        Self {
+            pool_idx: ((value >> 16) & 0xff) as u16,
+            packet_idx: (value & 0xff) as u16,
+        }
+    }
+}
+
+impl Display for StaticPoolAddr {
     fn fmt(&self, f: &mut Formatter<'_>) -> core::fmt::Result {
         write!(
             f,
@@ -180,64 +187,71 @@ impl Error for StoreError {
     }
 }
 
-#[cfg(feature = "alloc")]
+/// Generic trait for pool providers where the data can be modified and read in-place. This
-mod alloc_mod {
+/// generally means that a shared pool structure has to be wrapped inside a lock structure.
-    use crate::pool::{NumBlocks, StoreAddr, StoreError, StoreIdError};
+pub trait PoolProviderMemInPlace {
-    use alloc::boxed::Box;
+    /// Add new data to the pool. The provider should attempt to reserve a memory block with the
-    use alloc::vec;
+    /// appropriate size and then copy the given data to the block. Yields a [StoreAddr] which can
-    use alloc::vec::Vec;
+    /// be used to access the data stored in the pool
-    use delegate::delegate;
+    fn add(&mut self, data: &[u8]) -> Result<StoreAddr, StoreError>;
-    #[cfg(feature = "std")]
-    use std::sync::{Arc, RwLock};
 
-    #[cfg(feature = "std")]
+    /// The provider should attempt to reserve a free memory block with the appropriate size and
-    pub type ShareablePoolProvider = Box<dyn PoolProvider + Send + Sync>;
+    /// then return a mutable reference to it. Yields a [StoreAddr] which can be used to access
-    #[cfg(feature = "std")]
+    /// the data stored in the pool
-    pub type SharedPool = Arc<RwLock<ShareablePoolProvider>>;
+    fn free_element(&mut self, len: usize) -> Result<(StoreAddr, &mut [u8]), StoreError>;
 
-    type PoolSize = usize;
+    /// Modify data added previously using a given [StoreAddr] by yielding a mutable reference
-    const STORE_FREE: PoolSize = PoolSize::MAX;
+    /// to it
-    pub const POOL_MAX_SIZE: PoolSize = STORE_FREE - 1;
+    fn modify(&mut self, addr: &StoreAddr) -> Result<&mut [u8], StoreError>;
 
-    /// Configuration structure of the [local pool][LocalPool]
+    /// Read data by yielding a read-only reference given a [StoreAddr]
+    fn read(&self, addr: &StoreAddr) -> Result<&[u8], StoreError>;
+
+    /// Delete data inside the pool given a [StoreAddr]
+    fn delete(&mut self, addr: StoreAddr) -> Result<(), StoreError>;
+    fn has_element_at(&self, addr: &StoreAddr) -> Result<bool, StoreError>;
+
+    /// Retrieve the length of the data at the given store address.
+    fn len_of_data(&self, addr: &StoreAddr) -> Result<usize, StoreError> {
+        if !self.has_element_at(addr)? {
+            return Err(StoreError::DataDoesNotExist(*addr));
+        }
+        Ok(self.read(addr)?.len())
+    }
+}
+
+pub trait PoolProviderMemInPlaceWithGuards: PoolProviderMemInPlace {
+    /// This function behaves like [PoolProviderMemInPlace::read], but consumes the provided address
+    /// and returns a RAII conformant guard object.
     ///
-    /// # Parameters
+    /// Unless the guard [PoolRwGuard::release] method is called, the data for the
+    /// given address will be deleted automatically when the guard is dropped.
+    /// This can prevent memory leaks. Users can read the data and release the guard
+    /// if the data in the store is valid for further processing. If the data is faulty, no
+    /// manual deletion is necessary when returning from a processing function prematurely.
+    fn read_with_guard(&mut self, addr: StoreAddr) -> PoolGuard<Self>;
+
+    /// This function behaves like [PoolProviderMemInPlace::modify], but consumes the provided
+    /// address and returns a RAII conformant guard object.
     ///
-    /// * `cfg`: Vector of tuples which represent a subpool. The first entry in the tuple specifies the
+    /// Unless the guard [PoolRwGuard::release] method is called, the data for the
-    ///       number of memory blocks in the subpool, the second entry the size of the blocks
+    /// given address will be deleted automatically when the guard is dropped.
-    #[derive(Clone)]
+    /// This can prevent memory leaks. Users can read (and modify) the data and release the guard
-    pub struct PoolCfg {
+    /// if the data in the store is valid for further processing. If the data is faulty, no
-        cfg: Vec<(NumBlocks, usize)>,
+    /// manual deletion is necessary when returning from a processing function prematurely.
+    fn modify_with_guard(&mut self, addr: StoreAddr) -> PoolRwGuard<Self>;
 }
 
-    impl PoolCfg {
+pub struct PoolGuard<'a, MemProvider: PoolProviderMemInPlace + ?Sized> {
-        pub fn new(cfg: Vec<(NumBlocks, usize)>) -> Self {
+    pool: &'a mut MemProvider,
-            PoolCfg { cfg }
-        }
-
-        pub fn cfg(&self) -> &Vec<(NumBlocks, usize)> {
-            &self.cfg
-        }
-
-        pub fn sanitize(&mut self) -> usize {
-            self.cfg
-                .retain(|&(bucket_num, size)| bucket_num > 0 && size < POOL_MAX_SIZE);
-            self.cfg
-                .sort_unstable_by(|(_, sz0), (_, sz1)| sz0.partial_cmp(sz1).unwrap());
-            self.cfg.len()
-        }
-    }
-
-    pub struct PoolGuard<'a> {
-        pool: &'a mut LocalPool,
     pub addr: StoreAddr,
     no_deletion: bool,
     deletion_failed_error: Option<StoreError>,
 }
 
 /// This helper object
-    impl<'a> PoolGuard<'a> {
+impl<'a, MemProvider: PoolProviderMemInPlace> PoolGuard<'a, MemProvider> {
-        pub fn new(pool: &'a mut LocalPool, addr: StoreAddr) -> Self {
+    pub fn new(pool: &'a mut MemProvider, addr: StoreAddr) -> Self {
         Self {
             pool,
             addr,
@@ -257,7 +271,7 @@ mod alloc_mod {
     }
 }
 
-    impl Drop for PoolGuard<'_> {
+impl<MemProvider: PoolProviderMemInPlace + ?Sized> Drop for PoolGuard<'_, MemProvider> {
     fn drop(&mut self) {
         if !self.no_deletion {
             if let Err(e) = self.pool.delete(self.addr) {
@@ -267,12 +281,12 @@ mod alloc_mod {
     }
 }
 
-    pub struct PoolRwGuard<'a> {
+pub struct PoolRwGuard<'a, MemProvider: PoolProviderMemInPlace + ?Sized> {
-        guard: PoolGuard<'a>,
+    guard: PoolGuard<'a, MemProvider>,
 }
 
-    impl<'a> PoolRwGuard<'a> {
+impl<'a, MemProvider: PoolProviderMemInPlace> PoolRwGuard<'a, MemProvider> {
-        pub fn new(pool: &'a mut LocalPool, addr: StoreAddr) -> Self {
+    pub fn new(pool: &'a mut MemProvider, addr: StoreAddr) -> Self {
         Self {
             guard: PoolGuard::new(pool, addr),
         }
@@ -292,71 +306,78 @@ mod alloc_mod {
     );
 }
 
-    pub trait PoolProvider {
+#[cfg(feature = "alloc")]
-        /// Add new data to the pool. The provider should attempt to reserve a memory block with the
+mod alloc_mod {
-        /// appropriate size and then copy the given data to the block. Yields a [StoreAddr] which can
+    use super::{
-        /// be used to access the data stored in the pool
+        PoolGuard, PoolProviderMemInPlace, PoolProviderMemInPlaceWithGuards, PoolRwGuard,
-        fn add(&mut self, data: &[u8]) -> Result<StoreAddr, StoreError>;
+        StaticPoolAddr,
+    };
+    use crate::pool::{NumBlocks, StoreAddr, StoreError, StoreIdError};
+    use alloc::vec;
+    use alloc::vec::Vec;
+    #[cfg(feature = "std")]
+    use std::sync::{Arc, RwLock};
 
-        /// The provider should attempt to reserve a free memory block with the appropriate size and
+    #[cfg(feature = "std")]
-        /// then return a mutable reference to it. Yields a [StoreAddr] which can be used to access
+    pub type SharedStaticMemoryPool = Arc<RwLock<StaticMemoryPool>>;
-        /// the data stored in the pool
-        fn free_element(&mut self, len: usize) -> Result<(StoreAddr, &mut [u8]), StoreError>;
 
-        /// Modify data added previously using a given [StoreAddr] by yielding a mutable reference
+    type PoolSize = usize;
-        /// to it
+    const STORE_FREE: PoolSize = PoolSize::MAX;
-        fn modify(&mut self, addr: &StoreAddr) -> Result<&mut [u8], StoreError>;
+    pub const POOL_MAX_SIZE: PoolSize = STORE_FREE - 1;
 
-        /// This function behaves like [Self::modify], but consumes the provided address and returns a
+    /// Configuration structure of the [static memory pool][StaticMemoryPool]
-        /// RAII conformant guard object.
     ///
-        /// Unless the guard [PoolRwGuard::release] method is called, the data for the
+    /// # Parameters
-        /// given address will be deleted automatically when the guard is dropped.
-        /// This can prevent memory leaks. Users can read (and modify) the data and release the guard
-        /// if the data in the store is valid for further processing. If the data is faulty, no
-        /// manual deletion is necessary when returning from a processing function prematurely.
-        fn modify_with_guard(&mut self, addr: StoreAddr) -> PoolRwGuard;
-
-        /// Read data by yielding a read-only reference given a [StoreAddr]
-        fn read(&self, addr: &StoreAddr) -> Result<&[u8], StoreError>;
-
-        /// This function behaves like [Self::read], but consumes the provided address and returns a
-        /// RAII conformant guard object.
     ///
-        /// Unless the guard [PoolRwGuard::release] method is called, the data for the
+    /// * `cfg`: Vector of tuples which represent a subpool. The first entry in the tuple specifies the
-        /// given address will be deleted automatically when the guard is dropped.
+    ///       number of memory blocks in the subpool, the second entry the size of the blocks
-        /// This can prevent memory leaks. Users can read the data and release the guard
+    #[derive(Clone)]
-        /// if the data in the store is valid for further processing. If the data is faulty, no
+    pub struct StaticPoolConfig {
-        /// manual deletion is necessary when returning from a processing function prematurely.
+        cfg: Vec<(NumBlocks, usize)>,
-        fn read_with_guard(&mut self, addr: StoreAddr) -> PoolGuard;
-
-        /// Delete data inside the pool given a [StoreAddr]
-        fn delete(&mut self, addr: StoreAddr) -> Result<(), StoreError>;
-        fn has_element_at(&self, addr: &StoreAddr) -> Result<bool, StoreError>;
-
-        /// Retrieve the length of the data at the given store address.
-        fn len_of_data(&self, addr: &StoreAddr) -> Result<usize, StoreError> {
-            if !self.has_element_at(addr)? {
-                return Err(StoreError::DataDoesNotExist(*addr));
     }
-            Ok(self.read(addr)?.len())
+
+    impl StaticPoolConfig {
+        pub fn new(cfg: Vec<(NumBlocks, usize)>) -> Self {
+            StaticPoolConfig { cfg }
+        }
+
+        pub fn cfg(&self) -> &Vec<(NumBlocks, usize)> {
+            &self.cfg
+        }
+
+        pub fn sanitize(&mut self) -> usize {
+            self.cfg
+                .retain(|&(bucket_num, size)| bucket_num > 0 && size < POOL_MAX_SIZE);
+            self.cfg
+                .sort_unstable_by(|(_, sz0), (_, sz1)| sz0.partial_cmp(sz1).unwrap());
+            self.cfg.len()
         }
     }
 
-    /// Pool implementation providing sub-pools with fixed size memory blocks. More details in
+    /// Pool implementation providing sub-pools with fixed size memory blocks.
-    /// the [module documentation][crate::pool]
+    ///
-    pub struct LocalPool {
+    /// This is a simple memory pool implementation which pre-allocates all sub-pools using a given pool
-        pool_cfg: PoolCfg,
+    /// configuration. After the pre-allocation, no dynamic memory allocation will be performed
+    /// during run-time. This makes the implementation suitable for real-time applications and
+    /// embedded environments. The pool implementation will also track the size of the data stored
+    /// inside it.
+    ///
+    /// Transactions with the [pool][StaticMemoryPool] are done using a generic
+    /// [address][StoreAddr] type.
+    /// Adding any data to the pool will yield a store address. Modification and read operations are
+    /// done using a reference to a store address. Deletion will consume the store address.
+    pub struct StaticMemoryPool {
+        pool_cfg: StaticPoolConfig,
         pool: Vec<Vec<u8>>,
         sizes_lists: Vec<Vec<PoolSize>>,
     }
 
-    impl LocalPool {
+    impl StaticMemoryPool {
-        /// Create a new local pool from the [given configuration][PoolCfg]. This function will sanitize
+        /// Create a new local pool from the [given configuration][StaticPoolConfig]. This function
-        /// the given configuration as well.
+        /// will sanitize the given configuration as well.
-        pub fn new(mut cfg: PoolCfg) -> LocalPool {
+        pub fn new(mut cfg: StaticPoolConfig) -> StaticMemoryPool {
             let subpools_num = cfg.sanitize();
-            let mut local_pool = LocalPool {
+            let mut local_pool = StaticMemoryPool {
                 pool_cfg: cfg,
                 pool: Vec::with_capacity(subpools_num),
                 sizes_lists: Vec::with_capacity(subpools_num),
@@ -372,39 +393,39 @@ mod alloc_mod {
             local_pool
         }
 
-        fn addr_check(&self, addr: &StoreAddr) -> Result<usize, StoreError> {
+        fn addr_check(&self, addr: &StaticPoolAddr) -> Result<usize, StoreError> {
             self.validate_addr(addr)?;
             let pool_idx = addr.pool_idx as usize;
             let size_list = self.sizes_lists.get(pool_idx).unwrap();
             let curr_size = size_list[addr.packet_idx as usize];
             if curr_size == STORE_FREE {
-                return Err(StoreError::DataDoesNotExist(*addr));
+                return Err(StoreError::DataDoesNotExist(StoreAddr::from(*addr)));
             }
             Ok(curr_size)
         }
 
-        fn validate_addr(&self, addr: &StoreAddr) -> Result<(), StoreError> {
+        fn validate_addr(&self, addr: &StaticPoolAddr) -> Result<(), StoreError> {
             let pool_idx = addr.pool_idx as usize;
             if pool_idx >= self.pool_cfg.cfg.len() {
                 return Err(StoreError::InvalidStoreId(
                     StoreIdError::InvalidSubpool(addr.pool_idx),
-                    Some(*addr),
+                    Some(StoreAddr::from(*addr)),
                 ));
             }
             if addr.packet_idx >= self.pool_cfg.cfg[addr.pool_idx as usize].0 {
                 return Err(StoreError::InvalidStoreId(
                     StoreIdError::InvalidPacketIdx(addr.packet_idx),
-                    Some(*addr),
+                    Some(StoreAddr::from(*addr)),
                 ));
             }
             Ok(())
         }
 
-        fn reserve(&mut self, data_len: usize) -> Result<StoreAddr, StoreError> {
+        fn reserve(&mut self, data_len: usize) -> Result<StaticPoolAddr, StoreError> {
             let subpool_idx = self.find_subpool(data_len, 0)?;
             let (slot, size_slot_ref) = self.find_empty(subpool_idx)?;
             *size_slot_ref = data_len;
-            Ok(StoreAddr {
+            Ok(StaticPoolAddr {
                 pool_idx: subpool_idx,
                 packet_idx: slot,
             })
@@ -422,7 +443,7 @@ mod alloc_mod {
             Err(StoreError::DataTooLarge(req_size))
         }
 
-        fn write(&mut self, addr: &StoreAddr, data: &[u8]) -> Result<(), StoreError> {
+        fn write(&mut self, addr: &StaticPoolAddr, data: &[u8]) -> Result<(), StoreError> {
             let packet_pos = self.raw_pos(addr).ok_or(StoreError::InternalError(0))?;
             let subpool = self
                 .pool
@@ -449,13 +470,13 @@ mod alloc_mod {
             Err(StoreError::StoreFull(subpool))
         }
 
-        fn raw_pos(&self, addr: &StoreAddr) -> Option<usize> {
+        fn raw_pos(&self, addr: &StaticPoolAddr) -> Option<usize> {
             let (_, size) = self.pool_cfg.cfg.get(addr.pool_idx as usize)?;
             Some(addr.packet_idx as usize * size)
         }
     }
 
-    impl PoolProvider for LocalPool {
+    impl PoolProviderMemInPlace for StaticMemoryPool {
         fn add(&mut self, data: &[u8]) -> Result<StoreAddr, StoreError> {
             let data_len = data.len();
             if data_len > POOL_MAX_SIZE {
@@ -463,7 +484,7 @@ mod alloc_mod {
             }
             let addr = self.reserve(data_len)?;
             self.write(&addr, data)?;
-            Ok(addr)
+            Ok(addr.into())
         }
 
         fn free_element(&mut self, len: usize) -> Result<(StoreAddr, &mut [u8]), StoreError> {
@@ -474,34 +495,29 @@ mod alloc_mod {
             let raw_pos = self.raw_pos(&addr).unwrap();
             let block =
                 &mut self.pool.get_mut(addr.pool_idx as usize).unwrap()[raw_pos..raw_pos + len];
-            Ok((addr, block))
+            Ok((addr.into(), block))
         }
 
         fn modify(&mut self, addr: &StoreAddr) -> Result<&mut [u8], StoreError> {
-            let curr_size = self.addr_check(addr)?;
+            let addr = StaticPoolAddr::from(*addr);
-            let raw_pos = self.raw_pos(addr).unwrap();
+            let curr_size = self.addr_check(&addr)?;
+            let raw_pos = self.raw_pos(&addr).unwrap();
             let block = &mut self.pool.get_mut(addr.pool_idx as usize).unwrap()
                 [raw_pos..raw_pos + curr_size];
             Ok(block)
         }
 
-        fn modify_with_guard(&mut self, addr: StoreAddr) -> PoolRwGuard {
-            PoolRwGuard::new(self, addr)
-        }
-
         fn read(&self, addr: &StoreAddr) -> Result<&[u8], StoreError> {
-            let curr_size = self.addr_check(addr)?;
+            let addr = StaticPoolAddr::from(*addr);
-            let raw_pos = self.raw_pos(addr).unwrap();
+            let curr_size = self.addr_check(&addr)?;
+            let raw_pos = self.raw_pos(&addr).unwrap();
             let block =
                 &self.pool.get(addr.pool_idx as usize).unwrap()[raw_pos..raw_pos + curr_size];
             Ok(block)
         }
 
-        fn read_with_guard(&mut self, addr: StoreAddr) -> PoolGuard {
-            PoolGuard::new(self, addr)
-        }
-
         fn delete(&mut self, addr: StoreAddr) -> Result<(), StoreError> {
+            let addr = StaticPoolAddr::from(addr);
             self.addr_check(&addr)?;
             let block_size = self.pool_cfg.cfg.get(addr.pool_idx as usize).unwrap().1;
             let raw_pos = self.raw_pos(&addr).unwrap();
@@ -514,7 +530,8 @@ mod alloc_mod {
         }
 
         fn has_element_at(&self, addr: &StoreAddr) -> Result<bool, StoreError> {
-            self.validate_addr(addr)?;
+            let addr = StaticPoolAddr::from(*addr);
+            self.validate_addr(&addr)?;
             let pool_idx = addr.pool_idx as usize;
             let size_list = self.sizes_lists.get(pool_idx).unwrap();
             let curr_size = size_list[addr.packet_idx as usize];
@@ -524,34 +541,45 @@ mod alloc_mod {
             Ok(true)
         }
     }
+
+    impl PoolProviderMemInPlaceWithGuards for StaticMemoryPool {
+        fn modify_with_guard(&mut self, addr: StoreAddr) -> PoolRwGuard<Self> {
+            PoolRwGuard::new(self, addr)
+        }
+
+        fn read_with_guard(&mut self, addr: StoreAddr) -> PoolGuard<Self> {
+            PoolGuard::new(self, addr)
+        }
+    }
 }
 
 #[cfg(test)]
 mod tests {
     use crate::pool::{
-        LocalPool, PoolCfg, PoolGuard, PoolProvider, PoolRwGuard, StoreAddr, StoreError,
+        PoolGuard, PoolProviderMemInPlace, PoolProviderMemInPlaceWithGuards, PoolRwGuard,
-        StoreIdError, POOL_MAX_SIZE,
+        StaticMemoryPool, StaticPoolAddr, StaticPoolConfig, StoreError, StoreIdError,
+        POOL_MAX_SIZE,
     };
     use std::vec;
 
-    fn basic_small_pool() -> LocalPool {
+    fn basic_small_pool() -> StaticMemoryPool {
         // 4 buckets of 4 bytes, 2 of 8 bytes and 1 of 16 bytes
-        let pool_cfg = PoolCfg::new(vec![(4, 4), (2, 8), (1, 16)]);
+        let pool_cfg = StaticPoolConfig::new(vec![(4, 4), (2, 8), (1, 16)]);
-        LocalPool::new(pool_cfg)
+        StaticMemoryPool::new(pool_cfg)
     }
 
