Major refactoring and update of PUS module

.gitignore

@@ -1,5 +1,6 @@
 target/
 
+output.log
 /Cargo.lock
 
 output.log

README.md

@@ -24,6 +24,11 @@ A lot of the architecture and general design considerations are based on the
 through the 2 missions [FLP](https://www.irs.uni-stuttgart.de/en/research/satellitetechnology-and-instruments/smallsatelliteprogram/flying-laptop/)
 and [EIVE](https://www.irs.uni-stuttgart.de/en/research/satellitetechnology-and-instruments/smallsatelliteprogram/EIVE/).
 
+This framework is in the early stages of development. Important features are missing. New releases
+with breaking changes are released regularly, with all changes documented inside respective
+changelog files. You should only use this framework if your are willing to work in this
+environment.
+
 # Overview
 
 This project currently contains following crates:

coverage.py

@@ -47,7 +47,7 @@ def main():
     parser.add_argument(
         "-p",
         "--package",
-        choices=["satrs", "satrs-minisim"],
+        choices=["satrs", "satrs-minisim", "satrs-example"],
         default="satrs",
         help="Choose project to generate coverage for",
     )

satrs-example/Cargo.toml

@@ -18,10 +18,12 @@ csv = "1"
 num_enum = "0.7"
 thiserror = "1"
 derive-new = "0.5"
+serde = { version = "1", features = ["derive"] }
+serde_json = "1"
 
 [dependencies.satrs]
-# version = "0.2.0-rc.0"
 path = "../satrs"
+features = ["test_util"]
 
 [dependencies.satrs-mib]
 version = "0.1.1"
@@ -30,3 +32,6 @@ path = "../satrs-mib"
 [features]
 dyn_tmtc = []
 default = ["dyn_tmtc"]
+
+[dev-dependencies]
+env_logger = "0.11"

satrs-example/src/acs.rs

@@ -1,118 +0,0 @@
-use std::sync::mpsc::{self, TryRecvError};
-
-use log::{info, warn};
-use satrs::pus::verification::VerificationReportingProvider;
-use satrs::pus::{EcssTmSender, PusTmWrapper};
-use satrs::request::TargetAndApidId;
-use satrs::spacepackets::ecss::hk::Subservice as HkSubservice;
-use satrs::{
-    hk::HkRequest,
-    spacepackets::{
-        ecss::tm::{PusTmCreator, PusTmSecondaryHeader},
-        time::cds::{CdsTime, DaysLen16Bits},
-        SequenceFlags, SpHeader,
-    },
-};
-use satrs_example::config::{RequestTargetId, PUS_APID};
-
-use crate::{
-    hk::{AcsHkIds, HkUniqueId},
-    requests::{Request, RequestWithToken},
-    update_time,
-};
-
-pub struct AcsTask<VerificationReporter: VerificationReportingProvider> {
-    timestamp: [u8; 7],
-    time_provider: CdsTime<DaysLen16Bits>,
-    verif_reporter: VerificationReporter,
-    tm_sender: Box<dyn EcssTmSender>,
-    request_rx: mpsc::Receiver<RequestWithToken>,
-}
-
-impl<VerificationReporter: VerificationReportingProvider> AcsTask<VerificationReporter> {
-    pub fn new(
-        tm_sender: impl EcssTmSender,
-        request_rx: mpsc::Receiver<RequestWithToken>,
-        verif_reporter: VerificationReporter,
-    ) -> Self {
-        Self {
-            timestamp: [0; 7],
-            time_provider: CdsTime::new_with_u16_days(0, 0),
-            verif_reporter,
-            tm_sender: Box::new(tm_sender),
-            request_rx,
-        }
-    }
-
-    fn handle_hk_request(&mut self, target_id: u32, unique_id: u32) {
-        assert_eq!(target_id, RequestTargetId::AcsSubsystem as u32);
-        if unique_id == AcsHkIds::TestMgmSet as u32 {
-            let mut sp_header = SpHeader::tm(PUS_APID, SequenceFlags::Unsegmented, 0, 0).unwrap();
-            let sec_header = PusTmSecondaryHeader::new_simple(
-                3,
-                HkSubservice::TmHkPacket as u8,
-                &self.timestamp,
-            );
-            let mut buf: [u8; 8] = [0; 8];
-            let hk_id = HkUniqueId::new(target_id, unique_id);
-            hk_id.write_to_be_bytes(&mut buf).unwrap();
-            let pus_tm = PusTmCreator::new(&mut sp_header, sec_header, &buf, true);
-            self.tm_sender
-                .send_tm(PusTmWrapper::Direct(pus_tm))
-                .expect("Sending HK TM failed");
-        }
-        // TODO: Verification failure for invalid unique IDs.
-    }
-
-    pub fn try_reading_one_request(&mut self) -> bool {
-        match self.request_rx.try_recv() {
-            Ok(request) => {
-                info!(
-                    "ACS thread: Received HK request {:?}",
-                    request.targeted_request
-                );
-                let target_and_apid_id = TargetAndApidId::from(request.targeted_request.target_id);
-                match request.targeted_request.request {
-                    Request::Hk(hk_req) => match hk_req {
-                        HkRequest::OneShot(unique_id) => {
-                            self.handle_hk_request(target_and_apid_id.target(), unique_id)
-                        }
-                        HkRequest::Enable(_) => {}
-                        HkRequest::Disable(_) => {}
-                        HkRequest::ModifyCollectionInterval(_, _) => {}
-                    },
-                    Request::Mode(_mode_req) => {
-                        warn!("mode request handling not implemented yet")
-                    }
-                    Request::Action(_action_req) => {
-                        warn!("action request handling not implemented yet")
-                    }
-                }
-                let started_token = self
-                    .verif_reporter
-                    .start_success(request.token, &self.timestamp)
-                    .expect("Sending start success failed");
-                self.verif_reporter
-                    .completion_success(started_token, &self.timestamp)
-                    .expect("Sending completion success failed");
-                true
-            }
-            Err(e) => match e {
-                TryRecvError::Empty => false,
-                TryRecvError::Disconnected => {
-                    warn!("ACS thread: Message Queue TX disconnected!");
-                    false
-                }
-            },
-        }
-    }
-
-    pub fn periodic_operation(&mut self) {
-        update_time(&mut self.time_provider, &mut self.timestamp);
-        loop {
-            if !self.try_reading_one_request() {
-                break;
-            }
-        }
-    }
-}

satrs-example/src/acs/mgm.rs

@@ -0,0 +1,168 @@
+// TODO: Remove this at a later stage.
+#![allow(dead_code)]
+use derive_new::new;
+use satrs::hk::HkRequestVariant;
+use satrs::spacepackets::ecss::hk;
+use satrs::spacepackets::ecss::tm::{PusTmCreator, PusTmSecondaryHeader};
+use satrs::spacepackets::SpHeader;
+use satrs_example::TimeStampHelper;
+use std::sync::mpsc::{self};
+use std::sync::{Arc, Mutex};
+
+use satrs::mode::{ModeAndSubmode, ModeProvider, ModeReply, ModeRequest, ModeRequestHandler};
+use satrs::pus::{EcssTmSenderCore, PusTmVariant};
+use satrs::request::{GenericMessage, MessageMetadata, UniqueApidTargetId};
+use satrs_example::config::components::PUS_MODE_SERVICE;
+
+use crate::pus::hk::{HkReply, HkReplyVariant};
+use crate::requests::CompositeRequest;
+
+use serde::{Deserialize, Serialize};
+
+pub trait SpiInterface {
+    type Error;
+    fn transfer(&mut self, data: &mut [u8]) -> Result<(), Self::Error>;
+}
+
+#[derive(Default)]
+pub struct SpiDummyInterface {}
+
+impl SpiInterface for SpiDummyInterface {
+    type Error = ();
+
+    fn transfer(&mut self, _data: &mut [u8]) -> Result<(), Self::Error> {
+        Ok(())
+    }
+}
+
+#[derive(Default, Debug, Copy, Clone, Serialize, Deserialize)]
+pub struct MgmData {
+    pub x: f32,
+    pub y: f32,
+    pub z: f32,
+}
+
+#[derive(new)]
+pub struct MgmHandler<ComInterface: SpiInterface, TmSender: EcssTmSenderCore> {
+    id: UniqueApidTargetId,
+    dev_str: &'static str,
+    mode_request_receiver: mpsc::Receiver<GenericMessage<ModeRequest>>,
+    composite_request_receiver: mpsc::Receiver<GenericMessage<CompositeRequest>>,
+    mode_reply_sender_to_pus: mpsc::Sender<GenericMessage<ModeReply>>,
+    mode_reply_sender_to_parent: mpsc::Sender<GenericMessage<ModeReply>>,
+    hk_reply_sender: mpsc::Sender<GenericMessage<HkReply>>,
+    hk_tm_sender: TmSender,
+    spi_interface: ComInterface,
+    shared_mgm_set: Arc<Mutex<MgmData>>,
+    #[new(value = "ModeAndSubmode::new(satrs_example::DeviceMode::Off as u32, 0)")]
+    mode: ModeAndSubmode,
+    #[new(default)]
+    stamp_helper: TimeStampHelper,
+}
+
+impl<ComInterface: SpiInterface, TmSender: EcssTmSenderCore> MgmHandler<ComInterface, TmSender> {
+    pub fn periodic_operation(&mut self) {
+        self.stamp_helper.update_from_now();
+        // Handle messages.
+        match self.composite_request_receiver.try_recv() {
+            Ok(ref msg) => match &msg.message {
+                CompositeRequest::Hk(hk_req) => match hk_req.variant {
+                    HkRequestVariant::OneShot => {
+                        self.hk_reply_sender
+                            .send(GenericMessage::new(
+                                msg.requestor_info,
+                                HkReply::new(hk_req.unique_id, HkReplyVariant::Ack),
+                            ))
+                            .expect("failed to send HK reply");
+                        let mut sp_header = SpHeader::tm_unseg(self.id.apid, 0, 0).unwrap();
+                        let sec_header = PusTmSecondaryHeader::new(
+                            3,
+                            hk::Subservice::TmHkPacket as u8,
+                            0,
+                            0,
+                            Some(self.stamp_helper.stamp()),
+                        );
+                        // Let's serialize it as JSON for now.. This is a lot simpler than binary
+                        // serialization.
+                        let mgm_data_serialized =
+                            serde_json::to_vec(&*self.shared_mgm_set.lock().unwrap()).unwrap();
+                        let hk_tm = PusTmCreator::new(
+                            &mut sp_header,
+                            sec_header,
+                            &mgm_data_serialized,
+                            true,
+                        );
+                        self.hk_tm_sender
+                            .send_tm(self.id.id(), PusTmVariant::Direct(hk_tm))
+                            .expect("failed to send HK TM");
+                    }
+                    HkRequestVariant::EnablePeriodic => todo!(),
+                    HkRequestVariant::DisablePeriodic => todo!(),
+                    HkRequestVariant::ModifyCollectionInterval(_) => todo!(),
+                },
+                // This object does not have actions (yet).. Still send back completion failure
+                // reply.
+                CompositeRequest::Action(action_req) => {}
+            },
+            Err(_) => todo!(),
+        }
+        match self.mode_request_receiver.try_recv() {
+            Ok(msg) => match msg.message {
+                ModeRequest::SetMode(_) => todo!(),
+                ModeRequest::ReadMode => todo!(),
+                ModeRequest::AnnounceMode => todo!(),
+                ModeRequest::AnnounceModeRecursive => todo!(),
+                ModeRequest::ModeInfo(_) => todo!(),
+            },
+            Err(_) => todo!(),
+        }
+    }
+}
+
+impl<ComInterface: SpiInterface, TmSender: EcssTmSenderCore> ModeProvider
+    for MgmHandler<ComInterface, TmSender>
+{
+    fn mode_and_submode(&self) -> ModeAndSubmode {
+        self.mode
+    }
+}
+
+impl<ComInterface: SpiInterface, TmSender: EcssTmSenderCore> ModeRequestHandler
+    for MgmHandler<ComInterface, TmSender>
+{
+    fn start_transition(
+        &mut self,
+        requestor: MessageMetadata,
+        mode_and_submode: ModeAndSubmode,
+    ) -> Result<(), satrs::mode::ModeError> {
+        self.mode = mode_and_submode;
+        self.handle_mode_reached(Some(requestor))?;
+        Ok(())
+    }
+
+    fn announce_mode(&self, _requestor_info: MessageMetadata, _recursive: bool) {
+        log::info!("{} announcing mode: {:?}", self.dev_str, self.mode);
+    }
+
+    fn handle_mode_reached(
+        &mut self,
+        requestor: Option<MessageMetadata>,
+    ) -> Result<(), satrs::queue::GenericTargetedMessagingError> {
+        if let Some(requestor) = requestor {
+            if requestor.sender_id() == PUS_MODE_SERVICE.raw() {
+                // self.mode_reply_sender_to_pus.send(
+                //GenericMessage::new(requestor.request_id, requestor.sender_id, ModeReply::ModeReply(self.mode))
+                // )?;
+            }
+        }
+        Ok(())
+    }
+
+    fn send_mode_reply(
+        &self,
+        _requestor: MessageMetadata,
+        _reply: ModeReply,
+    ) -> Result<(), satrs::queue::GenericTargetedMessagingError> {
+        Ok(())
+    }
+}

satrs-example/src/acs/mod.rs

@@ -0,0 +1 @@
+pub mod mgm;

satrs-example/src/ccsds.rs

@@ -1,7 +1,7 @@
 use satrs::pus::ReceivesEcssPusTc;
 use satrs::spacepackets::{CcsdsPacket, SpHeader};
 use satrs::tmtc::{CcsdsPacketHandler, ReceivesCcsdsTc};
-use satrs_example::config::PUS_APID;
+use satrs_example::config::components::Apid;
 
 #[derive(Clone)]
 pub struct CcsdsReceiver<
@@ -19,7 +19,12 @@ impl<
     type Error = E;
 
     fn valid_apids(&self) -> &'static [u16] {
-        &[PUS_APID]
+        &[
+            Apid::GenericPus as u16,
+            Apid::Acs as u16,
+            Apid::Sched as u16,
+            Apid::EventTm as u16,
+        ]
     }
 
     fn handle_known_apid(
@@ -27,7 +32,8 @@ impl<
         sp_header: &SpHeader,
         tc_raw: &[u8],
     ) -> Result<(), Self::Error> {
-        if sp_header.apid() == PUS_APID {
+        if sp_header.apid() == Apid::Cfdp as u16 {
+        } else {
             return self.tc_source.pass_ccsds(sp_header, tc_raw);
         }
         Ok(())

satrs-example/src/config.rs

@@ -9,8 +9,6 @@ use satrs::{
     pool::{StaticMemoryPool, StaticPoolConfig},
 };
 
-pub const PUS_APID: u16 = 0x02;
-
 #[derive(Copy, Clone, PartialEq, Eq, Debug, TryFromPrimitive, IntoPrimitive)]
 #[repr(u8)]
 pub enum CustomPusServiceId {
@@ -29,6 +27,7 @@ pub const AOCS_APID: u16 = 1;
 pub enum GroupId {
     Tmtc = 0,
     Hk = 1,
+    Mode = 2,
 }
 
 pub const OBSW_SERVER_ADDR: Ipv4Addr = Ipv4Addr::UNSPECIFIED;
@@ -53,6 +52,8 @@ pub mod tmtc_err {
     pub const UNKNOWN_TARGET_ID: ResultU16 = ResultU16::new(GroupId::Tmtc as u8, 4);
     #[resultcode]
     pub const ROUTING_ERROR: ResultU16 = ResultU16::new(GroupId::Tmtc as u8, 5);
+    #[resultcode(info = "Request timeout for targeted PUS request. P1: Request ID. P2: Target ID")]
+    pub const REQUEST_TIMEOUT: ResultU16 = ResultU16::new(GroupId::Tmtc as u8, 6);
 
     #[resultcode(
         info = "Not enough data inside the TC application data field. Optionally includes: \
@@ -92,27 +93,60 @@ pub mod hk_err {
     ];
 }
 
-#[allow(clippy::enum_variant_names)]
-#[derive(Copy, Clone, PartialEq, Eq)]
-pub enum TmSenderId {
-    PusVerification = 0,
-    PusTest = 1,
-    PusEvent = 2,
-    PusHk = 3,
-    PusAction = 4,
-    PusSched = 5,
-    AllEvents = 6,
-    AcsSubsystem = 7,
+pub mod mode_err {
+    use super::*;
+
+    #[resultcode]
+    pub const WRONG_MODE: ResultU16 = ResultU16::new(GroupId::Mode as u8, 0);
 }
 
-#[derive(Copy, Clone, PartialEq, Eq)]
-pub enum TcReceiverId {
+pub mod components {
+    use satrs::request::UniqueApidTargetId;
+
+    #[derive(Copy, Clone, PartialEq, Eq)]
+    pub enum Apid {
+        VerificationTm = 1,
+        Sched = 2,
+        EventTm = 3,
+        HkTm = 4,
+        GenericPus = 5,
+        Acs = 6,
+        Cfdp = 7,
+    }
+
+    // Component IDs for components with the PUS APID.
+    #[derive(Copy, Clone, PartialEq, Eq)]
+    pub enum PusId {
+        PusRouting = 0,
         PusTest = 1,
-    PusEvent = 2,
-    PusHk = 3,
-    PusAction = 4,
-    PusSched = 5,
+        PusAction = 2,
+        PusMode = 3,
+        PusHk = 4,
+    }
+
+    #[derive(Copy, Clone, PartialEq, Eq)]
+    pub enum AcsId {
+        Mgm0 = 0,
+    }
+
+    pub const PUS_ACTION_SERVICE: UniqueApidTargetId =
+        UniqueApidTargetId::new(Apid::GenericPus as u16, PusId::PusAction as u32);
+    pub const PUS_EVENT_MANAGEMENT: UniqueApidTargetId =
+        UniqueApidTargetId::new(Apid::EventTm as u16, 0);
+    pub const PUS_ROUTING_SERVICE: UniqueApidTargetId =
+        UniqueApidTargetId::new(Apid::GenericPus as u16, PusId::PusRouting as u32);
+    pub const PUS_TEST_SERVICE: UniqueApidTargetId =
+        UniqueApidTargetId::new(Apid::GenericPus as u16, PusId::PusTest as u32);
+    pub const PUS_MODE_SERVICE: UniqueApidTargetId =
+        UniqueApidTargetId::new(Apid::GenericPus as u16, PusId::PusMode as u32);
+    pub const PUS_HK_SERVICE: UniqueApidTargetId =
+        UniqueApidTargetId::new(Apid::GenericPus as u16, PusId::PusHk as u32);
+    pub const PUS_SCHED_SERVICE: UniqueApidTargetId =
+        UniqueApidTargetId::new(Apid::Sched as u16, 0);
+    pub const MGM_HANDLER_0: UniqueApidTargetId =
+        UniqueApidTargetId::new(Apid::Acs as u16, AcsId::Mgm0 as u32);
 }
+
 pub mod pool {
     use super::*;
     pub fn create_static_pools() -> (StaticMemoryPool, StaticMemoryPool) {

satrs-example/src/events.rs

@@ -1,5 +1,8 @@
 use std::sync::mpsc::{self};
 
