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

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"
+version = "0.1.1"
-path = "../satrs-mib"
+# path = "../satrs-mib"
 
 [features]
 dyn_tmtc = []

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],

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,
+        EventManagerWithBoundedMpsc, EventSendProvider, EventU32SenderMpscBounded,
-        SendEventProvider,
+        MpscEventReceiver,
     },
     events::EventU32,
     params::Params,
     pus::{
         event_man::{
-            DefaultPusMgmtBackendProvider, EventReporter, EventRequest, EventRequestWithToken,
+            DefaultPusEventU32Dispatcher, EventReporter, EventRequest, EventRequestWithToken,
-            PusEventDispatcher,
-        },
-        verification::{
-            TcStateStarted, VerificationReporterWithSender, VerificationReportingProvider,
-            VerificationToken,
         },
+        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<VerificationReporter: VerificationReportingProvider> {
-
-pub struct PusEventHandler {
     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,
+        verif_handler: VerificationReporter,
-        event_manager: &mut MpscEventManager,
+        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));
+            DefaultPusEventU32Dispatcher::new_with_default_backend(event_reporter);
-        let pus_event_man_send_provider = MpscEventU32SendProvider::new(1, pus_event_man_tx);
+        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()
     }
 

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 (tc_source_tx, tc_source_rx) = mpsc::sync_channel(50);
-    let (tm_funnel_tx, tm_funnel_rx) = channel();
+    let (tm_funnel_tx, tm_funnel_rx) = mpsc::sync_channel(50);
-    let (tm_server_tx, tm_server_rx) = channel();
+    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(),

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,
+    FailParams, TcStateAccepted, VerificationReportingProvider, VerificationToken,
-    VerificationToken,
 };
 use satrs::pus::{
     EcssTcAndToken, EcssTcInMemConverter, EcssTcInSharedStoreConverter, EcssTcInVecConverter,
-    MpscTcReceiver, MpscTmAsVecSender, MpscTmInSharedPoolSender, PusPacketHandlerResult,
+    EcssTcReceiverCore, EcssTmSenderCore, MpscTcReceiver, PusPacketHandlerResult,
-    PusPacketHandlingError, PusServiceHelper,
+    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>,
+    tm_funnel_tx: mpsc::SyncSender<StoreAddr>,
-    verif_reporter: VerificationReporterWithSender,
+    verif_reporter: VerificationReporterWithSharedPoolMpscBoundedSender,
     tc_pool: SharedStaticMemoryPool,
     pus_action_rx: mpsc::Receiver<EcssTcAndToken>,
     action_router: GenericRequestRouter,
-) -> Pus8Wrapper<EcssTcInSharedStoreConverter> {
+) -> Pus8Wrapper<
-    let action_srv_tm_sender = MpscTmInSharedPoolSender::new(
+    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),
+            action_srv_receiver,
-            Box::new(action_srv_tm_sender),
+            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> {
+) -> Pus8Wrapper<
-    let action_srv_tm_sender = MpscTmAsVecSender::new(
+    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),
+            action_srv_receiver,
-            Box::new(action_srv_tm_sender),
+            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 {

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,
+    EcssTcReceiverCore, EcssTmSenderCore, MpscTcReceiver, PusPacketHandlerResult, PusServiceHelper,
-    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>,
+    tm_funnel_tx: mpsc::SyncSender<StoreAddr>,
-    verif_reporter: VerificationReporterWithSender,
+    verif_reporter: VerificationReporterWithSharedPoolMpscBoundedSender,
     tc_pool: SharedStaticMemoryPool,
     pus_event_rx: mpsc::Receiver<EcssTcAndToken>,
     event_request_tx: mpsc::Sender<EventRequestWithToken>,
-) -> Pus5Wrapper<EcssTcInSharedStoreConverter> {
+) -> Pus5Wrapper<
-    let event_srv_tm_sender = MpscTmInSharedPoolSender::new(
+    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),
+            event_srv_receiver,
-            Box::new(event_srv_tm_sender),
+            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> {
+) -> Pus5Wrapper<
-    let event_srv_tm_sender = MpscTmAsVecSender::new(
+    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),
+            event_srv_receiver,
-            Box::new(event_srv_tm_sender),
+            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 struct Pus5Wrapper<
-    pub pus_5_handler: PusService5EventHandler<TcInMemConverter, VerificationReporterWithSender>,
+    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 {

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,
+    FailParams, TcStateAccepted, VerificationReportingProvider, VerificationToken,
-    VerificationToken,
 };
 use satrs::pus::{
     EcssTcAndToken, EcssTcInMemConverter, EcssTcInSharedStoreConverter, EcssTcInVecConverter,
-    MpscTcReceiver, MpscTmAsVecSender, MpscTmInSharedPoolSender, PusPacketHandlerResult,
+    EcssTcReceiverCore, EcssTmSenderCore, MpscTcReceiver, PusPacketHandlerResult,
-    PusPacketHandlingError, PusServiceHelper,
+    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>,
+    tm_funnel_tx: mpsc::SyncSender<StoreAddr>,
-    verif_reporter: VerificationReporterWithSender,
+    verif_reporter: VerificationReporterWithSharedPoolMpscBoundedSender,
     tc_pool: SharedStaticMemoryPool,
     pus_hk_rx: mpsc::Receiver<EcssTcAndToken>,
     request_router: GenericRequestRouter,
-) -> Pus3Wrapper<EcssTcInSharedStoreConverter> {
+) -> Pus3Wrapper<
-    let hk_srv_tm_sender = MpscTmInSharedPoolSender::new(
+    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),
+            hk_srv_receiver,
-            Box::new(hk_srv_tm_sender),
+            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> {
+) -> Pus3Wrapper<
-    let hk_srv_tm_sender = MpscTmAsVecSender::new(
+    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),
+            hk_srv_receiver,
-            Box::new(hk_srv_tm_sender),
+            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 {

satrs-example/src/pus/mod.rs

@@ -1,8 +1,6 @@
 use crate::tmtc::MpscStoreAndSendError;
 use log::warn;
-use satrs::pus::verification::{
+use satrs::pus::verification::{FailParams, VerificationReportingProvider};
-    FailParams, StdVerifReporterWithSender, 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 struct PusReceiver<VerificationReporter: VerificationReportingProvider> {
-    pub verif_reporter: StdVerifReporterWithSender,
+    pub verif_reporter: VerificationReporter,
     pub pus_router: PusTcMpscRouter,
     stamp_helper: TimeStampHelper,
 }
@@ -61,8 +59,8 @@ impl TimeStampHelper {
     }
 }
 
