Merge branch 'main' into lets-get-this-minsim-started

2024-02-28 17:22:05 +01:00 · 2024-02-28 17:22:05 +01:00 · 96f0c90838
commit 96f0c90838
parent 2ca6684f7a 5600aa576c
35 changed files with 1547 additions and 962 deletions
--- a/satrs-example/Cargo.toml
+++ b/satrs-example/Cargo.toml
@ -1,6 +1,6 @@
 [package]
 name = "satrs-example"
-version = "0.1.0"
+version = "0.1.1"
 edition = "2021"
 authors = ["Robin Mueller <muellerr@irs.uni-stuttgart.de>"]
 default-run = "satrs-example"
@ -20,12 +20,12 @@ thiserror = "1"
 derive-new = "0.5"

 [dependencies.satrs]
-# version = "0.1.1"
+# version = "0.2.0-rc.0"
 path = "../satrs"

 [dependencies.satrs-mib]
-# version = "0.1.0"
-path = "../satrs-mib"
+version = "0.1.1"
+# path = "../satrs-mib"

 [features]
 dyn_tmtc = []
--- a/satrs-example/src/acs.rs
+++ b/satrs-example/src/acs.rs
@ -1,7 +1,7 @@
 use std::sync::mpsc::{self, TryRecvError};

 use log::{info, warn};
-use satrs::pus::verification::{VerificationReporterWithSender, VerificationReportingProvider};
+use satrs::pus::verification::VerificationReportingProvider;
 use satrs::pus::{EcssTmSender, PusTmWrapper};
 use satrs::request::TargetAndApidId;
 use satrs::spacepackets::ecss::hk::Subservice as HkSubservice;
@ -21,19 +21,19 @@ use crate::{
    update_time,
 };

-pub struct AcsTask {
+pub struct AcsTask<VerificationReporter: VerificationReportingProvider> {
    timestamp: [u8; 7],
    time_provider: TimeProvider<DaysLen16Bits>,
-    verif_reporter: VerificationReporterWithSender,
+    verif_reporter: VerificationReporter,
    tm_sender: Box<dyn EcssTmSender>,
    request_rx: mpsc::Receiver<RequestWithToken>,
 }

-impl AcsTask {
+impl<VerificationReporter: VerificationReportingProvider> AcsTask<VerificationReporter> {
    pub fn new(
        tm_sender: impl EcssTmSender,
        request_rx: mpsc::Receiver<RequestWithToken>,
-        verif_reporter: VerificationReporterWithSender,
+        verif_reporter: VerificationReporter,
    ) -> Self {
        Self {
            timestamp: [0; 7],
--- a/satrs-example/src/events.rs
+++ b/satrs-example/src/events.rs
@ -1,21 +1,17 @@
-use std::sync::mpsc::{self, SendError};
+use std::sync::mpsc::{self};

 use satrs::{
    event_man::{
-        EventManager, EventManagerWithMpscQueue, MpscEventReceiver, MpscEventU32SendProvider,
-        SendEventProvider,
+        EventManagerWithBoundedMpsc, EventSendProvider, EventU32SenderMpscBounded,
+        MpscEventReceiver,
    },
    events::EventU32,
    params::Params,
    pus::{
        event_man::{
-            DefaultPusMgmtBackendProvider, EventReporter, EventRequest, EventRequestWithToken,
-            PusEventDispatcher,
-        },
-        verification::{
-            TcStateStarted, VerificationReporterWithSender, VerificationReportingProvider,
-            VerificationToken,
+            DefaultPusEventU32Dispatcher, EventReporter, EventRequest, EventRequestWithToken,
        },
+        verification::{TcStateStarted, VerificationReportingProvider, VerificationToken},
        EcssTmSender,
    },
    spacepackets::time::cds::{self, TimeProvider},
@ -24,38 +20,37 @@ use satrs_example::config::PUS_APID;

 use crate::update_time;

-pub type MpscEventManager = EventManager<SendError<(EventU32, Option<Params>)>>;
-
-pub struct PusEventHandler {
+pub struct PusEventHandler<VerificationReporter: VerificationReportingProvider> {
    event_request_rx: mpsc::Receiver<EventRequestWithToken>,
-    pus_event_dispatcher: PusEventDispatcher<(), EventU32>,
+    pus_event_dispatcher: DefaultPusEventU32Dispatcher<()>,
    pus_event_man_rx: mpsc::Receiver<(EventU32, Option<Params>)>,
    tm_sender: Box<dyn EcssTmSender>,
    time_provider: TimeProvider,
    timestamp: [u8; 7],
-    verif_handler: VerificationReporterWithSender,
+    verif_handler: VerificationReporter,
 }
 /*
 */

-impl PusEventHandler {
+impl<VerificationReporter: VerificationReportingProvider> PusEventHandler<VerificationReporter> {
    pub fn new(
-        verif_handler: VerificationReporterWithSender,
-        event_manager: &mut MpscEventManager,
+        verif_handler: VerificationReporter,
+        event_manager: &mut EventManagerWithBoundedMpsc,
        event_request_rx: mpsc::Receiver<EventRequestWithToken>,
        tm_sender: impl EcssTmSender,
    ) -> Self {
-        let (pus_event_man_tx, pus_event_man_rx) = mpsc::channel();
+        let event_queue_cap = 30;
+        let (pus_event_man_tx, pus_event_man_rx) = mpsc::sync_channel(event_queue_cap);

        // All events sent to the manager are routed to the PUS event manager, which generates PUS event
        // telemetry for each event.
        let event_reporter = EventReporter::new(PUS_APID, 128).unwrap();
-        let pus_tm_backend = DefaultPusMgmtBackendProvider::<EventU32>::default();
        let pus_event_dispatcher =
-            PusEventDispatcher::new(event_reporter, Box::new(pus_tm_backend));
-        let pus_event_man_send_provider = MpscEventU32SendProvider::new(1, pus_event_man_tx);
+            DefaultPusEventU32Dispatcher::new_with_default_backend(event_reporter);
+        let pus_event_man_send_provider =
+            EventU32SenderMpscBounded::new(1, pus_event_man_tx, event_queue_cap);

-        event_manager.subscribe_all(pus_event_man_send_provider.id());
+        event_manager.subscribe_all(pus_event_man_send_provider.channel_id());
        event_manager.add_sender(pus_event_man_send_provider);

        Self {
@ -117,7 +112,7 @@ impl PusEventHandler {
 }

 pub struct EventManagerWrapper {
-    event_manager: MpscEventManager,
+    event_manager: EventManagerWithBoundedMpsc,
    event_sender: mpsc::Sender<(EventU32, Option<Params>)>,
 }

@ -128,7 +123,7 @@ impl EventManagerWrapper {
        let (event_sender, event_man_rx) = mpsc::channel();
        let event_recv = MpscEventReceiver::<EventU32>::new(event_man_rx);
        Self {
-            event_manager: EventManagerWithMpscQueue::new(Box::new(event_recv)),
+            event_manager: EventManagerWithBoundedMpsc::new(event_recv),
            event_sender,
        }
    }
@ -137,7 +132,7 @@ impl EventManagerWrapper {
        self.event_sender.clone()
    }

-    pub fn event_manager(&mut self) -> &mut MpscEventManager {
+    pub fn event_manager(&mut self) -> &mut EventManagerWithBoundedMpsc {
        &mut self.event_manager
    }

@ -149,15 +144,15 @@ impl EventManagerWrapper {
    }
 }

-pub struct EventHandler {
+pub struct EventHandler<VerificationReporter: VerificationReportingProvider> {
    pub event_man_wrapper: EventManagerWrapper,
-    pub pus_event_handler: PusEventHandler,
+    pub pus_event_handler: PusEventHandler<VerificationReporter>,
 }

-impl EventHandler {
+impl<VerificationReporter: VerificationReportingProvider> EventHandler<VerificationReporter> {
    pub fn new(
        tm_sender: impl EcssTmSender,
-        verif_handler: VerificationReporterWithSender,
+        verif_handler: VerificationReporter,
        event_request_rx: mpsc::Receiver<EventRequestWithToken>,
    ) -> Self {
        let mut event_man_wrapper = EventManagerWrapper::new();
@ -178,7 +173,7 @@ impl EventHandler {
    }

    #[allow(dead_code)]
-    pub fn event_manager(&mut self) -> &mut MpscEventManager {
+    pub fn event_manager(&mut self) -> &mut EventManagerWithBoundedMpsc {
        self.event_man_wrapper.event_manager()
    }

--- a/satrs-example/src/main.rs
+++ b/satrs-example/src/main.rs
@ -44,7 +44,7 @@ use crate::tmtc::{
 use crate::udp::{StaticUdpTmHandler, UdpTmtcServer};
 use satrs::pus::event_man::EventRequestWithToken;
 use satrs::pus::verification::{VerificationReporterCfg, VerificationReporterWithSender};
-use satrs::pus::{EcssTmSender, MpscTmAsVecSender, MpscTmInSharedPoolSender};
+use satrs::pus::{EcssTmSender, TmAsVecSenderWithId, TmInSharedPoolSenderWithId};
 use satrs::spacepackets::{time::cds::TimeProvider, time::TimeWriter};
 use satrs::tmtc::CcsdsDistributor;
 use satrs::ChannelId;
@ -54,11 +54,13 @@ use std::sync::{Arc, RwLock};
 use std::thread;
 use std::time::Duration;

-fn create_verification_reporter(verif_sender: impl EcssTmSender) -> VerificationReporterWithSender {
+fn create_verification_reporter<Sender: EcssTmSender + Clone>(
+    verif_sender: Sender,
+) -> VerificationReporterWithSender<Sender> {
    let verif_cfg = VerificationReporterCfg::new(PUS_APID, 1, 2, 8).unwrap();
    // Every software component which needs to generate verification telemetry, gets a cloned
    // verification reporter.
-    VerificationReporterWithSender::new(&verif_cfg, Box::new(verif_sender))
+    VerificationReporterWithSender::new(&verif_cfg, verif_sender)
 }

 #[allow(dead_code)]
@ -68,13 +70,13 @@ fn static_tmtc_pool_main() {
    let shared_tc_pool = SharedTcPool {
        pool: Arc::new(RwLock::new(tc_pool)),
    };
-    let (tc_source_tx, tc_source_rx) = channel();
-    let (tm_funnel_tx, tm_funnel_rx) = channel();
-    let (tm_server_tx, tm_server_rx) = channel();
+    let (tc_source_tx, tc_source_rx) = mpsc::sync_channel(50);
+    let (tm_funnel_tx, tm_funnel_rx) = mpsc::sync_channel(50);
+    let (tm_server_tx, tm_server_rx) = mpsc::sync_channel(50);

    // Every software component which needs to generate verification telemetry, receives a cloned
    // verification reporter.
-    let verif_reporter = create_verification_reporter(MpscTmInSharedPoolSender::new(
+    let verif_reporter = create_verification_reporter(TmInSharedPoolSenderWithId::new(
        TmSenderId::PusVerification as ChannelId,
        "verif_sender",
        shared_tm_pool.clone(),
@ -102,7 +104,7 @@ fn static_tmtc_pool_main() {
    // The event task is the core handler to perform the event routing and TM handling as specified
    // in the sat-rs documentation.
    let mut event_handler = EventHandler::new(
-        MpscTmInSharedPoolSender::new(
+        TmInSharedPoolSenderWithId::new(
            TmSenderId::AllEvents as ChannelId,
            "ALL_EVENTS_TX",
            shared_tm_pool.clone(),
@ -202,7 +204,7 @@ fn static_tmtc_pool_main() {
    .expect("tcp server creation failed");

    let mut acs_task = AcsTask::new(
-        MpscTmInSharedPoolSender::new(
+        TmInSharedPoolSenderWithId::new(
            TmSenderId::AcsSubsystem as ChannelId,
            "ACS_TASK_SENDER",
            shared_tm_pool.clone(),
@ -303,7 +305,7 @@ fn dyn_tmtc_pool_main() {
    let (tm_server_tx, tm_server_rx) = channel();
    // Every software component which needs to generate verification telemetry, gets a cloned
    // verification reporter.
-    let verif_reporter = create_verification_reporter(MpscTmAsVecSender::new(
+    let verif_reporter = create_verification_reporter(TmAsVecSenderWithId::new(
        TmSenderId::PusVerification as ChannelId,
        "verif_sender",
        tm_funnel_tx.clone(),
@ -324,7 +326,7 @@ fn dyn_tmtc_pool_main() {
    // The event task is the core handler to perform the event routing and TM handling as specified
    // in the sat-rs documentation.
    let mut event_handler = EventHandler::new(
-        MpscTmAsVecSender::new(
+        TmAsVecSenderWithId::new(
            TmSenderId::AllEvents as ChannelId,
            "ALL_EVENTS_TX",
            tm_funnel_tx.clone(),
@ -415,7 +417,7 @@ fn dyn_tmtc_pool_main() {
    .expect("tcp server creation failed");

    let mut acs_task = AcsTask::new(
-        MpscTmAsVecSender::new(
+        TmAsVecSenderWithId::new(
            TmSenderId::AcsSubsystem as ChannelId,
            "ACS_TASK_SENDER",
            tm_funnel_tx.clone(),
--- a/satrs-example/src/pus/action.rs
+++ b/satrs-example/src/pus/action.rs
@ -2,14 +2,17 @@ use log::{error, warn};
 use satrs::action::ActionRequest;
 use satrs::pool::{SharedStaticMemoryPool, StoreAddr};
 use satrs::pus::action::{PusActionToRequestConverter, PusService8ActionHandler};
+use satrs::pus::verification::std_mod::{
+    VerificationReporterWithSharedPoolMpscBoundedSender, VerificationReporterWithVecMpscSender,
+};
 use satrs::pus::verification::{
-    FailParams, TcStateAccepted, VerificationReporterWithSender, VerificationReportingProvider,
-    VerificationToken,
+    FailParams, TcStateAccepted, VerificationReportingProvider, VerificationToken,
 };
 use satrs::pus::{
    EcssTcAndToken, EcssTcInMemConverter, EcssTcInSharedStoreConverter, EcssTcInVecConverter,
-    MpscTcReceiver, MpscTmAsVecSender, MpscTmInSharedPoolSender, PusPacketHandlerResult,
-    PusPacketHandlingError, PusServiceHelper,
+    EcssTcReceiverCore, EcssTmSenderCore, MpscTcReceiver, PusPacketHandlerResult,
+    PusPacketHandlingError, PusServiceHelper, TmAsVecSenderWithId, TmAsVecSenderWithMpsc,
+    TmInSharedPoolSenderWithBoundedMpsc, TmInSharedPoolSenderWithId,
 };
 use satrs::request::TargetAndApidId;
 use satrs::spacepackets::ecss::tc::PusTcReader;
@ -74,13 +77,18 @@ impl PusActionToRequestConverter for ExampleActionRequestConverter {

 pub fn create_action_service_static(
    shared_tm_store: SharedTmPool,
-    tm_funnel_tx: mpsc::Sender<StoreAddr>,
-    verif_reporter: VerificationReporterWithSender,
+    tm_funnel_tx: mpsc::SyncSender<StoreAddr>,
+    verif_reporter: VerificationReporterWithSharedPoolMpscBoundedSender,
    tc_pool: SharedStaticMemoryPool,
    pus_action_rx: mpsc::Receiver<EcssTcAndToken>,
    action_router: GenericRequestRouter,
-) -> Pus8Wrapper<EcssTcInSharedStoreConverter> {
-    let action_srv_tm_sender = MpscTmInSharedPoolSender::new(
+) -> Pus8Wrapper<
+    MpscTcReceiver,
+    TmInSharedPoolSenderWithBoundedMpsc,
+    EcssTcInSharedStoreConverter,
+    VerificationReporterWithSharedPoolMpscBoundedSender,
+> {
+    let action_srv_tm_sender = TmInSharedPoolSenderWithId::new(
        TmSenderId::PusAction as ChannelId,
        "PUS_8_TM_SENDER",
        shared_tm_store.clone(),
@ -93,8 +101,8 @@ pub fn create_action_service_static(
    );
    let pus_8_handler = PusService8ActionHandler::new(
        PusServiceHelper::new(
-            Box::new(action_srv_receiver),
-            Box::new(action_srv_tm_sender),
+            action_srv_receiver,
+            action_srv_tm_sender,
            PUS_APID,
            verif_reporter.clone(),
            EcssTcInSharedStoreConverter::new(tc_pool.clone(), 2048),
@ -108,11 +116,16 @@ pub fn create_action_service_static(

 pub fn create_action_service_dynamic(
    tm_funnel_tx: mpsc::Sender<Vec<u8>>,
-    verif_reporter: VerificationReporterWithSender,
+    verif_reporter: VerificationReporterWithVecMpscSender,
    pus_action_rx: mpsc::Receiver<EcssTcAndToken>,
    action_router: GenericRequestRouter,
-) -> Pus8Wrapper<EcssTcInVecConverter> {
-    let action_srv_tm_sender = MpscTmAsVecSender::new(
+) -> Pus8Wrapper<
+    MpscTcReceiver,
+    TmAsVecSenderWithMpsc,
+    EcssTcInVecConverter,
+    VerificationReporterWithVecMpscSender,
+> {
+    let action_srv_tm_sender = TmAsVecSenderWithId::new(
        TmSenderId::PusAction as ChannelId,
        "PUS_8_TM_SENDER",
        tm_funnel_tx.clone(),
@ -124,8 +137,8 @@ pub fn create_action_service_dynamic(
    );
    let pus_8_handler = PusService8ActionHandler::new(
        PusServiceHelper::new(
-            Box::new(action_srv_receiver),
-            Box::new(action_srv_tm_sender),
+            action_srv_receiver,
+            action_srv_tm_sender,
            PUS_APID,
            verif_reporter.clone(),
            EcssTcInVecConverter::default(),
@ -137,17 +150,30 @@ pub fn create_action_service_dynamic(
    Pus8Wrapper { pus_8_handler }
 }

-pub struct Pus8Wrapper<TcInMemConverter: EcssTcInMemConverter> {
+pub struct Pus8Wrapper<
+    TcReceiver: EcssTcReceiverCore,
+    TmSender: EcssTmSenderCore,
+    TcInMemConverter: EcssTcInMemConverter,
+    VerificationReporter: VerificationReportingProvider,
+> {
    pub(crate) pus_8_handler: PusService8ActionHandler<
+        TcReceiver,
+        TmSender,
        TcInMemConverter,
-        VerificationReporterWithSender,
+        VerificationReporter,
        ExampleActionRequestConverter,
        GenericRequestRouter,
        GenericRoutingErrorHandler<8>,
    >,
 }

-impl<TcInMemConverter: EcssTcInMemConverter> Pus8Wrapper<TcInMemConverter> {
+impl<
+        TcReceiver: EcssTcReceiverCore,
+        TmSender: EcssTmSenderCore,
+        TcInMemConverter: EcssTcInMemConverter,
+        VerificationReporter: VerificationReportingProvider,
+    > Pus8Wrapper<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>
+{
    pub fn handle_next_packet(&mut self) -> bool {
        match self.pus_8_handler.handle_one_tc() {
            Ok(result) => match result {
--- a/satrs-example/src/pus/event.rs
+++ b/satrs-example/src/pus/event.rs
@ -4,11 +4,15 @@ use log::{error, warn};
 use satrs::pool::{SharedStaticMemoryPool, StoreAddr};
 use satrs::pus::event_man::EventRequestWithToken;
 use satrs::pus::event_srv::PusService5EventHandler;
-use satrs::pus::verification::VerificationReporterWithSender;
+use satrs::pus::verification::std_mod::{
+    VerificationReporterWithSharedPoolMpscBoundedSender, VerificationReporterWithVecMpscSender,
+};
+use satrs::pus::verification::VerificationReportingProvider;
 use satrs::pus::{
    EcssTcAndToken, EcssTcInMemConverter, EcssTcInSharedStoreConverter, EcssTcInVecConverter,
-    MpscTcReceiver, MpscTmAsVecSender, MpscTmInSharedPoolSender, PusPacketHandlerResult,
-    PusServiceHelper,
+    EcssTcReceiverCore, EcssTmSenderCore, MpscTcReceiver, PusPacketHandlerResult, PusServiceHelper,
+    TmAsVecSenderWithId, TmAsVecSenderWithMpsc, TmInSharedPoolSenderWithBoundedMpsc,
+    TmInSharedPoolSenderWithId,
 };
 use satrs::tmtc::tm_helper::SharedTmPool;
 use satrs::ChannelId;
@ -16,13 +20,18 @@ use satrs_example::config::{TcReceiverId, TmSenderId, PUS_APID};

 pub fn create_event_service_static(
    shared_tm_store: SharedTmPool,
-    tm_funnel_tx: mpsc::Sender<StoreAddr>,
-    verif_reporter: VerificationReporterWithSender,
+    tm_funnel_tx: mpsc::SyncSender<StoreAddr>,
+    verif_reporter: VerificationReporterWithSharedPoolMpscBoundedSender,
    tc_pool: SharedStaticMemoryPool,
    pus_event_rx: mpsc::Receiver<EcssTcAndToken>,
    event_request_tx: mpsc::Sender<EventRequestWithToken>,
-) -> Pus5Wrapper<EcssTcInSharedStoreConverter> {
-    let event_srv_tm_sender = MpscTmInSharedPoolSender::new(
+) -> Pus5Wrapper<
+    MpscTcReceiver,
+    TmInSharedPoolSenderWithBoundedMpsc,
+    EcssTcInSharedStoreConverter,
+    VerificationReporterWithSharedPoolMpscBoundedSender,
+> {
+    let event_srv_tm_sender = TmInSharedPoolSenderWithId::new(
        TmSenderId::PusEvent as ChannelId,
        "PUS_5_TM_SENDER",
        shared_tm_store.clone(),
@ -35,8 +44,8 @@ pub fn create_event_service_static(
    );
    let pus_5_handler = PusService5EventHandler::new(
        PusServiceHelper::new(
-            Box::new(event_srv_receiver),
-            Box::new(event_srv_tm_sender),
+            event_srv_receiver,
+            event_srv_tm_sender,
            PUS_APID,
            verif_reporter.clone(),
            EcssTcInSharedStoreConverter::new(tc_pool.clone(), 2048),
@ -48,11 +57,16 @@ pub fn create_event_service_static(

 pub fn create_event_service_dynamic(
    tm_funnel_tx: mpsc::Sender<Vec<u8>>,
-    verif_reporter: VerificationReporterWithSender,
+    verif_reporter: VerificationReporterWithVecMpscSender,
    pus_event_rx: mpsc::Receiver<EcssTcAndToken>,
    event_request_tx: mpsc::Sender<EventRequestWithToken>,
-) -> Pus5Wrapper<EcssTcInVecConverter> {
-    let event_srv_tm_sender = MpscTmAsVecSender::new(
+) -> Pus5Wrapper<
+    MpscTcReceiver,
+    TmAsVecSenderWithMpsc,
+    EcssTcInVecConverter,
+    VerificationReporterWithVecMpscSender,
+> {
+    let event_srv_tm_sender = TmAsVecSenderWithId::new(
        TmSenderId::PusEvent as ChannelId,
        "PUS_5_TM_SENDER",
        tm_funnel_tx,
@ -64,8 +78,8 @@ pub fn create_event_service_dynamic(
    );
    let pus_5_handler = PusService5EventHandler::new(
        PusServiceHelper::new(
-            Box::new(event_srv_receiver),
-            Box::new(event_srv_tm_sender),
+            event_srv_receiver,
+            event_srv_tm_sender,
            PUS_APID,
            verif_reporter.clone(),
            EcssTcInVecConverter::default(),
@ -75,11 +89,23 @@ pub fn create_event_service_dynamic(
    Pus5Wrapper { pus_5_handler }
 }

-pub struct Pus5Wrapper<TcInMemConverter: EcssTcInMemConverter> {
-    pub pus_5_handler: PusService5EventHandler<TcInMemConverter, VerificationReporterWithSender>,
+pub struct Pus5Wrapper<
+    TcReceiver: EcssTcReceiverCore,
+    TmSender: EcssTmSenderCore,
+    TcInMemConverter: EcssTcInMemConverter,
+    VerificationReporter: VerificationReportingProvider,
+> {
+    pub pus_5_handler:
+        PusService5EventHandler<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>,
 }