+use crate::pus::create_verification_reporter;
+use satrs::pus::verification::VerificationReporter;
+use satrs::pus::EcssTmSenderCore;
 use satrs::{
     event_man::{
         EventManagerWithBoundedMpsc, EventSendProvider, EventU32SenderMpscBounded,
@@ -12,55 +15,67 @@ use satrs::{
             DefaultPusEventU32Dispatcher, EventReporter, EventRequest, EventRequestWithToken,
         },
         verification::{TcStateStarted, VerificationReportingProvider, VerificationToken},
-        EcssTmSender,
     },
-    spacepackets::time::cds::{self, CdsTime},
+    spacepackets::time::cds::CdsTime,
+    ComponentId,
 };
-use satrs_example::config::PUS_APID;
+use satrs_example::config::components;
+use satrs_example::config::components::PUS_EVENT_MANAGEMENT;
 
 use crate::update_time;
 
-pub struct PusEventHandler<VerificationReporter: VerificationReportingProvider> {
+/// The PUS event handler subscribes for all events and converts them into ECSS PUS 5 event
+/// packets. It also handles the verification completion of PUS event service requests.
+pub struct PusEventHandler<TmSender: EcssTmSenderCore> {
+    id: ComponentId,
     event_request_rx: mpsc::Receiver<EventRequestWithToken>,
     pus_event_dispatcher: DefaultPusEventU32Dispatcher<()>,
     pus_event_man_rx: mpsc::Receiver<(EventU32, Option<Params>)>,
-    tm_sender: Box<dyn EcssTmSender>,
+    tm_sender: TmSender,
     time_provider: CdsTime,
     timestamp: [u8; 7],
     verif_handler: VerificationReporter,
 }
-/*
-*/
 
-impl<VerificationReporter: VerificationReportingProvider> PusEventHandler<VerificationReporter> {
+impl<TmSender: EcssTmSenderCore> PusEventHandler<TmSender> {
     pub fn new(
+        id: ComponentId,
+        tm_sender: TmSender,
         verif_handler: VerificationReporter,
         event_manager: &mut EventManagerWithBoundedMpsc,
         event_request_rx: mpsc::Receiver<EventRequestWithToken>,
-        tm_sender: impl EcssTmSender,
     ) -> Self {
         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 event_reporter = EventReporter::new(
+            PUS_EVENT_MANAGEMENT.raw(),
+            components::Apid::EventTm as u16,
+            128,
+        )
+        .unwrap();
         let pus_event_dispatcher =
             DefaultPusEventU32Dispatcher::new_with_default_backend(event_reporter);
-        let pus_event_man_send_provider =
-            EventU32SenderMpscBounded::new(1, pus_event_man_tx, event_queue_cap);
+        let pus_event_man_send_provider = EventU32SenderMpscBounded::new(
+            PUS_EVENT_MANAGEMENT.raw(),
+            pus_event_man_tx,
+            event_queue_cap,
+        );
 
-        event_manager.subscribe_all(pus_event_man_send_provider.channel_id());
+        event_manager.subscribe_all(pus_event_man_send_provider.target_id());
         event_manager.add_sender(pus_event_man_send_provider);
 
         Self {
+            id,
             event_request_rx,
             pus_event_dispatcher,
             pus_event_man_rx,
-            time_provider: cds::CdsTime::new_with_u16_days(0, 0),
+            time_provider: CdsTime::new_with_u16_days(0, 0),
             timestamp: [0; 7],
             verif_handler,
-            tm_sender: Box::new(tm_sender),
+            tm_sender,
         }
     }
 
@@ -71,7 +86,7 @@ impl<VerificationReporter: VerificationReportingProvider> PusEventHandler<Verifi
                 .try_into()
                 .expect("expected start verification token");
             self.verif_handler
-                .completion_success(started_token, timestamp)
+                .completion_success(self.id, &self.tm_sender, started_token, timestamp)
                 .expect("Sending completion success failed");
         };
         // handle event requests
@@ -100,17 +115,14 @@ impl<VerificationReporter: VerificationReportingProvider> PusEventHandler<Verifi
         if let Ok((event, _param)) = self.pus_event_man_rx.try_recv() {
             update_time(&mut self.time_provider, &mut self.timestamp);
             self.pus_event_dispatcher
-                .generate_pus_event_tm_generic(
-                    self.tm_sender.upcast_mut(),
-                    &self.timestamp,
-                    event,
-                    None,
-                )
+                .generate_pus_event_tm_generic(&mut self.tm_sender, &self.timestamp, event, None)
                 .expect("Sending TM as event failed");
         }
     }
 }
 
+/// This is a thin wrapper around the event manager which also caches the sender component
+/// used to send events to the event manager.
 pub struct EventManagerWrapper {
     event_manager: EventManagerWithBoundedMpsc,
     event_sender: mpsc::Sender<(EventU32, Option<Params>)>,
@@ -128,6 +140,7 @@ impl EventManagerWrapper {
         }
     }
 
+    // Returns a cached event sender to send events to the event manager for routing.
     pub fn clone_event_sender(&self) -> mpsc::Sender<(EventU32, Option<Params>)> {
         self.event_sender.clone()
     }
@@ -144,23 +157,23 @@ impl EventManagerWrapper {
     }
 }
 
-pub struct EventHandler<VerificationReporter: VerificationReportingProvider> {
+pub struct EventHandler<TmSender: EcssTmSenderCore> {
     pub event_man_wrapper: EventManagerWrapper,
-    pub pus_event_handler: PusEventHandler<VerificationReporter>,
+    pub pus_event_handler: PusEventHandler<TmSender>,
 }
 
-impl<VerificationReporter: VerificationReportingProvider> EventHandler<VerificationReporter> {
+impl<TmSender: EcssTmSenderCore> EventHandler<TmSender> {
     pub fn new(
-        tm_sender: impl EcssTmSender,
-        verif_handler: VerificationReporter,
+        tm_sender: TmSender,
         event_request_rx: mpsc::Receiver<EventRequestWithToken>,
     ) -> Self {
         let mut event_man_wrapper = EventManagerWrapper::new();
         let pus_event_handler = PusEventHandler::new(
-            verif_handler,
+            PUS_EVENT_MANAGEMENT.raw(),
+            tm_sender,
+            create_verification_reporter(PUS_EVENT_MANAGEMENT.apid),
             event_man_wrapper.event_manager(),
             event_request_rx,
-            tm_sender,
         );
         Self {
             event_man_wrapper,

satrs-example/src/hk.rs

@@ -1,27 +1,25 @@
 use derive_new::new;
+use satrs::hk::UniqueId;
+use satrs::request::UniqueApidTargetId;
 use satrs::spacepackets::ByteConversionError;
 
-#[derive(Debug, Copy, Clone, PartialEq, Eq)]
-pub enum AcsHkIds {
-    TestMgmSet = 1,
-}
-
 #[derive(Debug, new, Copy, Clone)]
 pub struct HkUniqueId {
-    target_id: u32,
-    set_id: u32,
+    target_id: UniqueApidTargetId,
+    set_id: UniqueId,
 }
 
 impl HkUniqueId {
     #[allow(dead_code)]
-    pub fn target_id(&self) -> u32 {
+    pub fn target_id(&self) -> UniqueApidTargetId {
         self.target_id
     }
     #[allow(dead_code)]
-    pub fn set_id(&self) -> u32 {
+    pub fn set_id(&self) -> UniqueId {
         self.set_id
     }
 
+    #[allow(dead_code)]
     pub fn write_to_be_bytes(&self, buf: &mut [u8]) -> Result<usize, ByteConversionError> {
         if buf.len() < 8 {
             return Err(ByteConversionError::ToSliceTooSmall {
@@ -29,7 +27,7 @@ impl HkUniqueId {
                 expected: 8,
             });
         }
-        buf[0..4].copy_from_slice(&self.target_id.to_be_bytes());
+        buf[0..4].copy_from_slice(&self.target_id.unique_id.to_be_bytes());
         buf[4..8].copy_from_slice(&self.set_id.to_be_bytes());
 
         Ok(8)

satrs-example/src/lib.rs

@@ -1 +1,39 @@
+use satrs::spacepackets::time::{cds::CdsTime, TimeWriter};
+
 pub mod config;
+
+#[derive(Debug, PartialEq, Eq, Copy, Clone)]
+pub enum DeviceMode {
+    Off = 0,
+    On = 1,
+    Normal = 2,
+}
+
+pub struct TimeStampHelper {
+    stamper: CdsTime,
+    time_stamp: [u8; 7],
+}
+
+impl TimeStampHelper {
+    pub fn stamp(&self) -> &[u8] {
+        &self.time_stamp
+    }
+
+    pub fn update_from_now(&mut self) {
+        self.stamper
+            .update_from_now()
+            .expect("Updating timestamp failed");
+        self.stamper
+            .write_to_bytes(&mut self.time_stamp)
+            .expect("Writing timestamp failed");
+    }
+}
+
+impl Default for TimeStampHelper {
+    fn default() -> Self {
+        Self {
+            stamper: CdsTime::now_with_u16_days().expect("creating time stamper failed"),
+            time_stamp: Default::default(),
+        }
+    }
+}

satrs-example/src/main.rs

@@ -17,52 +17,44 @@ use log::info;
 use pus::test::create_test_service_dynamic;
 use satrs::hal::std::tcp_server::ServerConfig;
 use satrs::hal::std::udp_server::UdpTcServer;
-use satrs::request::TargetAndApidId;
+use satrs::request::GenericMessage;
 use satrs::tmtc::tm_helper::SharedTmPool;
 use satrs_example::config::pool::{create_sched_tc_pool, create_static_pools};
 use satrs_example::config::tasks::{
     FREQ_MS_AOCS, FREQ_MS_EVENT_HANDLING, FREQ_MS_PUS_STACK, FREQ_MS_UDP_TMTC,
 };
-use satrs_example::config::{RequestTargetId, TmSenderId, OBSW_SERVER_ADDR, PUS_APID, SERVER_PORT};
+use satrs_example::config::{OBSW_SERVER_ADDR, SERVER_PORT};
 use tmtc::PusTcSourceProviderDynamic;
 use udp::DynamicUdpTmHandler;
 
-use crate::acs::AcsTask;
+use crate::acs::mgm::{MgmHandler, SpiDummyInterface};
 use crate::ccsds::CcsdsReceiver;
 use crate::logger::setup_logger;
 use crate::pus::action::{create_action_service_dynamic, create_action_service_static};
 use crate::pus::event::{create_event_service_dynamic, create_event_service_static};
 use crate::pus::hk::{create_hk_service_dynamic, create_hk_service_static};
+use crate::pus::mode::{create_mode_service_dynamic, create_mode_service_static};
 use crate::pus::scheduler::{create_scheduler_service_dynamic, create_scheduler_service_static};
 use crate::pus::test::create_test_service_static;
 use crate::pus::{PusReceiver, PusTcMpscRouter};
-use crate::requests::{GenericRequestRouter, RequestWithToken};
+use crate::requests::{CompositeRequest, GenericRequestRouter};
 use crate::tcp::{SyncTcpTmSource, TcpTask};
 use crate::tmtc::{
     PusTcSourceProviderSharedPool, SharedTcPool, TcSourceTaskDynamic, TcSourceTaskStatic,
 };
 use crate::udp::{StaticUdpTmHandler, UdpTmtcServer};
+use satrs::mode::ModeRequest;
 use satrs::pus::event_man::EventRequestWithToken;
-use satrs::pus::verification::{VerificationReporterCfg, VerificationReporterWithSender};
-use satrs::pus::{EcssTmSender, TmAsVecSenderWithId, TmInSharedPoolSenderWithId};
+use satrs::pus::TmInSharedPoolSender;
 use satrs::spacepackets::{time::cds::CdsTime, time::TimeWriter};
 use satrs::tmtc::CcsdsDistributor;
-use satrs::ChannelId;
+use satrs_example::config::components::MGM_HANDLER_0;
 use std::net::{IpAddr, SocketAddr};
-use std::sync::mpsc::{self, channel};
+use std::sync::mpsc;
 use std::sync::{Arc, RwLock};
 use std::thread;
 use std::time::Duration;
 
-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, verif_sender)
-}
-
 #[allow(dead_code)]
 fn static_tmtc_pool_main() {
     let (tm_pool, tc_pool) = create_static_pools();
@@ -74,20 +66,21 @@ fn static_tmtc_pool_main() {
     let (tm_funnel_tx, tm_funnel_rx) = mpsc::sync_channel(50);
     let (tm_server_tx, tm_server_rx) = mpsc::sync_channel(50);
 
-    // Every software component which needs to generate verification telemetry, receives a cloned
-    // verification reporter.
-    let verif_reporter = create_verification_reporter(TmInSharedPoolSenderWithId::new(
-        TmSenderId::PusVerification as ChannelId,
-        "verif_sender",
-        shared_tm_pool.clone(),
-        tm_funnel_tx.clone(),
-    ));
+    let tm_funnel_tx_sender =
+        TmInSharedPoolSender::new(shared_tm_pool.clone(), tm_funnel_tx.clone());
+
+    let (mgm_handler_composite_tx, mgm_handler_composite_rx) =
+        mpsc::channel::<GenericMessage<CompositeRequest>>();
+    let (mgm_handler_mode_tx, mgm_handler_mode_rx) = mpsc::channel::<GenericMessage<ModeRequest>>();
 
-    let acs_target_id = TargetAndApidId::new(PUS_APID, RequestTargetId::AcsSubsystem as u32);
-    let (acs_thread_tx, acs_thread_rx) = channel::<RequestWithToken>();
     // Some request are targetable. This map is used to retrieve sender handles based on a target ID.
     let mut request_map = GenericRequestRouter::default();
-    request_map.0.insert(acs_target_id.into(), acs_thread_tx);
+    request_map
+        .composite_router_map
+        .insert(MGM_HANDLER_0.id(), mgm_handler_composite_tx);
+    request_map
+        .mode_router_map
+        .insert(MGM_HANDLER_0.id(), mgm_handler_mode_tx);
 
     // This helper structure is used by all telecommand providers which need to send telecommands
     // to the TC source.
@@ -103,82 +96,80 @@ 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(
-        TmInSharedPoolSenderWithId::new(
-            TmSenderId::AllEvents as ChannelId,
-            "ALL_EVENTS_TX",
-            shared_tm_pool.clone(),
-            tm_funnel_tx.clone(),
-        ),
-        verif_reporter.clone(),
-        event_request_rx,
-    );
+    let mut event_handler = EventHandler::new(tm_funnel_tx.clone(), event_request_rx);
+
+    let (pus_test_tx, pus_test_rx) = mpsc::channel();
+    let (pus_event_tx, pus_event_rx) = mpsc::channel();
+    let (pus_sched_tx, pus_sched_rx) = mpsc::channel();
+    let (pus_hk_tx, pus_hk_rx) = mpsc::channel();
+    let (pus_action_tx, pus_action_rx) = mpsc::channel();
+    let (pus_mode_tx, pus_mode_rx) = mpsc::channel();
+
+    let (_pus_action_reply_tx, pus_action_reply_rx) = mpsc::channel();
+    let (pus_hk_reply_tx, pus_hk_reply_rx) = mpsc::channel();
+    let (pus_mode_reply_tx, pus_mode_reply_rx) = mpsc::channel();
 