     #[test]
     fn test_cfg() {
         // Values where number of buckets is 0 or size is too large should be removed
-        let mut pool_cfg = PoolCfg::new(vec![(0, 0), (1, 0), (2, POOL_MAX_SIZE)]);
+        let mut pool_cfg = StaticPoolConfig::new(vec![(0, 0), (1, 0), (2, POOL_MAX_SIZE)]);
         pool_cfg.sanitize();
         assert_eq!(*pool_cfg.cfg(), vec![(1, 0)]);
         // Entries should be ordered according to bucket size
-        pool_cfg = PoolCfg::new(vec![(16, 6), (32, 3), (8, 12)]);
+        pool_cfg = StaticPoolConfig::new(vec![(16, 6), (32, 3), (8, 12)]);
         pool_cfg.sanitize();
         assert_eq!(*pool_cfg.cfg(), vec![(32, 3), (16, 6), (8, 12)]);
         // Unstable sort is used, so order of entries with same block length should not matter
-        pool_cfg = PoolCfg::new(vec![(12, 12), (14, 16), (10, 12)]);
+        pool_cfg = StaticPoolConfig::new(vec![(12, 12), (14, 16), (10, 12)]);
         pool_cfg.sanitize();
         assert!(
             *pool_cfg.cfg() == vec![(12, 12), (10, 12), (14, 16)]
@@ -600,10 +628,10 @@ mod tests {
         let (addr, buf_ref) = res.unwrap();
         assert_eq!(
             addr,
-            StoreAddr {
+            u64::from(StaticPoolAddr {
                 pool_idx: 2,
                 packet_idx: 0
-            }
+            })
         );
         assert_eq!(buf_ref.len(), 12);
     }
@@ -655,10 +683,13 @@ mod tests {
     fn test_read_does_not_exist() {
         let local_pool = basic_small_pool();
         // Try to access data which does not exist
-        let res = local_pool.read(&StoreAddr {
+        let res = local_pool.read(
+            &StaticPoolAddr {
                 packet_idx: 0,
                 pool_idx: 0,
-        });
+            }
+            .into(),
+        );
         assert!(res.is_err());
         assert!(matches!(
             res.unwrap_err(),
@@ -684,10 +715,11 @@ mod tests {
     #[test]
     fn test_invalid_pool_idx() {
         let local_pool = basic_small_pool();
-        let addr = StoreAddr {
+        let addr = StaticPoolAddr {
             pool_idx: 3,
             packet_idx: 0,
-        };
+        }
+        .into();
         let res = local_pool.read(&addr);
         assert!(res.is_err());
         let err = res.unwrap_err();
@@ -700,12 +732,12 @@ mod tests {
     #[test]
     fn test_invalid_packet_idx() {
         let local_pool = basic_small_pool();
-        let addr = StoreAddr {
+        let addr = StaticPoolAddr {
             pool_idx: 2,
             packet_idx: 1,
         };
         assert_eq!(addr.raw(), 0x00020001);
-        let res = local_pool.read(&addr);
+        let res = local_pool.read(&addr.into());
         assert!(res.is_err());
         let err = res.unwrap_err();
         assert!(matches!(

satrs-core/src/pus/event_man.rs

@@ -82,7 +82,7 @@ pub mod heapless_mod {
     }
 }
 
-#[derive(Debug)]
+#[derive(Debug, PartialEq, Eq)]
 pub enum EventRequest<Event: GenericEvent = EventU32> {
     Enable(Event),
     Disable(Event),

satrs-core/src/pus/event_srv.rs

@@ -1,54 +1,39 @@
 use crate::events::EventU32;
 use crate::pus::event_man::{EventRequest, EventRequestWithToken};
 use crate::pus::verification::TcStateToken;
-use crate::pus::{
+use crate::pus::{PartialPusHandlingError, PusPacketHandlerResult, PusPacketHandlingError};
-    EcssTcReceiver, EcssTmSender, PartialPusHandlingError, PusPacketHandlerResult,
-    PusPacketHandlingError,
-};
-use alloc::boxed::Box;
 use spacepackets::ecss::event::Subservice;
 use spacepackets::ecss::PusPacket;
 use std::sync::mpsc::Sender;
 
-use super::verification::VerificationReporterWithSender;
+use super::{EcssTcInMemConverter, PusServiceBase, PusServiceHelper};
-use super::{EcssTcInMemConverter, PusServiceBase, PusServiceHandler};
 
 pub struct PusService5EventHandler<TcInMemConverter: EcssTcInMemConverter> {
-    pub psb: PusServiceHandler<TcInMemConverter>,
+    pub service_helper: PusServiceHelper<TcInMemConverter>,
     event_request_tx: Sender<EventRequestWithToken>,
 }
 
 impl<TcInMemConverter: EcssTcInMemConverter> PusService5EventHandler<TcInMemConverter> {
     pub fn new(
-        tc_receiver: Box<dyn EcssTcReceiver>,
+        service_handler: PusServiceHelper<TcInMemConverter>,
-        tm_sender: Box<dyn EcssTmSender>,
-        tm_apid: u16,
-        verification_handler: VerificationReporterWithSender,
-        tc_in_mem_converter: TcInMemConverter,
         event_request_tx: Sender<EventRequestWithToken>,
     ) -> Self {
         Self {
-            psb: PusServiceHandler::new(
+            service_helper: service_handler,
-                tc_receiver,
-                tm_sender,
-                tm_apid,
-                verification_handler,
-                tc_in_mem_converter,
-            ),
             event_request_tx,
         }
     }
 
     pub fn handle_one_tc(&mut self) -> Result<PusPacketHandlerResult, PusPacketHandlingError> {
-        let possible_packet = self.psb.retrieve_and_accept_next_packet()?;
+        let possible_packet = self.service_helper.retrieve_and_accept_next_packet()?;
         if possible_packet.is_none() {
             return Ok(PusPacketHandlerResult::Empty);
         }
         let ecss_tc_and_token = possible_packet.unwrap();
         let tc = self
-            .psb
+            .service_helper
             .tc_in_mem_converter
-            .convert_ecss_tc_in_memory_to_reader(&ecss_tc_and_token)?;
+            .convert_ecss_tc_in_memory_to_reader(&ecss_tc_and_token.tc_in_memory)?;
         let subservice = tc.subservice();
         let srv = Subservice::try_from(subservice);
         if srv.is_err() {
@@ -60,13 +45,13 @@ impl<TcInMemConverter: EcssTcInMemConverter> PusService5EventHandler<TcInMemConv
         let handle_enable_disable_request = |enable: bool, stamp: [u8; 7]| {
             if tc.user_data().len() < 4 {
                 return Err(PusPacketHandlingError::NotEnoughAppData(
-                    "At least 4 bytes event ID expected".into(),
+                    "at least 4 bytes event ID expected".into(),
                 ));
             }
             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
-                .psb
+                .service_helper
                 .common
                 .verification_handler
                 .borrow_mut()
@@ -126,3 +111,170 @@ impl<TcInMemConverter: EcssTcInMemConverter> PusService5EventHandler<TcInMemConv
         Ok(PusPacketHandlerResult::RequestHandled)
     }
 }
+
+#[cfg(test)]
+mod tests {
+    use delegate::delegate;
+    use spacepackets::ecss::event::Subservice;
+    use spacepackets::util::UnsignedEnum;
+    use spacepackets::{
+        ecss::{
+            tc::{PusTcCreator, PusTcSecondaryHeader},
+            tm::PusTmReader,
+        },
+        SequenceFlags, SpHeader,
+    };
+    use std::sync::mpsc::{self, Sender};
+
+    use crate::pus::event_man::EventRequest;
+    use crate::pus::tests::SimplePusPacketHandler;
+    use crate::pus::verification::RequestId;
+    use crate::{
+        events::EventU32,
+        pus::{
+            event_man::EventRequestWithToken,
+            tests::{PusServiceHandlerWithSharedStoreCommon, PusTestHarness, TEST_APID},
+            verification::{TcStateAccepted, VerificationToken},
+            EcssTcInSharedStoreConverter, PusPacketHandlerResult, PusPacketHandlingError,
+        },
+    };
+
+    use super::PusService5EventHandler;
+
+    const TEST_EVENT_0: EventU32 = EventU32::const_new(crate::events::Severity::INFO, 5, 25);
+
+    struct Pus5HandlerWithStoreTester {
+        common: PusServiceHandlerWithSharedStoreCommon,
+        handler: PusService5EventHandler<EcssTcInSharedStoreConverter>,
+    }
+
+    impl Pus5HandlerWithStoreTester {
+        pub fn new(event_request_tx: Sender<EventRequestWithToken>) -> Self {
+            let (common, srv_handler) = PusServiceHandlerWithSharedStoreCommon::new();
+            Self {
+                common,
+                handler: PusService5EventHandler::new(srv_handler, event_request_tx),
+            }
+        }
+    }
+
+    impl PusTestHarness for Pus5HandlerWithStoreTester {
+        delegate! {
+            to self.common {
+                fn send_tc(&mut self, tc: &PusTcCreator) -> VerificationToken<TcStateAccepted>;
+                fn read_next_tm(&mut self) -> PusTmReader<'_>;
+                fn check_no_tm_available(&self) -> bool;
+                fn check_next_verification_tm(&self, subservice: u8, expected_request_id: RequestId);
+            }
+
+        }
+    }
+
+    impl SimplePusPacketHandler for Pus5HandlerWithStoreTester {
+        delegate! {
+            to self.handler {
+                fn handle_one_tc(&mut self) -> Result<PusPacketHandlerResult, PusPacketHandlingError>;
+            }
+        }
+    }
+
+    fn event_test(
+        test_harness: &mut (impl PusTestHarness + SimplePusPacketHandler),
+        subservice: Subservice,
+        expected_event_req: EventRequest,
+        event_req_receiver: mpsc::Receiver<EventRequestWithToken>,
+    ) {
+        let mut sp_header = SpHeader::tc(TEST_APID, SequenceFlags::Unsegmented, 0, 0).unwrap();
+        let sec_header = PusTcSecondaryHeader::new_simple(5, subservice as u8);
+        let mut app_data = [0; 4];
+        TEST_EVENT_0
+            .write_to_be_bytes(&mut app_data)
+            .expect("writing test event failed");
+        let ping_tc = PusTcCreator::new(&mut sp_header, sec_header, &app_data, true);
+        let token = test_harness.send_tc(&ping_tc);
+        let request_id = token.req_id();
+        test_harness.handle_one_tc().unwrap();
+        test_harness.check_next_verification_tm(1, request_id);
+        test_harness.check_next_verification_tm(3, request_id);
+        // Completion TM is not generated for us.
+        assert!(test_harness.check_no_tm_available());
+        let event_request = event_req_receiver
+            .try_recv()
+            .expect("no event request received");
+        assert_eq!(expected_event_req, event_request.request);
+    }
+
+    #[test]
+    fn test_enabling_event_reporting() {
+        let (event_request_tx, event_request_rx) = mpsc::channel();
+        let mut test_harness = Pus5HandlerWithStoreTester::new(event_request_tx);
+        event_test(
+            &mut test_harness,
+            Subservice::TcEnableEventGeneration,
+            EventRequest::Enable(TEST_EVENT_0),
+            event_request_rx,
+        );
+    }
+
+    #[test]
+    fn test_disabling_event_reporting() {
+        let (event_request_tx, event_request_rx) = mpsc::channel();
+        let mut test_harness = Pus5HandlerWithStoreTester::new(event_request_tx);
+        event_test(
+            &mut test_harness,
+            Subservice::TcDisableEventGeneration,
+            EventRequest::Disable(TEST_EVENT_0),
+            event_request_rx,
+        );
+    }
+
+    #[test]
+    fn test_empty_tc_queue() {
+        let (event_request_tx, _) = mpsc::channel();
+        let mut test_harness = Pus5HandlerWithStoreTester::new(event_request_tx);
+        let result = test_harness.handle_one_tc();
+        assert!(result.is_ok());
+        let result = result.unwrap();
+        if let PusPacketHandlerResult::Empty = result {
+        } else {
+            panic!("unexpected result type {result:?}")
+        }
+    }
+
+    #[test]
+    fn test_sending_custom_subservice() {
+        let (event_request_tx, _) = mpsc::channel();
+        let mut test_harness = Pus5HandlerWithStoreTester::new(event_request_tx);
+        let mut sp_header = SpHeader::tc(TEST_APID, SequenceFlags::Unsegmented, 0, 0).unwrap();
+        let sec_header = PusTcSecondaryHeader::new_simple(5, 200);
+        let ping_tc = PusTcCreator::new_no_app_data(&mut sp_header, sec_header, true);
+        test_harness.send_tc(&ping_tc);
+        let result = test_harness.handle_one_tc();
+        assert!(result.is_ok());
+        let result = result.unwrap();
+        if let PusPacketHandlerResult::CustomSubservice(subservice, _) = result {
+            assert_eq!(subservice, 200);
+        } else {
+            panic!("unexpected result type {result:?}")
+        }
+    }
+
+    #[test]
+    fn test_sending_invalid_app_data() {
+        let (event_request_tx, _) = mpsc::channel();
+        let mut test_harness = Pus5HandlerWithStoreTester::new(event_request_tx);
+        let mut sp_header = SpHeader::tc(TEST_APID, SequenceFlags::Unsegmented, 0, 0).unwrap();
+        let sec_header =
+            PusTcSecondaryHeader::new_simple(5, Subservice::TcEnableEventGeneration as u8);
+        let ping_tc = PusTcCreator::new(&mut sp_header, sec_header, &[0, 1, 2], true);
+        test_harness.send_tc(&ping_tc);
+        let result = test_harness.handle_one_tc();
+        assert!(result.is_err());
+        let result = result.unwrap_err();
+        if let PusPacketHandlingError::NotEnoughAppData(string) = result {
+            assert_eq!(string, "at least 4 bytes event ID expected");
+        } else {
+            panic!("unexpected result type {result:?}")
+        }
+    }
+}

satrs-core/src/pus/mod.rs

@@ -194,6 +194,9 @@ pub trait EcssTcSenderCore: EcssChannel {
     fn send_tc(&self, tc: PusTcCreator, token: Option<TcStateToken>) -> Result<(), EcssTmtcError>;
 }
 
+/// A PUS telecommand packet can be stored in memory using different methods. Right now,
+/// storage inside a pool structure like [crate::pool::StaticMemoryPool], and storage inside a
+/// `Vec<u8>` are supported.
 #[non_exhaustive]
 #[derive(Debug, Clone, PartialEq, Eq)]
 pub enum TcInMemory {
@@ -215,6 +218,7 @@ impl From<alloc::vec::Vec<u8>> for TcInMemory {
     }
 }
 
+/// Generic structure for an ECSS PUS Telecommand and its correspoding verification token.
 #[derive(Debug, Clone, PartialEq, Eq)]
 pub struct EcssTcAndToken {
     pub tc_in_memory: TcInMemory,
@@ -363,8 +367,9 @@ mod alloc_mod {
 }
 
 #[cfg(feature = "std")]
+#[cfg_attr(doc_cfg, doc(cfg(feature = "std")))]
 pub mod std_mod {
-    use crate::pool::{SharedPool, StoreAddr};
+    use crate::pool::{PoolProviderMemInPlaceWithGuards, SharedStaticMemoryPool, StoreAddr};
     use crate::pus::verification::{
         StdVerifReporterWithSender, TcStateAccepted, VerificationToken,
     };
@@ -469,13 +474,13 @@ pub mod std_mod {
         }
     }
 
-    pub struct MpscTcInStoreReceiver {
+    pub struct MpscTcReceiver {
         id: ChannelId,
         name: &'static str,
         receiver: mpsc::Receiver<EcssTcAndToken>,
     }
 
-    impl EcssChannel for MpscTcInStoreReceiver {
+    impl EcssChannel for MpscTcReceiver {
         fn id(&self) -> ChannelId {
             self.id
         }
@@ -485,7 +490,7 @@ pub mod std_mod {
         }
     }
 
-    impl EcssTcReceiverCore for MpscTcInStoreReceiver {
+    impl EcssTcReceiverCore for MpscTcReceiver {
         fn recv_tc(&self) -> Result<EcssTcAndToken, TryRecvTmtcError> {
             self.receiver.try_recv().map_err(|e| match e {
                 TryRecvError::Empty => TryRecvTmtcError::Empty,
@@ -496,7 +501,7 @@ pub mod std_mod {
         }
     }
 
-    impl MpscTcInStoreReceiver {
+    impl MpscTcReceiver {
         pub fn new(
             id: ChannelId,
             name: &'static str,
@@ -513,8 +518,8 @@ pub mod std_mod {
     #[derive(Clone)]
     pub struct MpscTmAsVecSender {
         id: ChannelId,
-        sender: mpsc::Sender<Vec<u8>>,
         name: &'static str,
+        sender: mpsc::Sender<Vec<u8>>,
     }
 
     impl From<mpsc::SendError<Vec<u8>>> for EcssTmtcError {
@@ -599,13 +604,13 @@ pub mod std_mod {
         }
     }
 
-    pub struct CrossbeamTcInStoreReceiver {
+    pub struct CrossbeamTcReceiver {
         id: ChannelId,
         name: &'static str,
         receiver: cb::Receiver<EcssTcAndToken>,
     }
 
-    impl CrossbeamTcInStoreReceiver {
+    impl CrossbeamTcReceiver {
         pub fn new(
             id: ChannelId,
             name: &'static str,
@@ -615,7 +620,7 @@ pub mod std_mod {
         }
     }
 
-    impl EcssChannel for CrossbeamTcInStoreReceiver {
+    impl EcssChannel for CrossbeamTcReceiver {
         fn id(&self) -> ChannelId {
             self.id
         }
@@ -625,7 +630,7 @@ pub mod std_mod {
         }
     }
 
-    impl EcssTcReceiverCore for CrossbeamTcInStoreReceiver {
+    impl EcssTcReceiverCore for CrossbeamTcReceiver {
         fn recv_tc(&self) -> Result<EcssTcAndToken, TryRecvTmtcError> {
             self.receiver.try_recv().map_err(|e| match e {
                 cb::TryRecvError::Empty => TryRecvTmtcError::Empty,
@@ -689,36 +694,40 @@ pub mod std_mod {
     }
 
     pub trait EcssTcInMemConverter {
-        fn cache_ecss_tc_in_memory<'a>(
+        fn cache_ecss_tc_in_memory(
-            &'a mut self,
+            &mut self,
-            possible_packet: &'a AcceptedEcssTcAndToken,
+            possible_packet: &TcInMemory,
         ) -> Result<(), PusPacketHandlingError>;
 
         fn tc_slice_raw(&self) -> &[u8];
 
-        fn convert_ecss_tc_in_memory_to_reader<'a>(
+        fn convert_ecss_tc_in_memory_to_reader(
-            &'a mut self,
+            &mut self,
-            possible_packet: &'a AcceptedEcssTcAndToken,
+            possible_packet: &TcInMemory,
-        ) -> Result<PusTcReader<'a>, PusPacketHandlingError> {
+        ) -> Result<PusTcReader<'_>, PusPacketHandlingError> {
             self.cache_ecss_tc_in_memory(possible_packet)?;
             Ok(PusTcReader::new(self.tc_slice_raw())?.0)
         }
     }
 
+    /// Converter structure for PUS telecommands which are stored inside a `Vec<u8>` structure.
+    /// Please note that this structure is not able to convert TCs which are stored inside a
+    /// [SharedStaticMemoryPool].
+    #[derive(Default, Clone)]
     pub struct EcssTcInVecConverter {
         pub pus_tc_raw: Option<Vec<u8>>,
     }
 
     impl EcssTcInMemConverter for EcssTcInVecConverter {
-        fn cache_ecss_tc_in_memory<'a>(
+        fn cache_ecss_tc_in_memory(
-            &'a mut self,
+            &mut self,
-            possible_packet: &'a AcceptedEcssTcAndToken,
+            tc_in_memory: &TcInMemory,
         ) -> Result<(), PusPacketHandlingError> {
             self.pus_tc_raw = None;
-            match &possible_packet.tc_in_memory {
+            match tc_in_memory {
                 super::TcInMemory::StoreAddr(_) => {
                     return Err(PusPacketHandlingError::InvalidTcInMemoryFormat(
-                        possible_packet.tc_in_memory.clone(),
+                        tc_in_memory.clone(),
                     ));
                 }
                 super::TcInMemory::Vec(vec) => {
@@ -736,13 +745,17 @@ pub mod std_mod {
         }
     }
 
-    pub struct EcssTcInStoreConverter {
+    /// Converter structure for PUS telecommands which are stored inside
-        pub shared_tc_store: SharedPool,
+    /// [SharedStaticMemoryPool] structure. This is useful if run-time allocation for these
-        pub pus_buf: Vec<u8>,
+    /// packets should be avoided. Please note that this structure is not able to convert TCs which
+    /// are stored as a `Vec<u8>`.
+    pub struct EcssTcInSharedStoreConverter {
+        shared_tc_store: SharedStaticMemoryPool,
+        pus_buf: Vec<u8>,
     }
 
-    impl EcssTcInStoreConverter {
+    impl EcssTcInSharedStoreConverter {
-        pub fn new(shared_tc_store: SharedPool, max_expected_tc_size: usize) -> Self {
+        pub fn new(shared_tc_store: SharedStaticMemoryPool, max_expected_tc_size: usize) -> Self {
             Self {
                 shared_tc_store,
                 pus_buf: alloc::vec![0; max_expected_tc_size],
@@ -765,18 +778,18 @@ pub mod std_mod {
         }
     }
 
-    impl EcssTcInMemConverter for EcssTcInStoreConverter {
+    impl EcssTcInMemConverter for EcssTcInSharedStoreConverter {
-        fn cache_ecss_tc_in_memory<'a>(
+        fn cache_ecss_tc_in_memory(
-            &'a mut self,
+            &mut self,
-            possible_packet: &'a AcceptedEcssTcAndToken,
+            tc_in_memory: &TcInMemory,
         ) -> Result<(), PusPacketHandlingError> {
-            match &possible_packet.tc_in_memory {
+            match tc_in_memory {
                 super::TcInMemory::StoreAddr(addr) => {
                     self.copy_tc_to_buf(*addr)?;
                 }
                 super::TcInMemory::Vec(_) => {
                     return Err(PusPacketHandlingError::InvalidTcInMemoryFormat(
-                        possible_packet.tc_in_memory.clone(),
+                        tc_in_memory.clone(),
                     ));
                 }
             };
@@ -821,18 +834,21 @@ pub mod std_mod {
         }
     }
 
-    /// Base class for handlers which can handle PUS TC packets. Right now, the verification
+    /// This is a high-level PUS packet handler helper.
-    /// reporter is constrained to the [StdVerifReporterWithSender] and the service handler
+    ///
-    /// relies on TMTC packets being exchanged via a [SharedPool]. Please note that this variant
+    /// It performs some of the boilerplate acitivities involved when handling PUS telecommands and
-    /// of the PUS service base is not optimized for handling packets sent as a `Vec<u8>` and
+    /// it can be used to implement the handling of PUS telecommands for certain PUS telecommands
-    /// might perform additional copies to the internal buffer as well. The class should
+    /// groups (for example individual services).
-    /// still behave correctly.
+    ///
-    pub struct PusServiceHandler<TcInMemConverter: EcssTcInMemConverter> {
+    /// This base class can handle PUS telecommands backed by different memory storage machanisms
+    /// by using the [EcssTcInMemConverter] abstraction. This object provides some convenience
+    /// methods to make the generic parts of TC handling easier.
+    pub struct PusServiceHelper<TcInMemConverter: EcssTcInMemConverter> {
         pub common: PusServiceBase,
         pub tc_in_mem_converter: TcInMemConverter,
     }
 