-impl PusReceiver {
+impl<VerificationReporter: VerificationReportingProvider> PusReceiver<VerificationReporter> {
-    pub fn new(verif_reporter: StdVerifReporterWithSender, pus_router: PusTcMpscRouter) -> Self {
+    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,

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,
+    EcssTcReceiverCore, EcssTmSenderCore, MpscTcReceiver, PusPacketHandlerResult, PusServiceHelper,
-    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 struct Pus11Wrapper<
-    pub pus_11_handler:
+    TcReceiver: EcssTcReceiverCore,
-        PusService11SchedHandler<TcInMemConverter, VerificationReporterWithSender, PusScheduler>,
+    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>,
+    tm_funnel_tx: mpsc::SyncSender<StoreAddr>,
-    verif_reporter: VerificationReporterWithSender,
+    verif_reporter: VerificationReporterWithSharedPoolMpscBoundedSender,
     tc_releaser: PusTcSourceProviderSharedPool,
     pus_sched_rx: mpsc::Receiver<EcssTcAndToken>,
     sched_tc_pool: StaticMemoryPool,
-) -> Pus11Wrapper<EcssTcInSharedStoreConverter> {
+) -> Pus11Wrapper<
-    let sched_srv_tm_sender = MpscTmInSharedPoolSender::new(
+    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),
+            sched_srv_receiver,
-            Box::new(sched_srv_tm_sender),
+            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> {
+) -> Pus11Wrapper<
-    let sched_srv_tm_sender = MpscTmAsVecSender::new(
+    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),
+            sched_srv_receiver,
-            Box::new(sched_srv_tm_sender),
+            sched_srv_tm_sender,
             PUS_APID,
             verif_reporter.clone(),
             EcssTcInVecConverter::default(),

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

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,
+    EcssTcAndToken, EcssTcInMemConverter, EcssTcInVecConverter, EcssTcReceiverCore,
-    MpscTmInSharedPoolSender, PusPacketHandlerResult, PusServiceHelper,
+    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>,
+    tm_funnel_tx: mpsc::SyncSender<StoreAddr>,
-    verif_reporter: VerificationReporterWithSender,
+    verif_reporter: VerificationReporterWithSharedPoolMpscBoundedSender,
     tc_pool: SharedStaticMemoryPool,
     event_sender: mpsc::Sender<(EventU32, Option<Params>)>,
     pus_test_rx: mpsc::Receiver<EcssTcAndToken>,
-) -> Service17CustomWrapper<EcssTcInSharedStoreConverter> {
+) -> Service17CustomWrapper<
-    let test_srv_tm_sender = MpscTmInSharedPoolSender::new(
+    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),
+        test_srv_receiver,
-        Box::new(test_srv_tm_sender),
+        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> {
+) -> Service17CustomWrapper<
-    let test_srv_tm_sender = MpscTmAsVecSender::new(
+    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),
+        test_srv_receiver,
-        Box::new(test_srv_tm_sender),
+        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 struct Service17CustomWrapper<
-    pub pus17_handler: PusService17TestHandler<TcInMemConverter, VerificationReporterWithSender>,
+    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() {

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_funnel_rx: mpsc::Receiver<StoreAddr>,
-    tm_server_tx: Sender<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_funnel_rx: mpsc::Receiver<StoreAddr>,
-        tm_server_tx: Sender<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_funnel_rx: mpsc::Receiver<Vec<u8>>,
-    tm_server_tx: Sender<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_funnel_rx: mpsc::Receiver<Vec<u8>>,
-        tm_server_tx: Sender<Vec<u8>>,
+        tm_server_tx: mpsc::Sender<Vec<u8>>,
     ) -> Self {
         Self {
             common: TmFunnelCommon::new(sync_tm_tcp_source),

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,

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
 

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>"]

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,
+    },
+}

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)]

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
+//! It also contains a sender table abstracted by the [SenderMapProvider] which maps these sender
-//! to a concrete [SendEventProvider]s. A simple approach would be to use one send event provider
+//! 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
+//!  4. Create the [send event providers][EventSendProvider]s which allow routing events to
-//!     subscribers. You can now use their [sender IDs][SendEventProvider::id] to subscribe for
+//!     subscribers. You can now use their [sender IDs][EventSendProvider::channel_id] to subscribe
-//!     event groups, for example by using the [EventManager::subscribe_single] method.
+//!     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 crate::queue::GenericSendError;
-use alloc::boxed::Box;
+use core::marker::PhantomData;
-#[cfg(feature = "alloc")]
-use alloc::vec;
-#[cfg(feature = "alloc")]
-use alloc::vec::Vec;
 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> {
+pub trait EventSendProvider<EV: GenericEvent, AuxDataProvider = Params> {
-    type Error;
+    fn channel_id(&self) -> ChannelId;
 