-    let (pus_test_tx, pus_test_rx) = channel();
-    let (pus_event_tx, pus_event_rx) = channel();
-    let (pus_sched_tx, pus_sched_rx) = channel();
-    let (pus_hk_tx, pus_hk_rx) = channel();
-    let (pus_action_tx, pus_action_rx) = channel();
     let pus_router = PusTcMpscRouter {
-        test_service_receiver: pus_test_tx,
-        event_service_receiver: pus_event_tx,
-        sched_service_receiver: pus_sched_tx,
-        hk_service_receiver: pus_hk_tx,
-        action_service_receiver: pus_action_tx,
+        test_tc_sender: pus_test_tx,
+        event_tc_sender: pus_event_tx,
+        sched_tc_sender: pus_sched_tx,
+        hk_tc_sender: pus_hk_tx,
+        action_tc_sender: pus_action_tx,
+        mode_tc_sender: pus_mode_tx,
     };
     let pus_test_service = create_test_service_static(
-        shared_tm_pool.clone(),
-        tm_funnel_tx.clone(),
-        verif_reporter.clone(),
+        tm_funnel_tx_sender.clone(),
         shared_tc_pool.pool.clone(),
         event_handler.clone_event_sender(),
         pus_test_rx,
     );
     let pus_scheduler_service = create_scheduler_service_static(
-        shared_tm_pool.clone(),
-        tm_funnel_tx.clone(),
-        verif_reporter.clone(),
+        tm_funnel_tx_sender.clone(),
         tc_source.clone(),
         pus_sched_rx,
         create_sched_tc_pool(),
     );
     let pus_event_service = create_event_service_static(
-        shared_tm_pool.clone(),
-        tm_funnel_tx.clone(),
-        verif_reporter.clone(),
+        tm_funnel_tx_sender.clone(),
         shared_tc_pool.pool.clone(),
         pus_event_rx,
         event_request_tx,
     );
     let pus_action_service = create_action_service_static(
-        shared_tm_pool.clone(),
-        tm_funnel_tx.clone(),
-        verif_reporter.clone(),
+        tm_funnel_tx_sender.clone(),
         shared_tc_pool.pool.clone(),
         pus_action_rx,
         request_map.clone(),
+        pus_action_reply_rx,
     );
     let pus_hk_service = create_hk_service_static(
-        shared_tm_pool.clone(),
-        tm_funnel_tx.clone(),
-        verif_reporter.clone(),
+        tm_funnel_tx_sender.clone(),
         shared_tc_pool.pool.clone(),
         pus_hk_rx,
+        request_map.clone(),
+        pus_hk_reply_rx,
+    );
+    let pus_mode_service = create_mode_service_static(
+        tm_funnel_tx_sender.clone(),
+        shared_tc_pool.pool.clone(),
+        pus_mode_rx,
         request_map,
+        pus_mode_reply_rx,
     );
     let mut pus_stack = PusStack::new(
+        pus_test_service,
         pus_hk_service,
         pus_event_service,
         pus_action_service,
         pus_scheduler_service,
-        pus_test_service,
+        pus_mode_service,
     );
 
     let ccsds_receiver = CcsdsReceiver { tc_source };
     let mut tmtc_task = TcSourceTaskStatic::new(
         shared_tc_pool.clone(),
         tc_source_rx,
-        PusReceiver::new(verif_reporter.clone(), pus_router),
+        PusReceiver::new(tm_funnel_tx_sender, pus_router),
     );
 
     let sock_addr = SocketAddr::new(IpAddr::V4(OBSW_SERVER_ADDR), SERVER_PORT);
@@ -203,17 +194,6 @@ fn static_tmtc_pool_main() {
     )
     .expect("tcp server creation failed");
 
-    let mut acs_task = AcsTask::new(
-        TmInSharedPoolSenderWithId::new(
-            TmSenderId::AcsSubsystem as ChannelId,
-            "ACS_TASK_SENDER",
-            shared_tm_pool.clone(),
-            tm_funnel_tx.clone(),
-        ),
-        acs_thread_rx,
-        verif_reporter,
-    );
-
     let mut tm_funnel = TmFunnelStatic::new(
         shared_tm_pool,
         sync_tm_tcp_source,
@@ -221,6 +201,24 @@ fn static_tmtc_pool_main() {
         tm_server_tx,
     );
 
+    let (mgm_handler_mode_reply_to_parent_tx, _mgm_handler_mode_reply_to_parent_rx) =
+        mpsc::channel();
+
+    let dummy_spi_interface = SpiDummyInterface::default();
+    let shared_mgm_set = Arc::default();
+    let mut mgm_handler = MgmHandler::new(
+        MGM_HANDLER_0,
+        "MGM_0",
+        mgm_handler_mode_rx,
+        mgm_handler_composite_rx,
+        pus_mode_reply_tx,
+        mgm_handler_mode_reply_to_parent_tx,
+        pus_hk_reply_tx,
+        tm_funnel_tx,
+        dummy_spi_interface,
+        shared_mgm_set,
+    );
+
     info!("Starting TMTC and UDP task");
     let jh_udp_tmtc = thread::Builder::new()
         .name("TMTC and UDP".to_string())
@@ -266,7 +264,7 @@ fn static_tmtc_pool_main() {
     let jh_aocs = thread::Builder::new()
         .name("AOCS".to_string())
         .spawn(move || loop {
-            acs_task.periodic_operation();
+            mgm_handler.periodic_operation();
             thread::sleep(Duration::from_millis(FREQ_MS_AOCS));
         })
         .unwrap();
@@ -300,22 +298,23 @@ fn static_tmtc_pool_main() {
 
 #[allow(dead_code)]
 fn dyn_tmtc_pool_main() {
-    let (tc_source_tx, tc_source_rx) = channel();
-    let (tm_funnel_tx, tm_funnel_rx) = channel();
-    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(TmAsVecSenderWithId::new(
-        TmSenderId::PusVerification as ChannelId,
-        "verif_sender",
-        tm_funnel_tx.clone(),
-    ));
+    let (tc_source_tx, tc_source_rx) = mpsc::channel();
+    let (tm_funnel_tx, tm_funnel_rx) = mpsc::channel();
+    let (tm_server_tx, tm_server_rx) = mpsc::channel();
+
+    // Some request are targetable. This map is used to retrieve sender handles based on a target ID.
+    let (mgm_handler_composite_tx, mgm_handler_composite_rx) =
+        mpsc::channel::<GenericMessage<CompositeRequest>>();
+    let (mgm_handler_mode_tx, mgm_handler_mode_rx) = mpsc::channel::<GenericMessage<ModeRequest>>();
 
-    let acs_target_id = TargetAndApidId::new(PUS_APID, RequestTargetId::AcsSubsystem as u32);
-    let (acs_thread_tx, acs_thread_rx) = channel::<RequestWithToken>();
     // Some request are targetable. This map is used to retrieve sender handles based on a target ID.
     let mut request_map = GenericRequestRouter::default();
-    request_map.0.insert(acs_target_id.into(), acs_thread_tx);
+    request_map
+        .composite_router_map
+        .insert(MGM_HANDLER_0.raw(), mgm_handler_composite_tx);
+    request_map
+        .mode_router_map
+        .insert(MGM_HANDLER_0.raw(), mgm_handler_mode_tx);
 
     let tc_source = PusTcSourceProviderDynamic(tc_source_tx);
 
@@ -325,74 +324,74 @@ fn dyn_tmtc_pool_main() {
     let (event_request_tx, event_request_rx) = mpsc::channel::<EventRequestWithToken>();
     // 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(
-        TmAsVecSenderWithId::new(
-            TmSenderId::AllEvents as ChannelId,
-            "ALL_EVENTS_TX",
-            tm_funnel_tx.clone(),
-        ),
-        verif_reporter.clone(),
-        event_request_rx,
-    );
+    let mut event_handler = EventHandler::new(tm_funnel_tx.clone(), event_request_rx);
+
+    let (pus_test_tx, pus_test_rx) = mpsc::channel();
+    let (pus_event_tx, pus_event_rx) = mpsc::channel();
+    let (pus_sched_tx, pus_sched_rx) = mpsc::channel();
+    let (pus_hk_tx, pus_hk_rx) = mpsc::channel();
+    let (pus_action_tx, pus_action_rx) = mpsc::channel();
+    let (pus_mode_tx, pus_mode_rx) = mpsc::channel();
+
+    let (_pus_action_reply_tx, pus_action_reply_rx) = mpsc::channel();
+    let (pus_hk_reply_tx, pus_hk_reply_rx) = mpsc::channel();
+    let (pus_mode_reply_tx, pus_mode_reply_rx) = mpsc::channel();
 
-    let (pus_test_tx, pus_test_rx) = channel();
-    let (pus_event_tx, pus_event_rx) = channel();
-    let (pus_sched_tx, pus_sched_rx) = channel();
-    let (pus_hk_tx, pus_hk_rx) = channel();
-    let (pus_action_tx, pus_action_rx) = channel();
     let pus_router = PusTcMpscRouter {
-        test_service_receiver: pus_test_tx,
-        event_service_receiver: pus_event_tx,
-        sched_service_receiver: pus_sched_tx,
-        hk_service_receiver: pus_hk_tx,
-        action_service_receiver: pus_action_tx,
+        test_tc_sender: pus_test_tx,
+        event_tc_sender: pus_event_tx,
+        sched_tc_sender: pus_sched_tx,
+        hk_tc_sender: pus_hk_tx,
+        action_tc_sender: pus_action_tx,
+        mode_tc_sender: pus_mode_tx,
     };
 
     let pus_test_service = create_test_service_dynamic(
         tm_funnel_tx.clone(),
-        verif_reporter.clone(),
         event_handler.clone_event_sender(),
         pus_test_rx,
     );
     let pus_scheduler_service = create_scheduler_service_dynamic(
         tm_funnel_tx.clone(),
-        verif_reporter.clone(),
         tc_source.0.clone(),
         pus_sched_rx,
         create_sched_tc_pool(),
     );
 
-    let pus_event_service = create_event_service_dynamic(
-        tm_funnel_tx.clone(),
-        verif_reporter.clone(),
-        pus_event_rx,
-        event_request_tx,
-    );
+    let pus_event_service =
+        create_event_service_dynamic(tm_funnel_tx.clone(), pus_event_rx, event_request_tx);
     let pus_action_service = create_action_service_dynamic(
         tm_funnel_tx.clone(),
-        verif_reporter.clone(),
         pus_action_rx,
         request_map.clone(),
+        pus_action_reply_rx,
     );
     let pus_hk_service = create_hk_service_dynamic(
         tm_funnel_tx.clone(),
-        verif_reporter.clone(),
         pus_hk_rx,
+        request_map.clone(),
+        pus_hk_reply_rx,
+    );
+    let pus_mode_service = create_mode_service_dynamic(
+        tm_funnel_tx.clone(),
+        pus_mode_rx,
         request_map,
+        pus_mode_reply_rx,
     );
     let mut pus_stack = PusStack::new(
+        pus_test_service,
         pus_hk_service,
         pus_event_service,
         pus_action_service,
         pus_scheduler_service,
-        pus_test_service,
+        pus_mode_service,
     );
 
     let ccsds_receiver = CcsdsReceiver { tc_source };
 
     let mut tmtc_task = TcSourceTaskDynamic::new(
         tc_source_rx,
-        PusReceiver::new(verif_reporter.clone(), pus_router),
+        PusReceiver::new(tm_funnel_tx.clone(), pus_router),
     );
 
     let sock_addr = SocketAddr::new(IpAddr::V4(OBSW_SERVER_ADDR), SERVER_PORT);
@@ -416,17 +415,25 @@ fn dyn_tmtc_pool_main() {
     )
     .expect("tcp server creation failed");
 
-    let mut acs_task = AcsTask::new(
-        TmAsVecSenderWithId::new(
-            TmSenderId::AcsSubsystem as ChannelId,
-            "ACS_TASK_SENDER",
-            tm_funnel_tx.clone(),
-        ),
-        acs_thread_rx,
-        verif_reporter,
-    );
     let mut tm_funnel = TmFunnelDynamic::new(sync_tm_tcp_source, tm_funnel_rx, tm_server_tx);
 
+    let (mgm_handler_mode_reply_to_parent_tx, _mgm_handler_mode_reply_to_parent_rx) =
+        mpsc::channel();
+    let dummy_spi_interface = SpiDummyInterface::default();
+    let shared_mgm_set = Arc::default();
+    let mut mgm_handler = MgmHandler::new(
+        MGM_HANDLER_0,
+        "MGM_0",
+        mgm_handler_mode_rx,
+        mgm_handler_composite_rx,
+        pus_mode_reply_tx,
+        mgm_handler_mode_reply_to_parent_tx,
+        pus_hk_reply_tx,
+        tm_funnel_tx,
+        dummy_spi_interface,
+        shared_mgm_set,
+    );
+
     info!("Starting TMTC and UDP task");
     let jh_udp_tmtc = thread::Builder::new()
         .name("TMTC and UDP".to_string())
@@ -472,7 +479,7 @@ fn dyn_tmtc_pool_main() {
     let jh_aocs = thread::Builder::new()
         .name("AOCS".to_string())
         .spawn(move || loop {
-            acs_task.periodic_operation();
+            mgm_handler.periodic_operation();
             thread::sleep(Duration::from_millis(FREQ_MS_AOCS));
         })
         .unwrap();

satrs-example/src/pus/action.rs

@@ -1,181 +1,290 @@
 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::action::{ActionRequest, ActionRequestVariant};
+use satrs::params::WritableToBeBytes;
+use satrs::pool::SharedStaticMemoryPool;
+use satrs::pus::action::{
+    ActionReplyVariant, ActivePusActionRequestStd, DefaultActiveActionRequestMap, PusActionReply,
 };
 use satrs::pus::verification::{
-    FailParams, TcStateAccepted, VerificationReportingProvider, VerificationToken,
+    FailParams, FailParamsWithStep, TcStateAccepted, TcStateStarted, VerificationReporter,
+    VerificationReportingProvider, VerificationToken,
 };
 use satrs::pus::{
-    EcssTcAndToken, EcssTcInMemConverter, EcssTcInSharedStoreConverter, EcssTcInVecConverter,
-    EcssTcReceiverCore, EcssTmSenderCore, MpscTcReceiver, PusPacketHandlerResult,
-    PusPacketHandlingError, PusServiceHelper, TmAsVecSenderWithId, TmAsVecSenderWithMpsc,
-    TmInSharedPoolSenderWithBoundedMpsc, TmInSharedPoolSenderWithId,
+    ActiveRequestProvider, EcssTcAndToken, EcssTcInMemConverter, EcssTcInSharedStoreConverter,
+    EcssTcInVecConverter, EcssTmSenderCore, EcssTmtcError, GenericConversionError, MpscTcReceiver,
+    MpscTmAsVecSender, MpscTmInSharedPoolSenderBounded, PusPacketHandlerResult, PusReplyHandler,
+    PusServiceHelper, PusTcToRequestConverter, PusTmAsVec, PusTmInPool, TmInSharedPoolSender,
 };
-use satrs::request::TargetAndApidId;
+use satrs::request::{GenericMessage, UniqueApidTargetId};
 use satrs::spacepackets::ecss::tc::PusTcReader;
-use satrs::spacepackets::ecss::PusPacket;
-use satrs::tmtc::tm_helper::SharedTmPool;
-use satrs::{ChannelId, TargetId};
-use satrs_example::config::{tmtc_err, TcReceiverId, TmSenderId, PUS_APID};
-use std::sync::mpsc::{self};
+use satrs::spacepackets::ecss::{EcssEnumU16, PusPacket};
+use satrs::ComponentId;
+use satrs_example::config::components::PUS_ACTION_SERVICE;
+use satrs_example::config::tmtc_err;
+use std::sync::mpsc;
+use std::time::Duration;
 
 use crate::requests::GenericRequestRouter;
 
-use super::GenericRoutingErrorHandler;
+use super::{
+    create_verification_reporter, generic_pus_request_timeout_handler, PusTargetedRequestService,
+    TargetedPusService,
+};
+
+pub struct ActionReplyHandler {
+    fail_data_buf: [u8; 128],
+}
+
+impl Default for ActionReplyHandler {
+    fn default() -> Self {
+        Self {
+            fail_data_buf: [0; 128],
+        }
+    }
+}
+
+impl PusReplyHandler<ActivePusActionRequestStd, PusActionReply> for ActionReplyHandler {
+    type Error = EcssTmtcError;
+
+    fn handle_unrequested_reply(
+        &mut self,
+        _caller_id: ComponentId,
+        reply: &GenericMessage<PusActionReply>,
+        _tm_sender: &impl EcssTmSenderCore,
+    ) -> Result<(), Self::Error> {
+        warn!("received unexpected reply for service 8: {reply:?}");
+        Ok(())
+    }
+
+    fn handle_reply(
+        &mut self,
+        caller_id: ComponentId,
+        reply: &GenericMessage<PusActionReply>,
+        active_request: &ActivePusActionRequestStd,
+        tm_sender: &(impl EcssTmSenderCore + ?Sized),
+        verification_handler: &impl VerificationReportingProvider,
+        time_stamp: &[u8],
+    ) -> Result<bool, Self::Error> {
+        let verif_token: VerificationToken<TcStateStarted> = active_request
+            .token()
+            .try_into()
+            .expect("invalid token state");
+        let remove_entry = match &reply.message.variant {
+            ActionReplyVariant::CompletionFailed { error_code, params } => {
+                let mut fail_data_len = 0;
+                if let Some(params) = params {
+                    fail_data_len = params.write_to_be_bytes(&mut self.fail_data_buf)?;
+                }
+                verification_handler.completion_failure(
+                    caller_id,
+                    tm_sender,
+                    verif_token,
+                    FailParams::new(time_stamp, error_code, &self.fail_data_buf[..fail_data_len]),
+                )?;
+                true
+            }
+            ActionReplyVariant::StepFailed {
+                error_code,
+                step,
+                params,
+            } => {
+                let mut fail_data_len = 0;
+                if let Some(params) = params {
+                    fail_data_len = params.write_to_be_bytes(&mut self.fail_data_buf)?;
+                }
+                verification_handler.step_failure(
+                    caller_id,
+                    tm_sender,
+                    verif_token,
+                    FailParamsWithStep::new(
+                        time_stamp,
+                        &EcssEnumU16::new(*step),
+                        error_code,
+                        &self.fail_data_buf[..fail_data_len],
+                    ),
+                )?;
+                true
+            }
+            ActionReplyVariant::Completed => {
+                verification_handler.completion_success(
+                    caller_id,
+                    tm_sender,
+                    verif_token,
+                    time_stamp,
+                )?;
+                true
+            }
+            ActionReplyVariant::StepSuccess { step } => {
+                verification_handler.step_success(
+                    caller_id,
+                    tm_sender,
+                    &verif_token,
+                    time_stamp,
+                    EcssEnumU16::new(*step),
+                )?;
+                false
+            }
+            _ => false,
+        };
+        Ok(remove_entry)
+    }
+
+    fn handle_request_timeout(
+        &mut self,
+        caller_id: ComponentId,
+        active_request: &ActivePusActionRequestStd,
+        tm_sender: &impl EcssTmSenderCore,
+        verification_handler: &impl VerificationReportingProvider,
+        time_stamp: &[u8],
+    ) -> Result<(), Self::Error> {
+        generic_pus_request_timeout_handler(
+            caller_id,
+            tm_sender,
+            active_request,
+            verification_handler,
+            time_stamp,
+            "action",
+        )
+    }
+}
 