-    impl<TcInMemConverter: EcssTcInMemConverter> PusServiceHandler<TcInMemConverter> {
+    impl<TcInMemConverter: EcssTcInMemConverter> PusServiceHelper<TcInMemConverter> {
         pub fn new(
             tc_receiver: Box<dyn EcssTcReceiver>,
             tm_sender: Box<dyn EcssTmSender>,
@@ -851,6 +867,11 @@ pub mod std_mod {
             }
         }
 
+        /// This function can be used to poll the internal [EcssTcReceiver] object for the next
+        /// telecommand packet. It will return `Ok(None)` if there are not packets available.
+        /// In any other case, it will perform the acceptance of the ECSS TC packet using the
+        /// internal [VerificationReporterWithSender] object. It will then return the telecommand
+        /// and the according accepted token.
         pub fn retrieve_and_accept_next_packet(
             &mut self,
         ) -> Result<Option<AcceptedEcssTcAndToken>, PusPacketHandlingError> {
@@ -893,10 +914,35 @@ pub(crate) fn source_buffer_large_enough(cap: usize, len: usize) -> Result<(), E
 }
 
 #[cfg(test)]
-pub(crate) mod tests {
+pub mod tests {
-    use spacepackets::ecss::tm::{GenericPusTmSecondaryHeader, PusTmCreator};
+    use std::sync::mpsc::TryRecvError;
+    use std::sync::{mpsc, RwLock};
+
+    use alloc::boxed::Box;
+    use alloc::vec;
+    use spacepackets::ecss::tc::PusTcCreator;
+    use spacepackets::ecss::tm::{GenericPusTmSecondaryHeader, PusTmCreator, PusTmReader};
+    use spacepackets::ecss::{PusPacket, WritablePusPacket};
     use spacepackets::CcsdsPacket;
 
+    use crate::pool::{
+        PoolProviderMemInPlace, SharedStaticMemoryPool, StaticMemoryPool, StaticPoolConfig,
+        StoreAddr,
+    };
+    use crate::pus::verification::RequestId;
+    use crate::tmtc::tm_helper::SharedTmStore;
+
+    use super::verification::{
+        TcStateAccepted, VerificationReporterCfg, VerificationReporterWithSender, VerificationToken,
+    };
+    use super::{
+        EcssTcAndToken, EcssTcInSharedStoreConverter, EcssTcInVecConverter, MpscTcReceiver,
+        MpscTmAsVecSender, MpscTmInStoreSender, PusPacketHandlerResult, PusPacketHandlingError,
+        PusServiceHelper, TcInMemory,
+    };
+
+    pub const TEST_APID: u16 = 0x101;
+
     #[derive(Debug, Eq, PartialEq, Clone)]
     pub(crate) struct CommonTmInfo {
         pub subservice: u8,
@@ -906,12 +952,23 @@ pub(crate) mod tests {
         pub time_stamp: [u8; 7],
     }
 
+    pub trait PusTestHarness {
+        fn send_tc(&mut self, tc: &PusTcCreator) -> VerificationToken<TcStateAccepted>;
+        fn read_next_tm(&mut self) -> PusTmReader<'_>;
+        fn check_no_tm_available(&self) -> bool;
+        fn check_next_verification_tm(&self, subservice: u8, expected_request_id: RequestId);
+    }
+
+    pub trait SimplePusPacketHandler {
+        fn handle_one_tc(&mut self) -> Result<PusPacketHandlerResult, PusPacketHandlingError>;
+    }
+
     impl CommonTmInfo {
         pub fn new_from_tm(tm: &PusTmCreator) -> Self {
             let mut time_stamp = [0; 7];
             time_stamp.clone_from_slice(&tm.timestamp()[0..7]);
             Self {
-                subservice: tm.subservice(),
+                subservice: PusPacket::subservice(tm),
                 apid: tm.apid(),
                 msg_counter: tm.msg_counter(),
                 dest_id: tm.dest_id(),
@@ -919,4 +976,192 @@ pub(crate) mod tests {
             }
         }
     }
+
+    /// Common fields for a PUS service test harness.
+    pub struct PusServiceHandlerWithSharedStoreCommon {
+        pus_buf: [u8; 2048],
+        tm_buf: [u8; 2048],
+        tc_pool: SharedStaticMemoryPool,
+        tm_pool: SharedTmStore,
+        tc_sender: mpsc::Sender<EcssTcAndToken>,
+        tm_receiver: mpsc::Receiver<StoreAddr>,
+        verification_handler: VerificationReporterWithSender,
+    }
+
+    impl PusServiceHandlerWithSharedStoreCommon {
+        /// This function generates the structure in addition to the PUS service handler
+        /// [PusServiceHandler] which might be required for a specific PUS service handler.
+        ///
+        /// The PUS service handler is instantiated with a [EcssTcInStoreConverter].
+        pub fn new() -> (Self, PusServiceHelper<EcssTcInSharedStoreConverter>) {
+            let pool_cfg = StaticPoolConfig::new(vec![(16, 16), (8, 32), (4, 64)]);
+            let tc_pool = StaticMemoryPool::new(pool_cfg.clone());
+            let tm_pool = StaticMemoryPool::new(pool_cfg);
+            let shared_tc_pool = SharedStaticMemoryPool::new(RwLock::new(tc_pool));
+            let shared_tm_pool = SharedTmStore::new(tm_pool);
+            let (test_srv_tc_tx, test_srv_tc_rx) = mpsc::channel();
+            let (tm_tx, tm_rx) = mpsc::channel();
+
+            let verif_sender =
+                MpscTmInStoreSender::new(0, "verif_sender", shared_tm_pool.clone(), tm_tx.clone());
+            let verif_cfg = VerificationReporterCfg::new(TEST_APID, 1, 2, 8).unwrap();
+            let verification_handler =
+                VerificationReporterWithSender::new(&verif_cfg, Box::new(verif_sender));
+            let test_srv_tm_sender =
+                MpscTmInStoreSender::new(0, "TEST_SENDER", shared_tm_pool.clone(), tm_tx);
+            let test_srv_tc_receiver = MpscTcReceiver::new(0, "TEST_RECEIVER", test_srv_tc_rx);
+            let in_store_converter =
+                EcssTcInSharedStoreConverter::new(shared_tc_pool.clone(), 2048);
+            (
+                Self {
+                    pus_buf: [0; 2048],
+                    tm_buf: [0; 2048],
+                    tc_pool: shared_tc_pool,
+                    tm_pool: shared_tm_pool,
+                    tc_sender: test_srv_tc_tx,
+                    tm_receiver: tm_rx,
+                    verification_handler: verification_handler.clone(),
+                },
+                PusServiceHelper::new(
+                    Box::new(test_srv_tc_receiver),
+                    Box::new(test_srv_tm_sender),
+                    TEST_APID,
+                    verification_handler,
+                    in_store_converter,
+                ),
+            )
+        }
+        pub fn send_tc(&mut self, tc: &PusTcCreator) -> VerificationToken<TcStateAccepted> {
+            let token = self.verification_handler.add_tc(tc);
+            let token = self
+                .verification_handler
+                .acceptance_success(token, Some(&[0; 7]))
+                .unwrap();
+            let tc_size = tc.write_to_bytes(&mut self.pus_buf).unwrap();
+            let mut tc_pool = self.tc_pool.write().unwrap();
+            let addr = tc_pool.add(&self.pus_buf[..tc_size]).unwrap();
+            drop(tc_pool);
+            // Send accepted TC to test service handler.
+            self.tc_sender
+                .send(EcssTcAndToken::new(addr, token))
+                .expect("sending tc failed");
+            token
+        }
+
+        pub fn read_next_tm(&mut self) -> PusTmReader<'_> {
+            let next_msg = self.tm_receiver.try_recv();
+            assert!(next_msg.is_ok());
+            let tm_addr = next_msg.unwrap();
+            let tm_pool = self.tm_pool.shared_pool.read().unwrap();
+            let tm_raw = tm_pool.read(&tm_addr).unwrap();
+            self.tm_buf[0..tm_raw.len()].copy_from_slice(tm_raw);
+            PusTmReader::new(&self.tm_buf, 7).unwrap().0
+        }
+
+        pub fn check_no_tm_available(&self) -> bool {
+            let next_msg = self.tm_receiver.try_recv();
+            if let TryRecvError::Empty = next_msg.unwrap_err() {
+                return true;
+            }
+            false
+        }
+
+        pub fn check_next_verification_tm(&self, subservice: u8, expected_request_id: RequestId) {
+            let next_msg = self.tm_receiver.try_recv();
+            assert!(next_msg.is_ok());
+            let tm_addr = next_msg.unwrap();
+            let tm_pool = self.tm_pool.shared_pool.read().unwrap();
+            let tm_raw = tm_pool.read(&tm_addr).unwrap();
+            let tm = PusTmReader::new(tm_raw, 7).unwrap().0;
+            assert_eq!(PusPacket::service(&tm), 1);
+            assert_eq!(PusPacket::subservice(&tm), subservice);
+            assert_eq!(tm.apid(), TEST_APID);
+            let req_id =
+                RequestId::from_bytes(tm.user_data()).expect("generating request ID failed");
+            assert_eq!(req_id, expected_request_id);
+        }
+    }
+
+    pub struct PusServiceHandlerWithVecCommon {
+        current_tm: Option<alloc::vec::Vec<u8>>,
+        tc_sender: mpsc::Sender<EcssTcAndToken>,
+        tm_receiver: mpsc::Receiver<alloc::vec::Vec<u8>>,
+        verification_handler: VerificationReporterWithSender,
+    }
+
+    impl PusServiceHandlerWithVecCommon {
+        pub fn new() -> (Self, PusServiceHelper<EcssTcInVecConverter>) {
+            let (test_srv_tc_tx, test_srv_tc_rx) = mpsc::channel();
+            let (tm_tx, tm_rx) = mpsc::channel();
+
+            let verif_sender = MpscTmAsVecSender::new(0, "verififcatio-sender", tm_tx.clone());
+            let verif_cfg = VerificationReporterCfg::new(TEST_APID, 1, 2, 8).unwrap();
+            let verification_handler =
+                VerificationReporterWithSender::new(&verif_cfg, Box::new(verif_sender));
+            let test_srv_tm_sender = MpscTmAsVecSender::new(0, "test-sender", tm_tx);
+            let test_srv_tc_receiver = MpscTcReceiver::new(0, "test-receiver", test_srv_tc_rx);
+            let in_store_converter = EcssTcInVecConverter::default();
+            (
+                Self {
+                    current_tm: None,
+                    tc_sender: test_srv_tc_tx,
+                    tm_receiver: tm_rx,
+                    verification_handler: verification_handler.clone(),
+                },
+                PusServiceHelper::new(
+                    Box::new(test_srv_tc_receiver),
+                    Box::new(test_srv_tm_sender),
+                    TEST_APID,
+                    verification_handler,
+                    in_store_converter,
+                ),
+            )
+        }
+
+        pub fn send_tc(&mut self, tc: &PusTcCreator) -> VerificationToken<TcStateAccepted> {
+            let token = self.verification_handler.add_tc(tc);
+            let token = self
+                .verification_handler
+                .acceptance_success(token, Some(&[0; 7]))
+                .unwrap();
+            // Send accepted TC to test service handler.
+            self.tc_sender
+                .send(EcssTcAndToken::new(
+                    TcInMemory::Vec(tc.to_vec().expect("pus tc conversion to vec failed")),
+                    token,
+                ))
+                .expect("sending tc failed");
+            token
+        }
+
+        pub fn read_next_tm(&mut self) -> PusTmReader<'_> {
+            let next_msg = self.tm_receiver.try_recv();
+            assert!(next_msg.is_ok());
+            self.current_tm = Some(next_msg.unwrap());
+            PusTmReader::new(self.current_tm.as_ref().unwrap(), 7)
+                .unwrap()
+                .0
+        }
+
+        pub fn check_no_tm_available(&self) -> bool {
+            let next_msg = self.tm_receiver.try_recv();
+            if let TryRecvError::Empty = next_msg.unwrap_err() {
+                return true;
+            }
+            false
+        }
+
+        pub fn check_next_verification_tm(&self, subservice: u8, expected_request_id: RequestId) {
+            let next_msg = self.tm_receiver.try_recv();
+            assert!(next_msg.is_ok());
+            let next_msg = next_msg.unwrap();
+            let tm = PusTmReader::new(next_msg.as_slice(), 7).unwrap().0;
+            assert_eq!(PusPacket::service(&tm), 1);
+            assert_eq!(PusPacket::subservice(&tm), subservice);
+            assert_eq!(tm.apid(), TEST_APID);
+            let req_id =
+                RequestId::from_bytes(tm.user_data()).expect("generating request ID failed");
+            assert_eq!(req_id, expected_request_id);
+        }
+    }
 }

satrs-core/src/pus/scheduler.rs

@@ -2,17 +2,19 @@
 //!
 //! The core data structure of this module is the [PusScheduler]. This structure can be used
 //! to perform the scheduling of telecommands like specified in the ECSS standard.
-use core::fmt::Debug;
+use core::fmt::{Debug, Display, Formatter};
+use core::time::Duration;
 #[cfg(feature = "serde")]
 use serde::{Deserialize, Serialize};
 use spacepackets::ecss::scheduling::TimeWindowType;
-use spacepackets::ecss::tc::{GenericPusTcSecondaryHeader, IsPusTelecommand};
+use spacepackets::ecss::tc::{GenericPusTcSecondaryHeader, IsPusTelecommand, PusTcReader};
-use spacepackets::time::CcsdsTimeProvider;
+use spacepackets::ecss::{PusError, PusPacket};
+use spacepackets::time::{CcsdsTimeProvider, TimeReader, TimestampError, UnixTimestamp};
 use spacepackets::CcsdsPacket;
 #[cfg(feature = "std")]
 use std::error::Error;
 
-use crate::pool::StoreAddr;
+use crate::pool::{PoolProviderMemInPlace, StoreError};
 #[cfg(feature = "alloc")]
 pub use alloc_mod::*;
 
@@ -56,17 +58,19 @@ impl RequestId {
     }
 }
 
+pub type AddrInStore = u64;
+
 /// This is the format stored internally by the TC scheduler for each scheduled telecommand.
-/// It consists of the address of that telecommand in the TC pool and a request ID.
+/// It consists of a generic address for that telecommand in the TC pool and a request ID.
 #[derive(Debug, Copy, Clone, PartialEq, Eq)]
 #[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
 pub struct TcInfo {
-    addr: StoreAddr,
+    addr: AddrInStore,
     request_id: RequestId,
 }
 
 impl TcInfo {
-    pub fn addr(&self) -> StoreAddr {
+    pub fn addr(&self) -> AddrInStore {
         self.addr
     }
 
@@ -74,7 +78,7 @@ impl TcInfo {
         self.request_id
     }
 
-    pub fn new(addr: StoreAddr, request_id: RequestId) -> Self {
+    pub fn new(addr: u64, request_id: RequestId) -> Self {
         TcInfo { addr, request_id }
     }
 }
@@ -133,32 +137,6 @@ impl<TimeProvider: CcsdsTimeProvider + Clone> TimeWindow<TimeProvider> {
     }
 }
 
-#[cfg(feature = "alloc")]
-pub mod alloc_mod {
-    use super::*;
-    use crate::pool::{PoolProvider, StoreAddr, StoreError};
-    use alloc::collections::btree_map::{Entry, Range};
-    use alloc::collections::BTreeMap;
-    use alloc::vec;
-    use alloc::vec::Vec;
-    use core::fmt::{Display, Formatter};
-    use core::time::Duration;
-    use spacepackets::ecss::scheduling::TimeWindowType;
-    use spacepackets::ecss::tc::{
-        GenericPusTcSecondaryHeader, IsPusTelecommand, PusTc, PusTcReader,
-    };
-    use spacepackets::ecss::{PusError, PusPacket};
-    use spacepackets::time::cds::DaysLen24Bits;
-    use spacepackets::time::{cds, CcsdsTimeProvider, TimeReader, TimestampError, UnixTimestamp};
-
-    #[cfg(feature = "std")]
-    use std::time::SystemTimeError;
-
-    enum DeletionResult {
-        WithoutStoreDeletion(Option<StoreAddr>),
-        WithStoreDeletion(Result<bool, StoreError>),
-    }
-
 #[derive(Debug, Clone, PartialEq, Eq)]
 #[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
 pub enum ScheduleError {
@@ -166,7 +144,11 @@ pub mod alloc_mod {
     /// The release time is within the time-margin added on top of the current time.
     /// The first parameter is the current time, the second one the time margin, and the third one
     /// the release time.
-        ReleaseTimeInTimeMargin(UnixTimestamp, Duration, UnixTimestamp),
+    ReleaseTimeInTimeMargin {
+        current_time: UnixTimestamp,
+        time_margin: Duration,
+        release_time: UnixTimestamp,
+    },
     /// Nested time-tagged commands are not allowed.
     NestedScheduledTc,
     StoreError(StoreError),
@@ -182,10 +164,14 @@ pub mod alloc_mod {
             ScheduleError::PusError(e) => {
                 write!(f, "Pus Error: {e}")
             }
-                ScheduleError::ReleaseTimeInTimeMargin(current_time, margin, timestamp) => {
+            ScheduleError::ReleaseTimeInTimeMargin {
+                current_time,
+                time_margin,
+                release_time,
+            } => {
                 write!(
                     f,
-                        "Error: time margin too short, current time: {current_time:?}, time margin: {margin:?}, release time: {timestamp:?}"
+                    "Error: time margin too short, current time: {current_time:?}, time margin: {time_margin:?}, release time: {release_time:?}"
                 )
             }
             ScheduleError::NestedScheduledTc => {
@@ -231,14 +217,109 @@ pub mod alloc_mod {
 #[cfg(feature = "std")]
 impl Error for ScheduleError {}
 
+pub trait PusSchedulerInterface {
+    type TimeProvider: CcsdsTimeProvider + TimeReader;
+
+    fn reset(
+        &mut self,
+        store: &mut (impl PoolProviderMemInPlace + ?Sized),
+    ) -> Result<(), StoreError>;
+
+    fn is_enabled(&self) -> bool;
+
+    fn enable(&mut self);
+
+    /// A disabled scheduler should still delete commands where the execution time has been reached
+    /// but should not release them to be executed.
+    fn disable(&mut self);
+
+    /// Insert a telecommand which was already unwrapped from the outer Service 11 packet and stored
+    /// inside the telecommand packet pool.
+    fn insert_unwrapped_and_stored_tc(
+        &mut self,
+        time_stamp: UnixTimestamp,
+        info: TcInfo,
+    ) -> Result<(), ScheduleError>;
+
+    /// Insert a telecommand based on the fully wrapped time-tagged telecommand. The timestamp
+    /// provider needs to be supplied via a generic.
+    fn insert_wrapped_tc<TimeProvider>(
+        &mut self,
+        pus_tc: &(impl IsPusTelecommand + PusPacket + GenericPusTcSecondaryHeader),
+        pool: &mut (impl PoolProviderMemInPlace + ?Sized),
+    ) -> Result<TcInfo, ScheduleError> {
+        if PusPacket::service(pus_tc) != 11 {
+            return Err(ScheduleError::WrongService);
+        }
+        if PusPacket::subservice(pus_tc) != 4 {
+            return Err(ScheduleError::WrongSubservice);
+        }
+        if pus_tc.user_data().is_empty() {
+            return Err(ScheduleError::TcDataEmpty);
+        }
+        let user_data = pus_tc.user_data();
+        let stamp: Self::TimeProvider = TimeReader::from_bytes(user_data)?;
+        let unix_stamp = stamp.unix_stamp();
+        let stamp_len = stamp.len_as_bytes();
+        self.insert_unwrapped_tc(unix_stamp, &user_data[stamp_len..], pool)
+    }
+
+    /// Insert a telecommand which was already unwrapped from the outer Service 11 packet but still
+    /// needs to be stored inside the telecommand pool.
+    fn insert_unwrapped_tc(
+        &mut self,
+        time_stamp: UnixTimestamp,
+        tc: &[u8],
+        pool: &mut (impl PoolProviderMemInPlace + ?Sized),
+    ) -> Result<TcInfo, ScheduleError> {
+        let check_tc = PusTcReader::new(tc)?;
+        if PusPacket::service(&check_tc.0) == 11 && PusPacket::subservice(&check_tc.0) == 4 {
+            return Err(ScheduleError::NestedScheduledTc);
+        }
+        let req_id = RequestId::from_tc(&check_tc.0);
+
+        match pool.add(tc) {
+            Ok(addr) => {
+                let info = TcInfo::new(addr, req_id);
+                self.insert_unwrapped_and_stored_tc(time_stamp, info)?;
+                Ok(info)
+            }
+            Err(err) => Err(err.into()),
+        }
+    }
+}
+
+#[cfg(feature = "alloc")]
+pub mod alloc_mod {
+    use super::*;
+    use crate::pool::{PoolProviderMemInPlace, StoreAddr, StoreError};
+    use alloc::collections::btree_map::{Entry, Range};
+    use alloc::collections::BTreeMap;
+    use alloc::vec;
+    use alloc::vec::Vec;
+    use core::time::Duration;
+    use spacepackets::ecss::scheduling::TimeWindowType;
+    use spacepackets::ecss::tc::{PusTc, PusTcReader};
+    use spacepackets::ecss::PusPacket;
+    use spacepackets::time::cds::DaysLen24Bits;
+    use spacepackets::time::{cds, CcsdsTimeProvider, UnixTimestamp};
+
+    #[cfg(feature = "std")]
+    use std::time::SystemTimeError;
+
+    enum DeletionResult {
+        WithoutStoreDeletion(Option<StoreAddr>),
+        WithStoreDeletion(Result<bool, StoreError>),
+    }
+
     /// This is the core data structure for scheduling PUS telecommands with [alloc] support.
     ///
     /// It is assumed that the actual telecommand data is stored in a separate TC pool offering
-    /// a [crate::pool::PoolProvider] API. This data structure just tracks the store addresses and their
+    /// a [crate::pool::PoolProviderMemInPlace] API. This data structure just tracks the store
-    /// release times and offers a convenient API to insert and release telecommands and perform
+    /// addresses and their release times and offers a convenient API to insert and release
-    /// other functionality specified by the ECSS standard in section 6.11. The time is tracked
+    /// telecommands and perform other functionality specified by the ECSS standard in section 6.11.
-    /// as a [spacepackets::time::UnixTimestamp] but the only requirement to the timekeeping of
+    /// The time is tracked as a [spacepackets::time::UnixTimestamp] but the only requirement to
-    /// the user is that it is convertible to that timestamp.
+    /// the timekeeping of the user is that it is convertible to that timestamp.
     ///
     /// The standard also specifies that the PUS scheduler can be enabled and disabled.
     /// A disabled scheduler should still delete commands where the execution time has been reached
@@ -292,44 +373,6 @@ pub mod alloc_mod {
             num_entries
         }
 