-    fn id(&self) -> ChannelId;
+    fn send_no_data(&self, event: EV) -> Result<(), GenericSendError> {
-    fn send_no_data(&self, event: Provider) -> Result<(), Self::Error> {
         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> {
+pub trait EventReceiveProvider<Event: GenericEvent, AuxDataProvider = Params> {
-    /// This function has to be provided by any event receiver. A receive call may or may not return
+    /// This function has to be provided by any event receiver. A call may or may not return
-    /// an event.
+    /// an event and optional auxiliary data.
-    ///
+    fn try_recv_event(&self) -> Option<(Event, Option<AuxDataProvider>)>;
-    /// 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 ListenerTable {
+pub trait ListenerMapProvider {
-    fn get_listeners(&self) -> Vec<ListenerKey>;
+    #[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,
+    fn get_send_event_provider(&self, id: &ChannelId) -> Option<&SP>;
-        id: &ChannelId,
+    fn add_send_event_provider(&mut self, send_provider: SP) -> bool;
-    ) -> Option<&dyn SendEventProvider<Event, AuxDataProvider, Error = SendProviderError>>;
-    fn add_send_event_provider(
-        &mut self,
-        send_provider: Box<
-            dyn SendEventProvider<Event, AuxDataProvider, Error = SendProviderError>,
-        >,
-    ) -> bool;
 }
 
 /// Generic event manager implementation.
 ///
 /// # Generics
 ///
-///  * `SendProviderError`: [SendEventProvider] error type
+///  * `ERP`: [EventReceiveProvider] used to receive all events.
-///  * `Event`: Concrete event provider, currently either [EventU32] or [EventU16]
+///  * `SMP`: [SenderMapProvider]  which maps channel IDs to send providers.
-///  * `AuxDataProvider`: Concrete auxiliary data provider, currently either [Params] or
+///  * `LTR`: [ListenerMapProvider] which maps listener keys to channel IDs.
-///     [ParamsHeapless]
+///  * `SP`: [EventSendProvider] contained within the sender map which sends the events.
-pub struct EventManager<SendProviderError, Event: GenericEvent = EventU32, AuxDataProvider = Params>
+///  * `EV`: The event type. This type must implement the [GenericEvent]. Currently only [EventU32]
-{
+///     and [EventU16] are supported.
-    listener_table: Box<dyn ListenerTable>,
+///  * `AUX`: Auxiliary data which is sent with the event to provide optional context information
-    sender_table: Box<dyn SenderTable<SendProviderError, Event, AuxDataProvider>>,
+pub struct EventManager<
-    event_receiver: Box<dyn EventReceiver<Event, AuxDataProvider>>,
+    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.
+    /// An event was received and routed to listeners.
-    /// The first tuple entry will contain the number of recipients.
+    Handled {
-    Handled(u32, Event, Option<AuxDataProvider>),
+        num_recipients: u32,
+        event: EV,
+        aux_data: Option<AUX>,
+    },
 }
 
 #[derive(Debug)]
-pub enum EventRoutingError<E> {
+pub enum EventRoutingError {
-    SendError(E),
+    Send(GenericSendError),
     NoSendersForKey(ListenerKey),
     NoSenderForId(ChannelId),
 }
 
 #[derive(Debug)]
-pub struct EventRoutingErrorsWithResult<Event: GenericEvent, AuxDataProvider, E> {
+pub struct EventRoutingErrorsWithResult<EV: GenericEvent, AUX> {
-    pub result: EventRoutingResult<Event, AuxDataProvider>,
+    pub result: EventRoutingResult<EV, AUX>,
-    pub errors: [Option<EventRoutingError<E>>; 3],
+    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>
+impl<
-    EventManager<E, Event, AuxDataProvider>
+        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]
+    pub fn new_with_custom_maps(event_receiver: ERP, sender_map: SMP, listener_map: LTR) -> Self {
-    /// 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 {
         EventManager {
-            listener_table,
+            listener_map,
-            sender_table,
+            sender_map,
             event_receiver,
+            phantom: PhantomData,
         }
     }
 
-    pub fn add_sender(
+    /// Add a new sender component which can be used to send events to subscribers.
-        &mut self,
+    pub fn add_sender(&mut self, send_provider: SP) {
-        send_provider: impl SendEventProvider<Event, AuxDataProvider, Error = E> + 'static,
-    ) {
         if !self
-            .sender_table
+            .sender_map
-            .contains_send_event_provider(&send_provider.id())
+            .contains_send_event_provider(&send_provider.channel_id())
         {
-            self.sender_table
+            self.sender_map.add_send_event_provider(send_provider);
-                .add_send_event_provider(Box::new(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.
@@ -248,27 +236,23 @@ impl<E, Event: GenericEvent + Copy, AuxDataProvider: Clone>
     /// [EventRoutingErrorsWithResult] error struct.
     pub fn try_event_handling(
         &self,
-    ) -> Result<
+    ) -> Result<EventRoutingResult<EV, AUX>, EventRoutingErrorsWithResult<EV, AUX>> {
-        EventRoutingResult<Event, AuxDataProvider>,
-        EventRoutingErrorsWithResult<Event, AuxDataProvider, E>,
-    > {
         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 =
+        let mut send_handler = |key: &ListenerKey, event: EV, aux_data: &Option<AUX>| {
-            |key: &ListenerKey, event: Event, aux_data: &Option<AuxDataProvider>| {
+            if self.listener_map.contains_listener(key) {
-                if self.listener_table.contains_listener(key) {
+                if let Some(ids) = self.listener_map.get_listener_ids(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 Some(sender) = self.sender_map.get_send_event_provider(id) {
                             if let Err(e) = sender.send(event, aux_data.clone()) {
-                                    add_error(EventRoutingError::SendError(e));
+                                add_error(EventRoutingError::Send(e));
                             } else {
                                 num_recipients += 1;
                             }
@@ -281,7 +265,7 @@ impl<E, Event: GenericEvent + Copy, AuxDataProvider: Clone>
                 }
             }
         };
-        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());
@@ -289,43 +273,79 @@ 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)
     }
 }
 
+#[cfg(feature = "alloc")]
+pub mod alloc_mod {
+    use alloc::vec::Vec;
+    use hashbrown::HashMap;
+
+    use super::*;
+
+    /// 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,
+            }
+        }
+    }
+
+    /// Default listener map.
+    ///
+    /// Simple implementation which uses a [HashMap] and a [Vec] internally.
     #[derive(Default)]
-pub struct DefaultListenerTableProvider {
+    pub struct DefaultListenerMap {
         listeners: HashMap<ListenerKey, Vec<ChannelId>>,
     }
 