 #[derive(Default)]
-pub struct ExampleActionRequestConverter {}
+pub struct ActionRequestConverter {}
 
-impl PusActionToRequestConverter for ExampleActionRequestConverter {
-    type Error = PusPacketHandlingError;
+impl PusTcToRequestConverter<ActivePusActionRequestStd, ActionRequest> for ActionRequestConverter {
+    type Error = GenericConversionError;
 
     fn convert(
         &mut self,
+        caller_id: ComponentId,
         token: VerificationToken<TcStateAccepted>,
         tc: &PusTcReader,
-        time_stamp: &[u8],
+        tm_sender: &(impl EcssTmSenderCore + ?Sized),
         verif_reporter: &impl VerificationReportingProvider,
-    ) -> Result<(TargetId, ActionRequest), Self::Error> {
+        time_stamp: &[u8],
+    ) -> Result<(ActivePusActionRequestStd, ActionRequest), Self::Error> {
         let subservice = tc.subservice();
         let user_data = tc.user_data();
         if user_data.len() < 8 {
             verif_reporter
                 .start_failure(
+                    caller_id,
+                    tm_sender,
                     token,
                     FailParams::new_no_fail_data(time_stamp, &tmtc_err::NOT_ENOUGH_APP_DATA),
                 )
                 .expect("Sending start failure failed");
-            return Err(PusPacketHandlingError::NotEnoughAppData {
+            return Err(GenericConversionError::NotEnoughAppData {
                 expected: 8,
                 found: user_data.len(),
             });
         }
-        let target_id = TargetAndApidId::from_pus_tc(tc).unwrap();
+        let target_id_and_apid = UniqueApidTargetId::from_pus_tc(tc).unwrap();
         let action_id = u32::from_be_bytes(user_data[4..8].try_into().unwrap());
         if subservice == 128 {
+            let req_variant = if user_data.len() == 8 {
+                ActionRequestVariant::NoData
+            } else {
+                ActionRequestVariant::VecData(user_data[8..].to_vec())
+            };
             Ok((
-                target_id.raw(),
-                ActionRequest::UnsignedIdAndVecData {
+                ActivePusActionRequestStd::new(
                     action_id,
-                    data: user_data[8..].to_vec(),
-                },
+                    target_id_and_apid.into(),
+                    token.into(),
+                    Duration::from_secs(30),
+                ),
+                ActionRequest::new(action_id, req_variant),
             ))
         } else {
             verif_reporter
                 .start_failure(
+                    caller_id,
+                    tm_sender,
                     token,
                     FailParams::new_no_fail_data(time_stamp, &tmtc_err::INVALID_PUS_SUBSERVICE),
                 )
                 .expect("Sending start failure failed");
-            Err(PusPacketHandlingError::InvalidSubservice(subservice))
+            Err(GenericConversionError::InvalidSubservice(subservice))
         }
     }
 }
 
 pub fn create_action_service_static(
-    shared_tm_store: SharedTmPool,
-    tm_funnel_tx: mpsc::SyncSender<StoreAddr>,
-    verif_reporter: VerificationReporterWithSharedPoolMpscBoundedSender,
+    tm_sender: TmInSharedPoolSender<mpsc::SyncSender<PusTmInPool>>,
     tc_pool: SharedStaticMemoryPool,
     pus_action_rx: mpsc::Receiver<EcssTcAndToken>,
     action_router: GenericRequestRouter,
-) -> Pus8Wrapper<
-    MpscTcReceiver,
-    TmInSharedPoolSenderWithBoundedMpsc,
-    EcssTcInSharedStoreConverter,
-    VerificationReporterWithSharedPoolMpscBoundedSender,
-> {
-    let action_srv_tm_sender = TmInSharedPoolSenderWithId::new(
-        TmSenderId::PusAction as ChannelId,
-        "PUS_8_TM_SENDER",
-        shared_tm_store.clone(),
-        tm_funnel_tx.clone(),
-    );
-    let action_srv_receiver = MpscTcReceiver::new(
-        TcReceiverId::PusAction as ChannelId,
-        "PUS_8_TC_RECV",
-        pus_action_rx,
-    );
-    let pus_8_handler = PusService8ActionHandler::new(
+    reply_receiver: mpsc::Receiver<GenericMessage<PusActionReply>>,
+) -> ActionServiceWrapper<MpscTmInSharedPoolSenderBounded, EcssTcInSharedStoreConverter> {
+    let action_request_handler = PusTargetedRequestService::new(
         PusServiceHelper::new(
-            action_srv_receiver,
-            action_srv_tm_sender,
-            PUS_APID,
-            verif_reporter.clone(),
+            PUS_ACTION_SERVICE.raw(),
+            pus_action_rx,
+            tm_sender,
+            create_verification_reporter(PUS_ACTION_SERVICE.apid),
             EcssTcInSharedStoreConverter::new(tc_pool.clone(), 2048),
         ),
-        ExampleActionRequestConverter::default(),
+        ActionRequestConverter::default(),
+        // TODO: Implementation which does not use run-time allocation? Maybe something like
+        // a bounded wrapper which pre-allocates using [HashMap::with_capacity]..
+        DefaultActiveActionRequestMap::default(),
+        ActionReplyHandler::default(),
         action_router,
-        GenericRoutingErrorHandler::<8>::default(),
+        reply_receiver,
     );
-    Pus8Wrapper { pus_8_handler }
+    ActionServiceWrapper {
+        service: action_request_handler,
+    }
 }
 
 pub fn create_action_service_dynamic(
-    tm_funnel_tx: mpsc::Sender<Vec<u8>>,
-    verif_reporter: VerificationReporterWithVecMpscSender,
+    tm_funnel_tx: mpsc::Sender<PusTmAsVec>,
     pus_action_rx: mpsc::Receiver<EcssTcAndToken>,
     action_router: GenericRequestRouter,
-) -> Pus8Wrapper<
-    MpscTcReceiver,
-    TmAsVecSenderWithMpsc,
-    EcssTcInVecConverter,
-    VerificationReporterWithVecMpscSender,
-> {
-    let action_srv_tm_sender = TmAsVecSenderWithId::new(
-        TmSenderId::PusAction as ChannelId,
-        "PUS_8_TM_SENDER",
-        tm_funnel_tx.clone(),
-    );
-    let action_srv_receiver = MpscTcReceiver::new(
-        TcReceiverId::PusAction as ChannelId,
-        "PUS_8_TC_RECV",
-        pus_action_rx,
-    );
-    let pus_8_handler = PusService8ActionHandler::new(
+    reply_receiver: mpsc::Receiver<GenericMessage<PusActionReply>>,
+) -> ActionServiceWrapper<MpscTmAsVecSender, EcssTcInVecConverter> {
+    let action_request_handler = PusTargetedRequestService::new(
         PusServiceHelper::new(
-            action_srv_receiver,
-            action_srv_tm_sender,
-            PUS_APID,
-            verif_reporter.clone(),
+            PUS_ACTION_SERVICE.raw(),
+            pus_action_rx,
+            tm_funnel_tx,
+            create_verification_reporter(PUS_ACTION_SERVICE.apid),
             EcssTcInVecConverter::default(),
         ),
-        ExampleActionRequestConverter::default(),
+        ActionRequestConverter::default(),
+        DefaultActiveActionRequestMap::default(),
+        ActionReplyHandler::default(),
         action_router,
-        GenericRoutingErrorHandler::<8>::default(),
+        reply_receiver,
     );
-    Pus8Wrapper { pus_8_handler }
+    ActionServiceWrapper {
+        service: action_request_handler,
+    }
 }
 
-pub struct Pus8Wrapper<
-    TcReceiver: EcssTcReceiverCore,
-    TmSender: EcssTmSenderCore,
-    TcInMemConverter: EcssTcInMemConverter,
-    VerificationReporter: VerificationReportingProvider,
-> {
-    pub(crate) pus_8_handler: PusService8ActionHandler<
-        TcReceiver,
+pub struct ActionServiceWrapper<TmSender: EcssTmSenderCore, TcInMemConverter: EcssTcInMemConverter>
+{
+    pub(crate) service: PusTargetedRequestService<
+        MpscTcReceiver,
         TmSender,
         TcInMemConverter,
         VerificationReporter,
-        ExampleActionRequestConverter,
-        GenericRequestRouter,
-        GenericRoutingErrorHandler<8>,
+        ActionRequestConverter,
+        ActionReplyHandler,
+        DefaultActiveActionRequestMap,
+        ActivePusActionRequestStd,
+        ActionRequest,
+        PusActionReply,
     >,
 }
 
-impl<
-        TcReceiver: EcssTcReceiverCore,
-        TmSender: EcssTmSenderCore,
-        TcInMemConverter: EcssTcInMemConverter,
-        VerificationReporter: VerificationReportingProvider,
-    > Pus8Wrapper<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>
+impl<TmSender: EcssTmSenderCore, TcInMemConverter: EcssTcInMemConverter> TargetedPusService
+    for ActionServiceWrapper<TmSender, TcInMemConverter>
 {
-    pub fn handle_next_packet(&mut self) -> bool {
-        match self.pus_8_handler.handle_one_tc() {
+    /// Returns [true] if the packet handling is finished.
+    fn poll_and_handle_next_tc(&mut self, time_stamp: &[u8]) -> bool {
+        match self.service.poll_and_handle_next_tc(time_stamp) {
             Ok(result) => match result {
                 PusPacketHandlerResult::RequestHandled => {}
                 PusPacketHandlerResult::RequestHandledPartialSuccess(e) => {
@@ -197,4 +306,414 @@ impl<
         }
         false
     }
+
+    fn poll_and_handle_next_reply(&mut self, time_stamp: &[u8]) -> bool {
+        self.service
+            .poll_and_check_next_reply(time_stamp)
+            .unwrap_or_else(|e| {
+                warn!("PUS 8: Handling reply failed with error {e:?}");
+                false
+            })
+    }
+
+    fn check_for_request_timeouts(&mut self) {
+        self.service.check_for_request_timeouts();
+    }
+}
+
+#[cfg(test)]
+mod tests {
+    use satrs::pus::test_util::{TEST_APID, TEST_COMPONENT_ID, TEST_UNIQUE_ID};
+    use satrs::pus::verification::test_util::TestVerificationReporter;
+    use satrs::request::MessageMetadata;
+    use satrs::{
+        res_code::ResultU16,
+        spacepackets::{
+            ecss::{
+                tc::{PusTcCreator, PusTcSecondaryHeader},
+                tm::PusTmReader,
+                WritablePusPacket,
+            },
+            CcsdsPacket, SpHeader,
+        },
+    };
+
+    use crate::{
+        pus::tests::{PusConverterTestbench, ReplyHandlerTestbench, TargetedPusRequestTestbench},
+        requests::CompositeRequest,
+    };
+
+    use super::*;
+
+    impl
+        TargetedPusRequestTestbench<
+            ActionRequestConverter,
+            ActionReplyHandler,
+            DefaultActiveActionRequestMap,
+            ActivePusActionRequestStd,
+            ActionRequest,
+            PusActionReply,
+        >
+    {
+        pub fn new_for_action() -> Self {
+            let _ = env_logger::builder().is_test(true).try_init();
+            let (tm_funnel_tx, tm_funnel_rx) = mpsc::channel();
+            let (pus_action_tx, pus_action_rx) = mpsc::channel();
+            let (action_reply_tx, action_reply_rx) = mpsc::channel();
+            let (action_req_tx, action_req_rx) = mpsc::channel();
+            let verif_reporter = TestVerificationReporter::default();
+            let mut generic_req_router = GenericRequestRouter::default();
+            generic_req_router
+                .composite_router_map
+                .insert(TEST_APID.into(), action_req_tx);
+            Self {
+                service: PusTargetedRequestService::new(
+                    PusServiceHelper::new(
+                        0,
+                        pus_action_rx,
+                        tm_funnel_tx.clone(),
+                        verif_reporter,
+                        EcssTcInVecConverter::default(),
+                    ),
+                    ActionRequestConverter::default(),
+                    DefaultActiveActionRequestMap::default(),
+                    ActionReplyHandler::default(),
+                    generic_req_router,
+                    action_reply_rx,
+                ),
+                pus_packet_tx: pus_action_tx,
+                tm_funnel_rx,
+                reply_tx: action_reply_tx,
+                request_rx: action_req_rx,
+            }
+        }
+
+        pub fn verify_packet_verification(&self, subservice: u8) {
+            let next_tm = self.tm_funnel_rx.try_recv().unwrap();
+            let verif_tm = PusTmReader::new(&next_tm.packet, 7).unwrap().0;
+            assert_eq!(verif_tm.apid(), TEST_APID);
+            assert_eq!(verif_tm.service(), 1);
+            assert_eq!(verif_tm.subservice(), subservice);
+        }
+
+        pub fn verify_tm_empty(&self) {
+            let packet = self.tm_funnel_rx.try_recv();
+            if let Err(mpsc::TryRecvError::Empty) = packet {
+            } else {
+                let tm = packet.unwrap();
+                let unexpected_tm = PusTmReader::new(&tm.packet, 7).unwrap().0;
+                panic!("unexpected TM packet {unexpected_tm:?}");
+            }
+        }
+
+        pub fn verify_next_tc_is_handled_properly(&mut self, time_stamp: &[u8]) {
+            let result = self.service.poll_and_handle_next_tc(time_stamp);
+            assert!(result.is_ok());
+            let result = result.unwrap();
+            match result {
+                PusPacketHandlerResult::RequestHandled => (),
+                _ => panic!("unexpected result {result:?}"),
+            }
+        }
+
+        pub fn verify_all_tcs_handled(&mut self, time_stamp: &[u8]) {
+            let result = self.service.poll_and_handle_next_tc(time_stamp);
+            assert!(result.is_ok());
+            let result = result.unwrap();
+            match result {
+                PusPacketHandlerResult::Empty => (),
+                _ => panic!("unexpected result {result:?}"),
+            }
+        }
+
+        pub fn verify_next_reply_is_handled_properly(&mut self, time_stamp: &[u8]) {
+            let result = self.service.poll_and_check_next_reply(time_stamp);
+            assert!(result.is_ok());
+            assert!(!result.unwrap());
+        }
+
+        pub fn verify_all_replies_handled(&mut self, time_stamp: &[u8]) {
+            let result = self.service.poll_and_check_next_reply(time_stamp);
+            assert!(result.is_ok());
+            assert!(result.unwrap());
+        }
+
+        pub fn add_tc(&mut self, tc: &PusTcCreator) {
+            let token = self.service.service_helper.verif_reporter_mut().add_tc(tc);
+            let accepted_token = self
+                .service
+                .service_helper
+                .verif_reporter()
+                .acceptance_success(
+                    self.service.service_helper.id(),
+                    self.service.service_helper.tm_sender(),
+                    token,
+                    &[0; 7],
+                )
+                .expect("TC acceptance failed");
+            let next_tm = self.tm_funnel_rx.try_recv().unwrap();
+            let verif_tm = PusTmReader::new(&next_tm.packet, 7).unwrap().0;
+            assert_eq!(verif_tm.apid(), TEST_APID);
+            assert_eq!(verif_tm.service(), 1);
+            assert_eq!(verif_tm.subservice(), 1);
+            if let Err(mpsc::TryRecvError::Empty) = self.tm_funnel_rx.try_recv() {
+            } else {
+                let unexpected_tm = PusTmReader::new(&next_tm.packet, 7).unwrap().0;
+                panic!("unexpected TM packet {unexpected_tm:?}");
+            }
+            self.pus_packet_tx
+                .send(EcssTcAndToken::new(tc.to_vec().unwrap(), accepted_token))
+                .unwrap();
+        }
+    }
+
+    #[test]
+    fn basic_request() {
+        let mut testbench = TargetedPusRequestTestbench::new_for_action();
+        // Create a basic action request and verify forwarding.
+        let mut sp_header = SpHeader::tc_unseg(TEST_APID, 0, 0).unwrap();
+        let sec_header = PusTcSecondaryHeader::new_simple(8, 128);
+        let action_id = 5_u32;
+        let mut app_data: [u8; 8] = [0; 8];
+        app_data[0..4].copy_from_slice(&TEST_UNIQUE_ID.to_be_bytes());
+        app_data[4..8].copy_from_slice(&action_id.to_be_bytes());
+        let pus8_packet = PusTcCreator::new(&mut sp_header, sec_header, &app_data, true);
+        testbench.add_tc(&pus8_packet);
+        let time_stamp: [u8; 7] = [0; 7];
+        testbench.verify_next_tc_is_handled_properly(&time_stamp);
+        testbench.verify_all_tcs_handled(&time_stamp);
+
+        testbench.verify_packet_verification(3);
+
+        let possible_req = testbench.request_rx.try_recv();
+        assert!(possible_req.is_ok());
+        let req = possible_req.unwrap();
+        if let CompositeRequest::Action(action_req) = req.message {
+            assert_eq!(action_req.action_id, action_id);
+            assert_eq!(action_req.variant, ActionRequestVariant::NoData);
+            let action_reply = PusActionReply::new(action_id, ActionReplyVariant::Completed);
+            testbench
+                .reply_tx
+                .send(GenericMessage::new(req.requestor_info, action_reply))
+                .unwrap();
+        } else {
+            panic!("unexpected request type");
+        }
+        testbench.verify_next_reply_is_handled_properly(&time_stamp);
+        testbench.verify_all_replies_handled(&time_stamp);
+
+        testbench.verify_packet_verification(7);
+        testbench.verify_tm_empty();
+    }
+
+    #[test]
+    fn basic_request_routing_error() {
+        let mut testbench = TargetedPusRequestTestbench::new_for_action();
+        // Create a basic action request and verify forwarding.
+        let mut sp_header = SpHeader::tc_unseg(TEST_APID, 0, 0).unwrap();
+        let sec_header = PusTcSecondaryHeader::new_simple(8, 128);
+        let action_id = 5_u32;
+        let mut app_data: [u8; 8] = [0; 8];
+        // Invalid ID, routing should fail.
+        app_data[0..4].copy_from_slice(&(TEST_UNIQUE_ID + 1).to_be_bytes());
+        app_data[4..8].copy_from_slice(&action_id.to_be_bytes());
+        let pus8_packet = PusTcCreator::new(&mut sp_header, sec_header, &app_data, true);
+        testbench.add_tc(&pus8_packet);
+        let time_stamp: [u8; 7] = [0; 7];
+
+        let result = testbench.service.poll_and_handle_next_tc(&time_stamp);
+        assert!(result.is_err());
+        // Verify the correct result and completion failure.
+    }
+
+    #[test]
+    fn converter_action_req_no_data() {
+        let mut testbench = PusConverterTestbench::new(ActionRequestConverter::default());
+        let mut sp_header = SpHeader::tc_unseg(TEST_APID, 0, 0).unwrap();
+        let sec_header = PusTcSecondaryHeader::new_simple(8, 128);
+        let action_id = 5_u32;
+        let mut app_data: [u8; 8] = [0; 8];
+        // Invalid ID, routing should fail.
+        app_data[0..4].copy_from_slice(&TEST_UNIQUE_ID.to_be_bytes());
+        app_data[4..8].copy_from_slice(&action_id.to_be_bytes());
+        let pus8_packet = PusTcCreator::new(&mut sp_header, sec_header, &app_data, true);
+        let token = testbench.add_tc(&pus8_packet);
+        let result = testbench.convert(token, &[], TEST_APID, TEST_UNIQUE_ID);
+        assert!(result.is_ok());
+        let (active_req, request) = result.unwrap();
+        if let ActionRequestVariant::NoData = request.variant {
+            assert_eq!(request.action_id, action_id);
+            assert_eq!(active_req.action_id, action_id);
+            assert_eq!(
+                active_req.target_id(),
+                UniqueApidTargetId::new(TEST_APID, TEST_UNIQUE_ID).raw()
+            );
+            assert_eq!(
+                active_req.token().request_id(),
+                testbench.request_id().unwrap()
+            );
+        } else {
+            panic!("unexpected action request variant");
+        }
+    }
+
+    #[test]
+    fn converter_action_req_with_data() {
+        let mut testbench = PusConverterTestbench::new(ActionRequestConverter::default());
+        let mut sp_header = SpHeader::tc_unseg(TEST_APID, 0, 0).unwrap();
+        let sec_header = PusTcSecondaryHeader::new_simple(8, 128);
+        let action_id = 5_u32;
+        let mut app_data: [u8; 16] = [0; 16];
+        // Invalid ID, routing should fail.
+        app_data[0..4].copy_from_slice(&TEST_UNIQUE_ID.to_be_bytes());
+        app_data[4..8].copy_from_slice(&action_id.to_be_bytes());
+        for i in 0..8 {
+            app_data[i + 8] = i as u8;
+        }
+        let pus8_packet = PusTcCreator::new(&mut sp_header, sec_header, &app_data, true);
+        let token = testbench.add_tc(&pus8_packet);
+        let result = testbench.convert(token, &[], TEST_APID, TEST_UNIQUE_ID);
+        assert!(result.is_ok());
+        let (active_req, request) = result.unwrap();
+        if let ActionRequestVariant::VecData(vec) = request.variant {
+            assert_eq!(request.action_id, action_id);
+            assert_eq!(active_req.action_id, action_id);
+            assert_eq!(vec, app_data[8..].to_vec());
+        } else {
+            panic!("unexpected action request variant");
+        }
+    }
+
+    #[test]
+    fn reply_handling_completion_success() {
+        let mut testbench = ReplyHandlerTestbench::new(ActionReplyHandler::default());
+        let action_id = 5_u32;
+        let (req_id, active_req) = testbench.add_tc(TEST_APID, TEST_UNIQUE_ID, &[]);
+        let active_action_req =
+            ActivePusActionRequestStd::new_from_common_req(action_id, active_req);
+        let reply = PusActionReply::new(action_id, ActionReplyVariant::Completed);
+        let generic_reply = GenericMessage::new(MessageMetadata::new(req_id.into(), 0), reply);
+        let result = testbench.handle_reply(&generic_reply, &active_action_req, &[]);
+        assert!(result.is_ok());
+        assert!(result.unwrap());
+        testbench.verif_reporter.assert_full_completion_success(
+            TEST_COMPONENT_ID.raw(),
+            req_id,
+            None,
+        );
+    }
+
+    #[test]
+    fn reply_handling_completion_failure() {
+        let mut testbench = ReplyHandlerTestbench::new(ActionReplyHandler::default());
+        let action_id = 5_u32;
+        let (req_id, active_req) = testbench.add_tc(TEST_APID, TEST_UNIQUE_ID, &[]);
+        let active_action_req =
+            ActivePusActionRequestStd::new_from_common_req(action_id, active_req);
+        let error_code = ResultU16::new(2, 3);
+        let reply = PusActionReply::new(
+            action_id,
+            ActionReplyVariant::CompletionFailed {
+                error_code,
+                params: None,
+            },
+        );
+        let generic_reply = GenericMessage::new(MessageMetadata::new(req_id.into(), 0), reply);
+        let result = testbench.handle_reply(&generic_reply, &active_action_req, &[]);
+        assert!(result.is_ok());
+        assert!(result.unwrap());
+        testbench.verif_reporter.assert_completion_failure(
+            TEST_COMPONENT_ID.into(),
+            req_id,
+            None,
+            error_code.raw() as u64,
+        );
+    }
+
+    #[test]
+    fn reply_handling_step_success() {
+        let mut testbench = ReplyHandlerTestbench::new(ActionReplyHandler::default());
+        let action_id = 5_u32;
+        let (req_id, active_req) = testbench.add_tc(TEST_APID, TEST_UNIQUE_ID, &[]);
+        let active_action_req =
+            ActivePusActionRequestStd::new_from_common_req(action_id, active_req);
+        let reply = PusActionReply::new(action_id, ActionReplyVariant::StepSuccess { step: 1 });
+        let generic_reply = GenericMessage::new(MessageMetadata::new(req_id.into(), 0), reply);
+        let result = testbench.handle_reply(&generic_reply, &active_action_req, &[]);
+        assert!(result.is_ok());
+        // Entry should not be removed, completion not done yet.
+        assert!(!result.unwrap());
+        testbench.verif_reporter.check_next_was_added(req_id);
+        testbench
+            .verif_reporter
+            .check_next_is_acceptance_success(TEST_COMPONENT_ID.raw(), req_id);
+        testbench
+            .verif_reporter
+            .check_next_is_started_success(TEST_COMPONENT_ID.raw(), req_id);
+        testbench
+            .verif_reporter
+            .check_next_is_step_success(TEST_COMPONENT_ID.raw(), req_id, 1);
+    }
+
+    #[test]
+    fn reply_handling_step_failure() {
+        let mut testbench = ReplyHandlerTestbench::new(ActionReplyHandler::default());
+        let action_id = 5_u32;
+        let (req_id, active_req) = testbench.add_tc(TEST_APID, TEST_UNIQUE_ID, &[]);
+        let active_action_req =
+            ActivePusActionRequestStd::new_from_common_req(action_id, active_req);
+        let error_code = ResultU16::new(2, 3);
+        let reply = PusActionReply::new(
+            action_id,
+            ActionReplyVariant::StepFailed {
+                error_code,
+                step: 1,
+                params: None,
+            },
+        );
+        let generic_reply = GenericMessage::new(MessageMetadata::new(req_id.into(), 0), reply);
+        let result = testbench.handle_reply(&generic_reply, &active_action_req, &[]);
+        assert!(result.is_ok());
+        assert!(result.unwrap());
+        testbench.verif_reporter.check_next_was_added(req_id);
+        testbench
+            .verif_reporter
+            .check_next_is_acceptance_success(TEST_COMPONENT_ID.raw(), req_id);
+        testbench
+            .verif_reporter
+            .check_next_is_started_success(TEST_COMPONENT_ID.raw(), req_id);
+        testbench
+            .verif_reporter
+            .check_next_is_step_success(TEST_COMPONENT_ID.raw(), req_id, 1);
+    }
+
+    #[test]
+    fn reply_handling_unrequested_reply() {
+        let mut testbench = ReplyHandlerTestbench::new(ActionReplyHandler::default());
+        let action_reply = PusActionReply::new(5_u32, ActionReplyVariant::Completed);
+        let unrequested_reply =
+            GenericMessage::new(MessageMetadata::new(10_u32, 15_u64), action_reply);
+        // Right now this function does not do a lot. We simply check that it does not panic or do
+        // weird stuff.
+        let result = testbench.handle_unrequested_reply(&unrequested_reply);
+        assert!(result.is_ok());
+    }
+
+    #[test]
+    fn reply_handling_reply_timeout() {
+        let mut testbench = ReplyHandlerTestbench::new(ActionReplyHandler::default());
+        let action_id = 5_u32;
+        let (req_id, active_request) = testbench.add_tc(TEST_APID, TEST_UNIQUE_ID, &[]);
+        let result = testbench.handle_request_timeout(
+            &ActivePusActionRequestStd::new_from_common_req(action_id, active_request),
+            &[],
+        );
+        assert!(result.is_ok());
+        testbench.verif_reporter.assert_completion_failure(
+            TEST_COMPONENT_ID.raw(),
+            req_id,
+            None,
+            tmtc_err::REQUEST_TIMEOUT.raw() as u64,
+        );
+    }
 }