-        pub fn is_enabled(&self) -> bool {
-            self.enabled
-        }
-
-        pub fn enable(&mut self) {
-            self.enabled = true;
-        }
-
-        /// A disabled scheduler should still delete commands where the execution time has been reached
-        /// but should not release them to be executed.
-        pub fn disable(&mut self) {
-            self.enabled = false;
-        }
-
-        /// This will disable the scheduler and clear the schedule as specified in 6.11.4.4.
-        /// Be careful with this command as it will delete all the commands in the schedule.
-        ///
-        /// The holding store for the telecommands needs to be passed so all the stored telecommands
-        /// can be deleted to avoid a memory leak. If at last one deletion operation fails, the error
-        /// will be returned but the method will still try to delete all the commands in the schedule.
-        pub fn reset(
-            &mut self,
-            store: &mut (impl PoolProvider + ?Sized),
-        ) -> Result<(), StoreError> {
-            self.enabled = false;
-            let mut deletion_ok = Ok(());
-            for tc_lists in &mut self.tc_map {
-                for tc in tc_lists.1 {
-                    let res = store.delete(tc.addr);
-                    if res.is_err() {
-                        deletion_ok = res;
-                    }
-                }
-            }
-            self.tc_map.clear();
-            deletion_ok
-        }
-
         pub fn update_time(&mut self, current_time: UnixTimestamp) {
             self.current_time = current_time;
         }
@@ -346,11 +389,11 @@ pub mod alloc_mod {
             info: TcInfo,
         ) -> Result<(), ScheduleError> {
             if time_stamp < self.current_time + self.time_margin {
-                return Err(ScheduleError::ReleaseTimeInTimeMargin(
+                return Err(ScheduleError::ReleaseTimeInTimeMargin {
-                    self.current_time,
+                    current_time: self.current_time,
-                    self.time_margin,
+                    time_margin: self.time_margin,
-                    time_stamp,
+                    release_time: time_stamp,
-                ));
+                });
             }
             match self.tc_map.entry(time_stamp) {
                 Entry::Vacant(e) => {
@@ -369,7 +412,7 @@ pub mod alloc_mod {
             &mut self,
             time_stamp: UnixTimestamp,
             tc: &[u8],
-            pool: &mut (impl PoolProvider + ?Sized),
+            pool: &mut (impl PoolProviderMemInPlace + ?Sized),
         ) -> Result<TcInfo, ScheduleError> {
             let check_tc = PusTcReader::new(tc)?;
             if PusPacket::service(&check_tc.0) == 11 && PusPacket::subservice(&check_tc.0) == 4 {
@@ -387,35 +430,12 @@ pub mod alloc_mod {
             }
         }
 
-        /// Insert a telecommand based on the fully wrapped time-tagged telecommand. The timestamp
-        /// provider needs to be supplied via a generic.
-        pub fn insert_wrapped_tc<TimeStamp: CcsdsTimeProvider + TimeReader>(
-            &mut self,
-            pus_tc: &(impl IsPusTelecommand + PusPacket + GenericPusTcSecondaryHeader),
-            pool: &mut (impl PoolProvider + ?Sized),
-        ) -> Result<TcInfo, ScheduleError> {
-            if PusPacket::service(pus_tc) != 11 {
-                return Err(ScheduleError::WrongService);
-            }
-            if PusPacket::subservice(pus_tc) != 4 {
-                return Err(ScheduleError::WrongSubservice);
-            }
-            if pus_tc.user_data().is_empty() {
-                return Err(ScheduleError::TcDataEmpty);
-            }
-            let user_data = pus_tc.user_data();
-            let stamp: TimeStamp = TimeReader::from_bytes(user_data)?;
-            let unix_stamp = stamp.unix_stamp();
-            let stamp_len = stamp.len_as_bytes();
-            self.insert_unwrapped_tc(unix_stamp, &user_data[stamp_len..], pool)
-        }
-
         /// Insert a telecommand based on the fully wrapped time-tagged telecommand using a CDS
         /// short timestamp with 16-bit length of days field.
         pub fn insert_wrapped_tc_cds_short(
             &mut self,
             pus_tc: &PusTc,
-            pool: &mut (impl PoolProvider + ?Sized),
+            pool: &mut (impl PoolProviderMemInPlace + ?Sized),
         ) -> Result<TcInfo, ScheduleError> {
             self.insert_wrapped_tc::<cds::TimeProvider>(pus_tc, pool)
         }
@@ -425,7 +445,7 @@ pub mod alloc_mod {
         pub fn insert_wrapped_tc_cds_long(
             &mut self,
             pus_tc: &PusTc,
-            pool: &mut (impl PoolProvider + ?Sized),
+            pool: &mut (impl PoolProviderMemInPlace + ?Sized),
         ) -> Result<TcInfo, ScheduleError> {
             self.insert_wrapped_tc::<cds::TimeProvider<DaysLen24Bits>>(pus_tc, pool)
         }
@@ -441,7 +461,7 @@ pub mod alloc_mod {
         pub fn delete_by_time_filter<TimeProvider: CcsdsTimeProvider + Clone>(
             &mut self,
             time_window: TimeWindow<TimeProvider>,
-            pool: &mut (impl PoolProvider + ?Sized),
+            pool: &mut (impl PoolProviderMemInPlace + ?Sized),
         ) -> Result<u64, (u64, StoreError)> {
             let range = self.retrieve_by_time_filter(time_window);
             let mut del_packets = 0;
@@ -471,7 +491,7 @@ pub mod alloc_mod {
         /// the last deletion will be supplied in addition to the number of deleted commands.
         pub fn delete_all(
             &mut self,
-            pool: &mut (impl PoolProvider + ?Sized),
+            pool: &mut (impl PoolProviderMemInPlace + ?Sized),
         ) -> Result<u64, (u64, StoreError)> {
             self.delete_by_time_filter(TimeWindow::<cds::TimeProvider>::new_select_all(), pool)
         }
@@ -518,7 +538,7 @@ pub mod alloc_mod {
         /// called repeatedly.
         pub fn delete_by_request_id(&mut self, req_id: &RequestId) -> Option<StoreAddr> {
             if let DeletionResult::WithoutStoreDeletion(v) =
-                self.delete_by_request_id_internal(req_id, None::<&mut dyn PoolProvider>)
+                self.delete_by_request_id_internal_without_store_deletion(req_id)
             {
                 return v;
             }
@@ -529,20 +549,19 @@ pub mod alloc_mod {
         pub fn delete_by_request_id_and_from_pool(
             &mut self,
             req_id: &RequestId,
-            pool: &mut (impl PoolProvider + ?Sized),
+            pool: &mut (impl PoolProviderMemInPlace + ?Sized),
         ) -> Result<bool, StoreError> {
             if let DeletionResult::WithStoreDeletion(v) =
-                self.delete_by_request_id_internal(req_id, Some(pool))
+                self.delete_by_request_id_internal_with_store_deletion(req_id, pool)
             {
                 return v;
             }
             panic!("unexpected deletion result");
         }
 
-        fn delete_by_request_id_internal(
+        fn delete_by_request_id_internal_without_store_deletion(
             &mut self,
             req_id: &RequestId,
-            pool: Option<&mut (impl PoolProvider + ?Sized)>,
         ) -> DeletionResult {
             let mut idx_found = None;
             for time_bucket in &mut self.tc_map {
@@ -553,25 +572,34 @@ pub mod alloc_mod {
                 }
                 if let Some(idx) = idx_found {
                     let addr = time_bucket.1.remove(idx).addr;
-                    if let Some(pool) = pool {
+                    return DeletionResult::WithoutStoreDeletion(Some(addr));
+                }
+            }
+            DeletionResult::WithoutStoreDeletion(None)
+        }
+
+        fn delete_by_request_id_internal_with_store_deletion(
+            &mut self,
+            req_id: &RequestId,
+            pool: &mut (impl PoolProviderMemInPlace + ?Sized),
+        ) -> DeletionResult {
+            let mut idx_found = None;
+            for time_bucket in &mut self.tc_map {
+                for (idx, tc_info) in time_bucket.1.iter().enumerate() {
+                    if &tc_info.request_id == req_id {
+                        idx_found = Some(idx);
+                    }
+                }
+                if let Some(idx) = idx_found {
+                    let addr = time_bucket.1.remove(idx).addr;
                     return match pool.delete(addr) {
                         Ok(_) => DeletionResult::WithStoreDeletion(Ok(true)),
                         Err(e) => DeletionResult::WithStoreDeletion(Err(e)),
                     };
                 }
-                    return DeletionResult::WithoutStoreDeletion(Some(addr));
             }
-            }
-            if pool.is_none() {
-                DeletionResult::WithoutStoreDeletion(None)
-            } else {
             DeletionResult::WithStoreDeletion(Ok(false))
         }
-        }
-        /// Retrieve all telecommands which should be release based on the current time.
-        pub fn telecommands_to_release(&self) -> Range<'_, UnixTimestamp, Vec<TcInfo>> {
-            self.tc_map.range(..=self.current_time)
-        }
 
         #[cfg(feature = "std")]
         #[cfg_attr(doc_cfg, doc(cfg(feature = "std")))]
@@ -582,29 +610,31 @@ pub mod alloc_mod {
 
         /// Utility method which calls [Self::telecommands_to_release] and then calls a releaser
         /// closure for each telecommand which should be released. This function will also delete
-        /// the telecommands from the holding store after calling the release closure, if the scheduler
+        /// the telecommands from the holding store after calling the release closure if the user
-        /// is disabled.
+        /// returns [true] from the release closure.
         ///
         /// # Arguments
         ///
         /// * `releaser` - Closure where the first argument is whether the scheduler is enabled and
-        ///     the second argument is the telecommand information also containing the store address.
+        ///     the second argument is the telecommand information also containing the store
-        ///     This closure should return whether the command should be deleted if the scheduler is
+        ///     address. This closure should return whether the command should be deleted. Please
-        ///     disabled to prevent memory leaks.
+        ///     note that returning false might lead to memory leaks if the TC is not cleared from
-        /// * `store` - The holding store of the telecommands.
+        ///     the store in some other way.
-        pub fn release_telecommands<R: FnMut(bool, &TcInfo) -> bool>(
+        /// * `tc_store` - The holding store of the telecommands.
+        pub fn release_telecommands<R: FnMut(bool, &TcInfo, &[u8]) -> bool>(
             &mut self,
             mut releaser: R,
-            tc_store: &mut (impl PoolProvider + ?Sized),
+            tc_store: &mut (impl PoolProviderMemInPlace + ?Sized),
         ) -> Result<u64, (u64, StoreError)> {
             let tcs_to_release = self.telecommands_to_release();
             let mut released_tcs = 0;
             let mut store_error = Ok(());
             for tc in tcs_to_release {
                 for info in tc.1 {
-                    let should_delete = releaser(self.enabled, info);
+                    let tc = tc_store.read(&info.addr).map_err(|e| (released_tcs, e))?;
+                    let should_delete = releaser(self.enabled, info, tc);
                     released_tcs += 1;
-                    if should_delete && !self.is_enabled() {
+                    if should_delete {
                         let res = tc_store.delete(info.addr);
                         if res.is_err() {
                             store_error = res;
@@ -617,13 +647,112 @@ pub mod alloc_mod {
                 .map(|_| released_tcs)
                 .map_err(|e| (released_tcs, e))
         }
+
+        /// This utility method is similar to [Self::release_telecommands] but will not perform
+        /// store deletions and thus does not require a mutable reference of the TC store.
+        ///
+        /// It will returns a [Vec] of [TcInfo]s to transfer the list of released
+        /// telecommands to the user. The user should take care of deleting those telecommands
+        /// from the holding store to prevent memory leaks.
+        pub fn release_telecommands_no_deletion<R: FnMut(bool, &TcInfo, &[u8])>(
+            &mut self,
+            mut releaser: R,
+            tc_store: &(impl PoolProviderMemInPlace + ?Sized),
+        ) -> Result<Vec<TcInfo>, (Vec<TcInfo>, StoreError)> {
+            let tcs_to_release = self.telecommands_to_release();
+            let mut released_tcs = Vec::new();
+            for tc in tcs_to_release {
+                for info in tc.1 {
+                    let tc = tc_store
+                        .read(&info.addr)
+                        .map_err(|e| (released_tcs.clone(), e))?;
+                    releaser(self.is_enabled(), info, tc);
+                    released_tcs.push(*info);
+                }
+            }
+            self.tc_map.retain(|k, _| k > &self.current_time);
+            Ok(released_tcs)
+        }
+
+        /// Retrieve all telecommands which should be release based on the current time.
+        pub fn telecommands_to_release(&self) -> Range<'_, UnixTimestamp, Vec<TcInfo>> {
+            self.tc_map.range(..=self.current_time)
+        }
+    }
+
+    impl PusSchedulerInterface for PusScheduler {
+        type TimeProvider = cds::TimeProvider;
+
+        /// This will disable the scheduler and clear the schedule as specified in 6.11.4.4.
+        /// Be careful with this command as it will delete all the commands in the schedule.
+        ///
+        /// The holding store for the telecommands needs to be passed so all the stored telecommands
+        /// can be deleted to avoid a memory leak. If at last one deletion operation fails, the error
+        /// will be returned but the method will still try to delete all the commands in the schedule.
+        fn reset(
+            &mut self,
+            store: &mut (impl PoolProviderMemInPlace + ?Sized),
+        ) -> Result<(), StoreError> {
+            self.enabled = false;
+            let mut deletion_ok = Ok(());
+            for tc_lists in &mut self.tc_map {
+                for tc in tc_lists.1 {
+                    let res = store.delete(tc.addr);
+                    if res.is_err() {
+                        deletion_ok = res;
+                    }
+                }
+            }
+            self.tc_map.clear();
+            deletion_ok
+        }
+
+        fn is_enabled(&self) -> bool {
+            self.enabled
+        }
+
+        fn enable(&mut self) {
+            self.enabled = true;
+        }
+
+        /// A disabled scheduler should still delete commands where the execution time has been reached
+        /// but should not release them to be executed.
+        fn disable(&mut self) {
+            self.enabled = false;
+        }
+
+        fn insert_unwrapped_and_stored_tc(
+            &mut self,
+            time_stamp: UnixTimestamp,
+            info: TcInfo,
+        ) -> Result<(), ScheduleError> {
+            if time_stamp < self.current_time + self.time_margin {
+                return Err(ScheduleError::ReleaseTimeInTimeMargin {
+                    current_time: self.current_time,
+                    time_margin: self.time_margin,
+                    release_time: time_stamp,
+                });
+            }
+            match self.tc_map.entry(time_stamp) {
+                Entry::Vacant(e) => {
+                    e.insert(vec![info]);
+                }
+                Entry::Occupied(mut v) => {
+                    v.get_mut().push(info);
+                }
+            }
+            Ok(())
+        }
     }
 }
 
 #[cfg(test)]
 mod tests {
     use super::*;
-    use crate::pool::{LocalPool, PoolCfg, PoolProvider, StoreAddr, StoreError};
+    use crate::pool::{
+        PoolProviderMemInPlace, StaticMemoryPool, StaticPoolAddr, StaticPoolConfig, StoreAddr,
+        StoreError,
+    };
     use alloc::collections::btree_map::Range;
     use spacepackets::ecss::tc::{PusTcCreator, PusTcReader, PusTcSecondaryHeader};
     use spacepackets::ecss::WritablePusPacket;
@@ -694,7 +823,7 @@ mod tests {
     }
 
     fn ping_tc_to_store(
-        pool: &mut LocalPool,
+        pool: &mut StaticMemoryPool,
         buf: &mut [u8],
         seq_count: u16,
         app_data: Option<&'static [u8]>,
@@ -718,7 +847,7 @@ mod tests {
 
     #[test]
     fn reset() {
-        let mut pool = LocalPool::new(PoolCfg::new(vec![(10, 32), (5, 64)]));
+        let mut pool = StaticMemoryPool::new(StaticPoolConfig::new(vec![(10, 32), (5, 64)]));
         let mut scheduler =
             PusScheduler::new(UnixTimestamp::new_only_seconds(0), Duration::from_secs(5));
 
@@ -769,10 +898,10 @@ mod tests {
             .insert_unwrapped_and_stored_tc(
                 UnixTimestamp::new_only_seconds(100),
                 TcInfo::new(
-                    StoreAddr {
+                    StoreAddr::from(StaticPoolAddr {
                         pool_idx: 0,
                         packet_idx: 1,
-                    },
+                    }),
                     RequestId {
                         seq_count: 1,
                         apid: 0,
@@ -786,10 +915,10 @@ mod tests {
             .insert_unwrapped_and_stored_tc(
                 UnixTimestamp::new_only_seconds(100),
                 TcInfo::new(
-                    StoreAddr {
+                    StoreAddr::from(StaticPoolAddr {
                         pool_idx: 0,
                         packet_idx: 2,
-                    },
+                    }),
                     RequestId {
                         seq_count: 2,
                         apid: 1,
@@ -803,10 +932,11 @@ mod tests {
             .insert_unwrapped_and_stored_tc(
                 UnixTimestamp::new_only_seconds(300),
                 TcInfo::new(
-                    StoreAddr {
+                    StaticPoolAddr {
                         pool_idx: 0,
                         packet_idx: 2,
-                    },
+                    }
+                    .into(),
                     RequestId {
                         source_id: 10,
                         seq_count: 20,
@@ -869,7 +999,7 @@ mod tests {
     }
     #[test]
     fn release_basic() {
-        let mut pool = LocalPool::new(PoolCfg::new(vec![(10, 32), (5, 64)]));
+        let mut pool = StaticMemoryPool::new(StaticPoolConfig::new(vec![(10, 32), (5, 64)]));
         let mut scheduler =
             PusScheduler::new(UnixTimestamp::new_only_seconds(0), Duration::from_secs(5));
 
@@ -886,7 +1016,7 @@ mod tests {
             .expect("insertion failed");
 
         let mut i = 0;
-        let mut test_closure_1 = |boolvar: bool, tc_info: &TcInfo| {
+        let mut test_closure_1 = |boolvar: bool, tc_info: &TcInfo, _tc: &[u8]| {
             common_check(boolvar, &tc_info.addr, vec![tc_info_0.addr()], &mut i);
             true
         };
@@ -905,10 +1035,11 @@ mod tests {
             .release_telecommands(&mut test_closure_1, &mut pool)
             .expect("deletion failed");
         assert_eq!(released, 1);
-        assert!(pool.has_element_at(&tc_info_0.addr()).unwrap());
+        // TC is deleted.
+        assert!(!pool.has_element_at(&tc_info_0.addr()).unwrap());
 
         // test 3, late timestamp, release 1 overdue tc
-        let mut test_closure_2 = |boolvar: bool, tc_info: &TcInfo| {
+        let mut test_closure_2 = |boolvar: bool, tc_info: &TcInfo, _tc: &[u8]| {
             common_check(boolvar, &tc_info.addr, vec![tc_info_1.addr()], &mut i);
             true
         };
@@ -919,7 +1050,8 @@ mod tests {
             .release_telecommands(&mut test_closure_2, &mut pool)
             .expect("deletion failed");
         assert_eq!(released, 1);
-        assert!(pool.has_element_at(&tc_info_1.addr()).unwrap());
+        // TC is deleted.
+        assert!(!pool.has_element_at(&tc_info_1.addr()).unwrap());
 
         //test 4: no tcs left
         scheduler
@@ -932,7 +1064,7 @@ mod tests {
 
     #[test]
     fn release_multi_with_same_time() {
-        let mut pool = LocalPool::new(PoolCfg::new(vec![(10, 32), (5, 64)]));
+        let mut pool = StaticMemoryPool::new(StaticPoolConfig::new(vec![(10, 32), (5, 64)]));
         let mut scheduler =
             PusScheduler::new(UnixTimestamp::new_only_seconds(0), Duration::from_secs(5));
 
@@ -949,7 +1081,7 @@ mod tests {
             .expect("insertion failed");
 
         let mut i = 0;
-        let mut test_closure = |boolvar: bool, store_addr: &TcInfo| {
+        let mut test_closure = |boolvar: bool, store_addr: &TcInfo, _tc: &[u8]| {
             common_check(
                 boolvar,
                 &store_addr.addr,
@@ -974,8 +1106,8 @@ mod tests {
             .release_telecommands(&mut test_closure, &mut pool)
             .expect("deletion failed");
         assert_eq!(released, 2);
-        assert!(pool.has_element_at(&tc_info_0.addr()).unwrap());
+        assert!(!pool.has_element_at(&tc_info_0.addr()).unwrap());
-        assert!(pool.has_element_at(&tc_info_1.addr()).unwrap());
+        assert!(!pool.has_element_at(&tc_info_1.addr()).unwrap());
 
         //test 3: no tcs left
         released = scheduler
@@ -989,7 +1121,7 @@ mod tests {
 
     #[test]
     fn release_with_scheduler_disabled() {
-        let mut pool = LocalPool::new(PoolCfg::new(vec![(10, 32), (5, 64)]));
+        let mut pool = StaticMemoryPool::new(StaticPoolConfig::new(vec![(10, 32), (5, 64)]));
         let mut scheduler =
             PusScheduler::new(UnixTimestamp::new_only_seconds(0), Duration::from_secs(5));
 