-impl<TcInMemConverter: EcssTcInMemConverter> Pus5Wrapper<TcInMemConverter> {
+impl<
+        TcReceiver: EcssTcReceiverCore,
+        TmSender: EcssTmSenderCore,
+        TcInMemConverter: EcssTcInMemConverter,
+        VerificationReporter: VerificationReportingProvider,
+    > Pus5Wrapper<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>
+{
    pub fn handle_next_packet(&mut self) -> bool {
        match self.pus_5_handler.handle_one_tc() {
            Ok(result) => match result {
--- a/satrs-example/src/pus/hk.rs
+++ b/satrs-example/src/pus/hk.rs
@ -2,14 +2,17 @@ use log::{error, warn};
 use satrs::hk::{CollectionIntervalFactor, HkRequest};
 use satrs::pool::{SharedStaticMemoryPool, StoreAddr};
 use satrs::pus::hk::{PusHkToRequestConverter, PusService3HkHandler};
+use satrs::pus::verification::std_mod::{
+    VerificationReporterWithSharedPoolMpscBoundedSender, VerificationReporterWithVecMpscSender,
+};
 use satrs::pus::verification::{
-    FailParams, TcStateAccepted, VerificationReporterWithSender, VerificationReportingProvider,
-    VerificationToken,
+    FailParams, TcStateAccepted, VerificationReportingProvider, VerificationToken,
 };
 use satrs::pus::{
    EcssTcAndToken, EcssTcInMemConverter, EcssTcInSharedStoreConverter, EcssTcInVecConverter,
-    MpscTcReceiver, MpscTmAsVecSender, MpscTmInSharedPoolSender, PusPacketHandlerResult,
-    PusPacketHandlingError, PusServiceHelper,
+    EcssTcReceiverCore, EcssTmSenderCore, MpscTcReceiver, PusPacketHandlerResult,
+    PusPacketHandlingError, PusServiceHelper, TmAsVecSenderWithId, TmAsVecSenderWithMpsc,
+    TmInSharedPoolSenderWithBoundedMpsc, TmInSharedPoolSenderWithId,
 };
 use satrs::request::TargetAndApidId;
 use satrs::spacepackets::ecss::tc::PusTcReader;
@ -143,13 +146,18 @@ impl PusHkToRequestConverter for ExampleHkRequestConverter {

 pub fn create_hk_service_static(
    shared_tm_store: SharedTmPool,
-    tm_funnel_tx: mpsc::Sender<StoreAddr>,
-    verif_reporter: VerificationReporterWithSender,
+    tm_funnel_tx: mpsc::SyncSender<StoreAddr>,
+    verif_reporter: VerificationReporterWithSharedPoolMpscBoundedSender,
    tc_pool: SharedStaticMemoryPool,
    pus_hk_rx: mpsc::Receiver<EcssTcAndToken>,
    request_router: GenericRequestRouter,
-) -> Pus3Wrapper<EcssTcInSharedStoreConverter> {
-    let hk_srv_tm_sender = MpscTmInSharedPoolSender::new(
+) -> Pus3Wrapper<
+    MpscTcReceiver,
+    TmInSharedPoolSenderWithBoundedMpsc,
+    EcssTcInSharedStoreConverter,
+    VerificationReporterWithSharedPoolMpscBoundedSender,
+> {
+    let hk_srv_tm_sender = TmInSharedPoolSenderWithId::new(
        TmSenderId::PusHk as ChannelId,
        "PUS_3_TM_SENDER",
        shared_tm_store.clone(),
@ -159,8 +167,8 @@ pub fn create_hk_service_static(
        MpscTcReceiver::new(TcReceiverId::PusHk as ChannelId, "PUS_8_TC_RECV", pus_hk_rx);
    let pus_3_handler = PusService3HkHandler::new(
        PusServiceHelper::new(
-            Box::new(hk_srv_receiver),
-            Box::new(hk_srv_tm_sender),
+            hk_srv_receiver,
+            hk_srv_tm_sender,
            PUS_APID,
            verif_reporter.clone(),
            EcssTcInSharedStoreConverter::new(tc_pool, 2048),
@ -174,11 +182,16 @@ pub fn create_hk_service_static(

 pub fn create_hk_service_dynamic(
    tm_funnel_tx: mpsc::Sender<Vec<u8>>,
-    verif_reporter: VerificationReporterWithSender,
+    verif_reporter: VerificationReporterWithVecMpscSender,
    pus_hk_rx: mpsc::Receiver<EcssTcAndToken>,
    request_router: GenericRequestRouter,
-) -> Pus3Wrapper<EcssTcInVecConverter> {
-    let hk_srv_tm_sender = MpscTmAsVecSender::new(
+) -> Pus3Wrapper<
+    MpscTcReceiver,
+    TmAsVecSenderWithMpsc,
+    EcssTcInVecConverter,
+    VerificationReporterWithVecMpscSender,
+> {
+    let hk_srv_tm_sender = TmAsVecSenderWithId::new(
        TmSenderId::PusHk as ChannelId,
        "PUS_3_TM_SENDER",
        tm_funnel_tx.clone(),
@ -187,8 +200,8 @@ pub fn create_hk_service_dynamic(
        MpscTcReceiver::new(TcReceiverId::PusHk as ChannelId, "PUS_8_TC_RECV", pus_hk_rx);
    let pus_3_handler = PusService3HkHandler::new(
        PusServiceHelper::new(
-            Box::new(hk_srv_receiver),
-            Box::new(hk_srv_tm_sender),
+            hk_srv_receiver,
+            hk_srv_tm_sender,
            PUS_APID,
            verif_reporter.clone(),
            EcssTcInVecConverter::default(),
@ -200,17 +213,30 @@ pub fn create_hk_service_dynamic(
    Pus3Wrapper { pus_3_handler }
 }

-pub struct Pus3Wrapper<TcInMemConverter: EcssTcInMemConverter> {
+pub struct Pus3Wrapper<
+    TcReceiver: EcssTcReceiverCore,
+    TmSender: EcssTmSenderCore,
+    TcInMemConverter: EcssTcInMemConverter,
+    VerificationReporter: VerificationReportingProvider,
+> {
    pub(crate) pus_3_handler: PusService3HkHandler<
+        TcReceiver,
+        TmSender,
        TcInMemConverter,
-        VerificationReporterWithSender,
+        VerificationReporter,
        ExampleHkRequestConverter,
        GenericRequestRouter,
        GenericRoutingErrorHandler<3>,
    >,
 }

-impl<TcInMemConverter: EcssTcInMemConverter> Pus3Wrapper<TcInMemConverter> {
+impl<
+        TcReceiver: EcssTcReceiverCore,
+        TmSender: EcssTmSenderCore,
+        TcInMemConverter: EcssTcInMemConverter,
+        VerificationReporter: VerificationReportingProvider,
+    > Pus3Wrapper<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>
+{
    pub fn handle_next_packet(&mut self) -> bool {
        match self.pus_3_handler.handle_one_tc() {
            Ok(result) => match result {
--- a/satrs-example/src/pus/mod.rs
+++ b/satrs-example/src/pus/mod.rs
@ -1,8 +1,6 @@
 use crate::tmtc::MpscStoreAndSendError;
 use log::warn;
-use satrs::pus::verification::{
-    FailParams, StdVerifReporterWithSender, VerificationReportingProvider,
-};
+use satrs::pus::verification::{FailParams, VerificationReportingProvider};
 use satrs::pus::{
    EcssTcAndToken, GenericRoutingError, PusPacketHandlerResult, PusRoutingErrorHandler, TcInMemory,
 };
@ -28,8 +26,8 @@ pub struct PusTcMpscRouter {
    pub action_service_receiver: Sender<EcssTcAndToken>,
 }

-pub struct PusReceiver {
-    pub verif_reporter: StdVerifReporterWithSender,
+pub struct PusReceiver<VerificationReporter: VerificationReportingProvider> {
+    pub verif_reporter: VerificationReporter,
    pub pus_router: PusTcMpscRouter,
    stamp_helper: TimeStampHelper,
 }
@ -61,8 +59,8 @@ impl TimeStampHelper {
    }
 }

-impl PusReceiver {
-    pub fn new(verif_reporter: StdVerifReporterWithSender, pus_router: PusTcMpscRouter) -> Self {
+impl<VerificationReporter: VerificationReportingProvider> PusReceiver<VerificationReporter> {
+    pub fn new(verif_reporter: VerificationReporter, pus_router: PusTcMpscRouter) -> Self {
        Self {
            verif_reporter,
            pus_router,
@ -71,7 +69,7 @@ impl PusReceiver {
    }
 }

-impl PusReceiver {
+impl<VerificationReporter: VerificationReportingProvider> PusReceiver<VerificationReporter> {
    pub fn handle_tc_packet(
        &mut self,
        tc_in_memory: TcInMemory,
--- a/satrs-example/src/pus/scheduler.rs
+++ b/satrs-example/src/pus/scheduler.rs
@ -5,11 +5,15 @@ use log::{error, info, warn};
 use satrs::pool::{PoolProvider, StaticMemoryPool, StoreAddr};
 use satrs::pus::scheduler::{PusScheduler, TcInfo};
 use satrs::pus::scheduler_srv::PusService11SchedHandler;
-use satrs::pus::verification::VerificationReporterWithSender;
+use satrs::pus::verification::std_mod::{
+    VerificationReporterWithSharedPoolMpscBoundedSender, VerificationReporterWithVecMpscSender,
+};
+use satrs::pus::verification::VerificationReportingProvider;
 use satrs::pus::{
    EcssTcAndToken, EcssTcInMemConverter, EcssTcInSharedStoreConverter, EcssTcInVecConverter,
-    MpscTcReceiver, MpscTmAsVecSender, MpscTmInSharedPoolSender, PusPacketHandlerResult,
-    PusServiceHelper,
+    EcssTcReceiverCore, EcssTmSenderCore, MpscTcReceiver, PusPacketHandlerResult, PusServiceHelper,
+    TmAsVecSenderWithId, TmAsVecSenderWithMpsc, TmInSharedPoolSenderWithBoundedMpsc,
+    TmInSharedPoolSenderWithId,
 };
 use satrs::tmtc::tm_helper::SharedTmPool;
 use satrs::ChannelId;
@ -51,15 +55,31 @@ impl TcReleaser for mpsc::Sender<Vec<u8>> {
    }
 }

-pub struct Pus11Wrapper<TcInMemConverter: EcssTcInMemConverter> {
-    pub pus_11_handler:
-        PusService11SchedHandler<TcInMemConverter, VerificationReporterWithSender, PusScheduler>,
+pub struct Pus11Wrapper<
+    TcReceiver: EcssTcReceiverCore,
+    TmSender: EcssTmSenderCore,
+    TcInMemConverter: EcssTcInMemConverter,
+    VerificationReporter: VerificationReportingProvider,
+> {
+    pub pus_11_handler: PusService11SchedHandler<
+        TcReceiver,
+        TmSender,
+        TcInMemConverter,
+        VerificationReporter,
+        PusScheduler,
+    >,
    pub sched_tc_pool: StaticMemoryPool,
    pub releaser_buf: [u8; 4096],
    pub tc_releaser: Box<dyn TcReleaser + Send>,
 }

-impl<TcInMemConverter: EcssTcInMemConverter> Pus11Wrapper<TcInMemConverter> {
+impl<
+        TcReceiver: EcssTcReceiverCore,
+        TmSender: EcssTmSenderCore,
+        TcInMemConverter: EcssTcInMemConverter,
+        VerificationReporter: VerificationReportingProvider,
+    > Pus11Wrapper<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>
+{
    pub fn release_tcs(&mut self) {
        let releaser = |enabled: bool, info: &TcInfo, tc: &[u8]| -> bool {
            self.tc_releaser.release(enabled, info, tc)
@ -110,13 +130,18 @@ impl<TcInMemConverter: EcssTcInMemConverter> Pus11Wrapper<TcInMemConverter> {

 pub fn create_scheduler_service_static(
    shared_tm_store: SharedTmPool,
-    tm_funnel_tx: mpsc::Sender<StoreAddr>,
-    verif_reporter: VerificationReporterWithSender,
+    tm_funnel_tx: mpsc::SyncSender<StoreAddr>,
+    verif_reporter: VerificationReporterWithSharedPoolMpscBoundedSender,
    tc_releaser: PusTcSourceProviderSharedPool,
    pus_sched_rx: mpsc::Receiver<EcssTcAndToken>,
    sched_tc_pool: StaticMemoryPool,
-) -> Pus11Wrapper<EcssTcInSharedStoreConverter> {
-    let sched_srv_tm_sender = MpscTmInSharedPoolSender::new(
+) -> Pus11Wrapper<
+    MpscTcReceiver,
+    TmInSharedPoolSenderWithBoundedMpsc,
+    EcssTcInSharedStoreConverter,
+    VerificationReporterWithSharedPoolMpscBoundedSender,
+> {
+    let sched_srv_tm_sender = TmInSharedPoolSenderWithId::new(
        TmSenderId::PusSched as ChannelId,
        "PUS_11_TM_SENDER",
        shared_tm_store.clone(),
@ -131,8 +156,8 @@ pub fn create_scheduler_service_static(
        .expect("Creating PUS Scheduler failed");
    let pus_11_handler = PusService11SchedHandler::new(
        PusServiceHelper::new(
-            Box::new(sched_srv_receiver),
-            Box::new(sched_srv_tm_sender),
+            sched_srv_receiver,
+            sched_srv_tm_sender,
            PUS_APID,
            verif_reporter.clone(),
            EcssTcInSharedStoreConverter::new(tc_releaser.clone_backing_pool(), 2048),
@ -149,12 +174,17 @@ pub fn create_scheduler_service_static(

 pub fn create_scheduler_service_dynamic(
    tm_funnel_tx: mpsc::Sender<Vec<u8>>,
-    verif_reporter: VerificationReporterWithSender,
+    verif_reporter: VerificationReporterWithVecMpscSender,
    tc_source_sender: mpsc::Sender<Vec<u8>>,
    pus_sched_rx: mpsc::Receiver<EcssTcAndToken>,
    sched_tc_pool: StaticMemoryPool,
-) -> Pus11Wrapper<EcssTcInVecConverter> {
-    let sched_srv_tm_sender = MpscTmAsVecSender::new(
+) -> Pus11Wrapper<
+    MpscTcReceiver,
+    TmAsVecSenderWithMpsc,
+    EcssTcInVecConverter,
+    VerificationReporterWithVecMpscSender,
+> {
+    let sched_srv_tm_sender = TmAsVecSenderWithId::new(
        TmSenderId::PusSched as ChannelId,
        "PUS_11_TM_SENDER",
        tm_funnel_tx,
@ -168,8 +198,8 @@ pub fn create_scheduler_service_dynamic(
        .expect("Creating PUS Scheduler failed");
    let pus_11_handler = PusService11SchedHandler::new(
        PusServiceHelper::new(
-            Box::new(sched_srv_receiver),
-            Box::new(sched_srv_tm_sender),
+            sched_srv_receiver,
+            sched_srv_tm_sender,
            PUS_APID,
            verif_reporter.clone(),
            EcssTcInVecConverter::default(),
--- a/satrs-example/src/pus/stack.rs
+++ b/satrs-example/src/pus/stack.rs
@ -1,25 +1,44 @@
-use satrs::pus::EcssTcInMemConverter;
+use satrs::pus::{
+    verification::VerificationReportingProvider, EcssTcInMemConverter, EcssTcReceiverCore,
+    EcssTmSenderCore,
+};

 use super::{
    action::Pus8Wrapper, event::Pus5Wrapper, hk::Pus3Wrapper, scheduler::Pus11Wrapper,
    test::Service17CustomWrapper,
 };

-pub struct PusStack<TcInMemConverter: EcssTcInMemConverter> {
-    event_srv: Pus5Wrapper<TcInMemConverter>,
-    hk_srv: Pus3Wrapper<TcInMemConverter>,
-    action_srv: Pus8Wrapper<TcInMemConverter>,
-    schedule_srv: Pus11Wrapper<TcInMemConverter>,
-    test_srv: Service17CustomWrapper<TcInMemConverter>,
+pub struct PusStack<
+    TcReceiver: EcssTcReceiverCore,
+    TmSender: EcssTmSenderCore,
+    TcInMemConverter: EcssTcInMemConverter,
+    VerificationReporter: VerificationReportingProvider,
+> {
+    event_srv: Pus5Wrapper<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>,
+    hk_srv: Pus3Wrapper<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>,
+    action_srv: Pus8Wrapper<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>,
+    schedule_srv: Pus11Wrapper<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>,
+    test_srv: Service17CustomWrapper<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>,
 }

-impl<TcInMemConverter: EcssTcInMemConverter> PusStack<TcInMemConverter> {
+impl<
+        TcReceiver: EcssTcReceiverCore,
+        TmSender: EcssTmSenderCore,
+        TcInMemConverter: EcssTcInMemConverter,
+        VerificationReporter: VerificationReportingProvider,
+    > PusStack<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>
+{
    pub fn new(
-        hk_srv: Pus3Wrapper<TcInMemConverter>,
-        event_srv: Pus5Wrapper<TcInMemConverter>,
-        action_srv: Pus8Wrapper<TcInMemConverter>,
-        schedule_srv: Pus11Wrapper<TcInMemConverter>,
-        test_srv: Service17CustomWrapper<TcInMemConverter>,
+        hk_srv: Pus3Wrapper<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>,
+        event_srv: Pus5Wrapper<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>,
+        action_srv: Pus8Wrapper<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>,
+        schedule_srv: Pus11Wrapper<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>,
+        test_srv: Service17CustomWrapper<
+            TcReceiver,
+            TmSender,
+            TcInMemConverter,
+            VerificationReporter,
+        >,
    ) -> Self {
        Self {
            event_srv,
--- a/satrs-example/src/pus/test.rs
+++ b/satrs-example/src/pus/test.rs
@ -2,12 +2,15 @@ use log::{info, warn};
 use satrs::params::Params;
 use satrs::pool::{SharedStaticMemoryPool, StoreAddr};
 use satrs::pus::test::PusService17TestHandler;
+use satrs::pus::verification::{FailParams, VerificationReportingProvider};
 use satrs::pus::verification::{
-    FailParams, VerificationReporterWithSender, VerificationReportingProvider,
+    VerificationReporterWithSharedPoolMpscBoundedSender, VerificationReporterWithVecMpscSender,
 };
 use satrs::pus::{
-    EcssTcAndToken, EcssTcInMemConverter, EcssTcInVecConverter, MpscTcReceiver, MpscTmAsVecSender,
-    MpscTmInSharedPoolSender, PusPacketHandlerResult, PusServiceHelper,
+    EcssTcAndToken, EcssTcInMemConverter, EcssTcInVecConverter, EcssTcReceiverCore,
+    EcssTmSenderCore, MpscTcReceiver, PusPacketHandlerResult, PusServiceHelper,
+    TmAsVecSenderWithId, TmAsVecSenderWithMpsc, TmInSharedPoolSenderWithBoundedMpsc,
+    TmInSharedPoolSenderWithId,
 };
 use satrs::spacepackets::ecss::tc::PusTcReader;
 use satrs::spacepackets::ecss::PusPacket;
@ -21,13 +24,18 @@ use std::sync::mpsc::{self, Sender};

 pub fn create_test_service_static(
    shared_tm_store: SharedTmPool,
-    tm_funnel_tx: mpsc::Sender<StoreAddr>,
-    verif_reporter: VerificationReporterWithSender,
+    tm_funnel_tx: mpsc::SyncSender<StoreAddr>,
+    verif_reporter: VerificationReporterWithSharedPoolMpscBoundedSender,
    tc_pool: SharedStaticMemoryPool,
    event_sender: mpsc::Sender<(EventU32, Option<Params>)>,
    pus_test_rx: mpsc::Receiver<EcssTcAndToken>,
-) -> Service17CustomWrapper<EcssTcInSharedStoreConverter> {
-    let test_srv_tm_sender = MpscTmInSharedPoolSender::new(
+) -> Service17CustomWrapper<
+    MpscTcReceiver,
+    TmInSharedPoolSenderWithBoundedMpsc,
+    EcssTcInSharedStoreConverter,
+    VerificationReporterWithSharedPoolMpscBoundedSender,
+> {
+    let test_srv_tm_sender = TmInSharedPoolSenderWithId::new(
        TmSenderId::PusTest as ChannelId,
        "PUS_17_TM_SENDER",
        shared_tm_store.clone(),
@ -39,8 +47,8 @@ pub fn create_test_service_static(
        pus_test_rx,
    );
    let pus17_handler = PusService17TestHandler::new(PusServiceHelper::new(
-        Box::new(test_srv_receiver),
-        Box::new(test_srv_tm_sender),
+        test_srv_receiver,
+        test_srv_tm_sender,
        PUS_APID,
        verif_reporter.clone(),
        EcssTcInSharedStoreConverter::new(tc_pool, 2048),
@ -53,11 +61,16 @@ pub fn create_test_service_static(

 pub fn create_test_service_dynamic(
    tm_funnel_tx: mpsc::Sender<Vec<u8>>,
-    verif_reporter: VerificationReporterWithSender,
+    verif_reporter: VerificationReporterWithVecMpscSender,
    event_sender: mpsc::Sender<(EventU32, Option<Params>)>,
    pus_test_rx: mpsc::Receiver<EcssTcAndToken>,
-) -> Service17CustomWrapper<EcssTcInVecConverter> {
-    let test_srv_tm_sender = MpscTmAsVecSender::new(
+) -> Service17CustomWrapper<
+    MpscTcReceiver,
+    TmAsVecSenderWithMpsc,
+    EcssTcInVecConverter,
+    VerificationReporterWithVecMpscSender,
+> {
+    let test_srv_tm_sender = TmAsVecSenderWithId::new(
        TmSenderId::PusTest as ChannelId,
        "PUS_17_TM_SENDER",
        tm_funnel_tx.clone(),
@ -68,8 +81,8 @@ pub fn create_test_service_dynamic(
        pus_test_rx,
    );
    let pus17_handler = PusService17TestHandler::new(PusServiceHelper::new(
-        Box::new(test_srv_receiver),
-        Box::new(test_srv_tm_sender),
+        test_srv_receiver,
+        test_srv_tm_sender,
        PUS_APID,
        verif_reporter.clone(),
        EcssTcInVecConverter::default(),
@ -80,12 +93,24 @@ pub fn create_test_service_dynamic(
    }
 }

-pub struct Service17CustomWrapper<TcInMemConverter: EcssTcInMemConverter> {
-    pub pus17_handler: PusService17TestHandler<TcInMemConverter, VerificationReporterWithSender>,
+pub struct Service17CustomWrapper<
+    TcReceiver: EcssTcReceiverCore,
+    TmSender: EcssTmSenderCore,
+    TcInMemConverter: EcssTcInMemConverter,
+    VerificationReporter: VerificationReportingProvider,
+> {
+    pub pus17_handler:
+        PusService17TestHandler<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>,
    pub test_srv_event_sender: Sender<(EventU32, Option<Params>)>,
 }

-impl<TcInMemConverter: EcssTcInMemConverter> Service17CustomWrapper<TcInMemConverter> {
+impl<
+        TcReceiver: EcssTcReceiverCore,
+        TmSender: EcssTmSenderCore,
+        TcInMemConverter: EcssTcInMemConverter,
+        VerificationReporter: VerificationReportingProvider,
+    > Service17CustomWrapper<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>
+{
    pub fn handle_next_packet(&mut self) -> bool {
        let res = self.pus17_handler.handle_one_tc();
        if res.is_err() {
--- a/satrs-example/src/tm_funnel.rs
+++ b/satrs-example/src/tm_funnel.rs
@ -1,6 +1,6 @@
 use std::{
    collections::HashMap,
-    sync::mpsc::{Receiver, Sender},
+    sync::mpsc::{self},
 };

 use log::info;
@ -77,16 +77,16 @@ impl TmFunnelCommon {
 pub struct TmFunnelStatic {
    common: TmFunnelCommon,
    shared_tm_store: SharedTmPool,
-    tm_funnel_rx: Receiver<StoreAddr>,
-    tm_server_tx: Sender<StoreAddr>,
+    tm_funnel_rx: mpsc::Receiver<StoreAddr>,
+    tm_server_tx: mpsc::SyncSender<StoreAddr>,
 }

 impl TmFunnelStatic {
    pub fn new(
        shared_tm_store: SharedTmPool,
        sync_tm_tcp_source: SyncTcpTmSource,
-        tm_funnel_rx: Receiver<StoreAddr>,
-        tm_server_tx: Sender<StoreAddr>,
+        tm_funnel_rx: mpsc::Receiver<StoreAddr>,
+        tm_server_tx: mpsc::SyncSender<StoreAddr>,
    ) -> Self {
        Self {
            common: TmFunnelCommon::new(sync_tm_tcp_source),
@ -123,15 +123,15 @@ impl TmFunnelStatic {

 pub struct TmFunnelDynamic {
    common: TmFunnelCommon,
-    tm_funnel_rx: Receiver<Vec<u8>>,
-    tm_server_tx: Sender<Vec<u8>>,
+    tm_funnel_rx: mpsc::Receiver<Vec<u8>>,
+    tm_server_tx: mpsc::Sender<Vec<u8>>,
 }

 impl TmFunnelDynamic {
    pub fn new(
        sync_tm_tcp_source: SyncTcpTmSource,
-        tm_funnel_rx: Receiver<Vec<u8>>,
-        tm_server_tx: Sender<Vec<u8>>,
+        tm_funnel_rx: mpsc::Receiver<Vec<u8>>,
+        tm_server_tx: mpsc::Sender<Vec<u8>>,
    ) -> Self {
        Self {
            common: TmFunnelCommon::new(sync_tm_tcp_source),
--- a/satrs-example/src/tmtc.rs
+++ b/satrs-example/src/tmtc.rs
@ -1,7 +1,10 @@
 use log::warn;
+use satrs::pus::verification::std_mod::{
+    VerificationReporterWithSharedPoolMpscBoundedSender, VerificationReporterWithVecMpscSender,
+};
 use satrs::pus::{EcssTcAndToken, ReceivesEcssPusTc};
 use satrs::spacepackets::SpHeader;
-use std::sync::mpsc::{self, Receiver, SendError, Sender, TryRecvError};
+use std::sync::mpsc::{self, Receiver, SendError, Sender, SyncSender, TryRecvError};
 use thiserror::Error;

 use crate::pus::PusReceiver;
@ -37,7 +40,7 @@ impl SharedTcPool {

 #[derive(Clone)]
 pub struct PusTcSourceProviderSharedPool {
-    pub tc_source: Sender<StoreAddr>,
+    pub tc_source: SyncSender<StoreAddr>,
    pub shared_pool: SharedTcPool,
 }

@ -97,14 +100,14 @@ pub struct TcSourceTaskStatic {
    shared_tc_pool: SharedTcPool,
    tc_receiver: Receiver<StoreAddr>,
    tc_buf: [u8; 4096],
-    pus_receiver: PusReceiver,
+    pus_receiver: PusReceiver<VerificationReporterWithSharedPoolMpscBoundedSender>,
 }

 impl TcSourceTaskStatic {
    pub fn new(
        shared_tc_pool: SharedTcPool,
        tc_receiver: Receiver<StoreAddr>,
-        pus_receiver: PusReceiver,
+        pus_receiver: PusReceiver<VerificationReporterWithSharedPoolMpscBoundedSender>,
    ) -> Self {
        Self {
            shared_tc_pool,
@ -161,11 +164,14 @@ impl TcSourceTaskStatic {
 // TC source components where the heap is the backing memory of the received telecommands.
 pub struct TcSourceTaskDynamic {
    pub tc_receiver: Receiver<Vec<u8>>,
-    pus_receiver: PusReceiver,
+    pus_receiver: PusReceiver<VerificationReporterWithVecMpscSender>,
 }

 impl TcSourceTaskDynamic {
-    pub fn new(tc_receiver: Receiver<Vec<u8>>, pus_receiver: PusReceiver) -> Self {
+    pub fn new(
+        tc_receiver: Receiver<Vec<u8>>,
+        pus_receiver: PusReceiver<VerificationReporterWithVecMpscSender>,
+    ) -> Self {
        Self {
            tc_receiver,
            pus_receiver,
--- a/satrs/CHANGELOG.md
+++ b/satrs/CHANGELOG.md
@ -8,7 +8,23 @@ and this project adheres to [Semantic Versioning](http://semver.org/).