satrs-example/src/pus/event.rs

@@ -1,113 +1,69 @@
 use std::sync::mpsc;
 
+use crate::pus::create_verification_reporter;
 use log::{error, warn};
-use satrs::pool::{SharedStaticMemoryPool, StoreAddr};
+use satrs::pool::SharedStaticMemoryPool;
 use satrs::pus::event_man::EventRequestWithToken;
-use satrs::pus::event_srv::PusService5EventHandler;
-use satrs::pus::verification::std_mod::{
-    VerificationReporterWithSharedPoolMpscBoundedSender, VerificationReporterWithVecMpscSender,
-};
-use satrs::pus::verification::VerificationReportingProvider;
+use satrs::pus::event_srv::PusEventServiceHandler;
+use satrs::pus::verification::VerificationReporter;
 use satrs::pus::{
     EcssTcAndToken, EcssTcInMemConverter, EcssTcInSharedStoreConverter, EcssTcInVecConverter,
-    EcssTcReceiverCore, EcssTmSenderCore, MpscTcReceiver, PusPacketHandlerResult, PusServiceHelper,
-    TmAsVecSenderWithId, TmAsVecSenderWithMpsc, TmInSharedPoolSenderWithBoundedMpsc,
-    TmInSharedPoolSenderWithId,
+    EcssTmSenderCore, MpscTcReceiver, MpscTmAsVecSender, MpscTmInSharedPoolSenderBounded,
+    PusPacketHandlerResult, PusServiceHelper, PusTmAsVec, PusTmInPool, TmInSharedPoolSender,
 };
-use satrs::tmtc::tm_helper::SharedTmPool;
-use satrs::ChannelId;
-use satrs_example::config::{TcReceiverId, TmSenderId, PUS_APID};
+use satrs_example::config::components::PUS_EVENT_MANAGEMENT;
 
 pub fn create_event_service_static(
-    shared_tm_store: SharedTmPool,
-    tm_funnel_tx: mpsc::SyncSender<StoreAddr>,
-    verif_reporter: VerificationReporterWithSharedPoolMpscBoundedSender,
+    tm_sender: TmInSharedPoolSender<mpsc::SyncSender<PusTmInPool>>,
     tc_pool: SharedStaticMemoryPool,
     pus_event_rx: mpsc::Receiver<EcssTcAndToken>,
     event_request_tx: mpsc::Sender<EventRequestWithToken>,
-) -> Pus5Wrapper<
-    MpscTcReceiver,
-    TmInSharedPoolSenderWithBoundedMpsc,
-    EcssTcInSharedStoreConverter,
-    VerificationReporterWithSharedPoolMpscBoundedSender,
-> {
-    let event_srv_tm_sender = TmInSharedPoolSenderWithId::new(
-        TmSenderId::PusEvent as ChannelId,
-        "PUS_5_TM_SENDER",
-        shared_tm_store.clone(),
-        tm_funnel_tx.clone(),
-    );
-    let event_srv_receiver = MpscTcReceiver::new(
-        TcReceiverId::PusEvent as ChannelId,
-        "PUS_5_TC_RECV",
-        pus_event_rx,
-    );
-    let pus_5_handler = PusService5EventHandler::new(
+) -> EventServiceWrapper<MpscTmInSharedPoolSenderBounded, EcssTcInSharedStoreConverter> {
+    let pus_5_handler = PusEventServiceHandler::new(
         PusServiceHelper::new(
-            event_srv_receiver,
-            event_srv_tm_sender,
-            PUS_APID,
-            verif_reporter.clone(),
+            PUS_EVENT_MANAGEMENT.raw(),
+            pus_event_rx,
+            tm_sender,
+            create_verification_reporter(PUS_EVENT_MANAGEMENT.apid),
             EcssTcInSharedStoreConverter::new(tc_pool.clone(), 2048),
         ),
         event_request_tx,
     );
-    Pus5Wrapper { pus_5_handler }
+    EventServiceWrapper {
+        handler: pus_5_handler,
+    }
 }
 
 pub fn create_event_service_dynamic(
-    tm_funnel_tx: mpsc::Sender<Vec<u8>>,
-    verif_reporter: VerificationReporterWithVecMpscSender,
+    tm_funnel_tx: mpsc::Sender<PusTmAsVec>,
     pus_event_rx: mpsc::Receiver<EcssTcAndToken>,
     event_request_tx: mpsc::Sender<EventRequestWithToken>,
-) -> Pus5Wrapper<
-    MpscTcReceiver,
-    TmAsVecSenderWithMpsc,
-    EcssTcInVecConverter,
-    VerificationReporterWithVecMpscSender,
-> {
-    let event_srv_tm_sender = TmAsVecSenderWithId::new(
-        TmSenderId::PusEvent as ChannelId,
-        "PUS_5_TM_SENDER",
-        tm_funnel_tx,
-    );
-    let event_srv_receiver = MpscTcReceiver::new(
-        TcReceiverId::PusEvent as ChannelId,
-        "PUS_5_TC_RECV",
-        pus_event_rx,
-    );
-    let pus_5_handler = PusService5EventHandler::new(
+) -> EventServiceWrapper<MpscTmAsVecSender, EcssTcInVecConverter> {
+    let pus_5_handler = PusEventServiceHandler::new(
         PusServiceHelper::new(
-            event_srv_receiver,
-            event_srv_tm_sender,
-            PUS_APID,
-            verif_reporter.clone(),
+            PUS_EVENT_MANAGEMENT.raw(),
+            pus_event_rx,
+            tm_funnel_tx,
+            create_verification_reporter(PUS_EVENT_MANAGEMENT.apid),
             EcssTcInVecConverter::default(),
         ),
         event_request_tx,
     );
-    Pus5Wrapper { pus_5_handler }
+    EventServiceWrapper {
+        handler: pus_5_handler,
+    }
 }
 
-pub struct Pus5Wrapper<
-    TcReceiver: EcssTcReceiverCore,
-    TmSender: EcssTmSenderCore,
-    TcInMemConverter: EcssTcInMemConverter,
-    VerificationReporter: VerificationReportingProvider,
-> {
-    pub pus_5_handler:
-        PusService5EventHandler<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>,
+pub struct EventServiceWrapper<TmSender: EcssTmSenderCore, TcInMemConverter: EcssTcInMemConverter> {
+    pub handler:
+        PusEventServiceHandler<MpscTcReceiver, TmSender, TcInMemConverter, VerificationReporter>,
 }
 
-impl<
-        TcReceiver: EcssTcReceiverCore,
-        TmSender: EcssTmSenderCore,
-        TcInMemConverter: EcssTcInMemConverter,
-        VerificationReporter: VerificationReportingProvider,
-    > Pus5Wrapper<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>
+impl<TmSender: EcssTmSenderCore, TcInMemConverter: EcssTcInMemConverter>
+    EventServiceWrapper<TmSender, TcInMemConverter>
 {
-    pub fn handle_next_packet(&mut self) -> bool {
-        match self.pus_5_handler.handle_one_tc() {
+    pub fn poll_and_handle_next_tc(&mut self, time_stamp: &[u8]) -> bool {
+        match self.handler.poll_and_handle_next_tc(time_stamp) {
             Ok(result) => match result {
                 PusPacketHandlerResult::RequestHandled => {}
                 PusPacketHandlerResult::RequestHandledPartialSuccess(e) => {

satrs-example/src/pus/hk.rs

@@ -1,50 +1,134 @@
+use derive_new::new;
 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::hk::{CollectionIntervalFactor, HkRequest, HkRequestVariant, UniqueId};
+use satrs::pool::SharedStaticMemoryPool;
 use satrs::pus::verification::{
-    FailParams, TcStateAccepted, VerificationReportingProvider, VerificationToken,
+    FailParams, TcStateAccepted, TcStateStarted, VerificationReporter,
+    VerificationReportingProvider, VerificationToken,
 };
 use satrs::pus::{
-    EcssTcAndToken, EcssTcInMemConverter, EcssTcInSharedStoreConverter, EcssTcInVecConverter,
-    EcssTcReceiverCore, EcssTmSenderCore, MpscTcReceiver, PusPacketHandlerResult,
-    PusPacketHandlingError, PusServiceHelper, TmAsVecSenderWithId, TmAsVecSenderWithMpsc,
-    TmInSharedPoolSenderWithBoundedMpsc, TmInSharedPoolSenderWithId,
+    ActivePusRequestStd, ActiveRequestProvider, DefaultActiveRequestMap, EcssTcAndToken,
+    EcssTcInMemConverter, EcssTcInSharedStoreConverter, EcssTcInVecConverter, EcssTmSenderCore,
+    EcssTmtcError, GenericConversionError, MpscTcReceiver, MpscTmAsVecSender,
+    MpscTmInSharedPoolSenderBounded, PusPacketHandlerResult, PusReplyHandler, PusServiceHelper,
+    PusTcToRequestConverter, PusTmAsVec, PusTmInPool, TmInSharedPoolSender,
 };
-use satrs::request::TargetAndApidId;
+use satrs::request::{GenericMessage, UniqueApidTargetId};
 use satrs::spacepackets::ecss::tc::PusTcReader;
 use satrs::spacepackets::ecss::{hk, PusPacket};
-use satrs::tmtc::tm_helper::SharedTmPool;
-use satrs::{ChannelId, TargetId};
-use satrs_example::config::{hk_err, tmtc_err, TcReceiverId, TmSenderId, PUS_APID};
-use std::sync::mpsc::{self};
+use satrs::ComponentId;
+use satrs_example::config::components::PUS_HK_SERVICE;
+use satrs_example::config::{hk_err, tmtc_err};
+use std::sync::mpsc;
+use std::time::Duration;
 