@@ -1008,7 +1140,7 @@ mod tests {
             .expect("insertion failed");
 
         let mut i = 0;
-        let mut test_closure_1 = |boolvar: bool, tc_info: &TcInfo| {
+        let mut test_closure_1 = |boolvar: bool, tc_info: &TcInfo, _tc: &[u8]| {
             common_check_disabled(boolvar, &tc_info.addr, vec![tc_info_0.addr()], &mut i);
             true
         };
@@ -1030,7 +1162,7 @@ mod tests {
         assert!(!pool.has_element_at(&tc_info_0.addr()).unwrap());
 
         // test 3, late timestamp, release 1 overdue tc
-        let mut test_closure_2 = |boolvar: bool, tc_info: &TcInfo| {
+        let mut test_closure_2 = |boolvar: bool, tc_info: &TcInfo, _tc: &[u8]| {
             common_check_disabled(boolvar, &tc_info.addr, vec![tc_info_1.addr()], &mut i);
             true
         };
@@ -1057,7 +1189,7 @@ mod tests {
         let mut scheduler =
             PusScheduler::new(UnixTimestamp::new_only_seconds(0), Duration::from_secs(5));
 
-        let mut pool = LocalPool::new(PoolCfg::new(vec![(10, 32), (5, 64)]));
+        let mut pool = StaticMemoryPool::new(StaticPoolConfig::new(vec![(10, 32), (5, 64)]));
         let mut buf: [u8; 32] = [0; 32];
         let tc_info_0 = ping_tc_to_store(&mut pool, &mut buf, 0, None);
 
@@ -1072,7 +1204,7 @@ mod tests {
         assert!(pool.has_element_at(&tc_info_0.addr()).unwrap());
 
         let data = pool.read(&tc_info_0.addr()).unwrap();
-        let check_tc = PusTcReader::new(&data).expect("incorrect Pus tc raw data");
+        let check_tc = PusTcReader::new(data).expect("incorrect Pus tc raw data");
         assert_eq!(check_tc.0, base_ping_tc_simple_ctor(0, None));
 
         assert_eq!(scheduler.num_scheduled_telecommands(), 1);
@@ -1082,7 +1214,7 @@ mod tests {
         let mut addr_vec = Vec::new();
 
         let mut i = 0;
-        let mut test_closure = |boolvar: bool, tc_info: &TcInfo| {
+        let mut test_closure = |boolvar: bool, tc_info: &TcInfo, _tc: &[u8]| {
             common_check(boolvar, &tc_info.addr, vec![info.addr], &mut i);
             // check that tc remains unchanged
             addr_vec.push(tc_info.addr);
@@ -1094,7 +1226,7 @@ mod tests {
             .unwrap();
 
         let data = pool.read(&addr_vec[0]).unwrap();
-        let check_tc = PusTcReader::new(&data).expect("incorrect Pus tc raw data");
+        let check_tc = PusTcReader::new(data).expect("incorrect Pus tc raw data");
         assert_eq!(check_tc.0, base_ping_tc_simple_ctor(0, None));
     }
 
@@ -1103,7 +1235,7 @@ mod tests {
         let mut scheduler =
             PusScheduler::new(UnixTimestamp::new_only_seconds(0), Duration::from_secs(5));
 
-        let mut pool = LocalPool::new(PoolCfg::new(vec![(10, 32), (5, 64)]));
+        let mut pool = StaticMemoryPool::new(StaticPoolConfig::new(vec![(10, 32), (5, 64)]));
 
         let mut buf: [u8; 32] = [0; 32];
         let tc = scheduled_tc(UnixTimestamp::new_only_seconds(100), &mut buf);
@@ -1118,7 +1250,7 @@ mod tests {
         assert!(pool.has_element_at(&info.addr).unwrap());
 
         let data = pool.read(&info.addr).unwrap();
-        let check_tc = PusTcReader::new(&data).expect("incorrect Pus tc raw data");
+        let check_tc = PusTcReader::new(data).expect("incorrect Pus tc raw data");
         assert_eq!(check_tc.0, base_ping_tc_simple_ctor(0, None));
 
         assert_eq!(scheduler.num_scheduled_telecommands(), 1);
@@ -1128,7 +1260,7 @@ mod tests {
         let mut addr_vec = Vec::new();
 
         let mut i = 0;
-        let mut test_closure = |boolvar: bool, tc_info: &TcInfo| {
+        let mut test_closure = |boolvar: bool, tc_info: &TcInfo, _tc: &[u8]| {
             common_check(boolvar, &tc_info.addr, vec![info.addr], &mut i);
             // check that tc remains unchanged
             addr_vec.push(tc_info.addr);
@@ -1140,7 +1272,7 @@ mod tests {
             .unwrap();
 
         let data = pool.read(&addr_vec[0]).unwrap();
-        let check_tc = PusTcReader::new(&data).expect("incorrect PUS tc raw data");
+        let check_tc = PusTcReader::new(data).expect("incorrect PUS tc raw data");
         assert_eq!(check_tc.0, base_ping_tc_simple_ctor(0, None));
     }
 
@@ -1149,7 +1281,7 @@ mod tests {
         let mut scheduler =
             PusScheduler::new(UnixTimestamp::new_only_seconds(0), Duration::from_secs(5));
 
-        let mut pool = LocalPool::new(PoolCfg::new(vec![(10, 32), (5, 64)]));
+        let mut pool = StaticMemoryPool::new(StaticPoolConfig::new(vec![(10, 32), (5, 64)]));
 
         let mut buf: [u8; 32] = [0; 32];
         let tc = wrong_tc_service(UnixTimestamp::new_only_seconds(100), &mut buf);
@@ -1170,7 +1302,7 @@ mod tests {
         let mut scheduler =
             PusScheduler::new(UnixTimestamp::new_only_seconds(0), Duration::from_secs(5));
 
-        let mut pool = LocalPool::new(PoolCfg::new(vec![(10, 32), (5, 64)]));
+        let mut pool = StaticMemoryPool::new(StaticPoolConfig::new(vec![(10, 32), (5, 64)]));
 
         let mut buf: [u8; 32] = [0; 32];
         let tc = wrong_tc_subservice(UnixTimestamp::new_only_seconds(100), &mut buf);
@@ -1190,7 +1322,7 @@ mod tests {
     fn insert_wrapped_tc_faulty_app_data() {
         let mut scheduler =
             PusScheduler::new(UnixTimestamp::new_only_seconds(0), Duration::from_secs(5));
-        let mut pool = LocalPool::new(PoolCfg::new(vec![(10, 32), (5, 64)]));
+        let mut pool = StaticMemoryPool::new(StaticPoolConfig::new(vec![(10, 32), (5, 64)]));
         let tc = invalid_time_tagged_cmd();
         let insert_res = scheduler.insert_wrapped_tc::<cds::TimeProvider>(&tc, &mut pool);
         assert!(insert_res.is_err());
@@ -1205,7 +1337,7 @@ mod tests {
     fn insert_doubly_wrapped_time_tagged_cmd() {
         let mut scheduler =
             PusScheduler::new(UnixTimestamp::new_only_seconds(0), Duration::from_secs(5));
-        let mut pool = LocalPool::new(PoolCfg::new(vec![(10, 32), (5, 64)]));
+        let mut pool = StaticMemoryPool::new(StaticPoolConfig::new(vec![(10, 32), (5, 64)]));
         let mut buf: [u8; 64] = [0; 64];
         let tc = double_wrapped_time_tagged_tc(UnixTimestamp::new_only_seconds(50), &mut buf);
         let insert_res = scheduler.insert_wrapped_tc::<cds::TimeProvider>(&tc, &mut pool);
@@ -1241,7 +1373,7 @@ mod tests {
         let mut scheduler =
             PusScheduler::new(UnixTimestamp::new_only_seconds(0), Duration::from_secs(5));
 
-        let mut pool = LocalPool::new(PoolCfg::new(vec![(10, 32), (5, 64)]));
+        let mut pool = StaticMemoryPool::new(StaticPoolConfig::new(vec![(10, 32), (5, 64)]));
 
         let mut buf: [u8; 32] = [0; 32];
 
@@ -1250,9 +1382,13 @@ mod tests {
         assert!(insert_res.is_err());
         let err = insert_res.unwrap_err();
         match err {
-            ScheduleError::ReleaseTimeInTimeMargin(curr_time, margin, release_time) => {
+            ScheduleError::ReleaseTimeInTimeMargin {
-                assert_eq!(curr_time, UnixTimestamp::new_only_seconds(0));
+                current_time,
-                assert_eq!(margin, Duration::from_secs(5));
+                time_margin,
+                release_time,
+            } => {
+                assert_eq!(current_time, UnixTimestamp::new_only_seconds(0));
+                assert_eq!(time_margin, Duration::from_secs(5));
                 assert_eq!(release_time, UnixTimestamp::new_only_seconds(4));
             }
             _ => panic!("unexepcted error {err}"),
@@ -1261,7 +1397,7 @@ mod tests {
 
     #[test]
     fn test_store_error_propagation_release() {
-        let mut pool = LocalPool::new(PoolCfg::new(vec![(10, 32), (5, 64)]));
+        let mut pool = StaticMemoryPool::new(StaticPoolConfig::new(vec![(10, 32), (5, 64)]));
         let mut scheduler =
             PusScheduler::new(UnixTimestamp::new_only_seconds(0), Duration::from_secs(5));
         let mut buf: [u8; 32] = [0; 32];
@@ -1271,7 +1407,7 @@ mod tests {
             .expect("insertion failed");
 
         let mut i = 0;
-        let test_closure_1 = |boolvar: bool, tc_info: &TcInfo| {
+        let test_closure_1 = |boolvar: bool, tc_info: &TcInfo, _tc: &[u8]| {
             common_check_disabled(boolvar, &tc_info.addr, vec![tc_info_0.addr()], &mut i);
             true
         };
@@ -1284,7 +1420,8 @@ mod tests {
         let release_res = scheduler.release_telecommands(test_closure_1, &mut pool);
         assert!(release_res.is_err());
         let err = release_res.unwrap_err();
-        assert_eq!(err.0, 1);
+        // TC could not even be read..
+        assert_eq!(err.0, 0);
         match err.1 {
             StoreError::DataDoesNotExist(addr) => {
                 assert_eq!(tc_info_0.addr(), addr);
@@ -1295,7 +1432,7 @@ mod tests {
 
     #[test]
     fn test_store_error_propagation_reset() {
-        let mut pool = LocalPool::new(PoolCfg::new(vec![(10, 32), (5, 64)]));
+        let mut pool = StaticMemoryPool::new(StaticPoolConfig::new(vec![(10, 32), (5, 64)]));
         let mut scheduler =
             PusScheduler::new(UnixTimestamp::new_only_seconds(0), Duration::from_secs(5));
         let mut buf: [u8; 32] = [0; 32];
@@ -1319,7 +1456,7 @@ mod tests {
 
     #[test]
     fn test_delete_by_req_id_simple_retrieve_addr() {
-        let mut pool = LocalPool::new(PoolCfg::new(vec![(10, 32), (5, 64)]));
+        let mut pool = StaticMemoryPool::new(StaticPoolConfig::new(vec![(10, 32), (5, 64)]));
         let mut scheduler =
             PusScheduler::new(UnixTimestamp::new_only_seconds(0), Duration::from_secs(5));
         let mut buf: [u8; 32] = [0; 32];
@@ -1338,7 +1475,7 @@ mod tests {
 
     #[test]
     fn test_delete_by_req_id_simple_delete_all() {
-        let mut pool = LocalPool::new(PoolCfg::new(vec![(10, 32), (5, 64)]));
+        let mut pool = StaticMemoryPool::new(StaticPoolConfig::new(vec![(10, 32), (5, 64)]));
         let mut scheduler =
             PusScheduler::new(UnixTimestamp::new_only_seconds(0), Duration::from_secs(5));
         let mut buf: [u8; 32] = [0; 32];
@@ -1357,7 +1494,7 @@ mod tests {
 
     #[test]
     fn test_delete_by_req_id_complex() {
-        let mut pool = LocalPool::new(PoolCfg::new(vec![(10, 32), (5, 64)]));
+        let mut pool = StaticMemoryPool::new(StaticPoolConfig::new(vec![(10, 32), (5, 64)]));
         let mut scheduler =
             PusScheduler::new(UnixTimestamp::new_only_seconds(0), Duration::from_secs(5));
         let mut buf: [u8; 32] = [0; 32];
@@ -1386,7 +1523,7 @@ mod tests {
         let del_res =
             scheduler.delete_by_request_id_and_from_pool(&tc_info_2.request_id(), &mut pool);
         assert!(del_res.is_ok());
-        assert_eq!(del_res.unwrap(), true);
+        assert!(del_res.unwrap());
         assert!(!pool.has_element_at(&tc_info_2.addr()).unwrap());
         assert_eq!(scheduler.num_scheduled_telecommands(), 1);
 
@@ -1394,7 +1531,7 @@ mod tests {
         let addr_1 =
             scheduler.delete_by_request_id_and_from_pool(&tc_info_1.request_id(), &mut pool);
         assert!(addr_1.is_ok());
-        assert_eq!(addr_1.unwrap(), true);
+        assert!(addr_1.unwrap());
         assert!(!pool.has_element_at(&tc_info_1.addr()).unwrap());
         assert_eq!(scheduler.num_scheduled_telecommands(), 0);
     }
@@ -1404,7 +1541,7 @@ mod tests {
         let mut scheduler =
             PusScheduler::new(UnixTimestamp::new_only_seconds(0), Duration::from_secs(5));
 
-        let mut pool = LocalPool::new(PoolCfg::new(vec![(1, 64)]));
+        let mut pool = StaticMemoryPool::new(StaticPoolConfig::new(vec![(1, 64)]));
 
         let mut buf: [u8; 32] = [0; 32];
         // Store is full after this.
@@ -1424,7 +1561,7 @@ mod tests {
     }
 
     fn insert_command_with_release_time(
-        pool: &mut LocalPool,
+        pool: &mut StaticMemoryPool,
         scheduler: &mut PusScheduler,
         seq_count: u16,
         release_secs: u64,
@@ -1443,7 +1580,7 @@ mod tests {
 
     #[test]
     fn test_time_window_retrieval_select_all() {
-        let mut pool = LocalPool::new(PoolCfg::new(vec![(10, 32), (5, 64)]));
+        let mut pool = StaticMemoryPool::new(StaticPoolConfig::new(vec![(10, 32), (5, 64)]));
         let mut scheduler =
             PusScheduler::new(UnixTimestamp::new_only_seconds(0), Duration::from_secs(5));
         let tc_info_0 = insert_command_with_release_time(&mut pool, &mut scheduler, 0, 50);
@@ -1474,7 +1611,7 @@ mod tests {
 
     #[test]
     fn test_time_window_retrieval_select_from_stamp() {
-        let mut pool = LocalPool::new(PoolCfg::new(vec![(10, 32), (5, 64)]));
+        let mut pool = StaticMemoryPool::new(StaticPoolConfig::new(vec![(10, 32), (5, 64)]));
         let mut scheduler =
             PusScheduler::new(UnixTimestamp::new_only_seconds(0), Duration::from_secs(5));
         let _ = insert_command_with_release_time(&mut pool, &mut scheduler, 0, 50);
@@ -1505,7 +1642,7 @@ mod tests {
 
     #[test]
     fn test_time_window_retrieval_select_to_time() {
-        let mut pool = LocalPool::new(PoolCfg::new(vec![(10, 32), (5, 64)]));
+        let mut pool = StaticMemoryPool::new(StaticPoolConfig::new(vec![(10, 32), (5, 64)]));
         let mut scheduler =
             PusScheduler::new(UnixTimestamp::new_only_seconds(0), Duration::from_secs(5));
         let tc_info_0 = insert_command_with_release_time(&mut pool, &mut scheduler, 0, 50);
@@ -1536,7 +1673,7 @@ mod tests {
 
     #[test]
     fn test_time_window_retrieval_select_from_time_to_time() {
-        let mut pool = LocalPool::new(PoolCfg::new(vec![(10, 32), (5, 64)]));
+        let mut pool = StaticMemoryPool::new(StaticPoolConfig::new(vec![(10, 32), (5, 64)]));
         let mut scheduler =
             PusScheduler::new(UnixTimestamp::new_only_seconds(0), Duration::from_secs(5));
         let _ = insert_command_with_release_time(&mut pool, &mut scheduler, 0, 50);
@@ -1571,7 +1708,7 @@ mod tests {
 
     #[test]
     fn test_deletion_all() {
-        let mut pool = LocalPool::new(PoolCfg::new(vec![(10, 32), (5, 64)]));
+        let mut pool = StaticMemoryPool::new(StaticPoolConfig::new(vec![(10, 32), (5, 64)]));
         let mut scheduler =
             PusScheduler::new(UnixTimestamp::new_only_seconds(0), Duration::from_secs(5));
         insert_command_with_release_time(&mut pool, &mut scheduler, 0, 50);
@@ -1598,7 +1735,7 @@ mod tests {
 
     #[test]
     fn test_deletion_from_start_time() {
-        let mut pool = LocalPool::new(PoolCfg::new(vec![(10, 32), (5, 64)]));
+        let mut pool = StaticMemoryPool::new(StaticPoolConfig::new(vec![(10, 32), (5, 64)]));
         let mut scheduler =
             PusScheduler::new(UnixTimestamp::new_only_seconds(0), Duration::from_secs(5));
         insert_command_with_release_time(&mut pool, &mut scheduler, 0, 50);
@@ -1619,7 +1756,7 @@ mod tests {
 
     #[test]
     fn test_deletion_to_end_time() {
-        let mut pool = LocalPool::new(PoolCfg::new(vec![(10, 32), (5, 64)]));
+        let mut pool = StaticMemoryPool::new(StaticPoolConfig::new(vec![(10, 32), (5, 64)]));
         let mut scheduler =
             PusScheduler::new(UnixTimestamp::new_only_seconds(0), Duration::from_secs(5));
         let cmd_0_to_delete = insert_command_with_release_time(&mut pool, &mut scheduler, 0, 50);
@@ -1641,7 +1778,7 @@ mod tests {
 
     #[test]
     fn test_deletion_from_start_time_to_end_time() {
-        let mut pool = LocalPool::new(PoolCfg::new(vec![(10, 32), (5, 64)]));
+        let mut pool = StaticMemoryPool::new(StaticPoolConfig::new(vec![(10, 32), (5, 64)]));
         let mut scheduler =
             PusScheduler::new(UnixTimestamp::new_only_seconds(0), Duration::from_secs(5));
         let cmd_out_of_range_0 = insert_command_with_release_time(&mut pool, &mut scheduler, 0, 50);

satrs-core/src/pus/scheduler_srv.rs

@@ -1,82 +1,72 @@
-use crate::pool::SharedPool;
+use super::scheduler::PusSchedulerInterface;
-use crate::pus::scheduler::PusScheduler;
+use super::{EcssTcInMemConverter, PusServiceBase, PusServiceHelper};
-use crate::pus::{EcssTcReceiver, EcssTmSender, PusPacketHandlerResult, PusPacketHandlingError};
+use crate::pool::PoolProviderMemInPlace;
+use crate::pus::{PusPacketHandlerResult, PusPacketHandlingError};
+use alloc::string::ToString;
 use spacepackets::ecss::{scheduling, PusPacket};
 use spacepackets::time::cds::TimeProvider;
-use std::boxed::Box;
-
-use super::verification::VerificationReporterWithSender;
-use super::{EcssTcInMemConverter, PusServiceBase, PusServiceHandler};
 
 /// This is a helper class for [std] environments to handle generic PUS 11 (scheduling service)
-/// packets. This handler is constrained to using the [PusScheduler], but is able to process
+/// packets. This handler is able to handle the most important PUS requests for a scheduling
-/// the most important PUS requests for a scheduling service.
+/// service which provides the [PusSchedulerInterface].
 ///
 /// Please note that this class does not do the regular periodic handling like releasing any
 /// telecommands inside the scheduler. The user can retrieve the wrapped scheduler via the
 /// [Self::scheduler] and [Self::scheduler_mut] function and then use the scheduler API to release
 /// telecommands when applicable.
-pub struct PusService11SchedHandler<TcInMemConverter: EcssTcInMemConverter> {
+pub struct PusService11SchedHandler<
-    pub psb: PusServiceHandler<TcInMemConverter>,
+    TcInMemConverter: EcssTcInMemConverter,
-    shared_tc_store: SharedPool,
+    Scheduler: PusSchedulerInterface,
-    scheduler: PusScheduler,
+> {
+    pub service_helper: PusServiceHelper<TcInMemConverter>,
+    scheduler: Scheduler,
 }
 
-impl<TcInMemConverter: EcssTcInMemConverter> PusService11SchedHandler<TcInMemConverter> {
+impl<TcInMemConverter: EcssTcInMemConverter, Scheduler: PusSchedulerInterface>
-    pub fn new(
+    PusService11SchedHandler<TcInMemConverter, Scheduler>
-        tc_receiver: Box<dyn EcssTcReceiver>,
+{
-        tm_sender: Box<dyn EcssTmSender>,
+    pub fn new(service_helper: PusServiceHelper<TcInMemConverter>, scheduler: Scheduler) -> Self {
-        tm_apid: u16,
-        verification_handler: VerificationReporterWithSender,
-        tc_in_mem_converter: TcInMemConverter,
-        shared_tc_store: SharedPool,
-        scheduler: PusScheduler,
-    ) -> Self {
         Self {
-            psb: PusServiceHandler::new(
+            service_helper,
-                tc_receiver,
-                tm_sender,
-                tm_apid,
-                verification_handler,
-                tc_in_mem_converter,
-            ),
-            shared_tc_store,
             scheduler,
         }
     }
 
-    pub fn scheduler_mut(&mut self) -> &mut PusScheduler {
+    pub fn scheduler_mut(&mut self) -> &mut Scheduler {
         &mut self.scheduler
     }
 
-    pub fn scheduler(&self) -> &PusScheduler {
+    pub fn scheduler(&self) -> &Scheduler {
         &self.scheduler
     }
 