 # [unreleased]

-# [v0.2.0]
+## Changed
+
+- Refactored `EventManager` to heavily use generics instead of trait objects.
+  - `SendEventProvider` -> `EventSendProvider`. `id` trait method renamed to `channel_id`.
+  - `ListenerTable` -> `ListenerMapProvider`
+  - `SenderTable` -> `SenderMapProvider`
+  - There is an `EventManagerWithMpsc` and a `EventManagerWithBoundedMpsc` helper type now.
+- Refactored ECSS TM sender abstractions to be generic over different message queue backends.
+- Refactored Verification Reporter abstractions and implementation to be generic over the sender
+  instead of using trait objects.
+
+## Fixed
+
+- Update deprecated API for `PusScheduler::insert_wrapped_tc_cds_short`
+  and `PusScheduler::insert_wrapped_tc_cds_long`.
+
+# [v0.2.0-rc.0] 2024-02-21

 ## Added

--- a/satrs/Cargo.toml
+++ b/satrs/Cargo.toml
@ -1,6 +1,6 @@
 [package]
 name = "satrs"
-version = "0.1.1"
+version = "0.2.0-rc.0"
 edition = "2021"
 rust-version = "1.61"
 authors = ["Robin Mueller <muellerr@irs.uni-stuttgart.de>"]
--- a/satrs/src/action.rs
+++ b/satrs/src/action.rs
@ -40,3 +40,24 @@ impl TargetedActionRequest {
        }
    }
 }
+
+/// A reply to an action request.
+#[non_exhaustive]
+#[derive(Clone, Eq, PartialEq, Debug)]
+pub enum ActionReply {
+    CompletionFailed(ActionId),
+    StepFailed {
+        id: ActionId,
+        step: u32,
+    },
+    Completed(ActionId),
+    #[cfg(feature = "alloc")]
+    CompletedStringId(alloc::string::String),
+    #[cfg(feature = "alloc")]
+    CompletionFailedStringId(alloc::string::String),
+    #[cfg(feature = "alloc")]
+    StepFailedStringId {
+        id: alloc::string::String,
+        step: u32,
+    },
+}
--- a/satrs/src/cfdp/filestore.rs
+++ b/satrs/src/cfdp/filestore.rs
@ -7,7 +7,7 @@ use spacepackets::ByteConversionError;
 use std::error::Error;
 use std::path::Path;
 #[cfg(feature = "std")]
-pub use stdmod::*;
+pub use std_mod::*;

 pub const CRC_32: Crc<u32> = Crc::<u32>::new(&CRC_32_CKSUM);

@ -148,12 +148,11 @@ pub trait VirtualFilestore {
 }

 #[cfg(feature = "std")]
-pub mod stdmod {
+pub mod std_mod {
    use super::*;
    use std::{
        fs::{self, File, OpenOptions},
        io::{BufReader, Read, Seek, SeekFrom, Write},
-        path::Path,
    };

    #[derive(Default)]
--- a/satrs/src/event_man.rs
+++ b/satrs/src/event_man.rs
@ -10,27 +10,27 @@
 //! [sat-rs book chapter](https://absatsw.irs.uni-stuttgart.de/projects/sat-rs/book/events.html)
 //! about events first:
 //!
-//! The event manager has a listener table abstracted by the [ListenerTable], which maps
+//! The event manager has a listener table abstracted by the [ListenerMapProvider], which maps
 //! listener groups identified by [ListenerKey]s to a [sender ID][ChannelId].
-//! It also contains a sender table abstracted by the [SenderTable] which maps these sender IDs
-//! to a concrete [SendEventProvider]s. A simple approach would be to use one send event provider
+//! It also contains a sender table abstracted by the [SenderMapProvider] which maps these sender
+//! IDs to concrete [EventSendProvider]s. A simple approach would be to use one send event provider
 //! for each OBSW thread and then subscribe for all interesting events for a particular thread
 //! using the send event provider ID.
 //!
 //! This can be done with the [EventManager] like this:
 //!
-//!  1. Provide a concrete [EventReceiver] implementation. This abstraction allow to use different
+//!  1. Provide a concrete [EventReceiveProvider] implementation. This abstraction allow to use different
 //!     message queue backends. A straightforward implementation where dynamic memory allocation is
 //!     not a big concern could use [std::sync::mpsc::channel] to do this and is provided in
 //!     form of the [MpscEventReceiver].
 //!  2. To set up event creators, create channel pairs using some message queue implementation.
 //!     Each event creator gets a (cloned) sender component which allows it to send events to the
 //!     manager.
-//!  3. The event manager receives the receiver component as part of a [EventReceiver]
+//!  3. The event manager receives the receiver component as part of a [EventReceiveProvider]
 //!     implementation so all events are routed to the manager.
-//!  4. Create the [send event providers][SendEventProvider]s which allow routing events to
-//!     subscribers. You can now use their [sender IDs][SendEventProvider::id] to subscribe for
-//!     event groups, for example by using the [EventManager::subscribe_single] method.
+//!  4. Create the [send event providers][EventSendProvider]s which allow routing events to
+//!     subscribers. You can now use their [sender IDs][EventSendProvider::channel_id] to subscribe
+//!     for event groups, for example by using the [EventManager::subscribe_single] method.
 //!  5. Add the send provider as well using the [EventManager::add_sender] call so the event
 //!     manager can route listener groups to a the send provider.
 //!
@ -41,24 +41,22 @@
 //!
 //! # Examples
 //!
-//! You can check [integration test](https://egit.irs.uni-stuttgart.de/rust/sat-rs/src/branch/main/satrs-core/tests/pus_events.rs)
+//! You can check [integration test](https://egit.irs.uni-stuttgart.de/rust/sat-rs/src/branch/main/satrs/tests/pus_events.rs)
 //! for a concrete example using multi-threading where events are routed to
 //! different threads.
 use crate::events::{EventU16, EventU32, GenericEvent, LargestEventRaw, LargestGroupIdRaw};
 use crate::params::{Params, ParamsHeapless};
-#[cfg(feature = "alloc")]
-use alloc::boxed::Box;
-#[cfg(feature = "alloc")]
-use alloc::vec;
-#[cfg(feature = "alloc")]
-use alloc::vec::Vec;
+use crate::queue::GenericSendError;
+use core::marker::PhantomData;
 use core::slice::Iter;
-#[cfg(feature = "alloc")]
-use hashbrown::HashMap;

 use crate::ChannelId;
+
+#[cfg(feature = "alloc")]
+pub use alloc_mod::*;
+
 #[cfg(feature = "std")]
-pub use stdmod::*;
+pub use std_mod::*;

 #[derive(PartialEq, Eq, Hash, Copy, Clone, Debug)]
 pub enum ListenerKey {
@ -75,108 +73,110 @@ pub type EventWithAuxData<Event> = (Event, Option<Params>);
 pub type EventU32WithAuxData = EventWithAuxData<EventU32>;
 pub type EventU16WithAuxData = EventWithAuxData<EventU16>;

-pub trait SendEventProvider<Provider: GenericEvent, AuxDataProvider = Params> {
-    type Error;
+pub trait EventSendProvider<EV: GenericEvent, AuxDataProvider = Params> {
+    fn channel_id(&self) -> ChannelId;

-    fn id(&self) -> ChannelId;
-    fn send_no_data(&self, event: Provider) -> Result<(), Self::Error> {
+    fn send_no_data(&self, event: EV) -> Result<(), GenericSendError> {
        self.send(event, None)
    }
-    fn send(&self, event: Provider, aux_data: Option<AuxDataProvider>) -> Result<(), Self::Error>;
+
+    fn send(&self, event: EV, aux_data: Option<AuxDataProvider>) -> Result<(), GenericSendError>;
 }

 /// Generic abstraction for an event receiver.
-pub trait EventReceiver<Event: GenericEvent, AuxDataProvider = Params> {
-    /// This function has to be provided by any event receiver. A receive call may or may not return
-    /// an event.
-    ///
-    /// To allow returning arbitrary additional auxiliary data, a mutable slice is passed to the
-    /// [Self::receive] call as well. Receivers can write data to this slice, but care must be taken
-    /// to avoid panics due to size missmatches or out of bound writes.
-    fn receive(&self) -> Option<(Event, Option<AuxDataProvider>)>;
+pub trait EventReceiveProvider<Event: GenericEvent, AuxDataProvider = Params> {
+    /// This function has to be provided by any event receiver. A call may or may not return
+    /// an event and optional auxiliary data.
+    fn try_recv_event(&self) -> Option<(Event, Option<AuxDataProvider>)>;
 }

-pub trait ListenerTable {
-    fn get_listeners(&self) -> Vec<ListenerKey>;
+pub trait ListenerMapProvider {
+    #[cfg(feature = "alloc")]
+    #[cfg_attr(doc_cfg, doc(cfg(feature = "alloc")))]
+    fn get_listeners(&self) -> alloc::vec::Vec<ListenerKey>;
    fn contains_listener(&self, key: &ListenerKey) -> bool;
    fn get_listener_ids(&self, key: &ListenerKey) -> Option<Iter<ChannelId>>;
    fn add_listener(&mut self, key: ListenerKey, sender_id: ChannelId) -> bool;
    fn remove_duplicates(&mut self, key: &ListenerKey);
 }

-pub trait SenderTable<SendProviderError, Event: GenericEvent = EventU32, AuxDataProvider = Params> {
+pub trait SenderMapProvider<
+    SP: EventSendProvider<EV, AUX>,
+    EV: GenericEvent = EventU32,
+    AUX = Params,
+>
+{
    fn contains_send_event_provider(&self, id: &ChannelId) -> bool;
-    fn get_send_event_provider(
-        &self,
-        id: &ChannelId,
-    ) -> Option<&dyn SendEventProvider<Event, AuxDataProvider, Error = SendProviderError>>;
-    fn add_send_event_provider(
-        &mut self,
-        send_provider: Box<
-            dyn SendEventProvider<Event, AuxDataProvider, Error = SendProviderError>,
-        >,
-    ) -> bool;
+
+    fn get_send_event_provider(&self, id: &ChannelId) -> Option<&SP>;
+    fn add_send_event_provider(&mut self, send_provider: SP) -> bool;
 }

 /// Generic event manager implementation.
 ///
 /// # Generics
 ///
-///  * `SendProviderError`: [SendEventProvider] error type
-///  * `Event`: Concrete event provider, currently either [EventU32] or [EventU16]
-///  * `AuxDataProvider`: Concrete auxiliary data provider, currently either [Params] or
-///     [ParamsHeapless]
-pub struct EventManager<SendProviderError, Event: GenericEvent = EventU32, AuxDataProvider = Params>
-{
-    listener_table: Box<dyn ListenerTable>,
-    sender_table: Box<dyn SenderTable<SendProviderError, Event, AuxDataProvider>>,
-    event_receiver: Box<dyn EventReceiver<Event, AuxDataProvider>>,
+///  * `ERP`: [EventReceiveProvider] used to receive all events.
+///  * `SMP`: [SenderMapProvider]  which maps channel IDs to send providers.
+///  * `LTR`: [ListenerMapProvider] which maps listener keys to channel IDs.
+///  * `SP`: [EventSendProvider] contained within the sender map which sends the events.
+///  * `EV`: The event type. This type must implement the [GenericEvent]. Currently only [EventU32]
+///     and [EventU16] are supported.
+///  * `AUX`: Auxiliary data which is sent with the event to provide optional context information
+pub struct EventManager<
+    ERP: EventReceiveProvider<EV, AUX>,
+    SMP: SenderMapProvider<SP, EV, AUX>,
+    LTR: ListenerMapProvider,
+    SP: EventSendProvider<EV, AUX>,
+    EV: GenericEvent = EventU32,
+    AUX = Params,
+> {
+    event_receiver: ERP,
+    sender_map: SMP,
+    listener_map: LTR,
+    phantom: core::marker::PhantomData<(SP, EV, AUX)>,
 }

-/// Safety: It is safe to implement [Send] because all fields in the [EventManager] are [Send]
-/// as well
-#[cfg(feature = "std")]
-unsafe impl<E, Event: GenericEvent + Send, AuxDataProvider: Send> Send
-    for EventManager<E, Event, AuxDataProvider>
-{
-}
-
-#[cfg(feature = "std")]
-pub type EventManagerWithMpscQueue<Event, AuxDataProvider> = EventManager<
-    std::sync::mpsc::SendError<(Event, Option<AuxDataProvider>)>,
-    Event,
-    AuxDataProvider,
->;
-
 #[derive(Debug)]
-pub enum EventRoutingResult<Event: GenericEvent, AuxDataProvider> {
+pub enum EventRoutingResult<EV: GenericEvent, AUX> {
    /// No event was received
    Empty,
-    /// An event was received and routed.
-    /// The first tuple entry will contain the number of recipients.
-    Handled(u32, Event, Option<AuxDataProvider>),
+    /// An event was received and routed to listeners.
+    Handled {
+        num_recipients: u32,
+        event: EV,
+        aux_data: Option<AUX>,
+    },
 }

 #[derive(Debug)]
-pub enum EventRoutingError<E> {
-    SendError(E),
+pub enum EventRoutingError {
+    Send(GenericSendError),
    NoSendersForKey(ListenerKey),
    NoSenderForId(ChannelId),
 }

 #[derive(Debug)]
-pub struct EventRoutingErrorsWithResult<Event: GenericEvent, AuxDataProvider, E> {
-    pub result: EventRoutingResult<Event, AuxDataProvider>,
-    pub errors: [Option<EventRoutingError<E>>; 3],
+pub struct EventRoutingErrorsWithResult<EV: GenericEvent, AUX> {
+    pub result: EventRoutingResult<EV, AUX>,
+    pub errors: [Option<EventRoutingError>; 3],
 }

-impl<E, Event: GenericEvent + Copy> EventManager<E, Event> {
+impl<
+        ER: EventReceiveProvider<EV, AUX>,
+        S: SenderMapProvider<SP, EV, AUX>,
+        L: ListenerMapProvider,
+        SP: EventSendProvider<EV, AUX>,
+        EV: GenericEvent + Copy,
+        AUX: Clone,
+    > EventManager<ER, S, L, SP, EV, AUX>
+{
    pub fn remove_duplicates(&mut self, key: &ListenerKey) {
-        self.listener_table.remove_duplicates(key)
+        self.listener_map.remove_duplicates(key)
    }

    /// Subscribe for a unique event.
-    pub fn subscribe_single(&mut self, event: &Event, sender_id: ChannelId) {
+    pub fn subscribe_single(&mut self, event: &EV, sender_id: ChannelId) {
        self.update_listeners(ListenerKey::Single(event.raw_as_largest_type()), sender_id);
    }

@ -194,49 +194,37 @@ impl<E, Event: GenericEvent + Copy> EventManager<E, Event> {
    }
 }

-impl<E: 'static, Event: GenericEvent + Copy + 'static, AuxDataProvider: Clone + 'static>
-    EventManager<E, Event, AuxDataProvider>
+impl<
+        ERP: EventReceiveProvider<EV, AUX>,
+        SMP: SenderMapProvider<SP, EV, AUX>,
+        LTR: ListenerMapProvider,
+        SP: EventSendProvider<EV, AUX>,
+        EV: GenericEvent + Copy,
+        AUX: Clone,
+    > EventManager<ERP, SMP, LTR, SP, EV, AUX>
 {
-    /// Create an event manager where the sender table will be the [DefaultSenderTableProvider]
-    /// and the listener table will be the [DefaultListenerTableProvider].
-    pub fn new(event_receiver: Box<dyn EventReceiver<Event, AuxDataProvider>>) -> Self {
-        let listener_table: Box<DefaultListenerTableProvider> = Box::default();
-        let sender_table: Box<DefaultSenderTableProvider<E, Event, AuxDataProvider>> =
-            Box::default();
-        Self::new_custom_tables(listener_table, sender_table, event_receiver)
-    }
-}
-
-impl<E, Event: GenericEvent + Copy, AuxDataProvider: Clone>
-    EventManager<E, Event, AuxDataProvider>
-{
-    pub fn new_custom_tables(
-        listener_table: Box<dyn ListenerTable>,
-        sender_table: Box<dyn SenderTable<E, Event, AuxDataProvider>>,
-        event_receiver: Box<dyn EventReceiver<Event, AuxDataProvider>>,
-    ) -> Self {
+    pub fn new_with_custom_maps(event_receiver: ERP, sender_map: SMP, listener_map: LTR) -> Self {
        EventManager {
-            listener_table,
-            sender_table,
+            listener_map,
+            sender_map,
            event_receiver,
+            phantom: PhantomData,
        }
    }

-    pub fn add_sender(
-        &mut self,
-        send_provider: impl SendEventProvider<Event, AuxDataProvider, Error = E> + 'static,
-    ) {
+    /// Add a new sender component which can be used to send events to subscribers.
+    pub fn add_sender(&mut self, send_provider: SP) {
        if !self
-            .sender_table
-            .contains_send_event_provider(&send_provider.id())
+            .sender_map
+            .contains_send_event_provider(&send_provider.channel_id())
        {
-            self.sender_table
-                .add_send_event_provider(Box::new(send_provider));
+            self.sender_map.add_send_event_provider(send_provider);
        }
    }

+    /// Generic function to update the event subscribers.
    fn update_listeners(&mut self, key: ListenerKey, sender_id: ChannelId) {
-        self.listener_table.add_listener(key, sender_id);
+        self.listener_map.add_listener(key, sender_id);
    }

    /// This function will use the cached event receiver and try to receive one event.
@ -248,40 +236,36 @@ impl<E, Event: GenericEvent + Copy, AuxDataProvider: Clone>
    /// [EventRoutingErrorsWithResult] error struct.
    pub fn try_event_handling(
        &self,
-    ) -> Result<
-        EventRoutingResult<Event, AuxDataProvider>,
-        EventRoutingErrorsWithResult<Event, AuxDataProvider, E>,
-    > {
+    ) -> Result<EventRoutingResult<EV, AUX>, EventRoutingErrorsWithResult<EV, AUX>> {
        let mut err_idx = 0;
        let mut err_slice = [None, None, None];
        let mut num_recipients = 0;
-        let mut add_error = |error: EventRoutingError<E>| {
+        let mut add_error = |error: EventRoutingError| {
            if err_idx < 3 {
                err_slice[err_idx] = Some(error);
                err_idx += 1;
            }
        };
-        let mut send_handler =
-            |key: &ListenerKey, event: Event, aux_data: &Option<AuxDataProvider>| {
-                if self.listener_table.contains_listener(key) {
-                    if let Some(ids) = self.listener_table.get_listener_ids(key) {
-                        for id in ids {
-                            if let Some(sender) = self.sender_table.get_send_event_provider(id) {
-                                if let Err(e) = sender.send(event, aux_data.clone()) {
-                                    add_error(EventRoutingError::SendError(e));
-                                } else {
-                                    num_recipients += 1;
-                                }
+        let mut send_handler = |key: &ListenerKey, event: EV, aux_data: &Option<AUX>| {
+            if self.listener_map.contains_listener(key) {
+                if let Some(ids) = self.listener_map.get_listener_ids(key) {
+                    for id in ids {
+                        if let Some(sender) = self.sender_map.get_send_event_provider(id) {
+                            if let Err(e) = sender.send(event, aux_data.clone()) {
+                                add_error(EventRoutingError::Send(e));
                            } else {
-                                add_error(EventRoutingError::NoSenderForId(*id));
+                                num_recipients += 1;
                            }
+                        } else {
+                            add_error(EventRoutingError::NoSenderForId(*id));
                        }
-                    } else {
-                        add_error(EventRoutingError::NoSendersForKey(*key));
                    }
+                } else {
+                    add_error(EventRoutingError::NoSendersForKey(*key));
                }
-            };
-        if let Some((event, aux_data)) = self.event_receiver.receive() {
+            }
+        };
+        if let Some((event, aux_data)) = self.event_receiver.try_recv_event() {
            let single_key = ListenerKey::Single(event.raw_as_largest_type());
            send_handler(&single_key, event, &aux_data);
            let group_key = ListenerKey::Group(event.group_id_as_largest_type());
@ -289,130 +273,177 @@ impl<E, Event: GenericEvent + Copy, AuxDataProvider: Clone>
            send_handler(&ListenerKey::All, event, &aux_data);
            if err_idx > 0 {
                return Err(EventRoutingErrorsWithResult {
-                    result: EventRoutingResult::Handled(num_recipients, event, aux_data),
+                    result: EventRoutingResult::Handled {
+                        num_recipients,
+                        event,
+                        aux_data,
+                    },
                    errors: err_slice,
                });
            }
-            return Ok(EventRoutingResult::Handled(num_recipients, event, aux_data));
+            return Ok(EventRoutingResult::Handled {
+                num_recipients,
+                event,
+                aux_data,
+            });
        }
        Ok(EventRoutingResult::Empty)
    }
 }

-#[derive(Default)]
-pub struct DefaultListenerTableProvider {
-    listeners: HashMap<ListenerKey, Vec<ChannelId>>,
-}
+#[cfg(feature = "alloc")]
+pub mod alloc_mod {
+    use alloc::vec::Vec;
+    use hashbrown::HashMap;

-pub struct DefaultSenderTableProvider<
-    SendProviderError,
-    Event: GenericEvent = EventU32,
-    AuxDataProvider = Params,
-> {
-    senders: HashMap<
-        ChannelId,
-        Box<dyn SendEventProvider<Event, AuxDataProvider, Error = SendProviderError>>,
-    >,
-}
+    use super::*;

-impl<SendProviderError, Event: GenericEvent, AuxDataProvider> Default
-    for DefaultSenderTableProvider<SendProviderError, Event, AuxDataProvider>
-{
-    fn default() -> Self {
-        Self {
-            senders: HashMap::new(),
+    /// Helper type which constrains the sender map and listener map generics to the [DefaultSenderMap]
+    /// and the [DefaultListenerMap]. It uses regular mpsc channels as the message queue backend.
+    pub type EventManagerWithMpsc<EV = EventU32, AUX = Params> = EventManager<
+        MpscEventReceiver,
+        DefaultSenderMap<EventSenderMpsc<EV>, EV, AUX>,
+        DefaultListenerMap,
+        EventSenderMpsc<EV>,
+    >;
+
+    /// Helper type which constrains the sender map and listener map generics to the [DefaultSenderMap]
+    /// and the [DefaultListenerMap]. It uses
+    /// [bounded mpsc senders](https://doc.rust-lang.org/std/sync/mpsc/struct.SyncSender.html) as the
+    /// message queue backend.
+    pub type EventManagerWithBoundedMpsc<EV = EventU32, AUX = Params> = EventManager<
+        MpscEventReceiver,
+        DefaultSenderMap<EventSenderMpscBounded<EV>, EV, AUX>,
+        DefaultListenerMap,
+        EventSenderMpscBounded<EV>,
+    >;
+
+    impl<
+            ER: EventReceiveProvider<EV, AUX>,
+            SP: EventSendProvider<EV, AUX>,
+            EV: GenericEvent + Copy,
+            AUX: 'static,
+        > EventManager<ER, DefaultSenderMap<SP, EV, AUX>, DefaultListenerMap, SP, EV, AUX>
+    {
+        /// Create an event manager where the sender table will be the [DefaultSenderMap]
+        /// and the listener table will be the [DefaultListenerMap].
+        pub fn new(event_receiver: ER) -> Self {
+            Self {
+                listener_map: DefaultListenerMap::default(),
+                sender_map: DefaultSenderMap::default(),
+                event_receiver,
+                phantom: PhantomData,
+            }
        }
    }
-}