-pub struct DefaultSenderTableProvider<
+    impl ListenerMapProvider for DefaultListenerMap {
-    SendProviderError,
-    Event: GenericEvent = EventU32,
-    AuxDataProvider = Params,
-> {
-    senders: HashMap<
-        ChannelId,
-        Box<dyn SendEventProvider<Event, AuxDataProvider, Error = SendProviderError>>,
-    >,
-}
-
-impl<SendProviderError, Event: GenericEvent, AuxDataProvider> Default
-    for DefaultSenderTableProvider<SendProviderError, Event, AuxDataProvider>
-{
-    fn default() -> Self {
-        Self {
-            senders: HashMap::new(),
-        }
-    }
-}
-
-impl ListenerTable for DefaultListenerTableProvider {
         fn get_listeners(&self) -> Vec<ListenerKey> {
             let mut key_list = Vec::new();
             for key in self.listeners.keys() {
@@ -346,7 +366,7 @@ impl ListenerTable for DefaultListenerTableProvider {
             if let Some(existing_list) = self.listeners.get_mut(&key) {
                 existing_list.push(sender_id);
             } else {
-            let new_list = vec![sender_id];
+                let new_list = alloc::vec![sender_id];
                 self.listeners.insert(key, new_list);
             }
             true
@@ -360,59 +380,70 @@ impl ListenerTable for DefaultListenerTableProvider {
         }
     }
 
-impl<SendProviderError, Event: GenericEvent, AuxDataProvider>
+    /// Default sender map.
-    SenderTable<SendProviderError, Event, AuxDataProvider>
+    ///
-    for DefaultSenderTableProvider<SendProviderError, Event, AuxDataProvider>
+    /// 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)>,
+    }
+
+    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(
+        fn get_send_event_provider(&self, id: &ChannelId) -> Option<&SP> {
-        &self,
-        id: &ChannelId,
-    ) -> Option<&dyn SendEventProvider<Event, AuxDataProvider, Error = SendProviderError>> {
             self.senders
                 .get(id)
-            .filter(|sender| sender.id() == *id)
+                .filter(|sender| sender.channel_id() == *id)
-            .map(|v| v.as_ref())
         }
 
-    fn add_send_event_provider(
+        fn add_send_event_provider(&mut self, send_provider: SP) -> bool {
-        &mut self,
+            let id = send_provider.channel_id();
-        send_provider: Box<
-            dyn SendEventProvider<Event, AuxDataProvider, Error = SendProviderError>,
-        >,
-    ) -> bool {
-        let id = send_provider.id();
             if self.senders.contains_key(&id) {
                 return false;
             }
             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 std::sync::mpsc;
-    use crate::events::{EventU16, EventU32, GenericEvent};
-    use crate::params::Params;
-    use std::sync::mpsc::{Receiver, SendError, Sender};
 
     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> {
+    impl<Event: GenericEvent + Send> EventReceiveProvider<Event> for MpscEventReceiver<Event> {
-        fn receive(&self) -> Option<EventWithAuxData<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> {
+    impl<Event: GenericEvent + Send> EventSenderMpsc<Event> {
-        pub fn new(id: u32, sender: Sender<(Event, Option<Params>)>) -> Self {
+        pub fn new(id: u32, sender: mpsc::Sender<(Event, Option<Params>)>) -> Self {
             Self { id, sender }
         }
     }
 
-    impl<Event: GenericEvent + Send> SendEventProvider<Event> for MpscEventSendProvider<Event> {
+    impl<Event: GenericEvent + Send> EventSendProvider<Event> for EventSenderMpsc<Event> {
-        type Error = SendError<(Event, Option<Params>)>;
+        fn channel_id(&self) -> u32 {
-
-        fn id(&self) -> u32 {
             self.id
         }
-        fn send(&self, event: Event, aux_data: Option<Params>) -> Result<(), Self::Error> {
+        fn send(&self, event: Event, aux_data: Option<Params>) -> Result<(), GenericSendError> {
-            self.sender.send((event, aux_data))
+            self.sender
+                .send((event, aux_data))
+                .map_err(|_| GenericSendError::RxDisconnected)
         }
     }
 
-    pub type MpscEventU32SendProvider = MpscEventSendProvider<EventU32>;
+    /// Generic event sender which uses the [mpsc::SyncSender] as the messaging backend to send
-    pub type MpscEventU16SendProvider = MpscEventSendProvider<EventU16>;
+    /// 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)]
+    const TEST_EVENT: EventU32 = EventU32::const_new(Severity::INFO, 0, 5);
-    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))
-        }
-    }
 
     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() -> (
+    fn generic_event_man() -> (Sender<EventU32WithAuxData>, EventManagerWithMpsc) {
-        Sender<EventU32WithAuxData>,
-        EventManager<SendError<EventU32WithAuxData>>,
-    ) {
         let (event_sender, manager_queue) = channel();
         let event_man_receiver = MpscEventReceiver::new(manager_queue);
-        (
+        (event_sender, EventManager::new(event_man_receiver))
-            event_sender,
-            EventManager::new(Box::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);
+        let single_event_listener = EventSenderMpsc::new(0, single_event_sender);
-        event_man.subscribe_single(&event_grp_0, single_event_listener.id());
+        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 {
+        let group_event_listener = EventU32SenderMpsc::new(1, group_event_sender_0);
-            id: 1,
+        event_man.subscribe_group(event_grp_1_0.group_id(), group_event_listener.channel_id());
-            mpsc_sender: group_event_sender_0,
-        };
-        event_man.subscribe_group(event_grp_1_0.group_id(), group_event_listener.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);
+        let single_event_listener = EventSenderMpsc::new(0, single_event_sender);
-        event_man.subscribe_single(&event_grp_0, single_event_listener.id());
+        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 {
+        let event_grp_0_and_1_listener = EventU32SenderMpsc::new(0, event_grp_0_sender);
-            id: 0,
+        event_man.subscribe_group(
-            mpsc_sender: event_grp_0_sender,
+            event_grp_0.group_id(),
-        };
+            event_grp_0_and_1_listener.channel_id(),
-        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());
+        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 {
+        let event_listener_0 = EventU32SenderMpsc::new(0, event_0_tx_0);
-            id: 0,
+        let event_listener_1 = EventU32SenderMpsc::new(1, event_0_tx_1);
-            mpsc_sender: event_0_tx_0,
+        let event_listener_0_sender_id = event_listener_0.channel_id();
-        };
-        let event_listener_1 = MpscEventSenderQueue {
-            id: 1,
-            mpsc_sender: event_0_tx_1,
-        };
-        let event_listener_0_sender_id = event_listener_0.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>> =
+        let mut event_man = EventManagerWithMpsc::new(event_man_receiver);
-            EventManager::new(Box::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 {
+        let all_events_listener = EventU32SenderMpsc::new(0, event_0_tx_0);
-            id: 0,
+        event_man.subscribe_all(all_events_listener.channel_id());
-            mpsc_sender: event_0_tx_0,
-        };
-        event_man.subscribe_all(all_events_listener.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");
+        }
+    }
 }