-    pub fn handle_one_tc(&mut self) -> Result<PusPacketHandlerResult, PusPacketHandlingError> {
+    pub fn handle_one_tc(
-        let possible_packet = self.psb.retrieve_and_accept_next_packet()?;
+        &mut self,
+        sched_tc_pool: &mut (impl PoolProviderMemInPlace + ?Sized),
+    ) -> Result<PusPacketHandlerResult, PusPacketHandlingError> {
+        let possible_packet = self.service_helper.retrieve_and_accept_next_packet()?;
         if possible_packet.is_none() {
             return Ok(PusPacketHandlerResult::Empty);
         }
         let ecss_tc_and_token = possible_packet.unwrap();
         let tc = self
-            .psb
+            .service_helper
             .tc_in_mem_converter
-            .convert_ecss_tc_in_memory_to_reader(&ecss_tc_and_token)?;
+            .convert_ecss_tc_in_memory_to_reader(&ecss_tc_and_token.tc_in_memory)?;
-        let subservice = tc.subservice();
+        let subservice = PusPacket::subservice(&tc);
-        let std_service = scheduling::Subservice::try_from(subservice);
+        let standard_subservice = scheduling::Subservice::try_from(subservice);
-        if std_service.is_err() {
+        if standard_subservice.is_err() {
             return Ok(PusPacketHandlerResult::CustomSubservice(
-                tc.subservice(),
+                subservice,
                 ecss_tc_and_token.token,
             ));
         }
         let mut partial_error = None;
         let time_stamp = PusServiceBase::get_current_timestamp(&mut partial_error);
-        match std_service.unwrap() {
+        match standard_subservice.unwrap() {
             scheduling::Subservice::TcEnableScheduling => {
                 let start_token = self
-                    .psb
+                    .service_helper
                     .common
                     .verification_handler
                     .get_mut()
@@ -85,19 +75,21 @@ impl<TcInMemConverter: EcssTcInMemConverter> PusService11SchedHandler<TcInMemCon
 
                 self.scheduler.enable();
                 if self.scheduler.is_enabled() {
-                    self.psb
+                    self.service_helper
                         .common
                         .verification_handler
                         .get_mut()
                         .completion_success(start_token, Some(&time_stamp))
                         .expect("Error sending completion success");
                 } else {
-                    panic!("Failed to enable scheduler");
+                    return Err(PusPacketHandlingError::Other(
+                        "failed to enabled scheduler".to_string(),
+                    ));
                 }
             }
             scheduling::Subservice::TcDisableScheduling => {
                 let start_token = self
-                    .psb
+                    .service_helper
                     .common
                     .verification_handler
                     .get_mut()
@@ -106,32 +98,32 @@ impl<TcInMemConverter: EcssTcInMemConverter> PusService11SchedHandler<TcInMemCon
 
                 self.scheduler.disable();
                 if !self.scheduler.is_enabled() {
-                    self.psb
+                    self.service_helper
                         .common
                         .verification_handler
                         .get_mut()
                         .completion_success(start_token, Some(&time_stamp))
                         .expect("Error sending completion success");
                 } else {
-                    panic!("Failed to disable scheduler");
+                    return Err(PusPacketHandlingError::Other(
+                        "failed to disable scheduler".to_string(),
+                    ));
                 }
             }
             scheduling::Subservice::TcResetScheduling => {
                 let start_token = self
-                    .psb
+                    .service_helper
                     .common
                     .verification_handler
                     .get_mut()
                     .start_success(ecss_tc_and_token.token, Some(&time_stamp))
                     .expect("Error sending start success");
 
-                let mut pool = self.shared_tc_store.write().expect("Locking pool failed");
-
                 self.scheduler
-                    .reset(pool.as_mut())
+                    .reset(sched_tc_pool)
                     .expect("Error resetting TC Pool");
 
-                self.psb
+                self.service_helper
                     .common
                     .verification_handler
                     .get_mut()
@@ -140,19 +132,19 @@ impl<TcInMemConverter: EcssTcInMemConverter> PusService11SchedHandler<TcInMemCon
             }
             scheduling::Subservice::TcInsertActivity => {
                 let start_token = self
-                    .psb
+                    .service_helper
                     .common
                     .verification_handler
                     .get_mut()
                     .start_success(ecss_tc_and_token.token, Some(&time_stamp))
                     .expect("error sending start success");
 
-                let mut pool = self.shared_tc_store.write().expect("locking pool failed");
+                // let mut pool = self.sched_tc_pool.write().expect("locking pool failed");
                 self.scheduler
-                    .insert_wrapped_tc::<TimeProvider>(&tc, pool.as_mut())
+                    .insert_wrapped_tc::<TimeProvider>(&tc, sched_tc_pool)
                     .expect("insertion of activity into pool failed");
 
-                self.psb
+                self.service_helper
                     .common
                     .verification_handler
                     .get_mut()
@@ -162,7 +154,7 @@ impl<TcInMemConverter: EcssTcInMemConverter> PusService11SchedHandler<TcInMemCon
             _ => {
                 // Treat unhandled standard subservices as custom subservices for now.
                 return Ok(PusPacketHandlerResult::CustomSubservice(
-                    tc.subservice(),
+                    subservice,
                     ecss_tc_and_token.token,
                 ));
             }
@@ -175,3 +167,189 @@ impl<TcInMemConverter: EcssTcInMemConverter> PusService11SchedHandler<TcInMemCon
         Ok(PusPacketHandlerResult::RequestHandled)
     }
 }
+
+#[cfg(test)]
+mod tests {
+    use crate::pool::{StaticMemoryPool, StaticPoolConfig};
+    use crate::pus::tests::TEST_APID;
+    use crate::pus::{
+        scheduler::{self, PusSchedulerInterface, TcInfo},
+        tests::{PusServiceHandlerWithSharedStoreCommon, PusTestHarness},
+        verification::{RequestId, TcStateAccepted, VerificationToken},
+        EcssTcInSharedStoreConverter,
+    };
+    use alloc::collections::VecDeque;
+    use delegate::delegate;
+    use spacepackets::ecss::scheduling::Subservice;
+    use spacepackets::ecss::tc::PusTcSecondaryHeader;
+    use spacepackets::ecss::WritablePusPacket;
+    use spacepackets::time::TimeWriter;
+    use spacepackets::SpHeader;
+    use spacepackets::{
+        ecss::{tc::PusTcCreator, tm::PusTmReader},
+        time::cds,
+    };
+
+    use super::PusService11SchedHandler;
+
+    struct Pus11HandlerWithStoreTester {
+        common: PusServiceHandlerWithSharedStoreCommon,
+        handler: PusService11SchedHandler<EcssTcInSharedStoreConverter, TestScheduler>,
+        sched_tc_pool: StaticMemoryPool,
+    }
+
+    impl Pus11HandlerWithStoreTester {
+        pub fn new() -> Self {
+            let test_scheduler = TestScheduler::default();
+            let pool_cfg = StaticPoolConfig::new(alloc::vec![(16, 16), (8, 32), (4, 64)]);
+            let sched_tc_pool = StaticMemoryPool::new(pool_cfg.clone());
+            let (common, srv_handler) = PusServiceHandlerWithSharedStoreCommon::new();
+            Self {
+                common,
+                handler: PusService11SchedHandler::new(srv_handler, test_scheduler),
+                sched_tc_pool,
+            }
+        }
+    }
+
+    impl PusTestHarness for Pus11HandlerWithStoreTester {
+        delegate! {
+            to self.common {
+                fn send_tc(&mut self, tc: &PusTcCreator) -> VerificationToken<TcStateAccepted>;
+                fn read_next_tm(&mut self) -> PusTmReader<'_>;
+                fn check_no_tm_available(&self) -> bool;
+                fn check_next_verification_tm(&self, subservice: u8, expected_request_id: RequestId);
+            }
+        }
+    }
+
+    #[derive(Default)]
+    pub struct TestScheduler {
+        reset_count: u32,
+        enabled: bool,
+        enabled_count: u32,
+        disabled_count: u32,
+        inserted_tcs: VecDeque<TcInfo>,
+    }
+
+    impl PusSchedulerInterface for TestScheduler {
+        type TimeProvider = cds::TimeProvider;
+
+        fn reset(
+            &mut self,
+            _store: &mut (impl crate::pool::PoolProviderMemInPlace + ?Sized),
+        ) -> Result<(), crate::pool::StoreError> {
+            self.reset_count += 1;
+            Ok(())
+        }
+
+        fn is_enabled(&self) -> bool {
+            self.enabled
+        }
+
+        fn enable(&mut self) {
+            self.enabled_count += 1;
+            self.enabled = true;
+        }
+
+        fn disable(&mut self) {
+            self.disabled_count += 1;
+            self.enabled = false;
+        }
+
+        fn insert_unwrapped_and_stored_tc(
+            &mut self,
+            _time_stamp: spacepackets::time::UnixTimestamp,
+            info: crate::pus::scheduler::TcInfo,
+        ) -> Result<(), crate::pus::scheduler::ScheduleError> {
+            self.inserted_tcs.push_back(info);
+            Ok(())
+        }
+    }
+
+    fn generic_subservice_send(
+        test_harness: &mut Pus11HandlerWithStoreTester,
+        subservice: Subservice,
+    ) {
+        let mut reply_header = SpHeader::tm_unseg(TEST_APID, 0, 0).unwrap();
+        let tc_header = PusTcSecondaryHeader::new_simple(11, subservice as u8);
+        let enable_scheduling = PusTcCreator::new(&mut reply_header, tc_header, &[0; 7], true);
+        let token = test_harness.send_tc(&enable_scheduling);
+
+        let request_id = token.req_id();
+        test_harness
+            .handler
+            .handle_one_tc(&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);
+        test_harness.check_next_verification_tm(7, request_id);
+    }
+
+    #[test]
+    fn test_scheduling_enabling_tc() {
+        let mut test_harness = Pus11HandlerWithStoreTester::new();
+        test_harness.handler.scheduler_mut().disable();
+        assert!(!test_harness.handler.scheduler().is_enabled());
+        generic_subservice_send(&mut test_harness, Subservice::TcEnableScheduling);
+        assert!(test_harness.handler.scheduler().is_enabled());
+        assert_eq!(test_harness.handler.scheduler().enabled_count, 1);
+    }
+
+    #[test]
+    fn test_scheduling_disabling_tc() {
+        let mut test_harness = Pus11HandlerWithStoreTester::new();
+        test_harness.handler.scheduler_mut().enable();
+        assert!(test_harness.handler.scheduler().is_enabled());
+        generic_subservice_send(&mut test_harness, Subservice::TcDisableScheduling);
+        assert!(!test_harness.handler.scheduler().is_enabled());
+        assert_eq!(test_harness.handler.scheduler().disabled_count, 1);
+    }
+
+    #[test]
+    fn test_reset_scheduler_tc() {
+        let mut test_harness = Pus11HandlerWithStoreTester::new();
+        generic_subservice_send(&mut test_harness, Subservice::TcResetScheduling);
+        assert_eq!(test_harness.handler.scheduler().reset_count, 1);
+    }
+
+    #[test]
+    fn test_insert_activity_tc() {
+        let mut test_harness = Pus11HandlerWithStoreTester::new();
+        let mut reply_header = SpHeader::tm_unseg(TEST_APID, 0, 0).unwrap();
+        let mut sec_header = PusTcSecondaryHeader::new_simple(17, 1);
+        let ping_tc = PusTcCreator::new(&mut reply_header, sec_header, &[], true);
+        let req_id_ping_tc = scheduler::RequestId::from_tc(&ping_tc);
+        let stamper = cds::TimeProvider::from_now_with_u16_days().expect("time provider failed");
+        let mut sched_app_data: [u8; 64] = [0; 64];
+        let mut written_len = stamper.write_to_bytes(&mut sched_app_data).unwrap();
+        let ping_raw = ping_tc.to_vec().expect("generating raw tc failed");
+        sched_app_data[written_len..written_len + ping_raw.len()].copy_from_slice(&ping_raw);
+        written_len += ping_raw.len();
+        reply_header = SpHeader::tm_unseg(TEST_APID, 1, 0).unwrap();
+        sec_header = PusTcSecondaryHeader::new_simple(11, Subservice::TcInsertActivity as u8);
+        let enable_scheduling = PusTcCreator::new(
+            &mut reply_header,
+            sec_header,
+            &sched_app_data[..written_len],
+            true,
+        );
+        let token = test_harness.send_tc(&enable_scheduling);
+
+        let request_id = token.req_id();
+        test_harness
+            .handler
+            .handle_one_tc(&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);
+        test_harness.check_next_verification_tm(7, request_id);
+        let tc_info = test_harness
+            .handler
+            .scheduler_mut()
+            .inserted_tcs
+            .pop_front()
+            .unwrap();
+        assert_eq!(tc_info.request_id(), req_id_ping_tc);
+    }
+}

satrs-core/src/pus/test.rs

@@ -1,50 +1,33 @@
 use crate::pus::{
-    EcssTcReceiver, EcssTmSender, PartialPusHandlingError, PusPacketHandlerResult,
+    PartialPusHandlingError, PusPacketHandlerResult, PusPacketHandlingError, PusTmWrapper,
-    PusPacketHandlingError, PusTmWrapper,
 };
 use spacepackets::ecss::tm::{PusTmCreator, PusTmSecondaryHeader};
 use spacepackets::ecss::PusPacket;
 use spacepackets::SpHeader;
-use std::boxed::Box;
 
-use super::verification::VerificationReporterWithSender;
+use super::{EcssTcInMemConverter, PusServiceBase, PusServiceHelper};
-use super::{EcssTcInMemConverter, PusServiceBase, PusServiceHandler};
 
 /// This is a helper class for [std] environments to handle generic PUS 17 (test service) packets.
 /// This handler only processes ping requests and generates a ping reply for them accordingly.
 pub struct PusService17TestHandler<TcInMemConverter: EcssTcInMemConverter> {
-    pub psb: PusServiceHandler<TcInMemConverter>,
+    pub service_helper: PusServiceHelper<TcInMemConverter>,
 }
 
 impl<TcInMemConverter: EcssTcInMemConverter> PusService17TestHandler<TcInMemConverter> {
-    pub fn new(
+    pub fn new(service_helper: PusServiceHelper<TcInMemConverter>) -> Self {
-        tc_receiver: Box<dyn EcssTcReceiver>,
+        Self { service_helper }
-        tm_sender: Box<dyn EcssTmSender>,
-        tm_apid: u16,
-        verification_handler: VerificationReporterWithSender,
-        tc_in_mem_converter: TcInMemConverter,
-    ) -> Self {
-        Self {
-            psb: PusServiceHandler::new(
-                tc_receiver,
-                tm_sender,
-                tm_apid,
-                verification_handler,
-                tc_in_mem_converter,
-            ),
-        }
     }
 
     pub fn handle_one_tc(&mut self) -> Result<PusPacketHandlerResult, PusPacketHandlingError> {
-        let possible_packet = self.psb.retrieve_and_accept_next_packet()?;
+        let possible_packet = self.service_helper.retrieve_and_accept_next_packet()?;
         if possible_packet.is_none() {
             return Ok(PusPacketHandlerResult::Empty);
         }
         let ecss_tc_and_token = possible_packet.unwrap();
         let tc = self
-            .psb
+            .service_helper
             .tc_in_mem_converter
-            .convert_ecss_tc_in_memory_to_reader(&ecss_tc_and_token)?;
+            .convert_ecss_tc_in_memory_to_reader(&ecss_tc_and_token.tc_in_memory)?;
         if tc.service() != 17 {
             return Err(PusPacketHandlingError::WrongService(tc.service()));
         }
@@ -52,7 +35,7 @@ impl<TcInMemConverter: EcssTcInMemConverter> PusService17TestHandler<TcInMemConv
             let mut partial_error = None;
             let time_stamp = PusServiceBase::get_current_timestamp(&mut partial_error);
             let result = self
-                .psb
+                .service_helper
                 .common
                 .verification_handler
                 .get_mut()
@@ -65,11 +48,12 @@ impl<TcInMemConverter: EcssTcInMemConverter> PusService17TestHandler<TcInMemConv
                 None
             };
             // Sequence count will be handled centrally in TM funnel.
-            let mut reply_header = SpHeader::tm_unseg(self.psb.common.tm_apid, 0, 0).unwrap();
+            let mut reply_header =
+                SpHeader::tm_unseg(self.service_helper.common.tm_apid, 0, 0).unwrap();
             let tc_header = PusTmSecondaryHeader::new_simple(17, 2, &time_stamp);
             let ping_reply = PusTmCreator::new(&mut reply_header, tc_header, &[], true);
             let result = self
-                .psb
+                .service_helper
                 .common
                 .tm_sender
                 .send_tm(PusTmWrapper::Direct(ping_reply))
@@ -80,7 +64,7 @@ impl<TcInMemConverter: EcssTcInMemConverter> PusService17TestHandler<TcInMemConv
 
             if let Some(start_token) = start_token {
                 if self
-                    .psb
+                    .service_helper
                     .common
                     .verification_handler
                     .get_mut()
@@ -107,115 +91,182 @@ impl<TcInMemConverter: EcssTcInMemConverter> PusService17TestHandler<TcInMemConv
 
 #[cfg(test)]
 mod tests {
-    use crate::pool::{LocalPool, PoolCfg, SharedPool};
+    use crate::pus::tests::{
-    use crate::pus::test::PusService17TestHandler;
+        PusServiceHandlerWithSharedStoreCommon, PusServiceHandlerWithVecCommon, PusTestHarness,
-    use crate::pus::verification::{
+        SimplePusPacketHandler, TEST_APID,
-        RequestId, VerificationReporterCfg, VerificationReporterWithSender,
     };
+    use crate::pus::verification::RequestId;
+    use crate::pus::verification::{TcStateAccepted, VerificationToken};
     use crate::pus::{
-        EcssTcAndToken, EcssTcInStoreConverter, MpscTcInStoreReceiver, MpscTmInStoreSender,
+        EcssTcInSharedStoreConverter, EcssTcInVecConverter, PusPacketHandlerResult,
+        PusPacketHandlingError,
     };
-    use crate::tmtc::tm_helper::SharedTmStore;
+    use delegate::delegate;
     use spacepackets::ecss::tc::{PusTcCreator, PusTcSecondaryHeader};
     use spacepackets::ecss::tm::PusTmReader;
-    use spacepackets::ecss::{PusPacket, WritablePusPacket};
+    use spacepackets::ecss::PusPacket;
     use spacepackets::{SequenceFlags, SpHeader};
-    use std::boxed::Box;
-    use std::sync::{mpsc, RwLock};
-    use std::vec;
 
-    const TEST_APID: u16 = 0x101;
+    use super::PusService17TestHandler;
 
-    #[test]
+    struct Pus17HandlerWithStoreTester {
-    fn test_basic_ping_processing() {
+        common: PusServiceHandlerWithSharedStoreCommon,
-        let mut pus_buf: [u8; 64] = [0; 64];
+        handler: PusService17TestHandler<EcssTcInSharedStoreConverter>,
-        let pool_cfg = PoolCfg::new(vec![(16, 16), (8, 32), (4, 64)]);
+    }
-        let tc_pool = LocalPool::new(pool_cfg.clone());
+
-        let tm_pool = LocalPool::new(pool_cfg);
+    impl Pus17HandlerWithStoreTester {
-        let tc_pool_shared = SharedPool::new(RwLock::new(Box::new(tc_pool)));
+        pub fn new() -> Self {
-        let shared_tm_store = SharedTmStore::new(Box::new(tm_pool));
+            let (common, srv_handler) = PusServiceHandlerWithSharedStoreCommon::new();
-        let tm_pool_shared = shared_tm_store.clone_backing_pool();
+            let pus_17_handler = PusService17TestHandler::new(srv_handler);
-        let (test_srv_tc_tx, test_srv_tc_rx) = mpsc::channel();
+            Self {
-        let (tm_tx, tm_rx) = mpsc::channel();
+                common,
-        let verif_sender =
+                handler: pus_17_handler,
-            MpscTmInStoreSender::new(0, "verif_sender", shared_tm_store.clone(), tm_tx.clone());
+            }
-        let verif_cfg = VerificationReporterCfg::new(TEST_APID, 1, 2, 8).unwrap();
+        }
-        let mut verification_handler =
+    }
-            VerificationReporterWithSender::new(&verif_cfg, Box::new(verif_sender));
+
-        let test_srv_tm_sender = MpscTmInStoreSender::new(0, "TEST_SENDER", shared_tm_store, tm_tx);
+    impl PusTestHarness for Pus17HandlerWithStoreTester {
-        let test_srv_tc_receiver = MpscTcInStoreReceiver::new(0, "TEST_RECEIVER", test_srv_tc_rx);
+        delegate! {
-        let in_store_converter = EcssTcInStoreConverter::new(tc_pool_shared.clone(), 2048);
+            to self.common {
-        let mut pus_17_handler = PusService17TestHandler::new(
+                fn send_tc(&mut self, tc: &PusTcCreator) -> VerificationToken<TcStateAccepted>;
-            Box::new(test_srv_tc_receiver),
+                fn read_next_tm(&mut self) -> PusTmReader<'_>;
-            Box::new(test_srv_tm_sender),
+                fn check_no_tm_available(&self) -> bool;
-            TEST_APID,
+                fn check_next_verification_tm(
-            verification_handler.clone(),
+                    &self,
-            in_store_converter,
+                    subservice: u8,
+                    expected_request_id: RequestId
                 );
+            }
+        }
+    }
+    impl SimplePusPacketHandler for Pus17HandlerWithStoreTester {
+        delegate! {
+            to self.handler {
+                fn handle_one_tc(&mut self) -> Result<PusPacketHandlerResult, PusPacketHandlingError>;
+            }
+        }
+    }
+
+    struct Pus17HandlerWithVecTester {
+        common: PusServiceHandlerWithVecCommon,
+        handler: PusService17TestHandler<EcssTcInVecConverter>,
+    }
+
+    impl Pus17HandlerWithVecTester {
+        pub fn new() -> Self {
+            let (common, srv_handler) = PusServiceHandlerWithVecCommon::new();
+            Self {
+                common,
+                handler: PusService17TestHandler::new(srv_handler),
+            }
+        }
+    }
+
+    impl PusTestHarness for Pus17HandlerWithVecTester {
+        delegate! {
+            to self.common {
+                fn send_tc(&mut self, tc: &PusTcCreator) -> VerificationToken<TcStateAccepted>;
+                fn read_next_tm(&mut self) -> PusTmReader<'_>;
+                fn check_no_tm_available(&self) -> bool;
+                fn check_next_verification_tm(
+                    &self,
+                    subservice: u8,
+                    expected_request_id: RequestId,
+                );
+            }
+        }
+    }
+    impl SimplePusPacketHandler for Pus17HandlerWithVecTester {
+        delegate! {
+            to self.handler {
+                fn handle_one_tc(&mut self) -> Result<PusPacketHandlerResult, PusPacketHandlingError>;
+            }
+        }
+    }
+
+    fn ping_test(test_harness: &mut (impl PusTestHarness + SimplePusPacketHandler)) {
         // Create a ping TC, verify acceptance.
         let mut sp_header = SpHeader::tc(TEST_APID, SequenceFlags::Unsegmented, 0, 0).unwrap();
         let sec_header = PusTcSecondaryHeader::new_simple(17, 1);
         let ping_tc = PusTcCreator::new_no_app_data(&mut sp_header, sec_header, true);
-        let token = verification_handler.add_tc(&ping_tc);
+        let token = test_harness.send_tc(&ping_tc);
-        let token = verification_handler
+        let request_id = token.req_id();
-            .acceptance_success(token, None)
+        let result = test_harness.handle_one_tc();
-            .unwrap();
-        let tc_size = ping_tc.write_to_bytes(&mut pus_buf).unwrap();
-        let mut tc_pool = tc_pool_shared.write().unwrap();
-        let addr = tc_pool.add(&pus_buf[..tc_size]).unwrap();
-        drop(tc_pool);
-        // Send accepted TC to test service handler.
-        test_srv_tc_tx
-            .send(EcssTcAndToken::new(addr, token))
-            .unwrap();
-        let result = pus_17_handler.handle_one_tc();
         assert!(result.is_ok());
         // We should see 4 replies in the TM queue now: Acceptance TM, Start TM, ping reply and
         // Completion TM
-        let mut next_msg = tm_rx.try_recv();
-        assert!(next_msg.is_ok());
-        let mut tm_addr = next_msg.unwrap();
-        let tm_pool = tm_pool_shared.read().unwrap();
-        let tm_raw = tm_pool.read(&tm_addr).unwrap();
-        let (tm, _) = PusTmReader::new(tm_raw, 0).unwrap();
-        assert_eq!(tm.service(), 1);
-        assert_eq!(tm.subservice(), 1);
-        let req_id = RequestId::from_bytes(tm.user_data()).expect("generating request ID failed");
-        assert_eq!(req_id, token.req_id());
 