-impl ListenerTable for DefaultListenerTableProvider {
-    fn get_listeners(&self) -> Vec<ListenerKey> {
-        let mut key_list = Vec::new();
-        for key in self.listeners.keys() {
-            key_list.push(*key);
+    /// Default listener map.
+    ///
+    /// Simple implementation which uses a [HashMap] and a [Vec] internally.
+    #[derive(Default)]
+    pub struct DefaultListenerMap {
+        listeners: HashMap<ListenerKey, Vec<ChannelId>>,
+    }
+
+    impl ListenerMapProvider for DefaultListenerMap {
+        fn get_listeners(&self) -> Vec<ListenerKey> {
+            let mut key_list = Vec::new();
+            for key in self.listeners.keys() {
+                key_list.push(*key);
+            }
+            key_list
        }
-        key_list
-    }

-    fn contains_listener(&self, key: &ListenerKey) -> bool {
-        self.listeners.contains_key(key)
-    }
-
-    fn get_listener_ids(&self, key: &ListenerKey) -> Option<Iter<ChannelId>> {
-        self.listeners.get(key).map(|vec| vec.iter())
-    }
-
-    fn add_listener(&mut self, key: ListenerKey, sender_id: ChannelId) -> bool {
-        if let Some(existing_list) = self.listeners.get_mut(&key) {
-            existing_list.push(sender_id);
-        } else {
-            let new_list = vec![sender_id];
-            self.listeners.insert(key, new_list);
+        fn contains_listener(&self, key: &ListenerKey) -> bool {
+            self.listeners.contains_key(key)
        }
-        true
-    }

-    fn remove_duplicates(&mut self, key: &ListenerKey) {
-        if let Some(list) = self.listeners.get_mut(key) {
-            list.sort_unstable();
-            list.dedup();
+        fn get_listener_ids(&self, key: &ListenerKey) -> Option<Iter<ChannelId>> {
+            self.listeners.get(key).map(|vec| vec.iter())
+        }
+
+        fn add_listener(&mut self, key: ListenerKey, sender_id: ChannelId) -> bool {
+            if let Some(existing_list) = self.listeners.get_mut(&key) {
+                existing_list.push(sender_id);
+            } else {
+                let new_list = alloc::vec![sender_id];
+                self.listeners.insert(key, new_list);
+            }
+            true
+        }
+
+        fn remove_duplicates(&mut self, key: &ListenerKey) {
+            if let Some(list) = self.listeners.get_mut(key) {
+                list.sort_unstable();
+                list.dedup();
+            }
        }
    }
-}

-impl<SendProviderError, Event: GenericEvent, AuxDataProvider>
-    SenderTable<SendProviderError, Event, AuxDataProvider>
-    for DefaultSenderTableProvider<SendProviderError, Event, AuxDataProvider>
-{
-    fn contains_send_event_provider(&self, id: &ChannelId) -> bool {
-        self.senders.contains_key(id)
+    /// Default sender map.
+    ///
+    /// Simple implementation which uses a [HashMap] internally.
+    pub struct DefaultSenderMap<
+        SP: EventSendProvider<EV, AUX>,
+        EV: GenericEvent = EventU32,
+        AUX = Params,
+    > {
+        senders: HashMap<ChannelId, SP>,
+        phantom: PhantomData<(EV, AUX)>,
    }

-    fn get_send_event_provider(
-        &self,
-        id: &ChannelId,
-    ) -> Option<&dyn SendEventProvider<Event, AuxDataProvider, Error = SendProviderError>> {
-        self.senders
-            .get(id)
-            .filter(|sender| sender.id() == *id)
-            .map(|v| v.as_ref())
-    }
-
-    fn add_send_event_provider(
-        &mut self,
-        send_provider: Box<
-            dyn SendEventProvider<Event, AuxDataProvider, Error = SendProviderError>,
-        >,
-    ) -> bool {
-        let id = send_provider.id();
-        if self.senders.contains_key(&id) {
-            return false;
+    impl<SP: EventSendProvider<EV, AUX>, EV: GenericEvent, AUX> Default
+        for DefaultSenderMap<SP, EV, AUX>
+    {
+        fn default() -> Self {
+            Self {
+                senders: Default::default(),
+                phantom: Default::default(),
+            }
+        }
+    }
+
+    impl<SP: EventSendProvider<EV, AUX>, EV: GenericEvent, AUX> SenderMapProvider<SP, EV, AUX>
+        for DefaultSenderMap<SP, EV, AUX>
+    {
+        fn contains_send_event_provider(&self, id: &ChannelId) -> bool {
+            self.senders.contains_key(id)
+        }
+
+        fn get_send_event_provider(&self, id: &ChannelId) -> Option<&SP> {
+            self.senders
+                .get(id)
+                .filter(|sender| sender.channel_id() == *id)
+        }
+
+        fn add_send_event_provider(&mut self, send_provider: SP) -> bool {
+            let id = send_provider.channel_id();
+            if self.senders.contains_key(&id) {
+                return false;
+            }
+            self.senders.insert(id, send_provider).is_none()
        }
-        self.senders.insert(id, send_provider).is_none()
    }
 }

 #[cfg(feature = "std")]
-pub mod stdmod {
+pub mod std_mod {
    use super::*;
-    use crate::event_man::{EventReceiver, EventWithAuxData};
-    use crate::events::{EventU16, EventU32, GenericEvent};
-    use crate::params::Params;
-    use std::sync::mpsc::{Receiver, SendError, Sender};
+    use std::sync::mpsc;

    pub struct MpscEventReceiver<Event: GenericEvent + Send = EventU32> {
-        mpsc_receiver: Receiver<(Event, Option<Params>)>,
+        mpsc_receiver: mpsc::Receiver<(Event, Option<Params>)>,
    }

    impl<Event: GenericEvent + Send> MpscEventReceiver<Event> {
-        pub fn new(receiver: Receiver<(Event, Option<Params>)>) -> Self {
+        pub fn new(receiver: mpsc::Receiver<(Event, Option<Params>)>) -> Self {
            Self {
                mpsc_receiver: receiver,
            }
        }
    }
-    impl<Event: GenericEvent + Send> EventReceiver<Event> for MpscEventReceiver<Event> {
-        fn receive(&self) -> Option<EventWithAuxData<Event>> {
+    impl<Event: GenericEvent + Send> EventReceiveProvider<Event> for MpscEventReceiver<Event> {
+        fn try_recv_event(&self) -> Option<EventWithAuxData<Event>> {
            if let Ok(event_and_data) = self.mpsc_receiver.try_recv() {
                return Some(event_and_data);
            }
@ -423,31 +454,75 @@ pub mod stdmod {
    pub type MpscEventU32Receiver = MpscEventReceiver<EventU32>;
    pub type MpscEventU16Receiver = MpscEventReceiver<EventU16>;

+    /// Generic event sender which uses a regular [mpsc::Sender] as the messaging backend to
+    /// send events.
    #[derive(Clone)]
-    pub struct MpscEventSendProvider<Event: GenericEvent + Send> {
+    pub struct EventSenderMpsc<Event: GenericEvent + Send> {
        id: u32,
-        sender: Sender<(Event, Option<Params>)>,
+        sender: mpsc::Sender<(Event, Option<Params>)>,
    }

-    impl<Event: GenericEvent + Send> MpscEventSendProvider<Event> {
-        pub fn new(id: u32, sender: Sender<(Event, Option<Params>)>) -> Self {
+    impl<Event: GenericEvent + Send> EventSenderMpsc<Event> {
+        pub fn new(id: u32, sender: mpsc::Sender<(Event, Option<Params>)>) -> Self {
            Self { id, sender }
        }
    }

-    impl<Event: GenericEvent + Send> SendEventProvider<Event> for MpscEventSendProvider<Event> {
-        type Error = SendError<(Event, Option<Params>)>;
-
-        fn id(&self) -> u32 {
+    impl<Event: GenericEvent + Send> EventSendProvider<Event> for EventSenderMpsc<Event> {
+        fn channel_id(&self) -> u32 {
            self.id
        }
-        fn send(&self, event: Event, aux_data: Option<Params>) -> Result<(), Self::Error> {
-            self.sender.send((event, aux_data))
+        fn send(&self, event: Event, aux_data: Option<Params>) -> Result<(), GenericSendError> {
+            self.sender
+                .send((event, aux_data))
+                .map_err(|_| GenericSendError::RxDisconnected)
        }
    }

-    pub type MpscEventU32SendProvider = MpscEventSendProvider<EventU32>;
-    pub type MpscEventU16SendProvider = MpscEventSendProvider<EventU16>;
+    /// Generic event sender which uses the [mpsc::SyncSender] as the messaging backend to send
+    /// events. This has the advantage that the channel is bounded and thus more deterministic.
+    #[derive(Clone)]
+    pub struct EventSenderMpscBounded<Event: GenericEvent + Send> {
+        channel_id: u32,
+        sender: mpsc::SyncSender<(Event, Option<Params>)>,
+        capacity: usize,
+    }
+
+    impl<Event: GenericEvent + Send> EventSenderMpscBounded<Event> {
+        pub fn new(
+            channel_id: u32,
+            sender: mpsc::SyncSender<(Event, Option<Params>)>,
+            capacity: usize,
+        ) -> Self {
+            Self {
+                channel_id,
+                sender,
+                capacity,
+            }
+        }
+    }
+
+    impl<Event: GenericEvent + Send> EventSendProvider<Event> for EventSenderMpscBounded<Event> {
+        fn channel_id(&self) -> u32 {
+            self.channel_id
+        }
+        fn send(&self, event: Event, aux_data: Option<Params>) -> Result<(), GenericSendError> {
+            if let Err(e) = self.sender.try_send((event, aux_data)) {
+                return match e {
+                    mpsc::TrySendError::Full(_) => {
+                        Err(GenericSendError::QueueFull(Some(self.capacity as u32)))
+                    }
+                    mpsc::TrySendError::Disconnected(_) => Err(GenericSendError::RxDisconnected),
+                };
+            }
+            Ok(())
+        }
+    }
+
+    pub type EventU32SenderMpsc = EventSenderMpsc<EventU32>;
+    pub type EventU16SenderMpsc = EventSenderMpsc<EventU16>;
+    pub type EventU32SenderMpscBounded = EventSenderMpscBounded<EventU32>;
+    pub type EventU16SenderMpscBounded = EventSenderMpscBounded<EventU16>;
 }

 #[cfg(test)]
@ -456,32 +531,10 @@ mod tests {
    use crate::event_man::EventManager;
    use crate::events::{EventU32, GenericEvent, Severity};
    use crate::params::ParamsRaw;
-    use alloc::boxed::Box;
    use std::format;
-    use std::sync::mpsc::{channel, Receiver, SendError, Sender};
+    use std::sync::mpsc::{self, channel, Receiver, Sender};

-    #[derive(Clone)]
-    struct MpscEventSenderQueue {
-        id: u32,
-        mpsc_sender: Sender<EventU32WithAuxData>,
-    }
-
-    impl MpscEventSenderQueue {
-        fn new(id: u32, mpsc_sender: Sender<EventU32WithAuxData>) -> Self {
-            Self { id, mpsc_sender }
-        }
-    }
-
-    impl SendEventProvider<EventU32> for MpscEventSenderQueue {
-        type Error = SendError<EventU32WithAuxData>;
-
-        fn id(&self) -> u32 {
-            self.id
-        }
-        fn send(&self, event: EventU32, aux_data: Option<Params>) -> Result<(), Self::Error> {
-            self.mpsc_sender.send((event, aux_data))
-        }
-    }
+    const TEST_EVENT: EventU32 = EventU32::const_new(Severity::INFO, 0, 5);

    fn check_next_event(
        expected: EventU32,
@ -500,22 +553,21 @@ mod tests {
        expected_num_sent: u32,
    ) {
        assert!(matches!(res, EventRoutingResult::Handled { .. }));
-        if let EventRoutingResult::Handled(num_recipients, event, _aux_data) = res {
+        if let EventRoutingResult::Handled {
+            num_recipients,
+            event,
+            ..
+        } = res
+        {
            assert_eq!(event, expected);
            assert_eq!(num_recipients, expected_num_sent);
        }
    }

-    fn generic_event_man() -> (
-        Sender<EventU32WithAuxData>,
-        EventManager<SendError<EventU32WithAuxData>>,
-    ) {
+    fn generic_event_man() -> (Sender<EventU32WithAuxData>, EventManagerWithMpsc) {
        let (event_sender, manager_queue) = channel();
        let event_man_receiver = MpscEventReceiver::new(manager_queue);
-        (
-            event_sender,
-            EventManager::new(Box::new(event_man_receiver)),
-        )
+        (event_sender, EventManager::new(event_man_receiver))
    }

    #[test]
@ -524,15 +576,12 @@ mod tests {
        let event_grp_0 = EventU32::new(Severity::INFO, 0, 0).unwrap();
        let event_grp_1_0 = EventU32::new(Severity::HIGH, 1, 0).unwrap();
        let (single_event_sender, single_event_receiver) = channel();
-        let single_event_listener = MpscEventSenderQueue::new(0, single_event_sender);
-        event_man.subscribe_single(&event_grp_0, single_event_listener.id());
+        let single_event_listener = EventSenderMpsc::new(0, single_event_sender);
+        event_man.subscribe_single(&event_grp_0, single_event_listener.channel_id());
        event_man.add_sender(single_event_listener);
        let (group_event_sender_0, group_event_receiver_0) = channel();
-        let group_event_listener = MpscEventSenderQueue {
-            id: 1,
-            mpsc_sender: group_event_sender_0,
-        };
-        event_man.subscribe_group(event_grp_1_0.group_id(), group_event_listener.id());
+        let group_event_listener = EventU32SenderMpsc::new(1, group_event_sender_0);
+        event_man.subscribe_group(event_grp_1_0.group_id(), group_event_listener.channel_id());
        event_man.add_sender(group_event_listener);

        // Test event with one listener
@ -559,8 +608,8 @@ mod tests {
        let (event_sender, mut event_man) = generic_event_man();
        let event_grp_0 = EventU32::new(Severity::INFO, 0, 0).unwrap();
        let (single_event_sender, single_event_receiver) = channel();
-        let single_event_listener = MpscEventSenderQueue::new(0, single_event_sender);
-        event_man.subscribe_single(&event_grp_0, single_event_listener.id());
+        let single_event_listener = EventSenderMpsc::new(0, single_event_sender);
+        event_man.subscribe_single(&event_grp_0, single_event_listener.channel_id());
        event_man.add_sender(single_event_listener);
        event_sender
            .send((event_grp_0, Some(Params::Heapless((2_u32, 3_u32).into()))))
@ -591,12 +640,15 @@ mod tests {
        let event_grp_0 = EventU32::new(Severity::INFO, 0, 0).unwrap();
        let event_grp_1_0 = EventU32::new(Severity::HIGH, 1, 0).unwrap();
        let (event_grp_0_sender, event_grp_0_receiver) = channel();
-        let event_grp_0_and_1_listener = MpscEventSenderQueue {
-            id: 0,
-            mpsc_sender: event_grp_0_sender,
-        };
-        event_man.subscribe_group(event_grp_0.group_id(), event_grp_0_and_1_listener.id());
-        event_man.subscribe_group(event_grp_1_0.group_id(), event_grp_0_and_1_listener.id());
+        let event_grp_0_and_1_listener = EventU32SenderMpsc::new(0, event_grp_0_sender);
+        event_man.subscribe_group(
+            event_grp_0.group_id(),
+            event_grp_0_and_1_listener.channel_id(),
+        );
+        event_man.subscribe_group(
+            event_grp_1_0.group_id(),
+            event_grp_0_and_1_listener.channel_id(),
+        );
        event_man.add_sender(event_grp_0_and_1_listener);

        event_sender
@ -625,18 +677,12 @@ mod tests {
        let event_1 = EventU32::new(Severity::HIGH, 1, 0).unwrap();
        let (event_0_tx_0, event_0_rx_0) = channel();
        let (event_0_tx_1, event_0_rx_1) = channel();
-        let event_listener_0 = MpscEventSenderQueue {
-            id: 0,
-            mpsc_sender: event_0_tx_0,
-        };
-        let event_listener_1 = MpscEventSenderQueue {
-            id: 1,
-            mpsc_sender: event_0_tx_1,
-        };
-        let event_listener_0_sender_id = event_listener_0.id();
+        let event_listener_0 = EventU32SenderMpsc::new(0, event_0_tx_0);
+        let event_listener_1 = EventU32SenderMpsc::new(1, event_0_tx_1);
+        let event_listener_0_sender_id = event_listener_0.channel_id();
        event_man.subscribe_single(&event_0, event_listener_0_sender_id);
        event_man.add_sender(event_listener_0);
-        let event_listener_1_sender_id = event_listener_1.id();
+        let event_listener_1_sender_id = event_listener_1.channel_id();
        event_man.subscribe_single(&event_0, event_listener_1_sender_id);
        event_man.add_sender(event_listener_1);
        event_sender
@ -681,16 +727,12 @@ mod tests {
    fn test_all_events_listener() {
        let (event_sender, manager_queue) = channel();
        let event_man_receiver = MpscEventReceiver::new(manager_queue);
-        let mut event_man: EventManager<SendError<EventU32WithAuxData>> =
-            EventManager::new(Box::new(event_man_receiver));
+        let mut event_man = EventManagerWithMpsc::new(event_man_receiver);
        let event_0 = EventU32::new(Severity::INFO, 0, 5).unwrap();
        let event_1 = EventU32::new(Severity::HIGH, 1, 0).unwrap();
        let (event_0_tx_0, all_events_rx) = channel();
-        let all_events_listener = MpscEventSenderQueue {
-            id: 0,
-            mpsc_sender: event_0_tx_0,
-        };
-        event_man.subscribe_all(all_events_listener.id());
+        let all_events_listener = EventU32SenderMpsc::new(0, event_0_tx_0);
+        event_man.subscribe_all(all_events_listener.channel_id());
        event_man.add_sender(all_events_listener);
        event_sender
            .send((event_0, None))
@ -707,4 +749,36 @@ mod tests {
        check_next_event(event_0, &all_events_rx);
        check_next_event(event_1, &all_events_rx);
    }
+
+    #[test]
+    fn test_bounded_event_sender_queue_full() {
+        let (event_sender, _event_receiver) = mpsc::sync_channel(3);
+        let event_sender = EventU32SenderMpscBounded::new(1, event_sender, 3);
+        event_sender
+            .send_no_data(TEST_EVENT)
+            .expect("sending test event failed");
+        event_sender
+            .send_no_data(TEST_EVENT)
+            .expect("sending test event failed");
+        event_sender
+            .send_no_data(TEST_EVENT)
+            .expect("sending test event failed");
+        let error = event_sender.send_no_data(TEST_EVENT);
+        if let Err(e) = error {
+            assert!(matches!(e, GenericSendError::QueueFull(Some(3))));
+        } else {
+            panic!("unexpected error {error:?}");
+        }
+    }
+    #[test]
+    fn test_bounded_event_sender_rx_dropped() {
+        let (event_sender, event_receiver) = mpsc::sync_channel(3);
+        let event_sender = EventU32SenderMpscBounded::new(1, event_sender, 3);
+        drop(event_receiver);
+        if let Err(e) = event_sender.send_no_data(TEST_EVENT) {
+            assert!(matches!(e, GenericSendError::RxDisconnected));
+        } else {
+            panic!("Expected error");
+        }
+    }
 }
--- a/satrs/src/hal/std/tcp_cobs_server.rs
+++ b/satrs/src/hal/std/tcp_cobs_server.rs
@ -107,7 +107,7 @@ impl<TmError, TcError> TcpTmSender<TmError, TcError> for CobsTmSender {
 ///
 /// ## Example
 ///
-/// The [TCP integration tests](https://egit.irs.uni-stuttgart.de/rust/sat-rs/src/branch/main/satrs-core/tests/tcp_servers.rs)
+/// The [TCP integration tests](https://egit.irs.uni-stuttgart.de/rust/sat-rs/src/branch/main/satrs/tests/tcp_servers.rs)
 /// test also serves as the example application for this module.
 pub struct TcpTmtcInCobsServer<
    TmError,
--- a/satrs/src/hal/std/tcp_spacepackets_server.rs
+++ b/satrs/src/hal/std/tcp_spacepackets_server.rs
@ -88,7 +88,7 @@ impl<TmError, TcError> TcpTmSender<TmError, TcError> for SpacepacketsTmSender {
 /// [spacepackets::PacketId]s as part of the server configuration for that purpose.
 ///
 /// ## Example
-/// The [TCP server integration tests](https://egit.irs.uni-stuttgart.de/rust/sat-rs/src/branch/main/satrs-core/tests/tcp_servers.rs)
+/// The [TCP server integration tests](https://egit.irs.uni-stuttgart.de/rust/sat-rs/src/branch/main/satrs/tests/tcp_servers.rs)
 /// also serves as the example application for this module.
 pub struct TcpSpacepacketsServer<
    TmError,
--- a/satrs/src/lib.rs
+++ b/satrs/src/lib.rs
@ -26,8 +26,6 @@ extern crate std;
 #[cfg_attr(doc_cfg, doc(cfg(feature = "alloc")))]
 pub mod cfdp;
 pub mod encoding;
-#[cfg(feature = "alloc")]
-#[cfg_attr(doc_cfg, doc(cfg(feature = "alloc")))]
 pub mod event_man;
 pub mod events;
 #[cfg(feature = "std")]
--- a/satrs/src/params.rs
+++ b/satrs/src/params.rs
@ -43,22 +43,19 @@
 //! This includes the [ParamsHeapless] enumeration for contained values which do not require heap
 //! allocation, and the [Params] which enumerates [ParamsHeapless] and some additional types which
 //! require [alloc] support but allow for more flexbility.
-#[cfg(feature = "alloc")]
 use crate::pool::StoreAddr;
-#[cfg(feature = "alloc")]
-use alloc::string::{String, ToString};
-#[cfg(feature = "alloc")]
-use alloc::vec::Vec;
 use core::fmt::Debug;
 use core::mem::size_of;
 use paste::paste;
 use spacepackets::ecss::{EcssEnumU16, EcssEnumU32, EcssEnumU64, EcssEnumU8};
+pub use spacepackets::util::ToBeBytes;
 use spacepackets::util::UnsignedEnum;
 use spacepackets::ByteConversionError;

 #[cfg(feature = "alloc")]
-pub use alloc_mod::*;
-pub use spacepackets::util::ToBeBytes;
+use alloc::string::{String, ToString};
+#[cfg(feature = "alloc")]
+use alloc::vec::Vec;

 /// Generic trait which is used for objects which can be converted into a raw network (big) endian
 /// byte format.
@ -560,56 +557,64 @@ from_conversions_for_raw!(
    (f64, Self::F64),
 );

-#[cfg(feature = "alloc")]
-mod alloc_mod {
-    use super::*;
-    /// Generic enumeration for additional parameters, including parameters which rely on heap
-    /// allocations.
+/// Generic enumeration for additional parameters, including parameters which rely on heap
+/// allocations.
+#[derive(Debug, Clone)]
+#[non_exhaustive]
+pub enum Params {
+    Heapless(ParamsHeapless),
+    Store(StoreAddr),
+    #[cfg(feature = "alloc")]
    #[cfg_attr(doc_cfg, doc(cfg(feature = "alloc")))]
-    #[derive(Debug, Clone)]
-    pub enum Params {
-        Heapless(ParamsHeapless),
-        Store(StoreAddr),
-        Vec(Vec<u8>),
-        String(String),
-    }
+    Vec(Vec<u8>),
+    #[cfg(feature = "alloc")]
+    #[cfg_attr(doc_cfg, doc(cfg(feature = "alloc")))]
+    String(String),
+}

-    impl From<StoreAddr> for Params {
-        fn from(x: StoreAddr) -> Self {
-            Self::Store(x)
-        }
+impl From<StoreAddr> for Params {
+    fn from(x: StoreAddr) -> Self {
+        Self::Store(x)
    }
+}

-    impl From<ParamsHeapless> for Params {
-        fn from(x: ParamsHeapless) -> Self {
-            Self::Heapless(x)
-        }
+impl From<ParamsHeapless> for Params {
+    fn from(x: ParamsHeapless) -> Self {
+        Self::Heapless(x)
    }
+}

-    impl From<Vec<u8>> for Params {
-        fn from(val: Vec<u8>) -> Self {
-            Self::Vec(val)
-        }
+#[cfg(feature = "alloc")]
+#[cfg_attr(doc_cfg, doc(cfg(feature = "alloc")))]
+impl From<Vec<u8>> for Params {
+    fn from(val: Vec<u8>) -> Self {
+        Self::Vec(val)
    }
+}

-    /// Converts a byte slice into the [Params::Vec] variant
-    impl From<&[u8]> for Params {
-        fn from(val: &[u8]) -> Self {
-            Self::Vec(val.to_vec())
-        }
+/// Converts a byte slice into the [Params::Vec] variant
+#[cfg(feature = "alloc")]
+#[cfg_attr(doc_cfg, doc(cfg(feature = "alloc")))]
+impl From<&[u8]> for Params {
+    fn from(val: &[u8]) -> Self {
+        Self::Vec(val.to_vec())
    }
+}

-    impl From<String> for Params {
-        fn from(val: String) -> Self {
-            Self::String(val)
-        }
+#[cfg(feature = "alloc")]
+#[cfg_attr(doc_cfg, doc(cfg(feature = "alloc")))]
+impl From<String> for Params {
+    fn from(val: String) -> Self {
+        Self::String(val)
    }
+}