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,

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,

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")]

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::*;
+use alloc::string::{String, ToString};
-pub use spacepackets::util::ToBeBytes;
+#[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.
@@ -560,17 +557,18 @@ 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.
-    #[cfg_attr(doc_cfg, doc(cfg(feature = "alloc")))]
 #[derive(Debug, Clone)]
+#[non_exhaustive]
 pub enum Params {
     Heapless(ParamsHeapless),
     Store(StoreAddr),
+    #[cfg(feature = "alloc")]
+    #[cfg_attr(doc_cfg, doc(cfg(feature = "alloc")))]
     Vec(Vec<u8>),
+    #[cfg(feature = "alloc")]
+    #[cfg_attr(doc_cfg, doc(cfg(feature = "alloc")))]
     String(String),
 }
 
@@ -586,6 +584,8 @@ mod alloc_mod {
     }
 }
 
+#[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)
@@ -593,25 +593,30 @@ mod alloc_mod {
 }
 
 /// 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())
     }
 }
 
+#[cfg(feature = "alloc")]
+#[cfg_attr(doc_cfg, doc(cfg(feature = "alloc")))]
 impl From<String> for Params {
     fn from(val: String) -> Self {
         Self::String(val)
     }
 }
 
+#[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())
     }
 }
-}
 
 #[cfg(test)]
 mod tests {

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,
+        get_current_cds_short_timestamp, verification::VerificationReportingProvider,
-        PusPacketHandlerResult, PusPacketHandlingError, PusRoutingErrorHandler, PusServiceBase,
+        EcssTcInMemConverter, EcssTcReceiverCore, EcssTmSenderCore, GenericRoutingError,
-        PusServiceHelper,
+        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 =
+            let time_stamp = get_current_cds_short_timestamp(&mut partial_error);
-                PusServiceBase::<VerificationReporter>::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>,

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
         }
     }

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 event_enabled(&self, event: &Event) -> bool;
-    fn enable_event_reporting(&mut self, event: &Provider) -> Result<bool, Self::Error>;
+    fn enable_event_reporting(&mut self, event: &Event) -> Result<bool, Self::Error>;
-    fn disable_event_reporting(&mut self, event: &Provider) -> 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 crate::events::LargestEventRaw;
-    use std::marker::PhantomData;
+    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
+    impl<Event: GenericEvent> Default for DefaultPusEventMgmtBackend<Event> {
-    unsafe impl<Event: GenericEvent + Send> Send for DefaultPusMgmtBackendProvider<Event> {}
-
-    impl<Event: GenericEvent> Default for DefaultPusMgmtBackendProvider<Event> {
         fn default() -> Self {
             Self {
                 disabled: HashSet::default(),
@@ -130,46 +129,50 @@ pub mod alloc_mod {
         }
     }
 
-    impl<Provider: GenericEvent + PartialEq + Eq + Hash + Copy + Clone>
+    impl<EV: GenericEvent + PartialEq + Eq + Hash + Copy + Clone> PusEventMgmtBackendProvider<EV>
-        PusEventMgmtBackendProvider<Provider> for DefaultPusMgmtBackendProvider<Provider>
+        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.
+    impl<B: PusEventMgmtBackendProvider<EV, Error = E>, EV: GenericEvent, E>
-    unsafe impl<E: Send, Event: GenericEvent + Send> Send for PusEventDispatcher<E, Event> {}
+        PusEventDispatcher<B, EV, E>
-
+    {
-    impl<BackendError, Provider: GenericEvent> PusEventDispatcher<BackendError, Provider> {
+        pub fn new(reporter: EventReporter, backend: B) -> Self {
-        pub fn new(
+            Self {
-            reporter: EventReporter,
+                reporter,
-            backend: Box<dyn PusEventMgmtBackendProvider<Provider, Error = BackendError>>,
+                backend,
-        ) -> Self {
+                phantom: PhantomData,
-            Self { reporter, backend }
             }
         }
 
-    impl<BackendError, Event: GenericEvent> PusEventDispatcher<BackendError, Event> {
+        pub fn enable_tm_for_event(&mut self, event: &EV) -> Result<bool, E> {
-        pub fn enable_tm_for_event(&mut self, event: &Event) -> Result<bool, BackendError> {
             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::{events::SeverityInfo, pus::TmAsVecSenderWithMpsc};
-    use crate::pus::MpscTmAsVecSender;
+    use std::sync::mpsc::{self, TryRecvError};
-    use std::sync::mpsc::{channel, 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_with_default_backend(reporter)
-        PusEventDispatcher::new(reporter, Box::new(backend))
+    }
+    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 mut event_man = create_basic_man_1();
-        let (event_tx, event_rx) = channel();
+        let (event_tx, event_rx) = mpsc::channel();
-        let mut sender = MpscTmAsVecSender::new(0, "test_sender", event_tx);
+        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 mut event_man = create_basic_man_2();
-        let (event_tx, event_rx) = channel();
+        let (event_tx, event_rx) = mpsc::channel();
-        let mut sender = MpscTmAsVecSender::new(0, "test", event_tx);
+        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 mut event_man = create_basic_man_1();
-        let (event_tx, event_rx) = channel();
+        let (event_tx, event_rx) = mpsc::channel();
-        let mut sender = MpscTmAsVecSender::new(0, "test", event_tx);
+        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());