         // Acceptance TM
-        next_msg = tm_rx.try_recv();
+        test_harness.check_next_verification_tm(1, request_id);
-        assert!(next_msg.is_ok());
+
-        tm_addr = next_msg.unwrap();
+        // Start TM
-        let tm_raw = tm_pool.read(&tm_addr).unwrap();
+        test_harness.check_next_verification_tm(3, request_id);
-        // Is generated with CDS short timestamp.
-        let (tm, _) = PusTmReader::new(tm_raw, 7).unwrap();
-        assert_eq!(tm.service(), 1);
-        assert_eq!(tm.subservice(), 3);
-        let req_id = RequestId::from_bytes(tm.user_data()).expect("generating request ID failed");
-        assert_eq!(req_id, token.req_id());
 
         // Ping reply
-        next_msg = tm_rx.try_recv();
+        let tm = test_harness.read_next_tm();
-        assert!(next_msg.is_ok());
-        tm_addr = next_msg.unwrap();
-        let tm_raw = tm_pool.read(&tm_addr).unwrap();
-        // Is generated with CDS short timestamp.
-        let (tm, _) = PusTmReader::new(tm_raw, 7).unwrap();
         assert_eq!(tm.service(), 17);
         assert_eq!(tm.subservice(), 2);
         assert!(tm.user_data().is_empty());
 
         // TM completion
-        next_msg = tm_rx.try_recv();
+        test_harness.check_next_verification_tm(7, request_id);
-        assert!(next_msg.is_ok());
+    }
-        tm_addr = next_msg.unwrap();
+
-        let tm_raw = tm_pool.read(&tm_addr).unwrap();
+    #[test]
-        // Is generated with CDS short timestamp.
+    fn test_basic_ping_processing_using_store() {
-        let (tm, _) = PusTmReader::new(tm_raw, 7).unwrap();
+        let mut test_harness = Pus17HandlerWithStoreTester::new();
-        assert_eq!(tm.service(), 1);
+        ping_test(&mut test_harness);
-        assert_eq!(tm.subservice(), 7);
+    }
-        let req_id = RequestId::from_bytes(tm.user_data()).expect("generating request ID failed");
+
-        assert_eq!(req_id, token.req_id());
+    #[test]
+    fn test_basic_ping_processing_using_vec() {
+        let mut test_harness = Pus17HandlerWithVecTester::new();
+        ping_test(&mut test_harness);
+    }
+
+    #[test]
+    fn test_empty_tc_queue() {
+        let mut test_harness = Pus17HandlerWithStoreTester::new();
+        let result = test_harness.handle_one_tc();
+        assert!(result.is_ok());
+        let result = result.unwrap();
+        if let PusPacketHandlerResult::Empty = result {
+        } else {
+            panic!("unexpected result type {result:?}")
+        }
+    }
+
+    #[test]
+    fn test_sending_unsupported_service() {
+        let mut test_harness = Pus17HandlerWithStoreTester::new();
+        let mut sp_header = SpHeader::tc(TEST_APID, SequenceFlags::Unsegmented, 0, 0).unwrap();
+        let sec_header = PusTcSecondaryHeader::new_simple(3, 1);
+        let ping_tc = PusTcCreator::new_no_app_data(&mut sp_header, sec_header, true);
+        test_harness.send_tc(&ping_tc);
+        let result = test_harness.handle_one_tc();
+        assert!(result.is_err());
+        let error = result.unwrap_err();
+        if let PusPacketHandlingError::WrongService(num) = error {
+            assert_eq!(num, 3);
+        } else {
+            panic!("unexpected error type {error}")
+        }
+    }
+
+    #[test]
+    fn test_sending_custom_subservice() {
+        let mut test_harness = Pus17HandlerWithStoreTester::new();
+        let mut sp_header = SpHeader::tc(TEST_APID, SequenceFlags::Unsegmented, 0, 0).unwrap();
+        let sec_header = PusTcSecondaryHeader::new_simple(17, 200);
+        let ping_tc = PusTcCreator::new_no_app_data(&mut sp_header, sec_header, true);
+        test_harness.send_tc(&ping_tc);
+        let result = test_harness.handle_one_tc();
+        assert!(result.is_ok());
+        let result = result.unwrap();
+        if let PusPacketHandlerResult::CustomSubservice(subservice, _) = result {
+            assert_eq!(subservice, 200);
+        } else {
+            panic!("unexpected result type {result:?}")
+        }
     }
 }

satrs-core/src/pus/verification.rs

@@ -15,7 +15,7 @@
 //! ```
 //! use std::sync::{Arc, mpsc, RwLock};
 //! use std::time::Duration;
-//! use satrs_core::pool::{LocalPool, PoolCfg, PoolProvider, SharedPool};
+//! use satrs_core::pool::{PoolProviderMemInPlaceWithGuards, StaticMemoryPool, StaticPoolConfig};
 //! use satrs_core::pus::verification::{VerificationReporterCfg, VerificationReporterWithSender};
 //! use satrs_core::seq_count::SeqCountProviderSimple;
 //! use satrs_core::pus::MpscTmInStoreSender;
@@ -28,9 +28,9 @@
 //! const EMPTY_STAMP: [u8; 7] = [0; 7];
 //! const TEST_APID: u16 = 0x02;
 //!
-//! let pool_cfg = PoolCfg::new(vec![(10, 32), (10, 64), (10, 128), (10, 1024)]);
+//! let pool_cfg = StaticPoolConfig::new(vec![(10, 32), (10, 64), (10, 128), (10, 1024)]);
-//! let tm_pool = LocalPool::new(pool_cfg.clone());
+//! let tm_pool = StaticMemoryPool::new(pool_cfg.clone());
-//! let shared_tm_store = SharedTmStore::new(Box::new(tm_pool));
+//! let shared_tm_store = SharedTmStore::new(tm_pool);
 //! let tm_store = shared_tm_store.clone_backing_pool();
 //! let (verif_tx, verif_rx) = mpsc::channel();
 //! let sender = MpscTmInStoreSender::new(0, "Test Sender", shared_tm_store, verif_tx);
@@ -208,6 +208,8 @@ impl WasAtLeastAccepted for TcStateAccepted {}
 impl WasAtLeastAccepted for TcStateStarted {}
 impl WasAtLeastAccepted for TcStateCompleted {}
 
+/// Token wrapper to model all possible verification tokens. These tokens are used to
+/// enforce the correct order for the verification steps when doing verification reporting.
 #[derive(Debug, Copy, Clone, Eq, PartialEq)]
 pub enum TcStateToken {
     None(VerificationToken<TcStateNone>),
@@ -1323,7 +1325,7 @@ mod std_mod {
 
 #[cfg(test)]
 mod tests {
-    use crate::pool::{LocalPool, PoolCfg};
+    use crate::pool::{PoolProviderMemInPlaceWithGuards, StaticMemoryPool, StaticPoolConfig};
     use crate::pus::tests::CommonTmInfo;
     use crate::pus::verification::{
         EcssTmSenderCore, EcssTmtcError, FailParams, FailParamsWithStep, RequestId, TcStateNone,
@@ -1447,12 +1449,11 @@ mod tests {
     fn base_init(api_sel: bool) -> (TestBase<'static>, VerificationToken<TcStateNone>) {
         let mut reporter = base_reporter();
         let (tc, req_id) = base_tc_init(None);
-        let init_tok;
+        let init_tok = if api_sel {
-        if api_sel {
+            reporter.add_tc_with_req_id(req_id)
-            init_tok = reporter.add_tc_with_req_id(req_id);
         } else {
-            init_tok = reporter.add_tc(&tc);
+            reporter.add_tc(&tc)
-        }
+        };
         (TestBase { vr: reporter, tc }, init_tok)
     }
 
@@ -1475,7 +1476,7 @@ mod tests {
                 time_stamp: EMPTY_STAMP,
             },
             additional_data: None,
-            req_id: req_id.clone(),
+            req_id: *req_id,
         };
         let mut service_queue = sender.service_queue.borrow_mut();
         assert_eq!(service_queue.len(), 1);
@@ -1485,9 +1486,8 @@ mod tests {
 
     #[test]
     fn test_mpsc_verif_send_sync() {
-        let pool = LocalPool::new(PoolCfg::new(vec![(8, 8)]));
+        let pool = StaticMemoryPool::new(StaticPoolConfig::new(vec![(8, 8)]));
-        let tm_store = Box::new(pool);
+        let shared_tm_store = SharedTmStore::new(pool);
-        let shared_tm_store = SharedTmStore::new(tm_store);
         let (tx, _) = mpsc::channel();
         let mpsc_verif_sender = MpscTmInStoreSender::new(0, "verif_sender", shared_tm_store, tx);
         is_send(&mpsc_verif_sender);
@@ -1505,7 +1505,7 @@ mod tests {
     fn test_basic_acceptance_success() {
         let (b, tok) = base_init(false);
         let mut sender = TestSender::default();
-        b.vr.acceptance_success(tok, &mut sender, Some(&EMPTY_STAMP))
+        b.vr.acceptance_success(tok, &sender, Some(&EMPTY_STAMP))
             .expect("Sending acceptance success failed");
         acceptance_check(&mut sender, &tok.req_id);
     }
@@ -1605,7 +1605,7 @@ mod tests {
     #[test]
     fn test_basic_acceptance_failure_with_fail_data() {
         let (b, tok) = base_init(false);
-        let mut sender = TestSender::default();
+        let sender = TestSender::default();
         let fail_code = EcssEnumU8::new(10);
         let fail_data = EcssEnumU32::new(12);
         let mut fail_data_raw = [0; 4];
@@ -1615,7 +1615,7 @@ mod tests {
             &fail_code,
             Some(fail_data_raw.as_slice()),
         );
-        b.vr.acceptance_failure(tok, &mut sender, fail_params)
+        b.vr.acceptance_failure(tok, &sender, fail_params)
             .expect("Sending acceptance success failed");
         let cmp_info = TmInfo {
             common: CommonTmInfo {
@@ -1784,8 +1784,7 @@ mod tests {
             .rep()
             .start_success(accepted_token, &mut sender, Some(&[0, 1, 0, 1, 0, 1, 0]))
             .expect("Sending start success failed");
-        let mut empty = b
+        b.rep()
-            .rep()
             .step_success(
                 &started_token,
                 &mut sender,
@@ -1793,8 +1792,6 @@ mod tests {
                 EcssEnumU8::new(0),
             )
             .expect("Sending step 0 success failed");
-        assert_eq!(empty, ());
-        empty =
         b.vr.step_success(
             &started_token,
             &mut sender,
@@ -1802,7 +1799,6 @@ mod tests {
             EcssEnumU8::new(1),
         )
         .expect("Sending step 1 success failed");
-        assert_eq!(empty, ());
         assert_eq!(sender.service_queue.borrow().len(), 4);
         step_success_check(&mut sender, tok.req_id);
     }
@@ -1818,16 +1814,12 @@ mod tests {
             .helper
             .start_success(accepted_token, Some(&[0, 1, 0, 1, 0, 1, 0]))
             .expect("Sending start success failed");
-        let mut empty = b
+        b.helper
-            .helper
             .step_success(&started_token, Some(&EMPTY_STAMP), EcssEnumU8::new(0))
             .expect("Sending step 0 success failed");
-        assert_eq!(empty, ());
+        b.helper
-        empty = b
-            .helper
             .step_success(&started_token, Some(&EMPTY_STAMP), EcssEnumU8::new(1))
             .expect("Sending step 1 success failed");
-        assert_eq!(empty, ());
         let sender: &mut TestSender = b.helper.sender.downcast_mut().unwrap();
         assert_eq!(sender.service_queue.borrow().len(), 4);
         step_success_check(sender, tok.req_id);
@@ -2122,10 +2114,8 @@ mod tests {
         let started_token =
             b.vr.start_success(accepted_token, &mut sender, Some(&[0, 1, 0, 1, 0, 1, 0]))
                 .expect("Sending start success failed");
-        let empty =
         b.vr.completion_success(started_token, &mut sender, Some(&EMPTY_STAMP))
             .expect("Sending completion success failed");
-        assert_eq!(empty, ());
         completion_success_check(&mut sender, tok.req_id);
     }
 
@@ -2140,11 +2130,9 @@ mod tests {
             .helper
             .start_success(accepted_token, Some(&[0, 1, 0, 1, 0, 1, 0]))
             .expect("Sending start success failed");
-        let empty = b
+        b.helper
-            .helper
             .completion_success(started_token, Some(&EMPTY_STAMP))
             .expect("Sending completion success failed");
-        assert_eq!(empty, ());
         let sender: &mut TestSender = b.helper.sender.downcast_mut().unwrap();
         completion_success_check(sender, tok.req_id);
     }
@@ -2152,8 +2140,8 @@ mod tests {
     #[test]
     // TODO: maybe a bit more extensive testing, all I have time for right now
     fn test_seq_count_increment() {
-        let pool_cfg = PoolCfg::new(vec![(10, 32), (10, 64), (10, 128), (10, 1024)]);
+        let pool_cfg = StaticPoolConfig::new(vec![(10, 32), (10, 64), (10, 128), (10, 1024)]);
-        let tm_pool = Box::new(LocalPool::new(pool_cfg.clone()));
+        let tm_pool = StaticMemoryPool::new(pool_cfg.clone());
         let shared_tm_store = SharedTmStore::new(tm_pool);
         let shared_tm_pool = shared_tm_store.clone_backing_pool();
         let (verif_tx, verif_rx) = mpsc::channel();

satrs-core/src/tmtc/tm_helper.rs

@@ -8,7 +8,9 @@ pub use std_mod::*;
 
 #[cfg(feature = "std")]
 pub mod std_mod {
-    use crate::pool::{ShareablePoolProvider, SharedPool, StoreAddr};
+    use crate::pool::{
+        PoolProviderMemInPlace, SharedStaticMemoryPool, StaticMemoryPool, StoreAddr,
+    };
     use crate::pus::EcssTmtcError;
     use spacepackets::ecss::tm::PusTmCreator;
     use spacepackets::ecss::WritablePusPacket;
@@ -16,22 +18,25 @@ pub mod std_mod {
 
     #[derive(Clone)]
     pub struct SharedTmStore {
-        pool: SharedPool,
+        pub shared_pool: SharedStaticMemoryPool,
     }
 
     impl SharedTmStore {
-        pub fn new(backing_pool: ShareablePoolProvider) -> Self {
+        pub fn new(shared_pool: StaticMemoryPool) -> Self {
             Self {
-                pool: Arc::new(RwLock::new(backing_pool)),
+                shared_pool: Arc::new(RwLock::new(shared_pool)),
             }
         }
 
-        pub fn clone_backing_pool(&self) -> SharedPool {
+        pub fn clone_backing_pool(&self) -> SharedStaticMemoryPool {
-            self.pool.clone()
+            self.shared_pool.clone()
         }
 
         pub fn add_pus_tm(&self, pus_tm: &PusTmCreator) -> Result<StoreAddr, EcssTmtcError> {
-            let mut pg = self.pool.write().map_err(|_| EcssTmtcError::StoreLock)?;
+            let mut pg = self
+                .shared_pool
+                .write()
+                .map_err(|_| EcssTmtcError::StoreLock)?;
             let (addr, buf) = pg.free_element(pus_tm.len_written())?;
             pus_tm
                 .write_to_bytes(buf)
@@ -91,3 +96,33 @@ impl PusTmWithCdsShortHelper {
         PusTmCreator::new(&mut reply_header, tc_header, source_data, true)
     }
 }
+
+#[cfg(test)]
+mod tests {
+    use spacepackets::{ecss::PusPacket, time::cds::TimeProvider, CcsdsPacket};
+
+    use super::PusTmWithCdsShortHelper;
+
+    #[test]
+    fn test_helper_with_stamper() {
+        let mut pus_tm_helper = PusTmWithCdsShortHelper::new(0x123);
+        let stamper = TimeProvider::new_with_u16_days(0, 0);
+        let tm = pus_tm_helper.create_pus_tm_with_stamper(17, 1, &[1, 2, 3, 4], &stamper, 25);
+        assert_eq!(tm.service(), 17);
+        assert_eq!(tm.subservice(), 1);
+        assert_eq!(tm.user_data(), &[1, 2, 3, 4]);
+        assert_eq!(tm.seq_count(), 25);
+        assert_eq!(tm.timestamp(), [64, 0, 0, 0, 0, 0, 0])
+    }
+
+    #[test]
+    fn test_helper_from_now() {
+        let mut pus_tm_helper = PusTmWithCdsShortHelper::new(0x123);
+        let tm = pus_tm_helper.create_pus_tm_timestamp_now(17, 1, &[1, 2, 3, 4], 25);
+        assert_eq!(tm.service(), 17);
+        assert_eq!(tm.subservice(), 1);
+        assert_eq!(tm.user_data(), &[1, 2, 3, 4]);
+        assert_eq!(tm.seq_count(), 25);
+        assert_eq!(tm.timestamp().len(), 7);
+    }
+}

satrs-core/tests/pools.rs

@@ -1,4 +1,6 @@
-use satrs_core::pool::{LocalPool, PoolCfg, PoolGuard, PoolProvider, StoreAddr};
+use satrs_core::pool::{
+    PoolGuard, PoolProviderMemInPlace, StaticMemoryPool, StaticPoolConfig, StoreAddr,
+};
 use std::ops::DerefMut;
 use std::sync::mpsc;
 use std::sync::mpsc::{Receiver, Sender};
@@ -9,8 +11,8 @@ const DUMMY_DATA: [u8; 4] = [0, 1, 2, 3];
 