-    /// Converts a string slice into the [Params::String] variant
-    impl From<&str> for Params {
-        fn from(val: &str) -> Self {
-            Self::String(val.to_string())
-        }
+#[cfg(feature = "alloc")]
+#[cfg_attr(doc_cfg, doc(cfg(feature = "alloc")))]
+/// Converts a string slice into the [Params::String] variant
+impl From<&str> for Params {
+    fn from(val: &str) -> Self {
+        Self::String(val.to_string())
    }
 }

--- a/satrs/src/pus/action.rs
+++ b/satrs/src/pus/action.rs
@ -44,7 +44,7 @@ pub mod alloc_mod {
    /// - Checking the validity of the APID, service ID, subservice ID.
    /// - Checking the validity of the user data.
    ///
-    /// A [VerificationReporterWithSender] instance is passed to the user to also allow handling
+    /// A [VerificationReportingProvider] instance is passed to the user to also allow handling
    /// of the verification process as part of the PUS standard requirements.
    pub trait PusActionToRequestConverter {
        type Error;
@ -62,9 +62,9 @@ pub mod alloc_mod {
 #[cfg_attr(doc_cfg, doc(cfg(feature = "std")))]
 pub mod std_mod {
    use crate::pus::{
-        verification::VerificationReportingProvider, EcssTcInMemConverter, GenericRoutingError,
-        PusPacketHandlerResult, PusPacketHandlingError, PusRoutingErrorHandler, PusServiceBase,
-        PusServiceHelper,
+        get_current_cds_short_timestamp, verification::VerificationReportingProvider,
+        EcssTcInMemConverter, EcssTcReceiverCore, EcssTmSenderCore, GenericRoutingError,
+        PusPacketHandlerResult, PusPacketHandlingError, PusRoutingErrorHandler, PusServiceHelper,
    };

    use super::*;
@ -81,6 +81,8 @@ pub mod std_mod {
    /// 3. Route the action request using the provided [PusActionRequestRouter].
    /// 4. Handle all routing errors using the provided [PusRoutingErrorHandler].
    pub struct PusService8ActionHandler<
+        TcReceiver: EcssTcReceiverCore,
+        TmSender: EcssTmSenderCore,
        TcInMemConverter: EcssTcInMemConverter,
        VerificationReporter: VerificationReportingProvider,
        RequestConverter: PusActionToRequestConverter,
@ -88,13 +90,16 @@ pub mod std_mod {
        RoutingErrorHandler: PusRoutingErrorHandler<Error = RoutingError>,
        RoutingError = GenericRoutingError,
    > {
-        service_helper: PusServiceHelper<TcInMemConverter, VerificationReporter>,
+        service_helper:
+            PusServiceHelper<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>,
        pub request_converter: RequestConverter,
        pub request_router: RequestRouter,
        pub routing_error_handler: RoutingErrorHandler,
    }

    impl<
+            TcReceiver: EcssTcReceiverCore,
+            TmSender: EcssTmSenderCore,
            TcInMemConverter: EcssTcInMemConverter,
            VerificationReporter: VerificationReportingProvider,
            RequestConverter: PusActionToRequestConverter<Error = PusPacketHandlingError>,
@ -103,6 +108,8 @@ pub mod std_mod {
            RoutingError: Clone,
        >
        PusService8ActionHandler<
+            TcReceiver,
+            TmSender,
            TcInMemConverter,
            VerificationReporter,
            RequestConverter,
@ -114,7 +121,12 @@ pub mod std_mod {
        PusPacketHandlingError: From<RoutingError>,
    {
        pub fn new(
-            service_helper: PusServiceHelper<TcInMemConverter, VerificationReporter>,
+            service_helper: PusServiceHelper<
+                TcReceiver,
+                TmSender,
+                TcInMemConverter,
+                VerificationReporter,
+            >,
            request_converter: RequestConverter,
            request_router: RequestRouter,
            routing_error_handler: RoutingErrorHandler,
@ -139,10 +151,7 @@ pub mod std_mod {
                .tc_in_mem_converter
                .convert_ecss_tc_in_memory_to_reader(&ecss_tc_and_token.tc_in_memory)?;
            let mut partial_error = None;
-            let time_stamp =
-                PusServiceBase::<VerificationReporter>::get_current_cds_short_timestamp(
-                    &mut partial_error,
-                );
+            let time_stamp = get_current_cds_short_timestamp(&mut partial_error);
            let (target_id, action_request) = self.request_converter.convert(
                ecss_tc_and_token.token,
                &tc,
@ -189,7 +198,8 @@ mod tests {
        verification::{
            tests::TestVerificationReporter, FailParams, RequestId, VerificationReportingProvider,
        },
-        EcssTcInVecConverter, GenericRoutingError, PusPacketHandlerResult, PusPacketHandlingError,
+        EcssTcInVecConverter, GenericRoutingError, MpscTcReceiver, PusPacketHandlerResult,
+        PusPacketHandlingError, TmAsVecSenderWithMpsc,
    };

    use super::*;
@ -259,6 +269,8 @@ mod tests {
    struct Pus8HandlerWithVecTester {
        common: PusServiceHandlerWithVecCommon<TestVerificationReporter>,
        handler: PusService8ActionHandler<
+            MpscTcReceiver,
+            TmAsVecSenderWithMpsc,
            EcssTcInVecConverter,
            TestVerificationReporter,
            TestConverter<8>,
--- a/satrs/src/pus/event.rs
+++ b/satrs/src/pus/event.rs
@ -269,7 +269,7 @@ mod tests {
    }

    impl EcssChannel for TestSender {
-        fn id(&self) -> ChannelId {
+        fn channel_id(&self) -> ChannelId {
            0
        }
    }
--- a/satrs/src/pus/event_man.rs
+++ b/satrs/src/pus/event_man.rs
@ -2,8 +2,6 @@ use crate::events::{EventU32, GenericEvent, Severity};
 #[cfg(feature = "alloc")]
 use crate::events::{EventU32TypedSev, HasSeverity};
 #[cfg(feature = "alloc")]
-use alloc::boxed::Box;
-#[cfg(feature = "alloc")]
 use core::hash::Hash;
 #[cfg(feature = "alloc")]
 use hashbrown::HashSet;
@ -32,19 +30,19 @@ pub use heapless_mod::*;
 /// structure to track disabled events. A more primitive and embedded friendly
 /// solution could track this information in a static or pre-allocated list which contains
 /// the disabled events.
-pub trait PusEventMgmtBackendProvider<Provider: GenericEvent> {
+pub trait PusEventMgmtBackendProvider<Event: GenericEvent> {
    type Error;

-    fn event_enabled(&self, event: &Provider) -> bool;
-    fn enable_event_reporting(&mut self, event: &Provider) -> Result<bool, Self::Error>;
-    fn disable_event_reporting(&mut self, event: &Provider) -> Result<bool, Self::Error>;
+    fn event_enabled(&self, event: &Event) -> bool;
+    fn enable_event_reporting(&mut self, event: &Event) -> Result<bool, Self::Error>;
+    fn disable_event_reporting(&mut self, event: &Event) -> Result<bool, Self::Error>;
 }

 #[cfg(feature = "heapless")]
 pub mod heapless_mod {
    use super::*;
-    use crate::events::{GenericEvent, LargestEventRaw};
-    use std::marker::PhantomData;
+    use crate::events::LargestEventRaw;
+    use core::marker::PhantomData;

    #[cfg_attr(doc_cfg, doc(cfg(feature = "heapless")))]
    // TODO: After a new version of heapless is released which uses hash32 version 0.3, try using
@ -108,6 +106,10 @@ impl From<EcssTmtcError> for EventManError {

 #[cfg(feature = "alloc")]
 pub mod alloc_mod {
+    use core::marker::PhantomData;
+
+    use crate::events::EventU16;
+
    use super::*;

    /// Default backend provider which uses a hash set as the event reporting status container
@ -115,14 +117,11 @@ pub mod alloc_mod {
    ///
    /// This provider is a good option for host systems or larger embedded systems where
    /// the expected occasional memory allocation performed by the [HashSet] is not an issue.
-    pub struct DefaultPusMgmtBackendProvider<Event: GenericEvent = EventU32> {
+    pub struct DefaultPusEventMgmtBackend<Event: GenericEvent = EventU32> {
        disabled: HashSet<Event>,
    }

-    /// Safety: All contained field are [Send] as well
-    unsafe impl<Event: GenericEvent + Send> Send for DefaultPusMgmtBackendProvider<Event> {}
-
-    impl<Event: GenericEvent> Default for DefaultPusMgmtBackendProvider<Event> {
+    impl<Event: GenericEvent> Default for DefaultPusEventMgmtBackend<Event> {
        fn default() -> Self {
            Self {
                disabled: HashSet::default(),
@ -130,46 +129,50 @@ pub mod alloc_mod {
        }
    }

-    impl<Provider: GenericEvent + PartialEq + Eq + Hash + Copy + Clone>
-        PusEventMgmtBackendProvider<Provider> for DefaultPusMgmtBackendProvider<Provider>
+    impl<EV: GenericEvent + PartialEq + Eq + Hash + Copy + Clone> PusEventMgmtBackendProvider<EV>
+        for DefaultPusEventMgmtBackend<EV>
    {
        type Error = ();
-        fn event_enabled(&self, event: &Provider) -> bool {
+
+        fn event_enabled(&self, event: &EV) -> bool {
            !self.disabled.contains(event)
        }

-        fn enable_event_reporting(&mut self, event: &Provider) -> Result<bool, Self::Error> {
+        fn enable_event_reporting(&mut self, event: &EV) -> Result<bool, Self::Error> {
            Ok(self.disabled.remove(event))
        }

-        fn disable_event_reporting(&mut self, event: &Provider) -> Result<bool, Self::Error> {
+        fn disable_event_reporting(&mut self, event: &EV) -> Result<bool, Self::Error> {
            Ok(self.disabled.insert(*event))
        }
    }

-    pub struct PusEventDispatcher<BackendError, Provider: GenericEvent> {
+    pub struct PusEventDispatcher<
+        B: PusEventMgmtBackendProvider<EV, Error = E>,
+        EV: GenericEvent,
+        E,
+    > {
        reporter: EventReporter,
-        backend: Box<dyn PusEventMgmtBackendProvider<Provider, Error = BackendError>>,
+        backend: B,
+        phantom: PhantomData<(E, EV)>,
    }

-    /// Safety: All contained fields are send as well.
-    unsafe impl<E: Send, Event: GenericEvent + Send> Send for PusEventDispatcher<E, Event> {}
-
-    impl<BackendError, Provider: GenericEvent> PusEventDispatcher<BackendError, Provider> {
-        pub fn new(
-            reporter: EventReporter,
-            backend: Box<dyn PusEventMgmtBackendProvider<Provider, Error = BackendError>>,
-        ) -> Self {
-            Self { reporter, backend }
+    impl<B: PusEventMgmtBackendProvider<EV, Error = E>, EV: GenericEvent, E>
+        PusEventDispatcher<B, EV, E>
+    {
+        pub fn new(reporter: EventReporter, backend: B) -> Self {
+            Self {
+                reporter,
+                backend,
+                phantom: PhantomData,
+            }
        }
-    }

-    impl<BackendError, Event: GenericEvent> PusEventDispatcher<BackendError, Event> {
-        pub fn enable_tm_for_event(&mut self, event: &Event) -> Result<bool, BackendError> {
+        pub fn enable_tm_for_event(&mut self, event: &EV) -> Result<bool, E> {
            self.backend.enable_event_reporting(event)
        }

-        pub fn disable_tm_for_event(&mut self, event: &Event) -> Result<bool, BackendError> {
+        pub fn disable_tm_for_event(&mut self, event: &EV) -> Result<bool, E> {
            self.backend.disable_event_reporting(event)
        }

@ -177,7 +180,7 @@ pub mod alloc_mod {
            &mut self,
            sender: &mut (impl EcssTmSenderCore + ?Sized),
            time_stamp: &[u8],
-            event: Event,
+            event: EV,
            aux_data: Option<&[u8]>,
        ) -> Result<bool, EventManError> {
            if !self.backend.event_enabled(&event) {
@ -208,18 +211,30 @@ pub mod alloc_mod {
        }
    }

-    impl<BackendError> PusEventDispatcher<BackendError, EventU32> {
+    impl<EV: GenericEvent + Copy + PartialEq + Eq + Hash>
+        PusEventDispatcher<DefaultPusEventMgmtBackend<EV>, EV, ()>
+    {
+        pub fn new_with_default_backend(reporter: EventReporter) -> Self {
+            Self {
+                reporter,
+                backend: DefaultPusEventMgmtBackend::default(),
+                phantom: PhantomData,
+            }
+        }
+    }
+
+    impl<B: PusEventMgmtBackendProvider<EventU32, Error = E>, E> PusEventDispatcher<B, EventU32, E> {
        pub fn enable_tm_for_event_with_sev<Severity: HasSeverity>(
            &mut self,
            event: &EventU32TypedSev<Severity>,
-        ) -> Result<bool, BackendError> {
+        ) -> Result<bool, E> {
            self.backend.enable_event_reporting(event.as_ref())
        }

        pub fn disable_tm_for_event_with_sev<Severity: HasSeverity>(
            &mut self,
            event: &EventU32TypedSev<Severity>,
-        ) -> Result<bool, BackendError> {
+        ) -> Result<bool, E> {
            self.backend.disable_event_reporting(event.as_ref())
        }

@ -233,30 +248,38 @@ pub mod alloc_mod {
            self.generate_pus_event_tm_generic(sender, time_stamp, event.into(), aux_data)
        }
    }
+
+    pub type DefaultPusEventU16Dispatcher<E> =
+        PusEventDispatcher<DefaultPusEventMgmtBackend<EventU16>, EventU16, E>;
+    pub type DefaultPusEventU32Dispatcher<E> =
+        PusEventDispatcher<DefaultPusEventMgmtBackend<EventU32>, EventU32, E>;
 }
 #[cfg(test)]
 mod tests {
    use super::*;
-    use crate::events::SeverityInfo;
-    use crate::pus::MpscTmAsVecSender;
-    use std::sync::mpsc::{channel, TryRecvError};
+    use crate::{events::SeverityInfo, pus::TmAsVecSenderWithMpsc};
+    use std::sync::mpsc::{self, TryRecvError};

    const INFO_EVENT: EventU32TypedSev<SeverityInfo> =
        EventU32TypedSev::<SeverityInfo>::const_new(1, 0);
    const LOW_SEV_EVENT: EventU32 = EventU32::const_new(Severity::LOW, 1, 5);
    const EMPTY_STAMP: [u8; 7] = [0; 7];

-    fn create_basic_man() -> PusEventDispatcher<(), EventU32> {
+    fn create_basic_man_1() -> DefaultPusEventU32Dispatcher<()> {
        let reporter = EventReporter::new(0x02, 128).expect("Creating event repoter failed");
-        let backend = DefaultPusMgmtBackendProvider::<EventU32>::default();
-        PusEventDispatcher::new(reporter, Box::new(backend))
+        PusEventDispatcher::new_with_default_backend(reporter)
+    }
+    fn create_basic_man_2() -> DefaultPusEventU32Dispatcher<()> {
+        let reporter = EventReporter::new(0x02, 128).expect("Creating event repoter failed");
+        let backend = DefaultPusEventMgmtBackend::default();
+        PusEventDispatcher::new(reporter, backend)
    }

    #[test]
    fn test_basic() {
-        let mut event_man = create_basic_man();
-        let (event_tx, event_rx) = channel();
-        let mut sender = MpscTmAsVecSender::new(0, "test_sender", event_tx);
+        let mut event_man = create_basic_man_1();
+        let (event_tx, event_rx) = mpsc::channel();
+        let mut sender = TmAsVecSenderWithMpsc::new(0, "test_sender", event_tx);
        let event_sent = event_man
            .generate_pus_event_tm(&mut sender, &EMPTY_STAMP, INFO_EVENT, None)
            .expect("Sending info event failed");
@ -268,9 +291,9 @@ mod tests {

    #[test]
    fn test_disable_event() {
-        let mut event_man = create_basic_man();
-        let (event_tx, event_rx) = channel();
-        let mut sender = MpscTmAsVecSender::new(0, "test", event_tx);
+        let mut event_man = create_basic_man_2();
+        let (event_tx, event_rx) = mpsc::channel();
+        let mut sender = TmAsVecSenderWithMpsc::new(0, "test", event_tx);
        let res = event_man.disable_tm_for_event(&LOW_SEV_EVENT);
        assert!(res.is_ok());
        assert!(res.unwrap());
@ -291,9 +314,9 @@ mod tests {

    #[test]
    fn test_reenable_event() {
-        let mut event_man = create_basic_man();
-        let (event_tx, event_rx) = channel();
-        let mut sender = MpscTmAsVecSender::new(0, "test", event_tx);
+        let mut event_man = create_basic_man_1();
+        let (event_tx, event_rx) = mpsc::channel();
+        let mut sender = TmAsVecSenderWithMpsc::new(0, "test", event_tx);
        let mut res = event_man.disable_tm_for_event_with_sev(&INFO_EVENT);
        assert!(res.is_ok());
        assert!(res.unwrap());
--- a/satrs/src/pus/event_srv.rs
+++ b/satrs/src/pus/event_srv.rs
@ -7,27 +7,40 @@ use spacepackets::ecss::PusPacket;
 use std::sync::mpsc::Sender;

 use super::verification::VerificationReportingProvider;
-use super::{EcssTcInMemConverter, PusServiceBase, PusServiceHelper};
+use super::{
+    get_current_cds_short_timestamp, EcssTcInMemConverter, EcssTcReceiverCore, EcssTmSenderCore,
+    PusServiceHelper,
+};

 pub struct PusService5EventHandler<
+    TcReceiver: EcssTcReceiverCore,
+    TmSender: EcssTmSenderCore,
    TcInMemConverter: EcssTcInMemConverter,
    VerificationReporter: VerificationReportingProvider,
 > {
-    pub service_helper: PusServiceHelper<TcInMemConverter, VerificationReporter>,
+    pub service_helper:
+        PusServiceHelper<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>,
    event_request_tx: Sender<EventRequestWithToken>,
 }

 impl<
+        TcReceiver: EcssTcReceiverCore,
+        TmSender: EcssTmSenderCore,
        TcInMemConverter: EcssTcInMemConverter,
        VerificationReporter: VerificationReportingProvider,
-    > PusService5EventHandler<TcInMemConverter, VerificationReporter>
+    > PusService5EventHandler<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>
 {
    pub fn new(
-        service_handler: PusServiceHelper<TcInMemConverter, VerificationReporter>,
+        service_helper: PusServiceHelper<
+            TcReceiver,
+            TmSender,
+            TcInMemConverter,
+            VerificationReporter,
+        >,
        event_request_tx: Sender<EventRequestWithToken>,
    ) -> Self {
        Self {
-            service_helper: service_handler,
+            service_helper,
            event_request_tx,
        }
    }
@ -94,9 +107,7 @@ impl<
            Ok(PusPacketHandlerResult::RequestHandled)
        };
        let mut partial_error = None;
-        let time_stamp = PusServiceBase::<VerificationReporter>::get_current_cds_short_timestamp(
-            &mut partial_error,
-        );
+        let time_stamp = get_current_cds_short_timestamp(&mut partial_error);
        match srv.unwrap() {
            Subservice::TmInfoReport
            | Subservice::TmLowSeverityReport
@ -138,7 +149,10 @@ mod tests {

    use crate::pus::event_man::EventRequest;
    use crate::pus::tests::SimplePusPacketHandler;
-    use crate::pus::verification::{RequestId, VerificationReporterWithSender};
+    use crate::pus::verification::{
+        RequestId, VerificationReporterWithSharedPoolMpscBoundedSender,
+    };
+    use crate::pus::{MpscTcReceiver, TmInSharedPoolSenderWithBoundedMpsc};
    use crate::{
        events::EventU32,
        pus::{
@ -155,8 +169,12 @@ mod tests {

    struct Pus5HandlerWithStoreTester {
        common: PusServiceHandlerWithSharedStoreCommon,
-        handler:
-            PusService5EventHandler<EcssTcInSharedStoreConverter, VerificationReporterWithSender>,
+        handler: PusService5EventHandler<
+            MpscTcReceiver,
+            TmInSharedPoolSenderWithBoundedMpsc,
+            EcssTcInSharedStoreConverter,
+            VerificationReporterWithSharedPoolMpscBoundedSender,
+        >,
    }

    impl Pus5HandlerWithStoreTester {
--- a/satrs/src/pus/hk.rs
+++ b/satrs/src/pus/hk.rs
@ -46,7 +46,7 @@ pub mod alloc_mod {
    /// - Checking the validity of the APID, service ID, subservice ID.
    /// - Checking the validity of the user data.
    ///
-    /// A [VerificationReporterWithSender] instance is passed to the user to also allow handling
+    /// A [VerificationReportingProvider] is passed to the user to also allow handling
    /// of the verification process as part of the PUS standard requirements.
    pub trait PusHkToRequestConverter {
        type Error;
@ -64,9 +64,9 @@ pub mod alloc_mod {
 #[cfg_attr(doc_cfg, doc(cfg(feature = "std")))]
 pub mod std_mod {
    use crate::pus::{
-        verification::VerificationReportingProvider, EcssTcInMemConverter, GenericRoutingError,
-        PusPacketHandlerResult, PusPacketHandlingError, PusRoutingErrorHandler, PusServiceBase,
-        PusServiceHelper,
+        get_current_cds_short_timestamp, verification::VerificationReportingProvider,
+        EcssTcInMemConverter, EcssTcReceiverCore, EcssTmSenderCore, GenericRoutingError,
+        PusPacketHandlerResult, PusPacketHandlingError, PusRoutingErrorHandler, PusServiceHelper,
    };

    use super::*;
@ -78,13 +78,15 @@ pub mod std_mod {
    /// 1. Retrieve the next TC packet from the [PusServiceHelper]. The [EcssTcInMemConverter]
    ///    allows to configure the used telecommand memory backend.
    /// 2. Convert the TC to a targeted action request using the provided
-    ///    [PusActionToRequestConverter]. The generic error type is constrained to the
+    ///    [PusHkToRequestConverter]. The generic error type is constrained to the
    ///    [PusPacketHandlerResult] for the concrete implementation which offers a packet handler.
-    /// 3. Route the action request using the provided [PusActionRequestRouter]. The generic error
+    /// 3. Route the action request using the provided [PusHkRequestRouter]. The generic error
    ///    type is constrained to the [GenericRoutingError] for the concrete implementation.
    /// 4. Handle all routing errors using the provided [PusRoutingErrorHandler]. The generic error
    ///    type is constrained to the [GenericRoutingError] for the concrete implementation.
    pub struct PusService3HkHandler<
+        TcReceiver: EcssTcReceiverCore,
+        TmSender: EcssTmSenderCore,
        TcInMemConverter: EcssTcInMemConverter,
        VerificationReporter: VerificationReportingProvider,
        RequestConverter: PusHkToRequestConverter,
@ -92,13 +94,16 @@ pub mod std_mod {
        RoutingErrorHandler: PusRoutingErrorHandler<Error = RoutingError>,
        RoutingError = GenericRoutingError,
    > {
-        service_helper: PusServiceHelper<TcInMemConverter, VerificationReporter>,
+        service_helper:
+            PusServiceHelper<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>,
        pub request_converter: RequestConverter,
        pub request_router: RequestRouter,
        pub routing_error_handler: RoutingErrorHandler,
    }

    impl<
+            TcReceiver: EcssTcReceiverCore,
+            TmSender: EcssTmSenderCore,
            TcInMemConverter: EcssTcInMemConverter,
            VerificationReporter: VerificationReportingProvider,
            RequestConverter: PusHkToRequestConverter<Error = PusPacketHandlingError>,
@ -107,6 +112,8 @@ pub mod std_mod {
            RoutingError: Clone,
        >
        PusService3HkHandler<
+            TcReceiver,
+            TmSender,
            TcInMemConverter,
            VerificationReporter,
            RequestConverter,
@ -118,7 +125,12 @@ pub mod std_mod {
        PusPacketHandlingError: From<RoutingError>,
    {
        pub fn new(
-            service_helper: PusServiceHelper<TcInMemConverter, VerificationReporter>,
+            service_helper: PusServiceHelper<
+                TcReceiver,
+                TmSender,
+                TcInMemConverter,
+                VerificationReporter,
+            >,
            request_converter: RequestConverter,
            request_router: RequestRouter,
            routing_error_handler: RoutingErrorHandler,
@ -142,10 +154,7 @@ pub mod std_mod {
                .tc_in_mem_converter
                .convert_ecss_tc_in_memory_to_reader(&ecss_tc_and_token.tc_in_memory)?;
            let mut partial_error = None;
-            let time_stamp =
-                PusServiceBase::<VerificationReporter>::get_current_cds_short_timestamp(
-                    &mut partial_error,
-                );
+            let time_stamp = get_current_cds_short_timestamp(&mut partial_error);
            let (target_id, hk_request) = self.request_converter.convert(
                ecss_tc_and_token.token,
                &tc,
@ -185,6 +194,7 @@ mod tests {
        CcsdsPacket, SequenceFlags, SpHeader,
    };