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(
+        let time_stamp = get_current_cds_short_timestamp(&mut partial_error);
-            &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:
+        handler: PusService5EventHandler<
-            PusService5EventHandler<EcssTcInSharedStoreConverter, VerificationReporterWithSender>,
+            MpscTcReceiver,
+            TmInSharedPoolSenderWithBoundedMpsc,
+            EcssTcInSharedStoreConverter,
+            VerificationReporterWithSharedPoolMpscBoundedSender,
+        >,
     }
 
     impl Pus5HandlerWithStoreTester {

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,
+        get_current_cds_short_timestamp, verification::VerificationReportingProvider,
-        PusPacketHandlerResult, PusPacketHandlingError, PusRoutingErrorHandler, PusServiceBase,
+        EcssTcInMemConverter, EcssTcReceiverCore, EcssTmSenderCore, GenericRoutingError,
-        PusServiceHelper,
+        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 =
+            let time_stamp = get_current_cds_short_timestamp(&mut partial_error);
-                PusServiceBase::<VerificationReporter>::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>,

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,
+        EcssChannel, EcssTcAndToken, EcssTcReceiverCore, EcssTmSenderCore, EcssTmtcError,
-        EcssTmSenderCore, EcssTmtcError, GenericRecvError, GenericSendError, PusTmWrapper,
+        GenericRecvError, GenericSendError, PusTmWrapper, TryRecvTmtcError,
-        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 {
+    impl EcssTmSenderCore for mpsc::Sender<StoreAddr> {
-        fn from(_: cb::SendError<StoreAddr>) -> Self {
+        fn send_tm(&self, tm: PusTmWrapper) -> Result<(), EcssTmtcError> {
-            Self::Send(GenericSendError::RxDisconnected)
+            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 {
+    impl EcssTmSenderCore for mpsc::SyncSender<StoreAddr> {
-        fn from(value: cb::TrySendError<StoreAddr>) -> Self {
+        fn send_tm(&self, tm: PusTmWrapper) -> Result<(), EcssTmtcError> {
-            match value {
+            match tm {
-                cb::TrySendError::Full(_) => Self::Send(GenericSendError::QueueFull(None)),
+                PusTmWrapper::InStore(addr) => self
-                cb::TrySendError::Disconnected(_) => Self::Send(GenericSendError::RxDisconnected),
+                    .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 {
+    pub struct TmInSharedPoolSenderWithId<Sender: EcssTmSenderCore> {
-        id: ChannelId,
+        channel_id: ChannelId,
         name: &'static str,
         shared_tm_store: SharedTmPool,
-        sender: mpsc::Sender<StoreAddr>,
+        sender: Sender,
     }
 
-    impl EcssChannel for MpscTmInSharedPoolSender {
+    impl<Sender: EcssTmSenderCore> EcssChannel for TmInSharedPoolSenderWithId<Sender> {
-        fn id(&self) -> ChannelId {
+        fn channel_id(&self) -> ChannelId {
-            self.id
+            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
+            self.sender.send_tm(PusTmWrapper::InStore(addr))
-                .send(addr)
-                .map_err(|_| EcssTmtcError::Send(GenericSendError::RxDisconnected))
         }
     }
 
-    impl EcssTmSenderCore for MpscTmInSharedPoolSender {
+    impl<Sender: EcssTmSenderCore> EcssTmSenderCore for TmInSharedPoolSenderWithId<Sender> {
         fn send_tm(&self, tm: PusTmWrapper) -> Result<(), EcssTmtcError> {
-            match tm {
+            if let PusTmWrapper::Direct(tm) = tm {
-                PusTmWrapper::InStore(addr) => {
+                return self.send_direct_tm(tm);
-                    self.sender.send(addr)?;
-                    Ok(())
-                }
-                PusTmWrapper::Direct(tm) => 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))
                 }
             })
         }
@@ -502,95 +580,50 @@ pub mod std_mod {
         }
     }
 
-    /// This class can be used if frequent heap allocations during run-time are not an issue.
+    #[cfg(feature = "crossbeam")]
-    /// PUS TM packets will be sent around as [Vec]s. Please note that the current implementation
+    pub mod cb_mod {
-    /// of this class can not deal with store addresses, so it is assumed that is is always
+        use super::*;
-    /// going to be called with direct packets.
+        use crossbeam_channel as cb;
-    #[derive(Clone)]
-    pub struct MpscTmAsVecSender {
-        id: ChannelId,
-        name: &'static str,
-        sender: mpsc::Sender<Vec<u8>>,
-    }
 
-    impl From<mpsc::SendError<Vec<u8>>> for EcssTmtcError {
+        pub type TmInSharedPoolSenderWithCrossbeam =
-        fn from(_: mpsc::SendError<Vec<u8>>) -> Self {
+            TmInSharedPoolSenderWithId<cb::Sender<StoreAddr>>;
+
+        impl From<cb::SendError<StoreAddr>> for EcssTmtcError {
+            fn from(_: cb::SendError<StoreAddr>) -> Self {
                 Self::Send(GenericSendError::RxDisconnected)
             }
         }
 
-    impl MpscTmAsVecSender {
+        impl From<cb::TrySendError<StoreAddr>> for EcssTmtcError {
-        pub fn new(id: u32, name: &'static str, sender: mpsc::Sender<Vec<u8>>) -> Self {
+            fn from(value: cb::TrySendError<StoreAddr>) -> Self {
-            Self { id, sender, name }
+                match value {
+                    cb::TrySendError::Full(_) => Self::Send(GenericSendError::QueueFull(None)),
+                    cb::TrySendError::Disconnected(_) => {
+                        Self::Send(GenericSendError::RxDisconnected)
+                    }
+                }
             }
         }
 