+use crate::pus::{create_verification_reporter, generic_pus_request_timeout_handler};
 use crate::requests::GenericRequestRouter;
 
-use super::GenericRoutingErrorHandler;
+use super::PusTargetedRequestService;
+
+#[derive(Clone, PartialEq, Debug, new)]
+pub struct HkReply {
+    pub unique_id: UniqueId,
+    pub variant: HkReplyVariant,
+}
+
+#[derive(Clone, PartialEq, Debug)]
+pub enum HkReplyVariant {
+    Ack,
+}
 
 #[derive(Default)]
-pub struct ExampleHkRequestConverter {}
+pub struct HkReplyHandler {}
 
-impl PusHkToRequestConverter for ExampleHkRequestConverter {
-    type Error = PusPacketHandlingError;
+impl PusReplyHandler<ActivePusRequestStd, HkReply> for HkReplyHandler {
+    type Error = EcssTmtcError;
+
+    fn handle_unrequested_reply(
+        &mut self,
+        _caller_id: ComponentId,
+        reply: &GenericMessage<HkReply>,
+        _tm_sender: &impl EcssTmSenderCore,
+    ) -> Result<(), Self::Error> {
+        log::warn!("received unexpected reply for service 3: {reply:?}");
+        Ok(())
+    }
+
+    fn handle_reply(
+        &mut self,
+        caller_id: ComponentId,
+        reply: &GenericMessage<HkReply>,
+        active_request: &ActivePusRequestStd,
+        tm_sender: &impl EcssTmSenderCore,
+        verification_handler: &impl VerificationReportingProvider,
+        time_stamp: &[u8],
+    ) -> Result<bool, Self::Error> {
+        let started_token: VerificationToken<TcStateStarted> = active_request
+            .token()
+            .try_into()
+            .expect("invalid token state");
+        match reply.message.variant {
+            HkReplyVariant::Ack => {
+                verification_handler
+                    .completion_success(caller_id, tm_sender, started_token, time_stamp)
+                    .expect("sending completion success verification failed");
+            }
+        };
+        Ok(true)
+    }
+
+    fn handle_request_timeout(
+        &mut self,
+        caller_id: ComponentId,
+        active_request: &ActivePusRequestStd,
+        tm_sender: &impl EcssTmSenderCore,
+        verification_handler: &impl VerificationReportingProvider,
+        time_stamp: &[u8],
+    ) -> Result<(), Self::Error> {
+        generic_pus_request_timeout_handler(
+            caller_id,
+            tm_sender,
+            active_request,
+            verification_handler,
+            time_stamp,
+            "HK",
+        )?;
+        Ok(())
+    }
+}
+
+pub struct HkRequestConverter {
+    timeout: Duration,
+}
+
+impl Default for HkRequestConverter {
+    fn default() -> Self {
+        Self {
+            timeout: Duration::from_secs(60),
+        }
+    }
+}
+
+impl PusTcToRequestConverter<ActivePusRequestStd, HkRequest> for HkRequestConverter {
+    type Error = GenericConversionError;
 
     fn convert(
         &mut self,
+        caller_id: ComponentId,
         token: VerificationToken<TcStateAccepted>,
         tc: &PusTcReader,
-        time_stamp: &[u8],
+        tm_sender: &(impl EcssTmSenderCore + ?Sized),
         verif_reporter: &impl VerificationReportingProvider,
-    ) -> Result<(TargetId, HkRequest), Self::Error> {
+        time_stamp: &[u8],
+    ) -> Result<(ActivePusRequestStd, HkRequest), Self::Error> {
         let user_data = tc.user_data();
         if user_data.is_empty() {
             let user_data_len = user_data.len() as u32;
             let user_data_len_raw = user_data_len.to_be_bytes();
             verif_reporter
                 .start_failure(
+                    caller_id,
+                    tm_sender,
                     token,
                     FailParams::new(
                         time_stamp,
@@ -53,7 +137,7 @@ impl PusHkToRequestConverter for ExampleHkRequestConverter {
                     ),
                 )
                 .expect("Sending start failure TM failed");
-            return Err(PusPacketHandlingError::NotEnoughAppData {
+            return Err(GenericConversionError::NotEnoughAppData {
                 expected: 4,
                 found: 0,
             });
@@ -67,46 +151,53 @@ impl PusHkToRequestConverter for ExampleHkRequestConverter {
             let user_data_len = user_data.len() as u32;
             let user_data_len_raw = user_data_len.to_be_bytes();
             verif_reporter
-                .start_failure(token, FailParams::new(time_stamp, err, &user_data_len_raw))
+                .start_failure(
+                    caller_id,
+                    tm_sender,
+                    token,
+                    FailParams::new(time_stamp, err, &user_data_len_raw),
+                )
                 .expect("Sending start failure TM failed");
-            return Err(PusPacketHandlingError::NotEnoughAppData {
+            return Err(GenericConversionError::NotEnoughAppData {
                 expected: 8,
                 found: 4,
             });
         }
         let subservice = tc.subservice();
-        let target_id = TargetAndApidId::from_pus_tc(tc).expect("invalid tc format");
+        let target_id_and_apid = UniqueApidTargetId::from_pus_tc(tc).expect("invalid tc format");
         let unique_id = u32::from_be_bytes(tc.user_data()[4..8].try_into().unwrap());
 
         let standard_subservice = hk::Subservice::try_from(subservice);
         if standard_subservice.is_err() {
             verif_reporter
                 .start_failure(
+                    caller_id,
+                    tm_sender,
                     token,
                     FailParams::new(time_stamp, &tmtc_err::INVALID_PUS_SUBSERVICE, &[subservice]),
                 )
                 .expect("Sending start failure TM failed");
-            return Err(PusPacketHandlingError::InvalidSubservice(subservice));
+            return Err(GenericConversionError::InvalidSubservice(subservice));
         }
-        Ok((
-            target_id.into(),
-            match standard_subservice.unwrap() {
+        let request = match standard_subservice.unwrap() {
             hk::Subservice::TcEnableHkGeneration | hk::Subservice::TcEnableDiagGeneration => {
-                    HkRequest::Enable(unique_id)
+                HkRequest::new(unique_id, HkRequestVariant::EnablePeriodic)
             }
             hk::Subservice::TcDisableHkGeneration | hk::Subservice::TcDisableDiagGeneration => {
-                    HkRequest::Disable(unique_id)
+                HkRequest::new(unique_id, HkRequestVariant::DisablePeriodic)
             }
             hk::Subservice::TcReportHkReportStructures => todo!(),
             hk::Subservice::TmHkPacket => todo!(),
             hk::Subservice::TcGenerateOneShotHk | hk::Subservice::TcGenerateOneShotDiag => {
-                    HkRequest::OneShot(unique_id)
+                HkRequest::new(unique_id, HkRequestVariant::OneShot)
             }
             hk::Subservice::TcModifyDiagCollectionInterval
             | hk::Subservice::TcModifyHkCollectionInterval => {
                 if user_data.len() < 12 {
                     verif_reporter
                         .start_failure(
+                            caller_id,
+                            tm_sender,
                             token,
                             FailParams::new_no_fail_data(
                                 time_stamp,
@@ -114,21 +205,25 @@ impl PusHkToRequestConverter for ExampleHkRequestConverter {
                             ),
                         )
                         .expect("Sending start failure TM failed");
-                        return Err(PusPacketHandlingError::NotEnoughAppData {
+                    return Err(GenericConversionError::NotEnoughAppData {
                         expected: 12,
                         found: user_data.len(),
                     });
                 }
-                    HkRequest::ModifyCollectionInterval(
+                HkRequest::new(
                     unique_id,
+                    HkRequestVariant::ModifyCollectionInterval(
                         CollectionIntervalFactor::from_be_bytes(
                             user_data[8..12].try_into().unwrap(),
                         ),
+                    ),
                 )
             }
             _ => {
                 verif_reporter
                     .start_failure(
+                        caller_id,
+                        tm_sender,
                         token,
                         FailParams::new(
                             time_stamp,
@@ -137,108 +232,87 @@ impl PusHkToRequestConverter for ExampleHkRequestConverter {
                         ),
                     )
                     .expect("Sending start failure TM failed");
-                    return Err(PusPacketHandlingError::InvalidSubservice(subservice));
+                return Err(GenericConversionError::InvalidSubservice(subservice));
             }
-            },
+        };
+        Ok((
+            ActivePusRequestStd::new(target_id_and_apid.into(), token, self.timeout),
+            request,
         ))
     }
 }
 
 pub fn create_hk_service_static(
-    shared_tm_store: SharedTmPool,
-    tm_funnel_tx: mpsc::SyncSender<StoreAddr>,
-    verif_reporter: VerificationReporterWithSharedPoolMpscBoundedSender,
+    tm_sender: TmInSharedPoolSender<mpsc::SyncSender<PusTmInPool>>,
     tc_pool: SharedStaticMemoryPool,
     pus_hk_rx: mpsc::Receiver<EcssTcAndToken>,
     request_router: GenericRequestRouter,
-) -> Pus3Wrapper<
-    MpscTcReceiver,
-    TmInSharedPoolSenderWithBoundedMpsc,
-    EcssTcInSharedStoreConverter,
-    VerificationReporterWithSharedPoolMpscBoundedSender,
-> {
-    let hk_srv_tm_sender = TmInSharedPoolSenderWithId::new(
-        TmSenderId::PusHk as ChannelId,
-        "PUS_3_TM_SENDER",
-        shared_tm_store.clone(),
-        tm_funnel_tx.clone(),
-    );
-    let hk_srv_receiver =
-        MpscTcReceiver::new(TcReceiverId::PusHk as ChannelId, "PUS_8_TC_RECV", pus_hk_rx);
-    let pus_3_handler = PusService3HkHandler::new(
+    reply_receiver: mpsc::Receiver<GenericMessage<HkReply>>,
+) -> HkServiceWrapper<MpscTmInSharedPoolSenderBounded, EcssTcInSharedStoreConverter> {
+    let pus_3_handler = PusTargetedRequestService::new(
         PusServiceHelper::new(
-            hk_srv_receiver,
-            hk_srv_tm_sender,
-            PUS_APID,
-            verif_reporter.clone(),
+            PUS_HK_SERVICE.raw(),
+            pus_hk_rx,
+            tm_sender,
+            create_verification_reporter(PUS_HK_SERVICE.apid),
             EcssTcInSharedStoreConverter::new(tc_pool, 2048),
         ),
-        ExampleHkRequestConverter::default(),
+        HkRequestConverter::default(),
+        DefaultActiveRequestMap::default(),
+        HkReplyHandler::default(),
         request_router,
-        GenericRoutingErrorHandler::default(),
+        reply_receiver,
     );
-    Pus3Wrapper { pus_3_handler }
+    HkServiceWrapper {
+        service: pus_3_handler,
+    }
 }
 
 pub fn create_hk_service_dynamic(
-    tm_funnel_tx: mpsc::Sender<Vec<u8>>,
-    verif_reporter: VerificationReporterWithVecMpscSender,
+    tm_funnel_tx: mpsc::Sender<PusTmAsVec>,
     pus_hk_rx: mpsc::Receiver<EcssTcAndToken>,
     request_router: GenericRequestRouter,
-) -> Pus3Wrapper<
-    MpscTcReceiver,
-    TmAsVecSenderWithMpsc,
-    EcssTcInVecConverter,
-    VerificationReporterWithVecMpscSender,
-> {
-    let hk_srv_tm_sender = TmAsVecSenderWithId::new(
-        TmSenderId::PusHk as ChannelId,
-        "PUS_3_TM_SENDER",
-        tm_funnel_tx.clone(),
-    );
-    let hk_srv_receiver =
-        MpscTcReceiver::new(TcReceiverId::PusHk as ChannelId, "PUS_8_TC_RECV", pus_hk_rx);
-    let pus_3_handler = PusService3HkHandler::new(
+    reply_receiver: mpsc::Receiver<GenericMessage<HkReply>>,
+) -> HkServiceWrapper<MpscTmAsVecSender, EcssTcInVecConverter> {
+    let pus_3_handler = PusTargetedRequestService::new(
         PusServiceHelper::new(
-            hk_srv_receiver,
-            hk_srv_tm_sender,
-            PUS_APID,
-            verif_reporter.clone(),
+            PUS_HK_SERVICE.raw(),
+            pus_hk_rx,
+            tm_funnel_tx,
+            create_verification_reporter(PUS_HK_SERVICE.apid),
             EcssTcInVecConverter::default(),
         ),
-        ExampleHkRequestConverter::default(),
+        HkRequestConverter::default(),
+        DefaultActiveRequestMap::default(),
+        HkReplyHandler::default(),
         request_router,
-        GenericRoutingErrorHandler::default(),
+        reply_receiver,
     );
-    Pus3Wrapper { pus_3_handler }
+    HkServiceWrapper {
+        service: pus_3_handler,
+    }
 }
 
-pub struct Pus3Wrapper<
-    TcReceiver: EcssTcReceiverCore,
-    TmSender: EcssTmSenderCore,
-    TcInMemConverter: EcssTcInMemConverter,
-    VerificationReporter: VerificationReportingProvider,
-> {
-    pub(crate) pus_3_handler: PusService3HkHandler<
-        TcReceiver,
+pub struct HkServiceWrapper<TmSender: EcssTmSenderCore, TcInMemConverter: EcssTcInMemConverter> {
+    pub(crate) service: PusTargetedRequestService<
+        MpscTcReceiver,
         TmSender,
         TcInMemConverter,
         VerificationReporter,
-        ExampleHkRequestConverter,
-        GenericRequestRouter,
-        GenericRoutingErrorHandler<3>,
+        HkRequestConverter,
+        HkReplyHandler,
+        DefaultActiveRequestMap<ActivePusRequestStd>,
+        ActivePusRequestStd,
+        HkRequest,
+        HkReply,
     >,
 }
 