+    use crate::pus::{MpscTcReceiver, TmAsVecSenderWithMpsc};
    use crate::{
        hk::HkRequest,
        pus::{
@ -268,6 +278,8 @@ mod tests {
    struct Pus3HandlerWithVecTester {
        common: PusServiceHandlerWithVecCommon<TestVerificationReporter>,
        handler: PusService3HkHandler<
+            MpscTcReceiver,
+            TmAsVecSenderWithMpsc,
            EcssTcInVecConverter,
            TestVerificationReporter,
            TestConverter<3>,
--- a/satrs/src/pus/mod.rs
+++ b/satrs/src/pus/mod.rs
@ -2,6 +2,8 @@
 //!
 //! This module contains structures to make working with the PUS C standard easier.
 //! The satrs-example application contains various usage examples of these components.
+use crate::pool::{StoreAddr, StoreError};
+use crate::pus::verification::{TcStateAccepted, TcStateToken, VerificationToken};
 use crate::queue::{GenericRecvError, GenericSendError};
 use crate::ChannelId;
 use core::fmt::{Display, Formatter};
@ -34,8 +36,6 @@ pub mod verification;
 #[cfg(feature = "alloc")]
 pub use alloc_mod::*;

-use crate::pool::{StoreAddr, StoreError};
-use crate::pus::verification::{TcStateAccepted, TcStateToken, VerificationToken};
 #[cfg(feature = "std")]
 pub use std_mod::*;

@ -63,6 +63,7 @@ pub enum EcssTmtcError {
    Store(StoreError),
    Pus(PusError),
    CantSendAddr(StoreAddr),
+    CantSendDirectTm,
    Send(GenericSendError),
    Recv(GenericRecvError),
 }
@ -82,6 +83,9 @@ impl Display for EcssTmtcError {
            EcssTmtcError::CantSendAddr(addr) => {
                write!(f, "can not send address {addr}")
            }
+            EcssTmtcError::CantSendDirectTm => {
+                write!(f, "can not send TM directly")
+            }
            EcssTmtcError::Send(send_e) => {
                write!(f, "send error {send_e}")
            }
@ -123,13 +127,14 @@ impl Error for EcssTmtcError {
            EcssTmtcError::Store(e) => Some(e),
            EcssTmtcError::Pus(e) => Some(e),
            EcssTmtcError::Send(e) => Some(e),
+            EcssTmtcError::Recv(e) => Some(e),
            _ => None,
        }
    }
 }
 pub trait EcssChannel: Send {
    /// Each sender can have an ID associated with it
-    fn id(&self) -> ChannelId;
+    fn channel_id(&self) -> ChannelId;
    fn name(&self) -> &'static str {
        "unset"
    }
@ -138,7 +143,7 @@ pub trait EcssChannel: Send {
 /// Generic trait for a user supplied sender object.
 ///
 /// This sender object is responsible for sending PUS telemetry to a TM sink.
-pub trait EcssTmSenderCore: EcssChannel {
+pub trait EcssTmSenderCore: Send {
    fn send_tm(&self, tm: PusTmWrapper) -> Result<(), EcssTmtcError>;
 }

@ -146,7 +151,7 @@ pub trait EcssTmSenderCore: EcssChannel {
 ///
 /// This sender object is responsible for sending PUS telecommands to a TC recipient. Each
 /// telecommand can optionally have a token which contains its verification state.
-pub trait EcssTcSenderCore: EcssChannel {
+pub trait EcssTcSenderCore {
    fn send_tc(&self, tc: PusTcCreator, token: Option<TcStateToken>) -> Result<(), EcssTmtcError>;
 }

@ -221,25 +226,25 @@ impl TryFrom<EcssTcAndToken> for AcceptedEcssTcAndToken {

 #[derive(Debug, Clone)]
 pub enum TryRecvTmtcError {
-    Error(EcssTmtcError),
+    Tmtc(EcssTmtcError),
    Empty,
 }

 impl From<EcssTmtcError> for TryRecvTmtcError {
    fn from(value: EcssTmtcError) -> Self {
-        Self::Error(value)
+        Self::Tmtc(value)
    }
 }

 impl From<PusError> for TryRecvTmtcError {
    fn from(value: PusError) -> Self {
-        Self::Error(value.into())
+        Self::Tmtc(value.into())
    }
 }

 impl From<StoreError> for TryRecvTmtcError {
    fn from(value: StoreError) -> Self {
-        Self::Error(value.into())
+        Self::Tmtc(value.into())
    }
 }

@ -366,18 +371,15 @@ pub mod std_mod {
    use crate::pool::{PoolProvider, PoolProviderWithGuards, SharedStaticMemoryPool, StoreAddr};
    use crate::pus::verification::{TcStateAccepted, VerificationToken};
    use crate::pus::{
-        EcssChannel, EcssTcAndToken, EcssTcReceiver, EcssTcReceiverCore, EcssTmSender,
-        EcssTmSenderCore, EcssTmtcError, GenericRecvError, GenericSendError, PusTmWrapper,
-        TryRecvTmtcError,
+        EcssChannel, EcssTcAndToken, EcssTcReceiverCore, EcssTmSenderCore, EcssTmtcError,
+        GenericRecvError, GenericSendError, PusTmWrapper, TryRecvTmtcError,
    };
    use crate::tmtc::tm_helper::SharedTmPool;
    use crate::{ChannelId, TargetId};
-    use alloc::boxed::Box;
    use alloc::vec::Vec;
-    use crossbeam_channel as cb;
    use spacepackets::ecss::tc::PusTcReader;
    use spacepackets::ecss::tm::PusTmCreator;
-    use spacepackets::ecss::PusError;
+    use spacepackets::ecss::{PusError, WritablePusPacket};
    use spacepackets::time::cds::TimeProvider;
    use spacepackets::time::StdTimestampError;
    use spacepackets::time::TimeWriter;
@ -386,6 +388,9 @@ pub mod std_mod {
    use std::sync::mpsc::TryRecvError;
    use thiserror::Error;

+    #[cfg(feature = "crossbeam")]
+    pub use cb_mod::*;
+
    use super::verification::VerificationReportingProvider;
    use super::{AcceptedEcssTcAndToken, TcInMemory};

@ -395,32 +400,65 @@ pub mod std_mod {
        }
    }

-    impl From<cb::SendError<StoreAddr>> for EcssTmtcError {
-        fn from(_: cb::SendError<StoreAddr>) -> Self {
-            Self::Send(GenericSendError::RxDisconnected)
+    impl EcssTmSenderCore for mpsc::Sender<StoreAddr> {
+        fn send_tm(&self, tm: PusTmWrapper) -> Result<(), EcssTmtcError> {
+            match tm {
+                PusTmWrapper::InStore(addr) => self
+                    .send(addr)
+                    .map_err(|_| GenericSendError::RxDisconnected)?,
+                PusTmWrapper::Direct(_) => return Err(EcssTmtcError::CantSendDirectTm),
+            };
+            Ok(())
        }
    }

-    impl From<cb::TrySendError<StoreAddr>> for EcssTmtcError {
-        fn from(value: cb::TrySendError<StoreAddr>) -> Self {
-            match value {
-                cb::TrySendError::Full(_) => Self::Send(GenericSendError::QueueFull(None)),
-                cb::TrySendError::Disconnected(_) => Self::Send(GenericSendError::RxDisconnected),
-            }
+    impl EcssTmSenderCore for mpsc::SyncSender<StoreAddr> {
+        fn send_tm(&self, tm: PusTmWrapper) -> Result<(), EcssTmtcError> {
+            match tm {
+                PusTmWrapper::InStore(addr) => self
+                    .try_send(addr)
+                    .map_err(|e| EcssTmtcError::Send(e.into()))?,
+                PusTmWrapper::Direct(_) => return Err(EcssTmtcError::CantSendDirectTm),
+            };
+            Ok(())
+        }
+    }
+
+    impl EcssTmSenderCore for mpsc::Sender<Vec<u8>> {
+        fn send_tm(&self, tm: PusTmWrapper) -> Result<(), EcssTmtcError> {
+            match tm {
+                PusTmWrapper::InStore(addr) => return Err(EcssTmtcError::CantSendAddr(addr)),
+                PusTmWrapper::Direct(tm) => self
+                    .send(tm.to_vec()?)
+                    .map_err(|e| EcssTmtcError::Send(e.into()))?,
+            };
+            Ok(())
+        }
+    }
+
+    impl EcssTmSenderCore for mpsc::SyncSender<Vec<u8>> {
+        fn send_tm(&self, tm: PusTmWrapper) -> Result<(), EcssTmtcError> {
+            match tm {
+                PusTmWrapper::InStore(addr) => return Err(EcssTmtcError::CantSendAddr(addr)),
+                PusTmWrapper::Direct(tm) => self
+                    .send(tm.to_vec()?)
+                    .map_err(|e| EcssTmtcError::Send(e.into()))?,
+            };
+            Ok(())
        }
    }

    #[derive(Clone)]
-    pub struct MpscTmInSharedPoolSender {
-        id: ChannelId,
+    pub struct TmInSharedPoolSenderWithId<Sender: EcssTmSenderCore> {
+        channel_id: ChannelId,
        name: &'static str,
        shared_tm_store: SharedTmPool,
-        sender: mpsc::Sender<StoreAddr>,
+        sender: Sender,
    }

-    impl EcssChannel for MpscTmInSharedPoolSender {
-        fn id(&self) -> ChannelId {
-            self.id
+    impl<Sender: EcssTmSenderCore> EcssChannel for TmInSharedPoolSenderWithId<Sender> {
+        fn channel_id(&self) -> ChannelId {
+            self.channel_id
        }

        fn name(&self) -> &'static str {
@ -428,36 +466,31 @@ pub mod std_mod {
        }
    }

-    impl MpscTmInSharedPoolSender {
+    impl<Sender: EcssTmSenderCore> TmInSharedPoolSenderWithId<Sender> {
        pub fn send_direct_tm(&self, tm: PusTmCreator) -> Result<(), EcssTmtcError> {
            let addr = self.shared_tm_store.add_pus_tm(&tm)?;
-            self.sender
-                .send(addr)
-                .map_err(|_| EcssTmtcError::Send(GenericSendError::RxDisconnected))
+            self.sender.send_tm(PusTmWrapper::InStore(addr))
        }
    }

-    impl EcssTmSenderCore for MpscTmInSharedPoolSender {
+    impl<Sender: EcssTmSenderCore> EcssTmSenderCore for TmInSharedPoolSenderWithId<Sender> {
        fn send_tm(&self, tm: PusTmWrapper) -> Result<(), EcssTmtcError> {
-            match tm {
-                PusTmWrapper::InStore(addr) => {
-                    self.sender.send(addr)?;
-                    Ok(())
-                }
-                PusTmWrapper::Direct(tm) => self.send_direct_tm(tm),
+            if let PusTmWrapper::Direct(tm) = tm {
+                return self.send_direct_tm(tm);
            }
+            self.sender.send_tm(tm)
        }
    }

-    impl MpscTmInSharedPoolSender {
+    impl<Sender: EcssTmSenderCore> TmInSharedPoolSenderWithId<Sender> {
        pub fn new(
            id: ChannelId,
            name: &'static str,
            shared_tm_store: SharedTmPool,
-            sender: mpsc::Sender<StoreAddr>,
+            sender: Sender,
        ) -> Self {
            Self {
-                id,
+                channel_id: id,
                name,
                shared_tm_store,
                sender,
@ -465,6 +498,51 @@ pub mod std_mod {
        }
    }

+    pub type TmInSharedPoolSenderWithMpsc = TmInSharedPoolSenderWithId<mpsc::Sender<StoreAddr>>;
+    pub type TmInSharedPoolSenderWithBoundedMpsc =
+        TmInSharedPoolSenderWithId<mpsc::SyncSender<StoreAddr>>;
+
+    /// This class can be used if frequent heap allocations during run-time are not an issue.
+    /// PUS TM packets will be sent around as [Vec]s. Please note that the current implementation
+    /// of this class can not deal with store addresses, so it is assumed that is is always
+    /// going to be called with direct packets.
+    #[derive(Clone)]
+    pub struct TmAsVecSenderWithId<Sender: EcssTmSenderCore> {
+        id: ChannelId,
+        name: &'static str,
+        sender: Sender,
+    }
+
+    impl From<mpsc::SendError<Vec<u8>>> for EcssTmtcError {
+        fn from(_: mpsc::SendError<Vec<u8>>) -> Self {
+            Self::Send(GenericSendError::RxDisconnected)
+        }
+    }
+
+    impl<Sender: EcssTmSenderCore> TmAsVecSenderWithId<Sender> {
+        pub fn new(id: u32, name: &'static str, sender: Sender) -> Self {
+            Self { id, sender, name }
+        }
+    }
+
+    impl<Sender: EcssTmSenderCore> EcssChannel for TmAsVecSenderWithId<Sender> {
+        fn channel_id(&self) -> ChannelId {
+            self.id
+        }
+        fn name(&self) -> &'static str {
+            self.name
+        }
+    }
+
+    impl<Sender: EcssTmSenderCore> EcssTmSenderCore for TmAsVecSenderWithId<Sender> {
+        fn send_tm(&self, tm: PusTmWrapper) -> Result<(), EcssTmtcError> {
+            self.sender.send_tm(tm)
+        }
+    }
+
+    pub type TmAsVecSenderWithMpsc = TmAsVecSenderWithId<mpsc::Sender<Vec<u8>>>;
+    pub type TmAsVecSenderWithBoundedMpsc = TmAsVecSenderWithId<mpsc::SyncSender<Vec<u8>>>;
+
    pub struct MpscTcReceiver {
        id: ChannelId,
        name: &'static str,
@ -472,7 +550,7 @@ pub mod std_mod {
    }

    impl EcssChannel for MpscTcReceiver {
-        fn id(&self) -> ChannelId {
+        fn channel_id(&self) -> ChannelId {
            self.id
        }

@ -486,7 +564,7 @@ pub mod std_mod {
            self.receiver.try_recv().map_err(|e| match e {
                TryRecvError::Empty => TryRecvTmtcError::Empty,
                TryRecvError::Disconnected => {
-                    TryRecvTmtcError::Error(EcssTmtcError::from(GenericRecvError::TxDisconnected))
+                    TryRecvTmtcError::Tmtc(EcssTmtcError::from(GenericRecvError::TxDisconnected))
                }
            })
        }
@ -502,133 +580,89 @@ pub mod std_mod {
        }
    }

-    /// This class can be used if frequent heap allocations during run-time are not an issue.
-    /// PUS TM packets will be sent around as [Vec]s. Please note that the current implementation
-    /// of this class can not deal with store addresses, so it is assumed that is is always
-    /// going to be called with direct packets.
-    #[derive(Clone)]
-    pub struct MpscTmAsVecSender {
-        id: ChannelId,
-        name: &'static str,
-        sender: mpsc::Sender<Vec<u8>>,
-    }
+    #[cfg(feature = "crossbeam")]
+    pub mod cb_mod {
+        use super::*;
+        use crossbeam_channel as cb;

-    impl From<mpsc::SendError<Vec<u8>>> for EcssTmtcError {
-        fn from(_: mpsc::SendError<Vec<u8>>) -> Self {
-            Self::Send(GenericSendError::RxDisconnected)
-        }
-    }
+        pub type TmInSharedPoolSenderWithCrossbeam =
+            TmInSharedPoolSenderWithId<cb::Sender<StoreAddr>>;

-    impl MpscTmAsVecSender {
-        pub fn new(id: u32, name: &'static str, sender: mpsc::Sender<Vec<u8>>) -> Self {
-            Self { id, sender, name }
+        impl From<cb::SendError<StoreAddr>> for EcssTmtcError {
+            fn from(_: cb::SendError<StoreAddr>) -> Self {
+                Self::Send(GenericSendError::RxDisconnected)
+            }
        }
-    }

-    impl EcssChannel for MpscTmAsVecSender {
-        fn id(&self) -> ChannelId {
-            self.id
-        }
-        fn name(&self) -> &'static str {
-            self.name
-        }
-    }
-
-    impl EcssTmSenderCore for MpscTmAsVecSender {
-        fn send_tm(&self, tm: PusTmWrapper) -> Result<(), EcssTmtcError> {
-            match tm {
-                PusTmWrapper::InStore(addr) => Err(EcssTmtcError::CantSendAddr(addr)),
-                PusTmWrapper::Direct(tm) => {
-                    let mut vec = Vec::new();
-                    tm.append_to_vec(&mut vec).map_err(EcssTmtcError::Pus)?;
-                    self.sender.send(vec)?;
-                    Ok(())
+        impl From<cb::TrySendError<StoreAddr>> for EcssTmtcError {
+            fn from(value: cb::TrySendError<StoreAddr>) -> Self {
+                match value {
+                    cb::TrySendError::Full(_) => Self::Send(GenericSendError::QueueFull(None)),
+                    cb::TrySendError::Disconnected(_) => {
+                        Self::Send(GenericSendError::RxDisconnected)
+                    }
                }
            }
        }
-    }

-    #[derive(Clone)]
-    pub struct CrossbeamTmInStoreSender {
-        id: ChannelId,
-        name: &'static str,
-        shared_tm_store: SharedTmPool,
-        sender: crossbeam_channel::Sender<StoreAddr>,
-    }
-
-    impl CrossbeamTmInStoreSender {
-        pub fn new(
-            id: ChannelId,
-            name: &'static str,
-            shared_tm_store: SharedTmPool,
-            sender: crossbeam_channel::Sender<StoreAddr>,
-        ) -> Self {
-            Self {
-                id,
-                name,
-                shared_tm_store,
-                sender,
+        impl EcssTmSenderCore for cb::Sender<StoreAddr> {
+            fn send_tm(&self, tm: PusTmWrapper) -> Result<(), EcssTmtcError> {
+                match tm {
+                    PusTmWrapper::InStore(addr) => self
+                        .try_send(addr)
+                        .map_err(|e| EcssTmtcError::Send(e.into()))?,
+                    PusTmWrapper::Direct(_) => return Err(EcssTmtcError::CantSendDirectTm),
+                };
+                Ok(())
            }
        }
-    }
-
-    impl EcssChannel for CrossbeamTmInStoreSender {
-        fn id(&self) -> ChannelId {
-            self.id
-        }
-
-        fn name(&self) -> &'static str {
-            self.name
-        }
-    }
-
-    impl EcssTmSenderCore for CrossbeamTmInStoreSender {
-        fn send_tm(&self, tm: PusTmWrapper) -> Result<(), EcssTmtcError> {
-            match tm {
-                PusTmWrapper::InStore(addr) => self.sender.try_send(addr)?,
-                PusTmWrapper::Direct(tm) => {
-                    let addr = self.shared_tm_store.add_pus_tm(&tm)?;
-                    self.sender.try_send(addr)?;
-                }
+        impl EcssTmSenderCore for cb::Sender<Vec<u8>> {
+            fn send_tm(&self, tm: PusTmWrapper) -> Result<(), EcssTmtcError> {
+                match tm {
+                    PusTmWrapper::InStore(addr) => return Err(EcssTmtcError::CantSendAddr(addr)),
+                    PusTmWrapper::Direct(tm) => self
+                        .send(tm.to_vec()?)
+                        .map_err(|e| EcssTmtcError::Send(e.into()))?,
+                };
+                Ok(())
            }
-            Ok(())
        }
-    }

-    pub struct CrossbeamTcReceiver {
-        id: ChannelId,
-        name: &'static str,
-        receiver: cb::Receiver<EcssTcAndToken>,
-    }
-
-    impl CrossbeamTcReceiver {
-        pub fn new(
+        pub struct CrossbeamTcReceiver {
            id: ChannelId,
            name: &'static str,
            receiver: cb::Receiver<EcssTcAndToken>,
-        ) -> Self {
-            Self { id, name, receiver }
-        }
-    }
-
-    impl EcssChannel for CrossbeamTcReceiver {
-        fn id(&self) -> ChannelId {
-            self.id
        }

-        fn name(&self) -> &'static str {
-            self.name
+        impl CrossbeamTcReceiver {
+            pub fn new(
+                id: ChannelId,
+                name: &'static str,
+                receiver: cb::Receiver<EcssTcAndToken>,
+            ) -> Self {
+                Self { id, name, receiver }
+            }
        }
-    }

-    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,
-                cb::TryRecvError::Disconnected => {
-                    TryRecvTmtcError::Error(EcssTmtcError::from(GenericRecvError::TxDisconnected))
-                }
-            })
+        impl EcssChannel for CrossbeamTcReceiver {
+            fn channel_id(&self) -> ChannelId {
+                self.id
+            }
+
+            fn name(&self) -> &'static str {
+                self.name
+            }
+        }
+
+        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,
+                    cb::TryRecvError::Disconnected => TryRecvTmtcError::Tmtc(EcssTmtcError::from(
+                        GenericRecvError::TxDisconnected,
+                    )),
+                })
+            }
        }
    }

@ -811,36 +845,35 @@ pub mod std_mod {
        }
    }

-    pub struct PusServiceBase<VerificationReporter: VerificationReportingProvider> {
-        pub tc_receiver: Box<dyn EcssTcReceiver>,
-        pub tm_sender: Box<dyn EcssTmSender>,
+    pub struct PusServiceBase<
+        TcReceiver: EcssTcReceiverCore,
+        TmSender: EcssTmSenderCore,
+        VerificationReporter: VerificationReportingProvider,
+    > {
+        pub tc_receiver: TcReceiver,
+        pub tm_sender: TmSender,
        pub tm_apid: u16,
-        /// The verification handler is wrapped in a [RefCell] to allow the interior mutability
-        /// pattern. This makes writing methods which are not mutable a lot easier.
        pub verification_handler: VerificationReporter,
    }
-
-    impl<VerificationReporter: VerificationReportingProvider> PusServiceBase<VerificationReporter> {
-        #[cfg(feature = "std")]
-        pub fn get_current_cds_short_timestamp(
-            partial_error: &mut Option<PartialPusHandlingError>,
-        ) -> [u8; 7] {
-            let mut time_stamp: [u8; 7] = [0; 7];
-            let time_provider =
-                TimeProvider::from_now_with_u16_days().map_err(PartialPusHandlingError::Time);
-            if let Ok(time_provider) = time_provider {
-                // Can't fail, we have a buffer with the exact required size.
-                time_provider.write_to_bytes(&mut time_stamp).unwrap();
-            } else {
-                *partial_error = Some(time_provider.unwrap_err());
-            }
-            time_stamp
-        }
-        #[cfg(feature = "std")]
-        pub fn get_current_timestamp_ignore_error() -> [u8; 7] {
-            let mut dummy = None;
-            Self::get_current_cds_short_timestamp(&mut dummy)
+    #[cfg(feature = "std")]
+    pub fn get_current_cds_short_timestamp(
+        partial_error: &mut Option<PartialPusHandlingError>,
+    ) -> [u8; 7] {
+        let mut time_stamp: [u8; 7] = [0; 7];
+        let time_provider =
+            TimeProvider::from_now_with_u16_days().map_err(PartialPusHandlingError::Time);
+        if let Ok(time_provider) = time_provider {
+            // Can't fail, we have a buffer with the exact required size.
+            time_provider.write_to_bytes(&mut time_stamp).unwrap();
+        } else {
+            *partial_error = Some(time_provider.unwrap_err());
        }
+        time_stamp
+    }
+    #[cfg(feature = "std")]
+    pub fn get_current_timestamp_ignore_error() -> [u8; 7] {
+        let mut dummy = None;
+        get_current_cds_short_timestamp(&mut dummy)
    }

    /// This is a high-level PUS packet handler helper.
@ -853,21 +886,25 @@ pub mod std_mod {
    /// by using the [EcssTcInMemConverter] abstraction. This object provides some convenience
    /// methods to make the generic parts of TC handling easier.
    pub struct PusServiceHelper<
+        TcReceiver: EcssTcReceiverCore,
+        TmSender: EcssTmSenderCore,
        TcInMemConverter: EcssTcInMemConverter,
        VerificationReporter: VerificationReportingProvider,
    > {
-        pub common: PusServiceBase<VerificationReporter>,
+        pub common: PusServiceBase<TcReceiver, TmSender, VerificationReporter>,
        pub tc_in_mem_converter: TcInMemConverter,
    }

    impl<
+            TcReceiver: EcssTcReceiverCore,
+            TmSender: EcssTmSenderCore,
            TcInMemConverter: EcssTcInMemConverter,
            VerificationReporter: VerificationReportingProvider,
-        > PusServiceHelper<TcInMemConverter, VerificationReporter>
+        > PusServiceHelper<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>
    {
        pub fn new(
-            tc_receiver: Box<dyn EcssTcReceiver>,
-            tm_sender: Box<dyn EcssTmSender>,
+            tc_receiver: TcReceiver,
+            tm_sender: TmSender,
            tm_apid: u16,
            verification_handler: VerificationReporter,
            tc_in_mem_converter: TcInMemConverter,
@ -886,7 +923,7 @@ 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
+        /// internal [VerificationReportingProvider] object. It will then return the telecommand
        /// and the according accepted token.
        pub fn retrieve_and_accept_next_packet(
            &mut self,
@ -908,12 +945,40 @@ pub mod std_mod {
                    }))
                }
                Err(e) => match e {
-                    TryRecvTmtcError::Error(e) => Err(PusPacketHandlingError::EcssTmtc(e)),
+                    TryRecvTmtcError::Tmtc(e) => Err(PusPacketHandlingError::EcssTmtc(e)),
                    TryRecvTmtcError::Empty => Ok(None),
                },
            }
        }
    }
+
+    pub type PusServiceHelperDynWithMpsc<TcInMemConverter, VerificationReporter> = PusServiceHelper<
+        MpscTcReceiver,
+        TmAsVecSenderWithMpsc,
+        TcInMemConverter,
+        VerificationReporter,
+    >;
+    pub type PusServiceHelperDynWithBoundedMpsc<TcInMemConverter, VerificationReporter> =
+        PusServiceHelper<
+            MpscTcReceiver,
+            TmAsVecSenderWithBoundedMpsc,
+            TcInMemConverter,
+            VerificationReporter,
+        >;
+    pub type PusServiceHelperStaticWithMpsc<TcInMemConverter, VerificationReporter> =
+        PusServiceHelper<
+            MpscTcReceiver,
+            TmInSharedPoolSenderWithMpsc,
+            TcInMemConverter,
+            VerificationReporter,
+        >;
+    pub type PusServiceHelperStaticWithBoundedMpsc<TcInMemConverter, VerificationReporter> =
+        PusServiceHelper<
+            MpscTcReceiver,
+            TmInSharedPoolSenderWithBoundedMpsc,
+            TcInMemConverter,
+            VerificationReporter,
+        >;
 }

 pub(crate) fn source_buffer_large_enough(cap: usize, len: usize) -> Result<(), EcssTmtcError> {
@ -935,7 +1000,6 @@ pub mod tests {
    use std::sync::mpsc::TryRecvError;
    use std::sync::{mpsc, RwLock};