 #[test]
 fn threaded_usage() {
-    let pool_cfg = PoolCfg::new(vec![(16, 6), (32, 3), (8, 12)]);
+    let pool_cfg = StaticPoolConfig::new(vec![(16, 6), (32, 3), (8, 12)]);
-    let shared_pool = Arc::new(RwLock::new(LocalPool::new(pool_cfg)));
+    let shared_pool = Arc::new(RwLock::new(StaticMemoryPool::new(pool_cfg)));
     let shared_clone = shared_pool.clone();
     let (tx, rx): (Sender<StoreAddr>, Receiver<StoreAddr>) = mpsc::channel();
     let jh0 = thread::spawn(move || {

satrs-core/tests/pus_verification.rs

@@ -1,7 +1,10 @@
 #[cfg(feature = "crossbeam")]
 pub mod crossbeam_test {
     use hashbrown::HashMap;
-    use satrs_core::pool::{LocalPool, PoolCfg, PoolProvider};
+    use satrs_core::pool::{
+        PoolProviderMemInPlace, PoolProviderMemInPlaceWithGuards, StaticMemoryPool,
+        StaticPoolConfig,
+    };
     use satrs_core::pus::verification::{
         FailParams, RequestId, VerificationReporterCfg, VerificationReporterWithSender,
     };
@@ -33,9 +36,9 @@ pub mod crossbeam_test {
         // each reporter have an own sequence count provider.
         let cfg = VerificationReporterCfg::new(TEST_APID, 1, 2, 8).unwrap();
         // Shared pool object to store the verification PUS telemetry
-        let pool_cfg = PoolCfg::new(vec![(10, 32), (10, 64), (10, 128), (10, 1024)]);
+        let pool_cfg = StaticPoolConfig::new(vec![(10, 32), (10, 64), (10, 128), (10, 1024)]);
-        let shared_tm_store = SharedTmStore::new(Box::new(LocalPool::new(pool_cfg.clone())));
+        let shared_tm_store = SharedTmStore::new(StaticMemoryPool::new(pool_cfg.clone()));
-        let shared_tc_pool_0 = Arc::new(RwLock::new(LocalPool::new(pool_cfg)));
+        let shared_tc_pool_0 = Arc::new(RwLock::new(StaticMemoryPool::new(pool_cfg)));
         let shared_tc_pool_1 = shared_tc_pool_0.clone();
         let (tx, rx) = crossbeam_channel::bounded(10);
         let sender =

satrs-example/src/main.rs

@@ -29,7 +29,7 @@ use satrs_core::event_man::{
 };
 use satrs_core::events::EventU32;
 use satrs_core::hk::HkRequest;
-use satrs_core::pool::{LocalPool, PoolCfg};
+use satrs_core::pool::{PoolProviderMemInPlace, StaticMemoryPool, StaticPoolConfig};
 use satrs_core::pus::event_man::{
     DefaultPusMgmtBackendProvider, EventReporter, EventRequest, EventRequestWithToken,
     PusEventDispatcher,
@@ -42,7 +42,9 @@ use satrs_core::pus::test::PusService17TestHandler;
 use satrs_core::pus::verification::{
     TcStateStarted, VerificationReporterCfg, VerificationReporterWithSender, VerificationToken,
 };
-use satrs_core::pus::{EcssTcInStoreConverter, MpscTcInStoreReceiver, MpscTmInStoreSender};
+use satrs_core::pus::{
+    EcssTcInSharedStoreConverter, MpscTcReceiver, MpscTmInStoreSender, PusServiceHelper,
+};
 use satrs_core::seq_count::{CcsdsSimpleSeqCountProvider, SequenceCountProviderCore};
 use satrs_core::spacepackets::ecss::tm::{PusTmCreator, PusTmZeroCopyWriter};
 use satrs_core::spacepackets::{
@@ -66,7 +68,7 @@ use std::time::Duration;
 fn main() {
     setup_logger().expect("setting up logging with fern failed");
     println!("Running OBSW example");
-    let tm_pool = LocalPool::new(PoolCfg::new(vec![
+    let tm_pool = StaticMemoryPool::new(StaticPoolConfig::new(vec![
         (30, 32),
         (15, 64),
         (15, 128),
@@ -74,9 +76,9 @@ fn main() {
         (15, 1024),
         (15, 2048),
     ]));
-    let shared_tm_store = SharedTmStore::new(Box::new(tm_pool));
+    let shared_tm_store = SharedTmStore::new(tm_pool);
     let tm_store_event = shared_tm_store.clone();
-    let tc_pool = LocalPool::new(PoolCfg::new(vec![
+    let tc_pool = StaticMemoryPool::new(StaticPoolConfig::new(vec![
         (30, 32),
         (15, 64),
         (15, 128),
@@ -85,8 +87,16 @@ fn main() {
         (15, 2048),
     ]));
     let tc_store = TcStore {
-        pool: Arc::new(RwLock::new(Box::new(tc_pool))),
+        pool: Arc::new(RwLock::new(tc_pool)),
     };
+    let sched_tc_pool = StaticMemoryPool::new(StaticPoolConfig::new(vec![
+        (30, 32),
+        (15, 64),
+        (15, 128),
+        (15, 256),
+        (15, 1024),
+        (15, 2048),
+    ]));
 
     let seq_count_provider = CcsdsSimpleSeqCountProvider::new();
     let mut msg_counter_map: HashMap<u8, u16> = HashMap::new();
@@ -172,18 +182,18 @@ fn main() {
         shared_tm_store.clone(),
         tm_funnel_tx.clone(),
     );
-    let test_srv_receiver = MpscTcInStoreReceiver::new(
+    let test_srv_receiver = MpscTcReceiver::new(
         TcReceiverId::PusTest as ChannelId,
         "PUS_17_TC_RECV",
         pus_test_rx,
     );
-    let pus17_handler = PusService17TestHandler::new(
+    let pus17_handler = PusService17TestHandler::new(PusServiceHelper::new(
         Box::new(test_srv_receiver),
         Box::new(test_srv_tm_sender),
         PUS_APID,
         verif_reporter.clone(),
-        EcssTcInStoreConverter::new(tc_store.pool.clone(), 2048),
+        EcssTcInSharedStoreConverter::new(tc_store.pool.clone(), 2048),
-    );
+    ));
     let mut pus_17_wrapper = Service17CustomWrapper {
         pus17_handler,
         test_srv_event_sender,
@@ -195,7 +205,7 @@ fn main() {
         shared_tm_store.clone(),
         tm_funnel_tx.clone(),
     );
-    let sched_srv_receiver = MpscTcInStoreReceiver::new(
+    let sched_srv_receiver = MpscTcReceiver::new(
         TcReceiverId::PusSched as ChannelId,
         "PUS_11_TC_RECV",
         pus_sched_rx,
@@ -203,16 +213,18 @@ fn main() {
     let scheduler = PusScheduler::new_with_current_init_time(Duration::from_secs(5))
         .expect("Creating PUS Scheduler failed");
     let pus_11_handler = PusService11SchedHandler::new(
+        PusServiceHelper::new(
             Box::new(sched_srv_receiver),
             Box::new(sched_srv_tm_sender),
             PUS_APID,
             verif_reporter.clone(),
-        EcssTcInStoreConverter::new(tc_store.pool.clone(), 2048),
+            EcssTcInSharedStoreConverter::new(tc_store.pool.clone(), 2048),
-        tc_store.pool.clone(),
+        ),
         scheduler,
     );
     let mut pus_11_wrapper = Pus11Wrapper {
         pus_11_handler,
+        sched_tc_pool,
         tc_source_wrapper,
     };
 
@@ -222,17 +234,19 @@ fn main() {
         shared_tm_store.clone(),
         tm_funnel_tx.clone(),
     );
-    let event_srv_receiver = MpscTcInStoreReceiver::new(
+    let event_srv_receiver = MpscTcReceiver::new(
         TcReceiverId::PusEvent as ChannelId,
         "PUS_5_TC_RECV",
         pus_event_rx,
     );
     let pus_5_handler = PusService5EventHandler::new(
+        PusServiceHelper::new(
             Box::new(event_srv_receiver),
             Box::new(event_srv_tm_sender),
             PUS_APID,
             verif_reporter.clone(),
-        EcssTcInStoreConverter::new(tc_store.pool.clone(), 2048),
+            EcssTcInSharedStoreConverter::new(tc_store.pool.clone(), 2048),
+        ),
         event_request_tx,
     );
     let mut pus_5_wrapper = Pus5Wrapper { pus_5_handler };
@@ -243,7 +257,7 @@ fn main() {
         shared_tm_store.clone(),
         tm_funnel_tx.clone(),
     );
-    let action_srv_receiver = MpscTcInStoreReceiver::new(
+    let action_srv_receiver = MpscTcReceiver::new(
         TcReceiverId::PusAction as ChannelId,
         "PUS_8_TC_RECV",
         pus_action_rx,
@@ -253,7 +267,7 @@ fn main() {
         Box::new(action_srv_tm_sender),
         PUS_APID,
         verif_reporter.clone(),
-        EcssTcInStoreConverter::new(tc_store.pool.clone(), 2048),
+        EcssTcInSharedStoreConverter::new(tc_store.pool.clone(), 2048),
         request_map.clone(),
     );
     let mut pus_8_wrapper = Pus8Wrapper { pus_8_handler };
@@ -265,13 +279,13 @@ fn main() {
         tm_funnel_tx.clone(),
     );
     let hk_srv_receiver =
-        MpscTcInStoreReceiver::new(TcReceiverId::PusHk as ChannelId, "PUS_8_TC_RECV", pus_hk_rx);
+        MpscTcReceiver::new(TcReceiverId::PusHk as ChannelId, "PUS_8_TC_RECV", pus_hk_rx);
     let pus_3_handler = PusService3HkHandler::new(
         Box::new(hk_srv_receiver),
         Box::new(hk_srv_tm_sender),
         PUS_APID,
         verif_reporter.clone(),
-        EcssTcInStoreConverter::new(tc_store.pool.clone(), 2048),
+        EcssTcInSharedStoreConverter::new(tc_store.pool.clone(), 2048),
         request_map,
     );
     let mut pus_3_wrapper = Pus3Wrapper { pus_3_handler };

satrs-example/src/pus/action.rs

@@ -4,8 +4,8 @@ use satrs_core::pus::verification::{
     FailParams, TcStateAccepted, VerificationReporterWithSender, VerificationToken,
 };
 use satrs_core::pus::{
-    EcssTcInMemConverter, EcssTcInStoreConverter, EcssTcReceiver, EcssTmSender,
+    EcssTcInMemConverter, EcssTcInSharedStoreConverter, EcssTcReceiver, EcssTmSender,
-    PusPacketHandlerResult, PusPacketHandlingError, PusServiceBase, PusServiceHandler,
+    PusPacketHandlerResult, PusPacketHandlingError, PusServiceBase, PusServiceHelper,
 };
 use satrs_core::spacepackets::ecss::tc::PusTcReader;
 use satrs_core::spacepackets::ecss::PusPacket;
@@ -14,7 +14,7 @@ use std::collections::HashMap;
 use std::sync::mpsc::Sender;
 
 pub struct PusService8ActionHandler<TcInMemConverter: EcssTcInMemConverter> {
-    psb: PusServiceHandler<TcInMemConverter>,
+    service_helper: PusServiceHelper<TcInMemConverter>,
     request_handlers: HashMap<TargetIdWithApid, Sender<RequestWithToken>>,
 }
 
@@ -28,7 +28,7 @@ impl<TcInMemConverter: EcssTcInMemConverter> PusService8ActionHandler<TcInMemCon
         request_handlers: HashMap<TargetIdWithApid, Sender<RequestWithToken>>,
     ) -> Self {
         Self {
-            psb: PusServiceHandler::new(
+            service_helper: PusServiceHelper::new(
                 tc_receiver,
                 tm_sender,
                 tm_apid,
@@ -47,7 +47,7 @@ impl<TcInMemConverter: EcssTcInMemConverter> PusService8ActionHandler<TcInMemCon
     ) -> Result<(), PusPacketHandlingError> {
         let user_data = tc.user_data();
         if user_data.len() < 8 {
-            self.psb
+            self.service_helper
                 .common
                 .verification_handler
                 .borrow_mut()
@@ -77,7 +77,7 @@ impl<TcInMemConverter: EcssTcInMemConverter> PusService8ActionHandler<TcInMemCon
         } else {
             let mut fail_data: [u8; 4] = [0; 4];
             fail_data.copy_from_slice(&target_id.target.to_be_bytes());
-            self.psb
+            self.service_helper
                 .common
                 .verification_handler
                 .borrow_mut()
@@ -98,15 +98,15 @@ impl<TcInMemConverter: EcssTcInMemConverter> PusService8ActionHandler<TcInMemCon
     }
 
     fn handle_one_tc(&mut self) -> Result<PusPacketHandlerResult, PusPacketHandlingError> {
-        let possible_packet = self.psb.retrieve_and_accept_next_packet()?;
+        let possible_packet = self.service_helper.retrieve_and_accept_next_packet()?;
         if possible_packet.is_none() {
             return Ok(PusPacketHandlerResult::Empty);
         }
         let ecss_tc_and_token = possible_packet.unwrap();
-        self.psb
+        self.service_helper
             .tc_in_mem_converter
-            .cache_ecss_tc_in_memory(&ecss_tc_and_token)?;
+            .cache_ecss_tc_in_memory(&ecss_tc_and_token.tc_in_memory)?;
-        let tc = PusTcReader::new(self.psb.tc_in_mem_converter.tc_slice_raw())?.0;
+        let tc = PusTcReader::new(self.service_helper.tc_in_mem_converter.tc_slice_raw())?.0;
         let subservice = tc.subservice();
         let mut partial_error = None;
         let time_stamp = PusServiceBase::get_current_timestamp(&mut partial_error);
@@ -116,7 +116,7 @@ impl<TcInMemConverter: EcssTcInMemConverter> PusService8ActionHandler<TcInMemCon
             }
             _ => {
                 let fail_data = [subservice];
-                self.psb
+                self.service_helper
                     .common
                     .verification_handler
                     .get_mut()
@@ -142,7 +142,7 @@ impl<TcInMemConverter: EcssTcInMemConverter> PusService8ActionHandler<TcInMemCon
 }
 
 pub struct Pus8Wrapper {
-    pub(crate) pus_8_handler: PusService8ActionHandler<EcssTcInStoreConverter>,
+    pub(crate) pus_8_handler: PusService8ActionHandler<EcssTcInSharedStoreConverter>,
 }
 
 impl Pus8Wrapper {

satrs-example/src/pus/event.rs

@@ -1,9 +1,9 @@
 use log::{error, warn};
 use satrs_core::pus::event_srv::PusService5EventHandler;
-use satrs_core::pus::{EcssTcInStoreConverter, PusPacketHandlerResult};
+use satrs_core::pus::{EcssTcInSharedStoreConverter, PusPacketHandlerResult};
 
 pub struct Pus5Wrapper {
-    pub pus_5_handler: PusService5EventHandler<EcssTcInStoreConverter>,
+    pub pus_5_handler: PusService5EventHandler<EcssTcInSharedStoreConverter>,
 }
 
 impl Pus5Wrapper {

satrs-example/src/pus/hk.rs

@@ -3,8 +3,8 @@ use log::{error, warn};
 use satrs_core::hk::{CollectionIntervalFactor, HkRequest};
 use satrs_core::pus::verification::{FailParams, StdVerifReporterWithSender};
 use satrs_core::pus::{
-    EcssTcInMemConverter, EcssTcInStoreConverter, EcssTcReceiver, EcssTmSender,
+    EcssTcInMemConverter, EcssTcInSharedStoreConverter, EcssTcReceiver, EcssTmSender,
-    PusPacketHandlerResult, PusPacketHandlingError, PusServiceBase, PusServiceHandler,
+    PusPacketHandlerResult, PusPacketHandlingError, PusServiceBase, PusServiceHelper,
 };
 use satrs_core::spacepackets::ecss::{hk, PusPacket};
 use satrs_example::{hk_err, tmtc_err, TargetIdWithApid};
@@ -12,7 +12,7 @@ use std::collections::HashMap;
 use std::sync::mpsc::Sender;
 
 pub struct PusService3HkHandler<TcInMemConverter: EcssTcInMemConverter> {
-    psb: PusServiceHandler<TcInMemConverter>,
+    psb: PusServiceHelper<TcInMemConverter>,
     request_handlers: HashMap<TargetIdWithApid, Sender<RequestWithToken>>,
 }
 
@@ -26,7 +26,7 @@ impl<TcInMemConverter: EcssTcInMemConverter> PusService3HkHandler<TcInMemConvert
         request_handlers: HashMap<TargetIdWithApid, Sender<RequestWithToken>>,
     ) -> Self {
         Self {
-            psb: PusServiceHandler::new(
+            psb: PusServiceHelper::new(
                 tc_receiver,
                 tm_sender,
                 tm_apid,
@@ -46,7 +46,7 @@ impl<TcInMemConverter: EcssTcInMemConverter> PusService3HkHandler<TcInMemConvert
         let tc = self
             .psb
             .tc_in_mem_converter
-            .convert_ecss_tc_in_memory_to_reader(&ecss_tc_and_token)?;
+            .convert_ecss_tc_in_memory_to_reader(&ecss_tc_and_token.tc_in_memory)?;
         let subservice = tc.subservice();
         let mut partial_error = None;
         let time_stamp = PusServiceBase::get_current_timestamp(&mut partial_error);
@@ -148,7 +148,7 @@ impl<TcInMemConverter: EcssTcInMemConverter> PusService3HkHandler<TcInMemConvert
 }
 
 pub struct Pus3Wrapper {
-    pub(crate) pus_3_handler: PusService3HkHandler<EcssTcInStoreConverter>,
+    pub(crate) pus_3_handler: PusService3HkHandler<EcssTcInSharedStoreConverter>,
 }
 
 impl Pus3Wrapper {

satrs-example/src/pus/scheduler.rs

@@ -1,50 +1,54 @@
 use crate::tmtc::PusTcSource;
 use log::{error, info, warn};
-use satrs_core::pus::scheduler::TcInfo;
+use satrs_core::pool::{PoolProviderMemInPlace, StaticMemoryPool};
+use satrs_core::pus::scheduler::{PusScheduler, TcInfo};
 use satrs_core::pus::scheduler_srv::PusService11SchedHandler;
-use satrs_core::pus::{EcssTcInStoreConverter, PusPacketHandlerResult};
+use satrs_core::pus::{EcssTcInSharedStoreConverter, PusPacketHandlerResult};
 
 pub struct Pus11Wrapper {
-    pub pus_11_handler: PusService11SchedHandler<EcssTcInStoreConverter>,
+    pub pus_11_handler: PusService11SchedHandler<EcssTcInSharedStoreConverter, PusScheduler>,
+    pub sched_tc_pool: StaticMemoryPool,
     pub tc_source_wrapper: PusTcSource,
 }
 
 impl Pus11Wrapper {
     pub fn release_tcs(&mut self) {
-        let releaser = |enabled: bool, info: &TcInfo| -> bool {
+        let releaser = |enabled: bool, _info: &TcInfo, tc: &[u8]| -> bool {
             if enabled {
+                // Transfer TC from scheduler TC pool to shared TC pool.
+                let released_tc_addr = self
+                    .tc_source_wrapper
+                    .tc_store
+                    .pool
+                    .write()
+                    .expect("locking pool failed")
+                    .add(tc)
+                    .expect("adding TC to shared pool failed");
+
                 self.tc_source_wrapper
                     .tc_source
-                    .send(info.addr())
+                    .send(released_tc_addr)
                     .expect("sending TC to TC source failed");
             }
             true
         };
 
-        let mut pool = self
-            .tc_source_wrapper
-            .tc_store
-            .pool
-            .write()
-            .expect("error locking pool");
-
         self.pus_11_handler
             .scheduler_mut()
             .update_time_from_now()
             .unwrap();
-        if let Ok(released_tcs) = self
+        let released_tcs = self
             .pus_11_handler
             .scheduler_mut()
-            .release_telecommands(releaser, pool.as_mut())
+            .release_telecommands(releaser, &mut self.sched_tc_pool)
-        {
+            .expect("releasing TCs failed");
         if released_tcs > 0 {
             info!("{released_tcs} TC(s) released from scheduler");
         }
     }
-    }
 
     pub fn handle_next_packet(&mut self) -> bool {
-        match self.pus_11_handler.handle_one_tc() {
+        match self.pus_11_handler.handle_one_tc(&mut self.sched_tc_pool) {
             Ok(result) => match result {
                 PusPacketHandlerResult::RequestHandled => {}
                 PusPacketHandlerResult::RequestHandledPartialSuccess(e) => {

satrs-example/src/pus/test.rs

@@ -7,12 +7,12 @@ use satrs_core::spacepackets::ecss::tc::PusTcReader;
 use satrs_core::spacepackets::ecss::PusPacket;
 use satrs_core::spacepackets::time::cds::TimeProvider;
 use satrs_core::spacepackets::time::TimeWriter;
-use satrs_core::{events::EventU32, pus::EcssTcInStoreConverter};
+use satrs_core::{events::EventU32, pus::EcssTcInSharedStoreConverter};
 use satrs_example::{tmtc_err, TEST_EVENT};
 use std::sync::mpsc::Sender;
 
 pub struct Service17CustomWrapper {
-    pub pus17_handler: PusService17TestHandler<EcssTcInStoreConverter>,
+    pub pus17_handler: PusService17TestHandler<EcssTcInSharedStoreConverter>,
     pub test_srv_event_sender: Sender<(EventU32, Option<Params>)>,
 }
 
@@ -38,8 +38,12 @@ impl Service17CustomWrapper {
                 warn!("PUS17: Subservice {subservice} not implemented")
             }
             PusPacketHandlerResult::CustomSubservice(subservice, token) => {
-                let (tc, _) =
+                let (tc, _) = PusTcReader::new(
-                    PusTcReader::new(self.pus17_handler.psb.tc_in_mem_converter.tc_slice_raw())
+                    self.pus17_handler
+                        .service_helper
+                        .tc_in_mem_converter
+                        .tc_slice_raw(),
+                )
                 .unwrap();
                 let time_stamper = TimeProvider::from_now_with_u16_days().unwrap();
                 let mut stamp_buf: [u8; 7] = [0; 7];
@@ -51,14 +55,14 @@ impl Service17CustomWrapper {
                         .expect("Sending test event failed");
                     let start_token = self
                         .pus17_handler
-                        .psb
+                        .service_helper
                         .common
                         .verification_handler
                         .get_mut()
                         .start_success(token, Some(&stamp_buf))
                         .expect("Error sending start success");
                     self.pus17_handler
-                        .psb
+                        .service_helper
                         .common
                         .verification_handler
                         .get_mut()
@@ -67,7 +71,7 @@ impl Service17CustomWrapper {
                 } else {
                     let fail_data = [tc.subservice()];
                     self.pus17_handler
-                        .psb
+                        .service_helper
                         .common
                         .verification_handler
                         .get_mut()

satrs-example/src/tmtc.rs

@@ -5,7 +5,7 @@ use std::sync::mpsc::{Receiver, SendError, Sender, TryRecvError};
 use thiserror::Error;
 
 use crate::pus::PusReceiver;
-use satrs_core::pool::{SharedPool, StoreAddr, StoreError};
+use satrs_core::pool::{PoolProviderMemInPlace, SharedStaticMemoryPool, StoreAddr, StoreError};
 use satrs_core::spacepackets::ecss::tc::PusTcReader;
 use satrs_core::spacepackets::ecss::PusPacket;
 use satrs_core::tmtc::tm_helper::SharedTmStore;
@@ -41,7 +41,7 @@ pub enum MpscStoreAndSendError {
 
 #[derive(Clone)]
 pub struct TcStore {
-    pub pool: SharedPool,
+    pub pool: SharedStaticMemoryPool,
 }
 
 impl TcStore {

satrs-example/src/udp.rs

@@ -3,7 +3,7 @@ use std::{net::SocketAddr, sync::mpsc::Receiver};
 use log::{info, warn};
 use satrs_core::{
     hal::std::udp_server::{ReceiveResult, UdpTcServer},
-    pool::{SharedPool, StoreAddr},
+    pool::{PoolProviderMemInPlaceWithGuards, SharedStaticMemoryPool, StoreAddr},
     tmtc::CcsdsError,
 };
 
@@ -12,7 +12,7 @@ use crate::tmtc::MpscStoreAndSendError;
 pub struct UdpTmtcServer {
     pub udp_tc_server: UdpTcServer<CcsdsError<MpscStoreAndSendError>>,
     pub tm_rx: Receiver<StoreAddr>,
-    pub tm_store: SharedPool,
+    pub tm_store: SharedStaticMemoryPool,
 }
 impl UdpTmtcServer {
     pub fn periodic_operation(&mut self) {