-impl<
-        TcReceiver: EcssTcReceiverCore,
-        TmSender: EcssTmSenderCore,
-        TcInMemConverter: EcssTcInMemConverter,
-        VerificationReporter: VerificationReportingProvider,
-    > Pus3Wrapper<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>
+impl<TmSender: EcssTmSenderCore, TcInMemConverter: EcssTcInMemConverter>
+    HkServiceWrapper<TmSender, TcInMemConverter>
 {
-    pub fn handle_next_packet(&mut self) -> bool {
-        match self.pus_3_handler.handle_one_tc() {
+    pub fn poll_and_handle_next_tc(&mut self, time_stamp: &[u8]) -> bool {
+        match self.service.poll_and_handle_next_tc(time_stamp) {
             Ok(result) => match result {
                 PusPacketHandlerResult::RequestHandled => {}
                 PusPacketHandlerResult::RequestHandledPartialSuccess(e) => {
@@ -260,4 +334,232 @@ impl<
         }
         false
     }
+
+    pub fn poll_and_handle_next_reply(&mut self, time_stamp: &[u8]) -> bool {
+        self.service
+            .poll_and_check_next_reply(time_stamp)
+            .unwrap_or_else(|e| {
+                warn!("PUS 3: Handling reply failed with error {e:?}");
+                false
+            })
+    }
+
+    pub fn check_for_request_timeouts(&mut self) {
+        self.service.check_for_request_timeouts();
+    }
+}
+
+#[cfg(test)]
+mod tests {
+    use satrs::pus::test_util::{TEST_COMPONENT_ID, TEST_UNIQUE_ID};
+    use satrs::request::MessageMetadata;
+    use satrs::{
+        hk::HkRequestVariant,
+        pus::test_util::TEST_APID,
+        request::GenericMessage,
+        spacepackets::{
+            ecss::{hk::Subservice, tc::PusTcCreator},
+            SpHeader,
+        },
+    };
+    use satrs_example::config::tmtc_err;
+
+    use crate::pus::{
+        hk::HkReplyVariant,
+        tests::{PusConverterTestbench, ReplyHandlerTestbench},
+    };
+
+    use super::{HkReply, HkReplyHandler, HkRequestConverter};
+
+    #[test]
+    fn hk_converter_one_shot_req() {
+        let mut hk_bench = PusConverterTestbench::new(HkRequestConverter::default());
+        let mut sp_header = SpHeader::tc_unseg(TEST_APID, 0, 0).unwrap();
+        let target_id = TEST_UNIQUE_ID;
+        let unique_id = 5_u32;
+        let mut app_data: [u8; 8] = [0; 8];
+        app_data[0..4].copy_from_slice(&target_id.to_be_bytes());
+        app_data[4..8].copy_from_slice(&unique_id.to_be_bytes());
+
+        let hk_req = PusTcCreator::new_simple(
+            &mut sp_header,
+            3,
+            Subservice::TcGenerateOneShotHk as u8,
+            Some(&app_data),
+            true,
+        );
+        let accepted_token = hk_bench.add_tc(&hk_req);
+        let (_active_req, req) = hk_bench
+            .convert(accepted_token, &[], TEST_APID, TEST_UNIQUE_ID)
+            .expect("conversion failed");
+
+        assert_eq!(req.unique_id, unique_id);
+        if let HkRequestVariant::OneShot = req.variant {
+        } else {
+            panic!("unexpected HK request")
+        }
+    }
+
+    #[test]
+    fn hk_converter_enable_periodic_generation() {
+        let mut hk_bench = PusConverterTestbench::new(HkRequestConverter::default());
+        let mut sp_header = SpHeader::tc_unseg(TEST_APID, 0, 0).unwrap();
+        let target_id = TEST_UNIQUE_ID;
+        let unique_id = 5_u32;
+        let mut app_data: [u8; 8] = [0; 8];
+        app_data[0..4].copy_from_slice(&target_id.to_be_bytes());
+        app_data[4..8].copy_from_slice(&unique_id.to_be_bytes());
+        let mut generic_check = |tc: &PusTcCreator| {
+            let accepted_token = hk_bench.add_tc(tc);
+            let (_active_req, req) = hk_bench
+                .convert(accepted_token, &[], TEST_APID, TEST_UNIQUE_ID)
+                .expect("conversion failed");
+            assert_eq!(req.unique_id, unique_id);
+            if let HkRequestVariant::EnablePeriodic = req.variant {
+            } else {
+                panic!("unexpected HK request")
+            }
+        };
+        let tc0 = PusTcCreator::new_simple(
+            &mut sp_header,
+            3,
+            Subservice::TcEnableHkGeneration as u8,
+            Some(&app_data),
+            true,
+        );
+        generic_check(&tc0);
+        let tc1 = PusTcCreator::new_simple(
+            &mut sp_header,
+            3,
+            Subservice::TcEnableDiagGeneration as u8,
+            Some(&app_data),
+            true,
+        );
+        generic_check(&tc1);
+    }
+
+    #[test]
+    fn hk_conversion_disable_periodic_generation() {
+        let mut hk_bench = PusConverterTestbench::new(HkRequestConverter::default());
+        let mut sp_header = SpHeader::tc_unseg(TEST_APID, 0, 0).unwrap();
+        let target_id = TEST_UNIQUE_ID;
+        let unique_id = 5_u32;
+        let mut app_data: [u8; 8] = [0; 8];
+        app_data[0..4].copy_from_slice(&target_id.to_be_bytes());
+        app_data[4..8].copy_from_slice(&unique_id.to_be_bytes());
+        let mut generic_check = |tc: &PusTcCreator| {
+            let accepted_token = hk_bench.add_tc(tc);
+            let (_active_req, req) = hk_bench
+                .convert(accepted_token, &[], TEST_APID, TEST_UNIQUE_ID)
+                .expect("conversion failed");
+            assert_eq!(req.unique_id, unique_id);
+            if let HkRequestVariant::DisablePeriodic = req.variant {
+            } else {
+                panic!("unexpected HK request")
+            }
+        };
+        let tc0 = PusTcCreator::new_simple(
+            &mut sp_header,
+            3,
+            Subservice::TcDisableHkGeneration as u8,
+            Some(&app_data),
+            true,
+        );
+        generic_check(&tc0);
+        let tc1 = PusTcCreator::new_simple(
+            &mut sp_header,
+            3,
+            Subservice::TcDisableDiagGeneration as u8,
+            Some(&app_data),
+            true,
+        );
+        generic_check(&tc1);
+    }
+
+    #[test]
+    fn hk_conversion_modify_interval() {
+        let mut hk_bench = PusConverterTestbench::new(HkRequestConverter::default());
+        let mut sp_header = SpHeader::tc_unseg(TEST_APID, 0, 0).unwrap();
+        let target_id = TEST_UNIQUE_ID;
+        let unique_id = 5_u32;
+        let mut app_data: [u8; 12] = [0; 12];
+        let collection_interval_factor = 5_u32;
+        app_data[0..4].copy_from_slice(&target_id.to_be_bytes());
+        app_data[4..8].copy_from_slice(&unique_id.to_be_bytes());
+        app_data[8..12].copy_from_slice(&collection_interval_factor.to_be_bytes());
+
+        let mut generic_check = |tc: &PusTcCreator| {
+            let accepted_token = hk_bench.add_tc(tc);
+            let (_active_req, req) = hk_bench
+                .convert(accepted_token, &[], TEST_APID, TEST_UNIQUE_ID)
+                .expect("conversion failed");
+            assert_eq!(req.unique_id, unique_id);
+            if let HkRequestVariant::ModifyCollectionInterval(interval_factor) = req.variant {
+                assert_eq!(interval_factor, collection_interval_factor);
+            } else {
+                panic!("unexpected HK request")
+            }
+        };
+        let tc0 = PusTcCreator::new_simple(
+            &mut sp_header,
+            3,
+            Subservice::TcModifyHkCollectionInterval as u8,
+            Some(&app_data),
+            true,
+        );
+        generic_check(&tc0);
+        let tc1 = PusTcCreator::new_simple(
+            &mut sp_header,
+            3,
+            Subservice::TcModifyDiagCollectionInterval as u8,
+            Some(&app_data),
+            true,
+        );
+        generic_check(&tc1);
+    }
+
+    #[test]
+    fn hk_reply_handler() {
+        let mut reply_testbench = ReplyHandlerTestbench::new(HkReplyHandler::default());
+        let sender_id = 2_u64;
+        let apid_target_id = 3_u32;
+        let unique_id = 5_u32;
+        let (req_id, active_req) = reply_testbench.add_tc(TEST_APID, apid_target_id, &[]);
+        let reply = GenericMessage::new(
+            MessageMetadata::new(req_id.into(), sender_id),
+            HkReply::new(unique_id, HkReplyVariant::Ack),
+        );
+        let result = reply_testbench.handle_reply(&reply, &active_req, &[]);
+        assert!(result.is_ok());
+        assert!(result.unwrap());
+        reply_testbench
+            .verif_reporter
+            .assert_full_completion_success(TEST_COMPONENT_ID.raw(), req_id, None);
+    }
+
+    #[test]
+    fn reply_handling_unrequested_reply() {
+        let mut testbench = ReplyHandlerTestbench::new(HkReplyHandler::default());
+        let action_reply = HkReply::new(5_u32, HkReplyVariant::Ack);
+        let unrequested_reply =
+            GenericMessage::new(MessageMetadata::new(10_u32, 15_u64), action_reply);
+        // Right now this function does not do a lot. We simply check that it does not panic or do
+        // weird stuff.
+        let result = testbench.handle_unrequested_reply(&unrequested_reply);
+        assert!(result.is_ok());
+    }
+
+    #[test]
+    fn reply_handling_reply_timeout() {
+        let mut testbench = ReplyHandlerTestbench::new(HkReplyHandler::default());
+        let (req_id, active_request) = testbench.add_tc(TEST_APID, TEST_UNIQUE_ID, &[]);
+        let result = testbench.handle_request_timeout(&active_request, &[]);
+        assert!(result.is_ok());
+        testbench.verif_reporter.assert_completion_failure(
+            TEST_COMPONENT_ID.raw(),
+            req_id,
+            None,
+            tmtc_err::REQUEST_TIMEOUT.raw() as u64,
+        );
+    }
 }

satrs-example/src/pus/mod.rs

@@ -1,75 +1,71 @@
+use crate::requests::GenericRequestRouter;
 use crate::tmtc::MpscStoreAndSendError;
 use log::warn;
-use satrs::pus::verification::{FailParams, VerificationReportingProvider};
-use satrs::pus::{
-    EcssTcAndToken, GenericRoutingError, PusPacketHandlerResult, PusRoutingErrorHandler, TcInMemory,
+use satrs::pus::verification::{
+    self, FailParams, TcStateAccepted, TcStateStarted, VerificationReporter,
+    VerificationReporterCfg, VerificationReportingProvider, VerificationToken,
 };
+use satrs::pus::{
+    ActiveRequestMapProvider, ActiveRequestProvider, EcssTcAndToken, EcssTcInMemConverter,
+    EcssTcReceiverCore, EcssTmSenderCore, EcssTmtcError, GenericConversionError,
+    GenericRoutingError, PusPacketHandlerResult, PusPacketHandlingError, PusReplyHandler,
+    PusRequestRouter, PusServiceHelper, PusTcToRequestConverter, TcInMemory,
+};
+use satrs::queue::GenericReceiveError;
+use satrs::request::{Apid, GenericMessage, MessageMetadata};
 use satrs::spacepackets::ecss::tc::PusTcReader;
 use satrs::spacepackets::ecss::PusServiceId;
-use satrs::spacepackets::time::cds::CdsTime;
-use satrs::spacepackets::time::TimeWriter;
+use satrs::ComponentId;
+use satrs_example::config::components::PUS_ROUTING_SERVICE;
 use satrs_example::config::{tmtc_err, CustomPusServiceId};
-use std::sync::mpsc::Sender;
+use satrs_example::TimeStampHelper;
+use std::fmt::Debug;
+use std::sync::mpsc::{self, Sender};
 
 pub mod action;
 pub mod event;
 pub mod hk;
+pub mod mode;
 pub mod scheduler;
 pub mod stack;
 pub mod test;
 
-pub struct PusTcMpscRouter {
-    pub test_service_receiver: Sender<EcssTcAndToken>,
-    pub event_service_receiver: Sender<EcssTcAndToken>,
-    pub sched_service_receiver: Sender<EcssTcAndToken>,
-    pub hk_service_receiver: Sender<EcssTcAndToken>,
-    pub action_service_receiver: Sender<EcssTcAndToken>,
+pub fn create_verification_reporter(apid: Apid) -> VerificationReporter {
+    let verif_cfg = VerificationReporterCfg::new(apid, 1, 2, 8).unwrap();
+    // Every software component which needs to generate verification telemetry, gets a cloned
+    // verification reporter.
+    VerificationReporter::new(&verif_cfg)
 }
 
-pub struct PusReceiver<VerificationReporter: VerificationReportingProvider> {
+/// Simple router structure which forwards PUS telecommands to dedicated handlers.
+pub struct PusTcMpscRouter {
+    pub test_tc_sender: Sender<EcssTcAndToken>,
+    pub event_tc_sender: Sender<EcssTcAndToken>,
+    pub sched_tc_sender: Sender<EcssTcAndToken>,
+    pub hk_tc_sender: Sender<EcssTcAndToken>,
+    pub action_tc_sender: Sender<EcssTcAndToken>,
+    pub mode_tc_sender: Sender<EcssTcAndToken>,
+}
+
+pub struct PusReceiver<TmSender: EcssTmSenderCore> {
+    pub id: ComponentId,
+    pub tm_sender: TmSender,
     pub verif_reporter: VerificationReporter,
     pub pus_router: PusTcMpscRouter,
     stamp_helper: TimeStampHelper,
 }
 
-struct TimeStampHelper {
-    stamper: CdsTime,
-    time_stamp: [u8; 7],
-}
-
-impl TimeStampHelper {
-    pub fn new() -> Self {
+impl<TmSender: EcssTmSenderCore> PusReceiver<TmSender> {
+    pub fn new(tm_sender: TmSender, pus_router: PusTcMpscRouter) -> Self {
         Self {
-            stamper: CdsTime::new_with_u16_days(0, 0),
-            time_stamp: [0; 7],
-        }
-    }
-
-    pub fn stamp(&self) -> &[u8] {
-        &self.time_stamp
-    }
-
-    pub fn update_from_now(&mut self) {
-        self.stamper
-            .update_from_now()
-            .expect("Updating timestamp failed");
-        self.stamper
-            .write_to_bytes(&mut self.time_stamp)
-            .expect("Writing timestamp failed");
-    }
-}
-
-impl<VerificationReporter: VerificationReportingProvider> PusReceiver<VerificationReporter> {
-    pub fn new(verif_reporter: VerificationReporter, pus_router: PusTcMpscRouter) -> Self {
-        Self {
-            verif_reporter,
+            id: PUS_ROUTING_SERVICE.raw(),
+            tm_sender,
+            verif_reporter: create_verification_reporter(PUS_ROUTING_SERVICE.apid),
             pus_router,
-            stamp_helper: TimeStampHelper::new(),
+            stamp_helper: TimeStampHelper::default(),
         }
     }
-}
 
-impl<VerificationReporter: VerificationReportingProvider> PusReceiver<VerificationReporter> {
     pub fn handle_tc_packet(
         &mut self,
         tc_in_memory: TcInMemory,
@@ -80,41 +76,40 @@ impl<VerificationReporter: VerificationReportingProvider> PusReceiver<Verificati
         self.stamp_helper.update_from_now();
         let accepted_token = self
             .verif_reporter
-            .acceptance_success(init_token, self.stamp_helper.stamp())
+            .acceptance_success(
+                self.id,
+                &self.tm_sender,
+                init_token,
+                self.stamp_helper.stamp(),
+            )
             .expect("Acceptance success failure");
         let service = PusServiceId::try_from(service);
         match service {
             Ok(standard_service) => match standard_service {
-                PusServiceId::Test => {
-                    self.pus_router.test_service_receiver.send(EcssTcAndToken {
+                PusServiceId::Test => self.pus_router.test_tc_sender.send(EcssTcAndToken {
                     tc_in_memory,
                     token: Some(accepted_token.into()),
-                    })?
-                }
+                })?,
                 PusServiceId::Housekeeping => {
-                    self.pus_router.hk_service_receiver.send(EcssTcAndToken {
+                    self.pus_router.hk_tc_sender.send(EcssTcAndToken {
                         tc_in_memory,
                         token: Some(accepted_token.into()),
                     })?
                 }
-                PusServiceId::Event => {
-                    self.pus_router
-                        .event_service_receiver
-                        .send(EcssTcAndToken {
+                PusServiceId::Event => self.pus_router.event_tc_sender.send(EcssTcAndToken {
                     tc_in_memory,
                     token: Some(accepted_token.into()),
-                        })?
-                }
+                })?,
                 PusServiceId::Scheduling => {
-                    self.pus_router
-                        .sched_service_receiver
-                        .send(EcssTcAndToken {
+                    self.pus_router.sched_tc_sender.send(EcssTcAndToken {
                         tc_in_memory,
                         token: Some(accepted_token.into()),
                     })?
                 }
                 _ => {
                     let result = self.verif_reporter.start_failure(
+                        self.id,
+                        &self.tm_sender,
                         accepted_token,
                         FailParams::new(
                             self.stamp_helper.stamp(),
@@ -139,6 +134,8 @@ impl<VerificationReporter: VerificationReportingProvider> PusReceiver<Verificati
                 } else {
                     self.verif_reporter
                         .start_failure(
+                            self.id,
+                            &self.tm_sender,
                             accepted_token,
                             FailParams::new(
                                 self.stamp_helper.stamp(),
@@ -154,55 +151,559 @@ impl<VerificationReporter: VerificationReportingProvider> PusReceiver<Verificati
     }
 }
 
-#[derive(Default)]
-pub struct GenericRoutingErrorHandler<const SERVICE_ID: u8> {}
+pub trait TargetedPusService {
+    /// Returns [true] if the packet handling is finished.
+    fn poll_and_handle_next_tc(&mut self, time_stamp: &[u8]) -> bool;
+    fn poll_and_handle_next_reply(&mut self, time_stamp: &[u8]) -> bool;
+    fn check_for_request_timeouts(&mut self);
+}
 
-impl<const SERVICE_ID: u8> PusRoutingErrorHandler for GenericRoutingErrorHandler<SERVICE_ID> {
-    type Error = satrs::pus::GenericRoutingError;
+/// This is a generic handler class for all PUS services where a PUS telecommand is converted
+/// to a targeted request.
+///
+/// The generic steps for this process are the following
+///
+///  1. Poll for TC packets
+///  2. Convert the raw packets to a [PusTcReader].
+///  3. Convert the PUS TC to a typed request using the [PusTcToRequestConverter].
+///  4. Route the requests using the [GenericRequestRouter].
+///  5. Add the request to the active request map using the [ActiveRequestMapProvider] abstraction.
+///  6. Check for replies which complete the forwarded request. The handler takes care of
+///     the verification process.
+///  7. Check for timeouts of active requests. Generally, the timeout on the service level should
+///     be highest expected timeout for the given target.
+///
+/// The handler exposes the following API:
+///
+///  1. [Self::handle_one_tc] which tries to poll and handle one TC packet, covering steps 1-5.
+///  2. [Self::check_one_reply] which tries to poll and handle one reply, covering step 6.
+///  3. [Self::check_for_request_timeouts] which checks for request timeouts, covering step 7.
+pub struct PusTargetedRequestService<
+    TcReceiver: EcssTcReceiverCore,
+    TmSender: EcssTmSenderCore,
+    TcInMemConverter: EcssTcInMemConverter,
+    VerificationReporter: VerificationReportingProvider,
+    RequestConverter: PusTcToRequestConverter<ActiveRequestInfo, RequestType, Error = GenericConversionError>,
+    ReplyHandler: PusReplyHandler<ActiveRequestInfo, ReplyType, Error = EcssTmtcError>,
+    ActiveRequestMap: ActiveRequestMapProvider<ActiveRequestInfo>,
+    ActiveRequestInfo: ActiveRequestProvider,
+    RequestType,
+    ReplyType,
+> {
+    pub service_helper:
+        PusServiceHelper<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>,
+    pub request_router: GenericRequestRouter,
+    pub request_converter: RequestConverter,
+    pub active_request_map: ActiveRequestMap,
+    pub reply_handler: ReplyHandler,
+    pub reply_receiver: mpsc::Receiver<GenericMessage<ReplyType>>,
+    phantom: std::marker::PhantomData<(RequestType, ActiveRequestInfo, ReplyType)>,
+}
 