-    use alloc::boxed::Box;
    use alloc::collections::VecDeque;
    use alloc::vec::Vec;
    use satrs_shared::res_code::ResultU16;
@ -951,6 +1015,9 @@ pub mod tests {
    use crate::tmtc::tm_helper::SharedTmPool;
    use crate::TargetId;

+    use super::verification::std_mod::{
+        VerificationReporterWithSharedPoolMpscBoundedSender, VerificationReporterWithVecMpscSender,
+    };
    use super::verification::tests::{SharedVerificationMap, TestVerificationReporter};
    use super::verification::{
        TcStateAccepted, VerificationReporterCfg, VerificationReporterWithSender,
@ -958,8 +1025,9 @@ pub mod tests {
    };
    use super::{
        EcssTcAndToken, EcssTcInSharedStoreConverter, EcssTcInVecConverter, GenericRoutingError,
-        MpscTcReceiver, MpscTmAsVecSender, MpscTmInSharedPoolSender, PusPacketHandlerResult,
-        PusPacketHandlingError, PusRoutingErrorHandler, PusServiceHelper, TcInMemory,
+        MpscTcReceiver, PusPacketHandlerResult, PusPacketHandlingError, PusRoutingErrorHandler,
+        PusServiceHelper, TcInMemory, TmAsVecSenderWithId, TmAsVecSenderWithMpsc,
+        TmInSharedPoolSenderWithBoundedMpsc, TmInSharedPoolSenderWithId,
    };

    pub const TEST_APID: u16 = 0x101;
@ -1004,29 +1072,33 @@ pub mod tests {
        tm_buf: [u8; 2048],
        tc_pool: SharedStaticMemoryPool,
        tm_pool: SharedTmPool,
-        tc_sender: mpsc::Sender<EcssTcAndToken>,
+        tc_sender: mpsc::SyncSender<EcssTcAndToken>,
        tm_receiver: mpsc::Receiver<StoreAddr>,
-        verification_handler: VerificationReporterWithSender,
+        verification_handler: VerificationReporterWithSharedPoolMpscBoundedSender,
    }

+    pub type PusServiceHelperStatic = PusServiceHelper<
+        MpscTcReceiver,
+        TmInSharedPoolSenderWithBoundedMpsc,
+        EcssTcInSharedStoreConverter,
+        VerificationReporterWithSharedPoolMpscBoundedSender,
+    >;
+
    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, VerificationReporterWithSender>,
-        ) {
+        pub fn new() -> (Self, PusServiceHelperStatic) {
            let pool_cfg = StaticPoolConfig::new(alloc::vec![(16, 16), (8, 32), (4, 64)], false);
            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 = SharedTmPool::new(tm_pool);
-            let (test_srv_tc_tx, test_srv_tc_rx) = mpsc::channel();
-            let (tm_tx, tm_rx) = mpsc::channel();
+            let (test_srv_tc_tx, test_srv_tc_rx) = mpsc::sync_channel(10);
+            let (tm_tx, tm_rx) = mpsc::sync_channel(10);

-            let verif_sender = MpscTmInSharedPoolSender::new(
+            let verif_sender = TmInSharedPoolSenderWithBoundedMpsc::new(
                0,
                "verif_sender",
                shared_tm_pool.clone(),
@ -1034,9 +1106,9 @@ pub mod tests {
            );
            let verif_cfg = VerificationReporterCfg::new(TEST_APID, 1, 2, 8).unwrap();
            let verification_handler =
-                VerificationReporterWithSender::new(&verif_cfg, Box::new(verif_sender));
+                VerificationReporterWithSharedPoolMpscBoundedSender::new(&verif_cfg, verif_sender);
            let test_srv_tm_sender =
-                MpscTmInSharedPoolSender::new(0, "TEST_SENDER", shared_tm_pool.clone(), tm_tx);
+                TmInSharedPoolSenderWithId::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);
@ -1051,8 +1123,8 @@ pub mod tests {
                    verification_handler: verification_handler.clone(),
                },
                PusServiceHelper::new(
-                    Box::new(test_srv_tc_receiver),
-                    Box::new(test_srv_tm_sender),
+                    test_srv_tc_receiver,
+                    test_srv_tm_sender,
                    TEST_APID,
                    verification_handler,
                    in_store_converter,
@ -1116,21 +1188,24 @@ pub mod tests {
        tm_receiver: mpsc::Receiver<alloc::vec::Vec<u8>>,
        pub verification_handler: VerificationReporter,
    }
+    pub type PusServiceHelperDynamic = PusServiceHelper<
+        MpscTcReceiver,
+        TmAsVecSenderWithMpsc,
+        EcssTcInVecConverter,
+        VerificationReporterWithVecMpscSender,
+    >;

-    impl PusServiceHandlerWithVecCommon<VerificationReporterWithSender> {
-        pub fn new_with_standard_verif_reporter() -> (
-            Self,
-            PusServiceHelper<EcssTcInVecConverter, VerificationReporterWithSender>,
-        ) {
+    impl PusServiceHandlerWithVecCommon<VerificationReporterWithVecMpscSender> {
+        pub fn new_with_standard_verif_reporter() -> (Self, PusServiceHelperDynamic) {
            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_sender = TmAsVecSenderWithId::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));
+                VerificationReporterWithSender::new(&verif_cfg, verif_sender);

-            let test_srv_tm_sender = MpscTmAsVecSender::new(0, "test-sender", tm_tx);
+            let test_srv_tm_sender = TmAsVecSenderWithId::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();
            (
@ -1141,8 +1216,8 @@ pub mod tests {
                    verification_handler: verification_handler.clone(),
                },
                PusServiceHelper::new(
-                    Box::new(test_srv_tc_receiver),
-                    Box::new(test_srv_tm_sender),
+                    test_srv_tc_receiver,
+                    test_srv_tm_sender,
                    TEST_APID,
                    verification_handler,
                    in_store_converter,
@ -1154,12 +1229,17 @@ pub mod tests {
    impl PusServiceHandlerWithVecCommon<TestVerificationReporter> {
        pub fn new_with_test_verif_sender() -> (
            Self,
-            PusServiceHelper<EcssTcInVecConverter, TestVerificationReporter>,
+            PusServiceHelper<
+                MpscTcReceiver,
+                TmAsVecSenderWithMpsc,
+                EcssTcInVecConverter,
+                TestVerificationReporter,
+            >,
        ) {
            let (test_srv_tc_tx, test_srv_tc_rx) = mpsc::channel();
            let (tm_tx, tm_rx) = mpsc::channel();

-            let test_srv_tm_sender = MpscTmAsVecSender::new(0, "test-sender", tm_tx);
+            let test_srv_tm_sender = TmAsVecSenderWithId::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();
            let shared_verif_map = SharedVerificationMap::default();
@ -1172,8 +1252,8 @@ pub mod tests {
                    verification_handler: verification_handler.clone(),
                },
                PusServiceHelper::new(
-                    Box::new(test_srv_tc_receiver),
-                    Box::new(test_srv_tm_sender),
+                    test_srv_tc_receiver,
+                    test_srv_tm_sender,
                    TEST_APID,
                    verification_handler,
                    in_store_converter,
--- a/satrs/src/pus/scheduler.rs
+++ b/satrs/src/pus/scheduler.rs
@ -340,18 +340,18 @@ pub fn generate_insert_telecommand_app_data(

 #[cfg(feature = "alloc")]
 pub mod alloc_mod {
+    use alloc::{
+        collections::{
+            btree_map::{Entry, Range},
+            BTreeMap,
+        },
+        vec::Vec,
+    };
+    use spacepackets::time::cds::{self, DaysLen24Bits};
+
+    use crate::pool::StoreAddr;
+
    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::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;
@ -461,7 +461,7 @@ pub mod alloc_mod {
            }
            match self.tc_map.entry(time_stamp) {
                Entry::Vacant(e) => {
-                    e.insert(vec![info]);
+                    e.insert(alloc::vec![info]);
                }
                Entry::Occupied(mut v) => {
                    v.get_mut().push(info);
@ -498,7 +498,7 @@ pub mod alloc_mod {
        /// short timestamp with 16-bit length of days field.
        pub fn insert_wrapped_tc_cds_short(
            &mut self,
-            pus_tc: &PusTc,
+            pus_tc: &(impl IsPusTelecommand + PusPacket + GenericPusTcSecondaryHeader),
            pool: &mut (impl PoolProvider + ?Sized),
        ) -> Result<TcInfo, ScheduleError> {
            self.insert_wrapped_tc::<cds::TimeProvider>(pus_tc, pool)
@ -508,7 +508,7 @@ pub mod alloc_mod {
        /// long timestamp with a 24-bit length of days field.
        pub fn insert_wrapped_tc_cds_long(
            &mut self,
-            pus_tc: &PusTc,
+            pus_tc: &(impl IsPusTelecommand + PusPacket + GenericPusTcSecondaryHeader),
            pool: &mut (impl PoolProvider + ?Sized),
        ) -> Result<TcInfo, ScheduleError> {
            self.insert_wrapped_tc::<cds::TimeProvider<DaysLen24Bits>>(pus_tc, pool)
@ -530,7 +530,7 @@ pub mod alloc_mod {
            let range = self.retrieve_by_time_filter(time_window);
            let mut del_packets = 0;
            let mut res_if_fails = None;
-            let mut keys_to_delete = Vec::new();
+            let mut keys_to_delete = alloc::vec::Vec::new();
            for time_bucket in range {
                for tc in time_bucket.1 {
                    match pool.delete(tc.addr) {
@ -561,7 +561,10 @@ pub mod alloc_mod {
        }

        /// Retrieve a range over all scheduled commands.
-        pub fn retrieve_all(&mut self) -> Range<'_, UnixTimestamp, Vec<TcInfo>> {
+        pub fn retrieve_all(
+            &mut self,
+        ) -> alloc::collections::btree_map::Range<'_, UnixTimestamp, alloc::vec::Vec<TcInfo>>
+        {
            self.tc_map.range(..)
        }

@ -572,7 +575,7 @@ pub mod alloc_mod {
        pub fn retrieve_by_time_filter<TimeProvider: CcsdsTimeProvider>(
            &mut self,
            time_window: TimeWindow<TimeProvider>,
-        ) -> Range<'_, UnixTimestamp, Vec<TcInfo>> {
+        ) -> Range<'_, UnixTimestamp, alloc::vec::Vec<TcInfo>> {
            match time_window.time_window_type() {
                TimeWindowType::SelectAll => self.tc_map.range(..),
                TimeWindowType::TimeTagToTimeTag => {
@ -761,9 +764,9 @@ pub mod alloc_mod {
            mut releaser: R,
            tc_store: &(impl PoolProvider + ?Sized),
            tc_buf: &mut [u8],
-        ) -> Result<Vec<TcInfo>, (Vec<TcInfo>, StoreError)> {
+        ) -> Result<alloc::vec::Vec<TcInfo>, (alloc::vec::Vec<TcInfo>, StoreError)> {
            let tcs_to_release = self.telecommands_to_release();
-            let mut released_tcs = Vec::new();
+            let mut released_tcs = alloc::vec::Vec::new();
            for tc in tcs_to_release {
                for info in tc.1 {
                    tc_store
@ -835,7 +838,7 @@ pub mod alloc_mod {
            }
            match self.tc_map.entry(time_stamp) {
                Entry::Vacant(e) => {
-                    e.insert(vec![info]);
+                    e.insert(alloc::vec![info]);
                }
                Entry::Occupied(mut v) => {
                    v.get_mut().push(info);
--- a/satrs/src/pus/scheduler_srv.rs
+++ b/satrs/src/pus/scheduler_srv.rs
@ -1,6 +1,15 @@
 use super::scheduler::PusSchedulerProvider;
-use super::verification::VerificationReportingProvider;
-use super::{EcssTcInMemConverter, PusServiceBase, PusServiceHelper};
+use super::verification::{
+    VerificationReporterWithSharedPoolMpscBoundedSender,
+    VerificationReporterWithSharedPoolMpscSender, VerificationReporterWithVecMpscBoundedSender,
+    VerificationReporterWithVecMpscSender, VerificationReportingProvider,
+};
+use super::{
+    get_current_cds_short_timestamp, EcssTcInMemConverter, EcssTcInSharedStoreConverter,
+    EcssTcInVecConverter, EcssTcReceiverCore, EcssTmSenderCore, MpscTcReceiver, PusServiceHelper,
+    TmAsVecSenderWithBoundedMpsc, TmAsVecSenderWithMpsc, TmInSharedPoolSenderWithBoundedMpsc,
+    TmInSharedPoolSenderWithMpsc,
+};
 use crate::pool::PoolProvider;
 use crate::pus::{PusPacketHandlerResult, PusPacketHandlingError};
 use alloc::string::ToString;
@ -16,22 +25,39 @@ use spacepackets::time::cds::TimeProvider;
 /// [Self::scheduler] and [Self::scheduler_mut] function and then use the scheduler API to release
 /// telecommands when applicable.
 pub struct PusService11SchedHandler<
+    TcReceiver: EcssTcReceiverCore,
+    TmSender: EcssTmSenderCore,
    TcInMemConverter: EcssTcInMemConverter,
    VerificationReporter: VerificationReportingProvider,
    PusScheduler: PusSchedulerProvider,
 > {
-    pub service_helper: PusServiceHelper<TcInMemConverter, VerificationReporter>,
+    pub service_helper:
+        PusServiceHelper<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>,
    scheduler: PusScheduler,
 }

 impl<
+        TcReceiver: EcssTcReceiverCore,
+        TmSender: EcssTmSenderCore,
        TcInMemConverter: EcssTcInMemConverter,
        VerificationReporter: VerificationReportingProvider,
        Scheduler: PusSchedulerProvider,
-    > PusService11SchedHandler<TcInMemConverter, VerificationReporter, Scheduler>
+    >
+    PusService11SchedHandler<
+        TcReceiver,
+        TmSender,
+        TcInMemConverter,
+        VerificationReporter,
+        Scheduler,
+    >
 {
    pub fn new(
-        service_helper: PusServiceHelper<TcInMemConverter, VerificationReporter>,
+        service_helper: PusServiceHelper<
+            TcReceiver,
+            TmSender,
+            TcInMemConverter,
+            VerificationReporter,
+        >,
        scheduler: Scheduler,
    ) -> Self {
        Self {
@ -70,9 +96,7 @@ impl<
            ));
        }
        let mut partial_error = None;
-        let time_stamp = PusServiceBase::<VerificationReporter>::get_current_cds_short_timestamp(
-            &mut partial_error,
-        );
+        let time_stamp = get_current_cds_short_timestamp(&mut partial_error);
        match standard_subservice.unwrap() {
            scheduling::Subservice::TcEnableScheduling => {
                let start_token = self
@ -169,18 +193,55 @@ impl<
        Ok(PusPacketHandlerResult::RequestHandled)
    }
 }
+/// Helper type definition for a PUS 11 handler with a dynamic TMTC memory backend and regular
+/// mpsc queues.
+pub type PusService11SchedHandlerDynWithMpsc<PusScheduler> = PusService11SchedHandler<
+    MpscTcReceiver,
+    TmAsVecSenderWithMpsc,
+    EcssTcInVecConverter,
+    VerificationReporterWithVecMpscSender,
+    PusScheduler,
+>;
+/// Helper type definition for a PUS 11 handler with a dynamic TMTC memory backend and bounded MPSC
+/// queues.
+pub type PusService11SchedHandlerDynWithBoundedMpsc<PusScheduler> = PusService11SchedHandler<
+    MpscTcReceiver,
+    TmAsVecSenderWithBoundedMpsc,
+    EcssTcInVecConverter,
+    VerificationReporterWithVecMpscBoundedSender,
+    PusScheduler,
+>;
+/// Helper type definition for a PUS 11 handler with a shared store TMTC memory backend and regular
+/// mpsc queues.
+pub type PusService11SchedHandlerStaticWithMpsc<PusScheduler> = PusService11SchedHandler<
+    MpscTcReceiver,
+    TmInSharedPoolSenderWithMpsc,
+    EcssTcInSharedStoreConverter,
+    VerificationReporterWithSharedPoolMpscSender,
+    PusScheduler,
+>;
+/// Helper type definition for a PUS 11 handler with a shared store TMTC memory backend and bounded
+/// mpsc queues.
+pub type PusService11SchedHandlerStaticWithBoundedMpsc<PusScheduler> = PusService11SchedHandler<
+    MpscTcReceiver,
+    TmInSharedPoolSenderWithBoundedMpsc,
+    EcssTcInSharedStoreConverter,
+    VerificationReporterWithSharedPoolMpscBoundedSender,
+    PusScheduler,
+>;

 #[cfg(test)]
 mod tests {
    use crate::pool::{StaticMemoryPool, StaticPoolConfig};
    use crate::pus::tests::TEST_APID;
-    use crate::pus::verification::VerificationReporterWithSender;
+    use crate::pus::verification::VerificationReporterWithSharedPoolMpscBoundedSender;
    use crate::pus::{
        scheduler::{self, PusSchedulerProvider, TcInfo},
        tests::{PusServiceHandlerWithSharedStoreCommon, PusTestHarness},
        verification::{RequestId, TcStateAccepted, VerificationToken},
        EcssTcInSharedStoreConverter,
    };
+    use crate::pus::{MpscTcReceiver, TmInSharedPoolSenderWithBoundedMpsc};
    use alloc::collections::VecDeque;
    use delegate::delegate;
    use spacepackets::ecss::scheduling::Subservice;
@ -198,8 +259,10 @@ mod tests {
    struct Pus11HandlerWithStoreTester {
        common: PusServiceHandlerWithSharedStoreCommon,
        handler: PusService11SchedHandler<
+            MpscTcReceiver,
+            TmInSharedPoolSenderWithBoundedMpsc,
            EcssTcInSharedStoreConverter,
-            VerificationReporterWithSender,
+            VerificationReporterWithSharedPoolMpscBoundedSender,
            TestScheduler,
        >,
        sched_tc_pool: StaticMemoryPool,
--- a/satrs/src/pus/test.rs
+++ b/satrs/src/pus/test.rs
@ -5,24 +5,45 @@ use spacepackets::ecss::tm::{PusTmCreator, PusTmSecondaryHeader};
 use spacepackets::ecss::PusPacket;
 use spacepackets::SpHeader;

-use super::verification::VerificationReportingProvider;
-use super::{EcssTcInMemConverter, PusServiceBase, PusServiceHelper};
+use super::verification::{
+    VerificationReporterWithSharedPoolMpscBoundedSender,
+    VerificationReporterWithSharedPoolMpscSender, VerificationReporterWithVecMpscBoundedSender,
+    VerificationReporterWithVecMpscSender, VerificationReportingProvider,
+};
+use super::{
+    get_current_cds_short_timestamp, EcssTcInMemConverter, EcssTcInSharedStoreConverter,
+    EcssTcInVecConverter, EcssTcReceiverCore, EcssTmSenderCore, MpscTcReceiver, PusServiceHelper,
+    TmAsVecSenderWithBoundedMpsc, TmAsVecSenderWithMpsc, TmInSharedPoolSenderWithBoundedMpsc,
+    TmInSharedPoolSenderWithMpsc,
+};

 /// 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<
+    TcReceiver: EcssTcReceiverCore,
+    TmSender: EcssTmSenderCore,
    TcInMemConverter: EcssTcInMemConverter,
    VerificationReporter: VerificationReportingProvider,
 > {
-    pub service_helper: PusServiceHelper<TcInMemConverter, VerificationReporter>,
+    pub service_helper:
+        PusServiceHelper<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>,
 }

 impl<
+        TcReceiver: EcssTcReceiverCore,
+        TmSender: EcssTmSenderCore,
        TcInMemConverter: EcssTcInMemConverter,
        VerificationReporter: VerificationReportingProvider,
-    > PusService17TestHandler<TcInMemConverter, VerificationReporter>
+    > PusService17TestHandler<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>
 {
-    pub fn new(service_helper: PusServiceHelper<TcInMemConverter, VerificationReporter>) -> Self {
+    pub fn new(
+        service_helper: PusServiceHelper<
+            TcReceiver,
+            TmSender,
+            TcInMemConverter,
+            VerificationReporter,
+        >,
+    ) -> Self {
        Self { service_helper }
    }

@ -41,10 +62,7 @@ impl<
        }
        if tc.subservice() == 1 {
            let mut partial_error = None;
-            let time_stamp =
-                PusServiceBase::<VerificationReporter>::get_current_cds_short_timestamp(
-                    &mut partial_error,
-                );
+            let time_stamp = get_current_cds_short_timestamp(&mut partial_error);
            let result = self
                .service_helper
                .common
@ -98,17 +116,53 @@ impl<
    }
 }

+/// Helper type definition for a PUS 17 handler with a dynamic TMTC memory backend and regular
+/// mpsc queues.
+pub type PusService17TestHandlerDynWithMpsc = PusService17TestHandler<
+    MpscTcReceiver,
+    TmAsVecSenderWithMpsc,
+    EcssTcInVecConverter,
+    VerificationReporterWithVecMpscSender,
+>;
+/// Helper type definition for a PUS 17 handler with a dynamic TMTC memory backend and bounded MPSC
+/// queues.
+pub type PusService17TestHandlerDynWithBoundedMpsc = PusService17TestHandler<
+    MpscTcReceiver,
+    TmAsVecSenderWithBoundedMpsc,
+    EcssTcInVecConverter,
+    VerificationReporterWithVecMpscBoundedSender,
+>;
+/// Helper type definition for a PUS 17 handler with a shared store TMTC memory backend and regular
+/// mpsc queues.
+pub type PusService17TestHandlerStaticWithMpsc = PusService17TestHandler<
+    MpscTcReceiver,
+    TmInSharedPoolSenderWithMpsc,
+    EcssTcInSharedStoreConverter,
+    VerificationReporterWithSharedPoolMpscSender,
+>;
+/// Helper type definition for a PUS 17 handler with a shared store TMTC memory backend and bounded
+/// mpsc queues.
+pub type PusService17TestHandlerStaticWithBoundedMpsc = PusService17TestHandler<
+    MpscTcReceiver,
+    TmInSharedPoolSenderWithBoundedMpsc,
+    EcssTcInSharedStoreConverter,
+    VerificationReporterWithSharedPoolMpscBoundedSender,
+>;
+
 #[cfg(test)]
 mod tests {
    use crate::pus::tests::{
        PusServiceHandlerWithSharedStoreCommon, PusServiceHandlerWithVecCommon, PusTestHarness,
        SimplePusPacketHandler, TEST_APID,
    };
-    use crate::pus::verification::{RequestId, VerificationReporterWithSender};
+    use crate::pus::verification::std_mod::{
+        VerificationReporterWithSharedPoolMpscBoundedSender, VerificationReporterWithVecMpscSender,
+    };
+    use crate::pus::verification::RequestId;
    use crate::pus::verification::{TcStateAccepted, VerificationToken};
    use crate::pus::{
-        EcssTcInSharedStoreConverter, EcssTcInVecConverter, PusPacketHandlerResult,
-        PusPacketHandlingError,
+        EcssTcInSharedStoreConverter, EcssTcInVecConverter, MpscTcReceiver, PusPacketHandlerResult,
+        PusPacketHandlingError, TmAsVecSenderWithMpsc, TmInSharedPoolSenderWithBoundedMpsc,
    };
    use delegate::delegate;
    use spacepackets::ecss::tc::{PusTcCreator, PusTcSecondaryHeader};
@ -120,8 +174,12 @@ mod tests {

    struct Pus17HandlerWithStoreTester {
        common: PusServiceHandlerWithSharedStoreCommon,
-        handler:
-            PusService17TestHandler<EcssTcInSharedStoreConverter, VerificationReporterWithSender>,
+        handler: PusService17TestHandler<
+            MpscTcReceiver,
+            TmInSharedPoolSenderWithBoundedMpsc,
+            EcssTcInSharedStoreConverter,
+            VerificationReporterWithSharedPoolMpscBoundedSender,
+        >,
    }

    impl Pus17HandlerWithStoreTester {
@ -158,8 +216,13 @@ mod tests {
    }

    struct Pus17HandlerWithVecTester {
-        common: PusServiceHandlerWithVecCommon<VerificationReporterWithSender>,
-        handler: PusService17TestHandler<EcssTcInVecConverter, VerificationReporterWithSender>,
+        common: PusServiceHandlerWithVecCommon<VerificationReporterWithVecMpscSender>,
+        handler: PusService17TestHandler<
+            MpscTcReceiver,
+            TmAsVecSenderWithMpsc,
+            EcssTcInVecConverter,
+            VerificationReporterWithVecMpscSender,
+        >,
    }

    impl Pus17HandlerWithVecTester {
--- a/satrs/src/pus/verification.rs
+++ b/satrs/src/pus/verification.rs
@ -20,7 +20,7 @@
 //!     VerificationReportingProvider, VerificationReporterCfg, VerificationReporterWithSender
 //! };
 //! use satrs::seq_count::SeqCountProviderSimple;
-//! use satrs::pus::MpscTmInSharedPoolSender;
+//! use satrs::pus::TmInSharedPoolSenderWithMpsc;
 //! use satrs::tmtc::tm_helper::SharedTmPool;
 //! use spacepackets::ecss::PusPacket;
 //! use spacepackets::SpHeader;
@ -35,9 +35,9 @@
 //! let shared_tm_store = SharedTmPool::new(tm_pool);
 //! let tm_store = shared_tm_store.clone_backing_pool();
 //! let (verif_tx, verif_rx) = mpsc::channel();
-//! let sender = MpscTmInSharedPoolSender::new(0, "Test Sender", shared_tm_store, verif_tx);
+//! let sender = TmInSharedPoolSenderWithMpsc::new(0, "Test Sender", shared_tm_store, verif_tx);
 //! let cfg = VerificationReporterCfg::new(TEST_APID, 1, 2, 8).unwrap();
-//! let mut  reporter = VerificationReporterWithSender::new(&cfg , Box::new(sender));
+//! let mut  reporter = VerificationReporterWithSender::new(&cfg , sender);
 //!
 //! let mut sph = SpHeader::tc_unseg(TEST_APID, 0, 0).unwrap();
 //! let tc_header = PusTcSecondaryHeader::new_simple(17, 1);
@ -95,10 +95,11 @@ pub use crate::seq_count::SeqCountProviderSimple;
 pub use spacepackets::ecss::verification::*;