-    impl EcssChannel for MpscTmAsVecSender {
+        impl EcssTmSenderCore for cb::Sender<StoreAddr> {
-        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::InStore(addr) => self
-                PusTmWrapper::Direct(tm) => {
+                        .try_send(addr)
-                    let mut vec = Vec::new();
+                        .map_err(|e| EcssTmtcError::Send(e.into()))?,
-                    tm.append_to_vec(&mut vec).map_err(EcssTmtcError::Pus)?;
+                    PusTmWrapper::Direct(_) => return Err(EcssTmtcError::CantSendDirectTm),
-                    self.sender.send(vec)?;
+                };
                 Ok(())
             }
         }
-        }
+        impl EcssTmSenderCore for cb::Sender<Vec<u8>> {
-    }
-
-    #[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 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::InStore(addr) => return Err(EcssTmtcError::CantSendAddr(addr)),
-                PusTmWrapper::Direct(tm) => {
+                    PusTmWrapper::Direct(tm) => self
-                    let addr = self.shared_tm_store.add_pus_tm(&tm)?;
+                        .send(tm.to_vec()?)
-                    self.sender.try_send(addr)?;
+                        .map_err(|e| EcssTmtcError::Send(e.into()))?,
-                }
+                };
-            }
                 Ok(())
             }
         }
@@ -612,7 +645,7 @@ pub mod std_mod {
         }
 
         impl EcssChannel for CrossbeamTcReceiver {
-        fn id(&self) -> ChannelId {
+            fn channel_id(&self) -> ChannelId {
                 self.id
             }
 
@@ -625,12 +658,13 @@ pub mod std_mod {
             fn recv_tc(&self) -> Result<EcssTcAndToken, TryRecvTmtcError> {
                 self.receiver.try_recv().map_err(|e| match e {
                     cb::TryRecvError::Empty => TryRecvTmtcError::Empty,
-                cb::TryRecvError::Disconnected => {
+                    cb::TryRecvError::Disconnected => TryRecvTmtcError::Tmtc(EcssTmtcError::from(
-                    TryRecvTmtcError::Error(EcssTmtcError::from(GenericRecvError::TxDisconnected))
+                        GenericRecvError::TxDisconnected,
-                }
+                    )),
                 })
             }
         }
+    }
 
     // TODO: All these types could probably be no_std if we implemented error handling ourselves..
     // but thiserror is really nice, so keep it like this for simplicity for now. Maybe thiserror
@@ -811,16 +845,16 @@ pub mod std_mod {
         }
     }
 
-    pub struct PusServiceBase<VerificationReporter: VerificationReportingProvider> {
+    pub struct PusServiceBase<
-        pub tc_receiver: Box<dyn EcssTcReceiver>,
+        TcReceiver: EcssTcReceiverCore,
-        pub tm_sender: Box<dyn EcssTmSender>,
+        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>,
@@ -839,8 +873,7 @@ pub mod std_mod {
     #[cfg(feature = "std")]
     pub fn get_current_timestamp_ignore_error() -> [u8; 7] {
         let mut dummy = None;
-            Self::get_current_cds_short_timestamp(&mut dummy)
+        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>,
+            tc_receiver: TcReceiver,
-            tm_sender: Box<dyn EcssTmSender>,
+            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,
+        MpscTcReceiver, PusPacketHandlerResult, PusPacketHandlingError, PusRoutingErrorHandler,
-        PusPacketHandlingError, PusRoutingErrorHandler, PusServiceHelper, TcInMemory,
+        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() -> (
+        pub fn new() -> (Self, PusServiceHelperStatic) {
-            Self,
-            PusServiceHelper<EcssTcInSharedStoreConverter, VerificationReporterWithSender>,
-        ) {
             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 (test_srv_tc_tx, test_srv_tc_rx) = mpsc::sync_channel(10);
-            let (tm_tx, tm_rx) = mpsc::channel();
+            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),
+                    test_srv_tc_receiver,
-                    Box::new(test_srv_tm_sender),
+                    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> {
+    impl PusServiceHandlerWithVecCommon<VerificationReporterWithVecMpscSender> {
-        pub fn new_with_standard_verif_reporter() -> (
+        pub fn new_with_standard_verif_reporter() -> (Self, PusServiceHelperDynamic) {
-            Self,
-            PusServiceHelper<EcssTcInVecConverter, VerificationReporterWithSender>,
-        ) {
             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),
+                    test_srv_tc_receiver,
-                    Box::new(test_srv_tm_sender),
+                    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),
+                    test_srv_tc_receiver,
-                    Box::new(test_srv_tm_sender),
+                    test_srv_tm_sender,
                     TEST_APID,
                     verification_handler,
                     in_store_converter,

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);

satrs/src/pus/scheduler_srv.rs

@@ -1,6 +1,15 @@
 use super::scheduler::PusSchedulerProvider;
-use super::verification::VerificationReportingProvider;
+use super::verification::{
-use super::{EcssTcInMemConverter, PusServiceBase, PusServiceHelper};
+    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(
+        let time_stamp = get_current_cds_short_timestamp(&mut partial_error);
-            &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,