 #[cfg(feature = "alloc")]
-pub use alloc_mod::{
-    VerificationReporter, VerificationReporterCfg, VerificationReporterWithSender,
-};
+#[cfg_attr(feature = "doc_cfg", doc(cfg(feature = "alloc")))]
+pub use alloc_mod::*;
+
 #[cfg(feature = "std")]
+#[cfg_attr(feature = "doc_cfg", doc(cfg(feature = "std")))]
 pub use std_mod::*;

 /// This is a request identifier as specified in 5.4.11.2 c. of the PUS standard.
@ -949,15 +950,13 @@ impl VerificationReporterCore {
 }

 #[cfg(feature = "alloc")]
-mod alloc_mod {
+pub mod alloc_mod {
    use super::*;
-    use crate::pus::alloc_mod::EcssTmSender;
-    use crate::seq_count::SequenceCountProvider;
-    use alloc::boxed::Box;
-    use alloc::vec;
-    use alloc::vec::Vec;
+    use crate::{
+        pus::{TmAsVecSenderWithId, TmInSharedPoolSenderWithId},
+        seq_count::SequenceCountProvider,
+    };
    use core::cell::RefCell;
-    use spacepackets::ecss::tc::IsPusTelecommand;

    #[derive(Clone)]
    pub struct VerificationReporterCfg {
@ -992,9 +991,9 @@ mod alloc_mod {
    /// TM funnel. This helper will always set those fields to 0.
    #[derive(Clone)]
    pub struct VerificationReporter {
-        source_data_buf: RefCell<Vec<u8>>,
-        pub seq_count_provider: Option<Box<dyn SequenceCountProvider<u16> + Send>>,
-        pub msg_count_provider: Option<Box<dyn SequenceCountProvider<u16> + Send>>,
+        source_data_buf: RefCell<alloc::vec::Vec<u8>>,
+        pub seq_count_provider: Option<alloc::boxed::Box<dyn SequenceCountProvider<u16> + Send>>,
+        pub msg_count_provider: Option<alloc::boxed::Box<dyn SequenceCountProvider<u16> + Send>>,
        pub reporter: VerificationReporterCore,
    }

@ -1002,7 +1001,7 @@ mod alloc_mod {
        pub fn new(cfg: &VerificationReporterCfg) -> Self {
            let reporter = VerificationReporterCore::new(cfg.apid).unwrap();
            Self {
-                source_data_buf: RefCell::new(vec![
+                source_data_buf: RefCell::new(alloc::vec![
                    0;
                    RequestId::SIZE_AS_BYTES
                        + cfg.step_field_width
@ -1269,21 +1268,18 @@ mod alloc_mod {
    /// Helper object which caches the sender passed as a trait object. Provides the same
    /// API as [VerificationReporter] but without the explicit sender arguments.
    #[derive(Clone)]
-    pub struct VerificationReporterWithSender {
+    pub struct VerificationReporterWithSender<Sender: EcssTmSenderCore + Clone> {
        pub reporter: VerificationReporter,
-        pub sender: Box<dyn EcssTmSender>,
+        pub sender: Sender,
    }

-    impl VerificationReporterWithSender {
-        pub fn new(cfg: &VerificationReporterCfg, sender: Box<dyn EcssTmSender>) -> Self {
+    impl<Sender: EcssTmSenderCore + Clone> VerificationReporterWithSender<Sender> {
+        pub fn new(cfg: &VerificationReporterCfg, sender: Sender) -> Self {
            let reporter = VerificationReporter::new(cfg);
            Self::new_from_reporter(reporter, sender)
        }

-        pub fn new_from_reporter(
-            reporter: VerificationReporter,
-            sender: Box<dyn EcssTmSender>,
-        ) -> Self {
+        pub fn new_from_reporter(reporter: VerificationReporter, sender: Sender) -> Self {
            Self { reporter, sender }
        }

@ -1297,7 +1293,9 @@ mod alloc_mod {
        }
    }

-    impl VerificationReportingProvider for VerificationReporterWithSender {
+    impl<Sender: EcssTmSenderCore + Clone> VerificationReportingProvider
+        for VerificationReporterWithSender<Sender>
+    {
        delegate! {
            to self.reporter {
                fn add_tc(
@ -1315,7 +1313,7 @@ mod alloc_mod {
        ) -> Result<VerificationToken<TcStateAccepted>, VerificationOrSendErrorWithToken<TcStateNone>>
        {
            self.reporter
-                .acceptance_success(token, self.sender.as_ref(), time_stamp)
+                .acceptance_success(token, &self.sender, time_stamp)
        }

        fn acceptance_failure(
@ -1324,7 +1322,7 @@ mod alloc_mod {
            params: FailParams,
        ) -> Result<(), VerificationOrSendErrorWithToken<TcStateNone>> {
            self.reporter
-                .acceptance_failure(token, self.sender.as_ref(), params)
+                .acceptance_failure(token, &self.sender, params)
        }

        fn start_success(
@ -1335,8 +1333,7 @@ mod alloc_mod {
            VerificationToken<TcStateStarted>,
            VerificationOrSendErrorWithToken<TcStateAccepted>,
        > {
-            self.reporter
-                .start_success(token, self.sender.as_ref(), time_stamp)
+            self.reporter.start_success(token, &self.sender, time_stamp)
        }

        fn start_failure(
@ -1344,8 +1341,7 @@ mod alloc_mod {
            token: VerificationToken<TcStateAccepted>,
            params: FailParams,
        ) -> Result<(), VerificationOrSendErrorWithToken<TcStateAccepted>> {
-            self.reporter
-                .start_failure(token, self.sender.as_ref(), params)
+            self.reporter.start_failure(token, &self.sender, params)
        }

        fn step_success(
@ -1355,7 +1351,7 @@ mod alloc_mod {
            step: impl EcssEnumeration,
        ) -> Result<(), EcssTmtcError> {
            self.reporter
-                .step_success(token, self.sender.as_ref(), time_stamp, step)
+                .step_success(token, &self.sender, time_stamp, step)
        }

        fn step_failure(
@ -1363,8 +1359,7 @@ mod alloc_mod {
            token: VerificationToken<TcStateStarted>,
            params: FailParamsWithStep,
        ) -> Result<(), VerificationOrSendErrorWithToken<TcStateStarted>> {
-            self.reporter
-                .step_failure(token, self.sender.as_ref(), params)
+            self.reporter.step_failure(token, &self.sender, params)
        }

        fn completion_success<TcState: WasAtLeastAccepted + Copy>(
@ -1373,7 +1368,7 @@ mod alloc_mod {
            time_stamp: &[u8],
        ) -> Result<(), VerificationOrSendErrorWithToken<TcState>> {
            self.reporter
-                .completion_success(token, self.sender.as_ref(), time_stamp)
+                .completion_success(token, &self.sender, time_stamp)
        }

        fn completion_failure<TcState: WasAtLeastAccepted + Copy>(
@ -1382,18 +1377,34 @@ mod alloc_mod {
            params: FailParams,
        ) -> Result<(), VerificationOrSendErrorWithToken<TcState>> {
            self.reporter
-                .completion_failure(token, self.sender.as_ref(), params)
+                .completion_failure(token, &self.sender, params)
        }
    }
+
+    pub type VerificationReporterWithSharedPoolSender<Sender> =
+        VerificationReporterWithSender<TmInSharedPoolSenderWithId<Sender>>;
+    pub type VerificationReporterWithVecSender<Sender> =
+        VerificationReporterWithSender<TmAsVecSenderWithId<Sender>>;
 }

 #[cfg(feature = "std")]
-mod std_mod {
-    use crate::pus::verification::VerificationReporterWithSender;
-    use std::sync::{Arc, Mutex};
+pub mod std_mod {
+    use std::sync::mpsc;

-    pub type StdVerifReporterWithSender = VerificationReporterWithSender;
-    pub type SharedStdVerifReporterWithSender = Arc<Mutex<StdVerifReporterWithSender>>;
+    use crate::pool::StoreAddr;
+
+    use super::alloc_mod::{
+        VerificationReporterWithSharedPoolSender, VerificationReporterWithVecSender,
+    };
+
+    pub type VerificationReporterWithSharedPoolMpscSender =
+        VerificationReporterWithSharedPoolSender<mpsc::Sender<StoreAddr>>;
+    pub type VerificationReporterWithSharedPoolMpscBoundedSender =
+        VerificationReporterWithSharedPoolSender<mpsc::SyncSender<StoreAddr>>;
+    pub type VerificationReporterWithVecMpscSender =
+        VerificationReporterWithVecSender<mpsc::Sender<alloc::vec::Vec<u8>>>;
+    pub type VerificationReporterWithVecMpscBoundedSender =
+        VerificationReporterWithVecSender<mpsc::SyncSender<alloc::vec::Vec<u8>>>;
 }

 #[cfg(test)]
@ -1405,10 +1416,11 @@ pub mod tests {
        VerificationReporter, VerificationReporterCfg, VerificationReporterWithSender,
        VerificationToken,
    };
-    use crate::pus::{EcssChannel, MpscTmInSharedPoolSender, PusTmWrapper};
+    use crate::pus::{
+        EcssChannel, PusTmWrapper, TmInSharedPoolSenderWithId, TmInSharedPoolSenderWithMpsc,
+    };
    use crate::tmtc::tm_helper::SharedTmPool;
    use crate::ChannelId;
-    use alloc::boxed::Box;
    use alloc::format;
    use alloc::sync::Arc;
    use hashbrown::HashMap;
@ -1637,7 +1649,7 @@ pub mod tests {
    }

    impl EcssChannel for TestSender {
-        fn id(&self) -> ChannelId {
+        fn channel_id(&self) -> ChannelId {
            0
        }
        fn name(&self) -> &'static str {
@ -1688,13 +1700,13 @@ pub mod tests {
            &mut self.vr
        }
    }
-    struct TestBaseWithHelper<'a> {
-        helper: VerificationReporterWithSender,
+    struct TestBaseWithHelper<'a, Sender: EcssTmSenderCore + Clone + 'static> {
+        helper: VerificationReporterWithSender<Sender>,
        #[allow(dead_code)]
        tc: PusTcCreator<'a>,
    }

-    impl<'a> TestBaseWithHelper<'a> {
+    impl<'a, Sender: EcssTmSenderCore + Clone + 'static> TestBaseWithHelper<'a, Sender> {
        fn rep(&mut self) -> &mut VerificationReporter {
            &mut self.helper.reporter
        }
@ -1725,12 +1737,15 @@ pub mod tests {
        (TestBase { vr: reporter, tc }, init_tok)
    }

-    fn base_with_helper_init() -> (TestBaseWithHelper<'static>, VerificationToken<TcStateNone>) {
+    fn base_with_helper_init() -> (
+        TestBaseWithHelper<'static, TestSender>,
+        VerificationToken<TcStateNone>,
+    ) {
        let mut reporter = base_reporter();
        let (tc, _) = base_tc_init(None);
        let init_tok = reporter.add_tc(&tc);
        let sender = TestSender::default();
-        let helper = VerificationReporterWithSender::new_from_reporter(reporter, Box::new(sender));
+        let helper = VerificationReporterWithSender::new_from_reporter(reporter, sender);
        (TestBaseWithHelper { helper, tc }, init_tok)
    }

@ -1758,7 +1773,7 @@ pub mod tests {
        let shared_tm_store = SharedTmPool::new(pool);
        let (tx, _) = mpsc::channel();
        let mpsc_verif_sender =
-            MpscTmInSharedPoolSender::new(0, "verif_sender", shared_tm_store, tx);
+            TmInSharedPoolSenderWithMpsc::new(0, "verif_sender", shared_tm_store, tx);
        is_send(&mpsc_verif_sender);
    }

@ -1785,8 +1800,7 @@ pub mod tests {
        b.helper
            .acceptance_success(tok, &EMPTY_STAMP)
            .expect("Sending acceptance success failed");
-        let sender: &mut TestSender = b.helper.sender.downcast_mut().unwrap();
-        acceptance_check(sender, &tok.req_id);
+        acceptance_check(&mut b.helper.sender, &tok.req_id);
    }

    fn acceptance_fail_check(sender: &mut TestSender, req_id: RequestId, stamp_buf: [u8; 7]) {
@ -1830,8 +1844,7 @@ pub mod tests {
        b.helper
            .acceptance_failure(tok, fail_params)
            .expect("Sending acceptance success failed");
-        let sender: &mut TestSender = b.helper.sender.downcast_mut().unwrap();
-        acceptance_fail_check(sender, tok.req_id, stamp_buf);
+        acceptance_fail_check(&mut b.helper.sender, tok.req_id, stamp_buf);
    }

    #[test]
@ -1961,8 +1974,7 @@ pub mod tests {
        b.helper
            .start_failure(accepted_token, fail_params)
            .expect("Start failure failure");
-        let sender: &mut TestSender = b.helper.sender.downcast_mut().unwrap();
-        start_fail_check(sender, tok.req_id, fail_data_raw);
+        start_fail_check(&mut b.helper.sender, tok.req_id, fail_data_raw);
    }

    fn step_success_check(sender: &mut TestSender, req_id: RequestId) {
@ -2059,9 +2071,8 @@ pub mod tests {
        b.helper
            .step_success(&started_token, &EMPTY_STAMP, EcssEnumU8::new(1))
            .expect("Sending step 1 success failed");
-        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);
+        assert_eq!(b.helper.sender.service_queue.borrow().len(), 4);
+        step_success_check(&mut b.helper.sender, tok.req_id);
    }

    fn check_step_failure(sender: &mut TestSender, req_id: RequestId, fail_data_raw: [u8; 4]) {
@ -2191,8 +2202,7 @@ pub mod tests {
        b.helper
            .step_failure(started_token, fail_params)
            .expect("Step failure failed");
-        let sender: &mut TestSender = b.helper.sender.downcast_mut().unwrap();
-        check_step_failure(sender, req_id, fail_data_raw);
+        check_step_failure(&mut b.helper.sender, req_id, fail_data_raw);
    }

    fn completion_fail_check(sender: &mut TestSender, req_id: RequestId) {
@ -2278,8 +2288,7 @@ pub mod tests {
        b.helper
            .completion_failure(started_token, fail_params)
            .expect("Completion failure");
-        let sender: &mut TestSender = b.helper.sender.downcast_mut().unwrap();
-        completion_fail_check(sender, req_id);
+        completion_fail_check(&mut b.helper.sender, req_id);
    }

    fn completion_success_check(sender: &mut TestSender, req_id: RequestId) {
@ -2355,8 +2364,7 @@ pub mod tests {
        b.helper
            .completion_success(started_token, &EMPTY_STAMP)
            .expect("Sending completion success failed");
-        let sender: &mut TestSender = b.helper.sender.downcast_mut().unwrap();
-        completion_success_check(sender, tok.req_id);
+        completion_success_check(&mut b.helper.sender, tok.req_id);
    }

    #[test]
@ -2368,9 +2376,9 @@ pub mod tests {
        let shared_tm_pool = shared_tm_store.clone_backing_pool();
        let (verif_tx, verif_rx) = mpsc::channel();
        let sender =
-            MpscTmInSharedPoolSender::new(0, "Verification Sender", shared_tm_store, verif_tx);
+            TmInSharedPoolSenderWithId::new(0, "Verification Sender", shared_tm_store, verif_tx);
        let cfg = VerificationReporterCfg::new(TEST_APID, 1, 2, 8).unwrap();
-        let mut reporter = VerificationReporterWithSender::new(&cfg, Box::new(sender));
+        let mut reporter = VerificationReporterWithSender::new(&cfg, sender);

        let mut sph = SpHeader::tc_unseg(TEST_APID, 0, 0).unwrap();
        let tc_header = PusTcSecondaryHeader::new_simple(17, 1);
--- a/satrs/src/queue.rs
+++ b/satrs/src/queue.rs
@ -1,6 +1,8 @@
 use core::fmt::{Display, Formatter};
 #[cfg(feature = "std")]
 use std::error::Error;
+#[cfg(feature = "std")]
+use std::sync::mpsc;

 /// Generic error type for sending something via a message queue.
 #[derive(Debug, Copy, Clone)]
@ -47,3 +49,37 @@ impl Display for GenericRecvError {

 #[cfg(feature = "std")]
 impl Error for GenericRecvError {}
+
+#[cfg(feature = "std")]
+impl<T> From<mpsc::SendError<T>> for GenericSendError {
+    fn from(_: mpsc::SendError<T>) -> Self {
+        GenericSendError::RxDisconnected
+    }
+}
+
+#[cfg(feature = "std")]
+impl<T> From<mpsc::TrySendError<T>> for GenericSendError {
+    fn from(err: mpsc::TrySendError<T>) -> Self {
+        match err {
+            mpsc::TrySendError::Full(_) => GenericSendError::QueueFull(None),
+            mpsc::TrySendError::Disconnected(_) => GenericSendError::RxDisconnected,
+        }
+    }
+}
+
+#[cfg(feature = "crossbeam")]
+impl<T> From<crossbeam_channel::SendError<T>> for GenericSendError {
+    fn from(_: crossbeam_channel::SendError<T>) -> Self {
+        GenericSendError::RxDisconnected
+    }
+}
+
+#[cfg(feature = "crossbeam")]
+impl<T> From<crossbeam_channel::TrySendError<T>> for GenericSendError {
+    fn from(err: crossbeam_channel::TrySendError<T>) -> Self {
+        match err {
+            crossbeam_channel::TrySendError::Full(_) => GenericSendError::QueueFull(None),
+            crossbeam_channel::TrySendError::Disconnected(_) => GenericSendError::RxDisconnected,
+        }
+    }
+}
--- a/satrs/tests/pus_events.rs
+++ b/satrs/tests/pus_events.rs
@ -1,14 +1,14 @@
 use satrs::event_man::{
-    EventManagerWithMpscQueue, MpscEventU32Receiver, MpscEventU32SendProvider, SendEventProvider,
+    EventManagerWithMpsc, EventSendProvider, EventU32SenderMpsc, MpscEventU32Receiver,
 };
 use satrs::events::{EventU32, EventU32TypedSev, Severity, SeverityInfo};
 use satrs::params::U32Pair;
 use satrs::params::{Params, ParamsHeapless, WritableToBeBytes};
-use satrs::pus::event_man::{DefaultPusMgmtBackendProvider, EventReporter, PusEventDispatcher};
-use satrs::pus::MpscTmAsVecSender;
+use satrs::pus::event_man::{DefaultPusEventMgmtBackend, EventReporter, PusEventDispatcher};
+use satrs::pus::TmAsVecSenderWithMpsc;
 use spacepackets::ecss::tm::PusTmReader;
 use spacepackets::ecss::{PusError, PusPacket};
-use std::sync::mpsc::{channel, SendError, TryRecvError};
+use std::sync::mpsc::{self, SendError, TryRecvError};
 use std::thread;

 const INFO_EVENT: EventU32TypedSev<SeverityInfo> =
@ -24,21 +24,21 @@ pub enum CustomTmSenderError {

 #[test]
 fn test_threaded_usage() {
-    let (event_sender, event_man_receiver) = channel();
+    let (event_sender, event_man_receiver) = mpsc::channel();
    let event_receiver = MpscEventU32Receiver::new(event_man_receiver);
-    let mut event_man = EventManagerWithMpscQueue::new(Box::new(event_receiver));
+    let mut event_man = EventManagerWithMpsc::new(event_receiver);

-    let (pus_event_man_tx, pus_event_man_rx) = channel();
-    let pus_event_man_send_provider = MpscEventU32SendProvider::new(1, pus_event_man_tx);
-    event_man.subscribe_all(pus_event_man_send_provider.id());
+    let (pus_event_man_tx, pus_event_man_rx) = mpsc::channel();
+    let pus_event_man_send_provider = EventU32SenderMpsc::new(1, pus_event_man_tx);
+    event_man.subscribe_all(pus_event_man_send_provider.channel_id());
    event_man.add_sender(pus_event_man_send_provider);
-    let (event_tx, event_rx) = channel();
+    let (event_tx, event_rx) = mpsc::channel();
    let reporter = EventReporter::new(0x02, 128).expect("Creating event reporter failed");
-    let backend = DefaultPusMgmtBackendProvider::<EventU32>::default();
-    let mut pus_event_man = PusEventDispatcher::new(reporter, Box::new(backend));
+    let mut pus_event_man =
+        PusEventDispatcher::new(reporter, DefaultPusEventMgmtBackend::default());
    // PUS + Generic event manager thread
    let jh0 = thread::spawn(move || {
-        let mut sender = MpscTmAsVecSender::new(0, "event_sender", event_tx);
+        let mut sender = TmAsVecSenderWithMpsc::new(0, "event_sender", event_tx);
        let mut event_cnt = 0;
        let mut params_array: [u8; 128] = [0; 128];
        loop {
@ -71,6 +71,7 @@ fn test_threaded_usage() {
                            Params::Vec(vec) => gen_event(Some(vec.as_slice())),
                            Params::String(str) => gen_event(Some(str.as_bytes())),
                            Params::Store(_) => gen_event(None),
+                            _ => panic!("unsupported parameter type"),
                        }
                    } else {
                        gen_event(None)
@ -120,10 +121,7 @@ fn test_threaded_usage() {
            }
        }
        event_sender
-            .send((
-                LOW_SEV_EVENT.into(),
-                Some(Params::Heapless((2_u32, 3_u32).into())),
-            ))
+            .send((LOW_SEV_EVENT, Some(Params::Heapless((2_u32, 3_u32).into()))))
            .expect("Sending low severity event failed");
        loop {
            match event_rx.try_recv() {
--- a/satrs/tests/pus_verification.rs
+++ b/satrs/tests/pus_verification.rs
@ -6,7 +6,7 @@ pub mod crossbeam_test {
        FailParams, RequestId, VerificationReporterCfg, VerificationReporterWithSender,
        VerificationReportingProvider,
    };
-    use satrs::pus::CrossbeamTmInStoreSender;
+    use satrs::pus::TmInSharedPoolSenderWithCrossbeam;
    use satrs::tmtc::tm_helper::SharedTmPool;
    use spacepackets::ecss::tc::{PusTcCreator, PusTcReader, PusTcSecondaryHeader};
    use spacepackets::ecss::tm::PusTmReader;
@ -40,10 +40,13 @@ pub mod crossbeam_test {
        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 =
-            CrossbeamTmInStoreSender::new(0, "verif_sender", shared_tm_pool.clone(), tx.clone());
-        let mut reporter_with_sender_0 =
-            VerificationReporterWithSender::new(&cfg, Box::new(sender));
+        let sender = TmInSharedPoolSenderWithCrossbeam::new(
+            0,
+            "verif_sender",
+            shared_tm_pool.clone(),
+            tx.clone(),
+        );
+        let mut reporter_with_sender_0 = VerificationReporterWithSender::new(&cfg, sender);
        let mut reporter_with_sender_1 = reporter_with_sender_0.clone();
        // For test purposes, we retrieve the request ID from the TCs and pass them to the receiver
        // tread.