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::verification::{
-use super::{EcssTcInMemConverter, PusServiceBase, PusServiceHelper};
+    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 =
+            let time_stamp = get_current_cds_short_timestamp(&mut partial_error);
-                PusServiceBase::<VerificationReporter>::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,
+        EcssTcInSharedStoreConverter, EcssTcInVecConverter, MpscTcReceiver, PusPacketHandlerResult,
-        PusPacketHandlingError,
+        PusPacketHandlingError, TmAsVecSenderWithMpsc, TmInSharedPoolSenderWithBoundedMpsc,
     };
     use delegate::delegate;
     use spacepackets::ecss::tc::{PusTcCreator, PusTcSecondaryHeader};
@@ -120,8 +174,12 @@ mod tests {
 
     struct Pus17HandlerWithStoreTester {
         common: PusServiceHandlerWithSharedStoreCommon,
-        handler:
+        handler: PusService17TestHandler<
-            PusService17TestHandler<EcssTcInSharedStoreConverter, VerificationReporterWithSender>,
+            MpscTcReceiver,
+            TmInSharedPoolSenderWithBoundedMpsc,
+            EcssTcInSharedStoreConverter,
+            VerificationReporterWithSharedPoolMpscBoundedSender,
+        >,
     }
 
     impl Pus17HandlerWithStoreTester {
@@ -158,8 +216,13 @@ mod tests {
     }
 
     struct Pus17HandlerWithVecTester {
-        common: PusServiceHandlerWithVecCommon<VerificationReporterWithSender>,
+        common: PusServiceHandlerWithVecCommon<VerificationReporterWithVecMpscSender>,
-        handler: PusService17TestHandler<EcssTcInVecConverter, VerificationReporterWithSender>,
+        handler: PusService17TestHandler<
+            MpscTcReceiver,
+            TmAsVecSenderWithMpsc,
+            EcssTcInVecConverter,
+            VerificationReporterWithVecMpscSender,
+        >,
     }
 
     impl Pus17HandlerWithVecTester {

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::{
+#[cfg_attr(feature = "doc_cfg", doc(cfg(feature = "alloc")))]
-    VerificationReporter, VerificationReporterCfg, VerificationReporterWithSender,
+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::{
-    use crate::seq_count::SequenceCountProvider;
+        pus::{TmAsVecSenderWithId, TmInSharedPoolSenderWithId},
-    use alloc::boxed::Box;
+        seq_count::SequenceCountProvider,
-    use alloc::vec;
+    };
-    use alloc::vec::Vec;
     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>>,
+        source_data_buf: RefCell<alloc::vec::Vec<u8>>,
-        pub seq_count_provider: Option<Box<dyn SequenceCountProvider<u16> + Send>>,
+        pub seq_count_provider: Option<alloc::boxed::Box<dyn SequenceCountProvider<u16> + Send>>,
-        pub msg_count_provider: Option<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 {
+    impl<Sender: EcssTmSenderCore + Clone> VerificationReporterWithSender<Sender> {
-        pub fn new(cfg: &VerificationReporterCfg, sender: Box<dyn EcssTmSender>) -> Self {
+        pub fn new(cfg: &VerificationReporterCfg, sender: Sender) -> Self {
             let reporter = VerificationReporter::new(cfg);
             Self::new_from_reporter(reporter, sender)
         }
 
-        pub fn new_from_reporter(
+        pub fn new_from_reporter(reporter: VerificationReporter, sender: Sender) -> Self {
-            reporter: VerificationReporter,
-            sender: Box<dyn EcssTmSender>,
-        ) -> 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
+            self.reporter.start_success(token, &self.sender, time_stamp)
-                .start_success(token, self.sender.as_ref(), time_stamp)
         }
 
         fn start_failure(
@@ -1344,8 +1341,7 @@ mod alloc_mod {
             token: VerificationToken<TcStateAccepted>,
             params: FailParams,
         ) -> Result<(), VerificationOrSendErrorWithToken<TcStateAccepted>> {
-            self.reporter
+            self.reporter.start_failure(token, &self.sender, params)
-                .start_failure(token, self.sender.as_ref(), 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
+            self.reporter.step_failure(token, &self.sender, params)
-                .step_failure(token, self.sender.as_ref(), 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 {
+pub mod std_mod {
-    use crate::pus::verification::VerificationReporterWithSender;
+    use std::sync::mpsc;
-    use std::sync::{Arc, Mutex};
 
-    pub type StdVerifReporterWithSender = VerificationReporterWithSender;
+    use crate::pool::StoreAddr;
-    pub type SharedStdVerifReporterWithSender = Arc<Mutex<StdVerifReporterWithSender>>;
+
+    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> {
+    struct TestBaseWithHelper<'a, Sender: EcssTmSenderCore + Clone + 'static> {
-        helper: VerificationReporterWithSender,
+        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(&mut b.helper.sender, &tok.req_id);
-        acceptance_check(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(&mut b.helper.sender, tok.req_id, stamp_buf);
-        acceptance_fail_check(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(&mut b.helper.sender, tok.req_id, fail_data_raw);
-        start_fail_check(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!(b.helper.sender.service_queue.borrow().len(), 4);
-        assert_eq!(sender.service_queue.borrow().len(), 4);
+        step_success_check(&mut b.helper.sender, tok.req_id);
-        step_success_check(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(&mut b.helper.sender, req_id, fail_data_raw);
-        check_step_failure(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(&mut b.helper.sender, req_id);
-        completion_fail_check(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(&mut b.helper.sender, tok.req_id);
-        completion_success_check(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);

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,
+        }
+    }
+}

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::event_man::{DefaultPusEventMgmtBackend, EventReporter, PusEventDispatcher};
-use satrs::pus::MpscTmAsVecSender;
+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_tx, pus_event_man_rx) = mpsc::channel();
-    let pus_event_man_send_provider = MpscEventU32SendProvider::new(1, pus_event_man_tx);
+    let pus_event_man_send_provider = EventU32SenderMpsc::new(1, pus_event_man_tx);
-    event_man.subscribe_all(pus_event_man_send_provider.id());
+    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 =
-    let mut pus_event_man = PusEventDispatcher::new(reporter, Box::new(backend));
+        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((
+            .send((LOW_SEV_EVENT, Some(Params::Heapless((2_u32, 3_u32).into()))))
-                LOW_SEV_EVENT.into(),
-                Some(Params::Heapless((2_u32, 3_u32).into())),
-            ))
             .expect("Sending low severity event failed");
         loop {
             match event_rx.try_recv() {

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 =
+        let sender = TmInSharedPoolSenderWithCrossbeam::new(
-            CrossbeamTmInStoreSender::new(0, "verif_sender", shared_tm_pool.clone(), tx.clone());
+            0,
-        let mut reporter_with_sender_0 =
+            "verif_sender",
-            VerificationReporterWithSender::new(&cfg, Box::new(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.