-    fn handle_error(
-        &self,
-        target_id: satrs::TargetId,
-        token: satrs::pus::verification::VerificationToken<
-            satrs::pus::verification::TcStateAccepted,
+impl<
+        TcReceiver: EcssTcReceiverCore,
+        TmSender: EcssTmSenderCore,
+        TcInMemConverter: EcssTcInMemConverter,
+        VerificationReporter: VerificationReportingProvider,
+        RequestConverter: PusTcToRequestConverter<ActiveRequestInfo, RequestType, Error = GenericConversionError>,
+        ReplyHandler: PusReplyHandler<ActiveRequestInfo, ReplyType, Error = EcssTmtcError>,
+        ActiveRequestMap: ActiveRequestMapProvider<ActiveRequestInfo>,
+        ActiveRequestInfo: ActiveRequestProvider,
+        RequestType,
+        ReplyType,
+    >
+    PusTargetedRequestService<
+        TcReceiver,
+        TmSender,
+        TcInMemConverter,
+        VerificationReporter,
+        RequestConverter,
+        ReplyHandler,
+        ActiveRequestMap,
+        ActiveRequestInfo,
+        RequestType,
+        ReplyType,
+    >
+where
+    GenericRequestRouter: PusRequestRouter<RequestType, Error = GenericRoutingError>,
+{
+    pub fn new(
+        service_helper: PusServiceHelper<
+            TcReceiver,
+            TmSender,
+            TcInMemConverter,
+            VerificationReporter,
         >,
-        _tc: &PusTcReader,
-        error: Self::Error,
+        request_converter: RequestConverter,
+        active_request_map: ActiveRequestMap,
+        reply_hook: ReplyHandler,
+        request_router: GenericRequestRouter,
+        reply_receiver: mpsc::Receiver<GenericMessage<ReplyType>>,
+    ) -> Self {
+        Self {
+            service_helper,
+            request_converter,
+            active_request_map,
+            reply_handler: reply_hook,
+            request_router,
+            reply_receiver,
+            phantom: std::marker::PhantomData,
+        }
+    }
+
+    pub fn poll_and_handle_next_tc(
+        &mut self,
+        time_stamp: &[u8],
+    ) -> Result<PusPacketHandlerResult, PusPacketHandlingError> {
+        let possible_packet = self.service_helper.retrieve_and_accept_next_packet()?;
+        if possible_packet.is_none() {
+            return Ok(PusPacketHandlerResult::Empty);
+        }
+        let ecss_tc_and_token = possible_packet.unwrap();
+        self.service_helper
+            .tc_in_mem_converter_mut()
+            .cache(&ecss_tc_and_token.tc_in_memory)?;
+        let tc = self.service_helper.tc_in_mem_converter().convert()?;
+        let (mut request_info, request) = match self.request_converter.convert(
+            self.service_helper.id(),
+            ecss_tc_and_token.token,
+            &tc,
+            self.service_helper.tm_sender(),
+            &self.service_helper.common.verif_reporter,
+            time_stamp,
+        ) {
+            Ok((info, req)) => (info, req),
+            Err(e) => {
+                self.handle_conversion_to_request_error(&e, ecss_tc_and_token.token, time_stamp);
+                return Err(e.into());
+            }
+        };
+        let accepted_token: VerificationToken<TcStateAccepted> = request_info
+            .token()
+            .try_into()
+            .expect("token not in expected accepted state");
+        let verif_request_id = verification::RequestId::new(&tc).raw();
+        match self.request_router.route(
+            MessageMetadata::new(verif_request_id, self.service_helper.id()),
+            request_info.target_id(),
+            request,
+        ) {
+            Ok(()) => {
+                let started_token = self
+                    .service_helper
+                    .verif_reporter()
+                    .start_success(
+                        self.service_helper.id(),
+                        &self.service_helper.common.tm_sender,
+                        accepted_token,
+                        time_stamp,
+                    )
+                    .expect("Start success failure");
+                request_info.set_token(started_token.into());
+                self.active_request_map
+                    .insert(&verif_request_id, request_info);
+            }
+            Err(e) => {
+                self.request_router.handle_error_generic(
+                    &request_info,
+                    &tc,
+                    e.clone(),
+                    self.service_helper.tm_sender(),
+                    self.service_helper.verif_reporter(),
+                    time_stamp,
+                );
+                return Err(e.into());
+            }
+        }
+        Ok(PusPacketHandlerResult::RequestHandled)
+    }
+
+    fn handle_conversion_to_request_error(
+        &mut self,
+        error: &GenericConversionError,
+        token: VerificationToken<TcStateAccepted>,
         time_stamp: &[u8],
-        verif_reporter: &impl VerificationReportingProvider,
     ) {
-        warn!("Routing request for service {SERVICE_ID} failed: {error:?}");
         match error {
-            GenericRoutingError::UnknownTargetId(id) => {
-                let mut fail_data: [u8; 8] = [0; 8];
-                fail_data.copy_from_slice(&id.to_be_bytes());
-                verif_reporter
-                    .start_failure(
+            GenericConversionError::WrongService(service) => {
+                let service_slice: [u8; 1] = [*service];
+                self.service_helper
+                    .verif_reporter()
+                    .completion_failure(
+                        self.service_helper.id(),
+                        self.service_helper.tm_sender(),
                         token,
-                        FailParams::new(time_stamp, &tmtc_err::UNKNOWN_TARGET_ID, &fail_data),
+                        FailParams::new(time_stamp, &tmtc_err::INVALID_PUS_SERVICE, &service_slice),
                     )
-                    .expect("Sending start failure failed");
+                    .expect("Sending completion failure failed");
             }
-            GenericRoutingError::SendError(_) => {
-                let mut fail_data: [u8; 8] = [0; 8];
-                fail_data.copy_from_slice(&target_id.to_be_bytes());
-                verif_reporter
-                    .start_failure(
+            GenericConversionError::InvalidSubservice(subservice) => {
+                let subservice_slice: [u8; 1] = [*subservice];
+                self.service_helper
+                    .verif_reporter()
+                    .completion_failure(
+                        self.service_helper.id(),
+                        self.service_helper.tm_sender(),
                         token,
-                        FailParams::new(time_stamp, &tmtc_err::ROUTING_ERROR, &fail_data),
+                        FailParams::new(
+                            time_stamp,
+                            &tmtc_err::INVALID_PUS_SUBSERVICE,
+                            &subservice_slice,
+                        ),
                     )
-                    .expect("Sending start failure failed");
+                    .expect("Sending completion failure failed");
             }
-            GenericRoutingError::NotEnoughAppData { expected, found } => {
-                let mut context_info = (found as u32).to_be_bytes().to_vec();
-                context_info.extend_from_slice(&(expected as u32).to_be_bytes());
-                verif_reporter
-                    .start_failure(
+            GenericConversionError::NotEnoughAppData { expected, found } => {
+                let mut context_info = (*found as u32).to_be_bytes().to_vec();
+                context_info.extend_from_slice(&(*expected as u32).to_be_bytes());
+                self.service_helper
+                    .verif_reporter()
+                    .completion_failure(
+                        self.service_helper.id(),
+                        self.service_helper.tm_sender(),
                         token,
                         FailParams::new(time_stamp, &tmtc_err::NOT_ENOUGH_APP_DATA, &context_info),
                     )
-                    .expect("Sending start failure failed");
+                    .expect("Sending completion failure failed");
+            }
+            // Do nothing.. this is service-level and can not be handled generically here.
+            GenericConversionError::InvalidAppData(_) => (),
+        }
+    }
+
+    pub fn poll_and_check_next_reply(&mut self, time_stamp: &[u8]) -> Result<bool, EcssTmtcError> {
+        match self.reply_receiver.try_recv() {
+            Ok(reply) => {
+                self.handle_reply(&reply, time_stamp)?;
+                Ok(false)
+            }
+            Err(e) => match e {
+                mpsc::TryRecvError::Empty => Ok(true),
+                mpsc::TryRecvError::Disconnected => Err(EcssTmtcError::Receive(
+                    GenericReceiveError::TxDisconnected(None),
+                )),
+            },
+        }
+    }
+
+    pub fn handle_reply(
+        &mut self,
+        reply: &GenericMessage<ReplyType>,
+        time_stamp: &[u8],
+    ) -> Result<(), EcssTmtcError> {
+        let active_req_opt = self.active_request_map.get(reply.request_id());
+        if active_req_opt.is_none() {
+            self.reply_handler.handle_unrequested_reply(
+                self.service_helper.id(),
+                reply,
+                &self.service_helper.common.tm_sender,
+            )?;
+            return Ok(());
+        }
+        let active_request = active_req_opt.unwrap();
+        let request_finished = self
+            .reply_handler
+            .handle_reply(
+                self.service_helper.id(),
+                reply,
+                active_request,
+                &self.service_helper.common.tm_sender,
+                &self.service_helper.common.verif_reporter,
+                time_stamp,
+            )
+            .unwrap_or(false);
+        if request_finished {
+            self.active_request_map.remove(reply.request_id());
+        }
+        Ok(())
+    }
+
+    pub fn check_for_request_timeouts(&mut self) {
+        let mut requests_to_delete = Vec::new();
+        self.active_request_map
+            .for_each(|request_id, request_info| {
+                if request_info.has_timed_out() {
+                    requests_to_delete.push(*request_id);
+                }
+            });
+        if !requests_to_delete.is_empty() {
+            for request_id in requests_to_delete {
+                self.active_request_map.remove(request_id);
             }
         }
     }
 }
+
+/// Generic timeout handling: Handle the verification failure with a dedicated return code
+/// and also log the error.
+pub fn generic_pus_request_timeout_handler(
+    sender_id: ComponentId,
+    sender: &(impl EcssTmSenderCore + ?Sized),
+    active_request: &(impl ActiveRequestProvider + Debug),
+    verification_handler: &impl VerificationReportingProvider,
+    time_stamp: &[u8],
+    service_str: &'static str,
+) -> Result<(), EcssTmtcError> {
+    log::warn!("timeout for active request {active_request:?} on {service_str} service");
+    let started_token: VerificationToken<TcStateStarted> = active_request
+        .token()
+        .try_into()
+        .expect("token not in expected started state");
+    verification_handler.completion_failure(
+        sender_id,
+        sender,
+        started_token,
+        FailParams::new(time_stamp, &tmtc_err::REQUEST_TIMEOUT, &[]),
+    )?;
+    Ok(())
+}
+
+#[cfg(test)]
+pub(crate) mod tests {
+    use std::time::Duration;
+
+    use satrs::pus::test_util::TEST_COMPONENT_ID;
+    use satrs::pus::{MpscTmAsVecSender, PusTmAsVec, PusTmVariant};
+    use satrs::{
+        pus::{
+            verification::test_util::TestVerificationReporter, ActivePusRequestStd,
+            ActiveRequestMapProvider, EcssTcInVecConverter, MpscTcReceiver,
+        },
+        request::UniqueApidTargetId,
+        spacepackets::{
+            ecss::{
+                tc::{PusTcCreator, PusTcSecondaryHeader},
+                WritablePusPacket,
+            },
+            SpHeader,
+        },
+    };
+
+    use crate::requests::CompositeRequest;
+
+    use super::*;
+
+    // Testbench dedicated to the testing of [PusReplyHandler]s
+    pub struct ReplyHandlerTestbench<
+        ReplyHandler: PusReplyHandler<ActiveRequestInfo, Reply, Error = EcssTmtcError>,
+        ActiveRequestInfo: ActiveRequestProvider,
+        Reply,
+    > {
+        pub id: ComponentId,
+        pub verif_reporter: TestVerificationReporter,
+        pub reply_handler: ReplyHandler,
+        pub tm_receiver: mpsc::Receiver<PusTmAsVec>,
+        pub default_timeout: Duration,
+        tm_sender: MpscTmAsVecSender,
+        phantom: std::marker::PhantomData<(ActiveRequestInfo, Reply)>,
+    }
+
+    impl<
+            ReplyHandler: PusReplyHandler<ActiveRequestInfo, Reply, Error = EcssTmtcError>,
+            ActiveRequestInfo: ActiveRequestProvider,
+            Reply,
+        > ReplyHandlerTestbench<ReplyHandler, ActiveRequestInfo, Reply>
+    {
+        pub fn new(reply_handler: ReplyHandler) -> Self {
+            let test_verif_reporter = TestVerificationReporter::default();
+            let (tm_sender, tm_receiver) = mpsc::channel();
+            Self {
+                id: TEST_COMPONENT_ID.raw(),
+                verif_reporter: test_verif_reporter,
+                reply_handler,
+                default_timeout: Duration::from_secs(30),
+                tm_sender,
+                tm_receiver,
+                phantom: std::marker::PhantomData,
+            }
+        }
+
+        pub fn add_tc(
+            &mut self,
+            apid: u16,
+            apid_target: u32,
+            time_stamp: &[u8],
+        ) -> (verification::RequestId, ActivePusRequestStd) {
+            let mut sp_header = SpHeader::tc_unseg(apid, 0, 0).unwrap();
+            let sec_header_dummy = PusTcSecondaryHeader::new_simple(0, 0);
+            let init = self.verif_reporter.add_tc(&PusTcCreator::new(
+                &mut sp_header,
+                sec_header_dummy,
+                &[],
+                true,
+            ));
+            let accepted = self
+                .verif_reporter
+                .acceptance_success(self.id, &self.tm_sender, init, time_stamp)
+                .expect("acceptance failed");
+            let started = self
+                .verif_reporter
+                .start_success(self.id, &self.tm_sender, accepted, time_stamp)
+                .expect("start failed");
+            (
+                started.request_id(),
+                ActivePusRequestStd::new(
+                    UniqueApidTargetId::new(apid, apid_target).raw(),
+                    started,
+                    self.default_timeout,
+                ),
+            )
+        }
+
+        pub fn handle_reply(
+            &mut self,
+            reply: &GenericMessage<Reply>,
+            active_request: &ActiveRequestInfo,
+            time_stamp: &[u8],
+        ) -> Result<bool, ReplyHandler::Error> {
+            self.reply_handler.handle_reply(
+                self.id,
+                reply,
+                active_request,
+                &self.tm_sender,
+                &self.verif_reporter,
+                time_stamp,
+            )
+        }
+
+        pub fn handle_unrequested_reply(
+            &mut self,
+            reply: &GenericMessage<Reply>,
+        ) -> Result<(), ReplyHandler::Error> {
+            self.reply_handler
+                .handle_unrequested_reply(self.id, reply, &self.tm_sender)
+        }
+        pub fn handle_request_timeout(
+            &mut self,
+            active_request_info: &ActiveRequestInfo,
+            time_stamp: &[u8],
+        ) -> Result<(), ReplyHandler::Error> {
+            self.reply_handler.handle_request_timeout(
+                self.id,
+                active_request_info,
+                &self.tm_sender,
+                &self.verif_reporter,
+                time_stamp,
+            )
+        }
+    }
+
+    #[derive(Default)]
+    pub struct DummySender {}
+
+    /// Dummy sender component which does nothing on the [Self::send_tm] call.
+    ///
+    /// Useful for unit tests.
+    impl EcssTmSenderCore for DummySender {
+        fn send_tm(&self, _source_id: ComponentId, _tm: PusTmVariant) -> Result<(), EcssTmtcError> {
+            Ok(())
+        }
+    }
+
+    // Testbench dedicated to the testing of [PusTcToRequestConverter]s
+    pub struct PusConverterTestbench<
+        Converter: PusTcToRequestConverter<ActiveRequestInfo, Request, Error = GenericConversionError>,
+        ActiveRequestInfo: ActiveRequestProvider,
+        Request,
+    > {
+        pub id: ComponentId,
+        pub verif_reporter: TestVerificationReporter,
+        pub converter: Converter,
+        dummy_sender: DummySender,
+        current_request_id: Option<verification::RequestId>,
+        current_packet: Option<Vec<u8>>,
+        phantom: std::marker::PhantomData<(ActiveRequestInfo, Request)>,
+    }
+
+    impl<
+            Converter: PusTcToRequestConverter<ActiveRequestInfo, Request, Error = GenericConversionError>,
+            ActiveRequestInfo: ActiveRequestProvider,
+            Request,
+        > PusConverterTestbench<Converter, ActiveRequestInfo, Request>
+    {
+        pub fn new(converter: Converter) -> Self {
+            let test_verif_reporter = TestVerificationReporter::default();
+            Self {
+                id: TEST_COMPONENT_ID.raw(),
+                verif_reporter: test_verif_reporter,
+                converter,
+                dummy_sender: DummySender::default(),
+                current_request_id: None,
+                current_packet: None,
+                phantom: std::marker::PhantomData,
+            }
+        }
+
+        pub fn add_tc(&mut self, tc: &PusTcCreator) -> VerificationToken<TcStateAccepted> {
+            let token = self.verif_reporter.add_tc(tc);
+            self.current_request_id = Some(verification::RequestId::new(tc));
+            self.current_packet = Some(tc.to_vec().unwrap());
+            self.verif_reporter
+                .acceptance_success(self.id, &self.dummy_sender, token, &[])
+                .expect("acceptance failed")
+        }
+
+        pub fn request_id(&self) -> Option<verification::RequestId> {
+            self.current_request_id
+        }
+
+        pub fn convert(
+            &mut self,
+            token: VerificationToken<TcStateAccepted>,
+            time_stamp: &[u8],
+            expected_apid: u16,
+            expected_apid_target: u32,
+        ) -> Result<(ActiveRequestInfo, Request), Converter::Error> {
+            if self.current_packet.is_none() {
+                return Err(GenericConversionError::InvalidAppData(
+                    "call add_tc first".to_string(),
+                ));
+            }
+            let current_packet = self.current_packet.take().unwrap();
+            let tc_reader = PusTcReader::new(&current_packet).unwrap();
+            let (active_info, request) = self.converter.convert(
+                self.id,
+                token,
+                &tc_reader.0,
+                &self.dummy_sender,
+                &self.verif_reporter,
+                time_stamp,
+            )?;
+            assert_eq!(
+                active_info.token().request_id(),
+                self.request_id().expect("no request id is set")
+            );
+            assert_eq!(
+                active_info.target_id(),
+                UniqueApidTargetId::new(expected_apid, expected_apid_target).raw()
+            );
+            Ok((active_info, request))
+        }
+    }
+
+    pub struct TargetedPusRequestTestbench<
+        RequestConverter: PusTcToRequestConverter<ActiveRequestInfo, RequestType, Error = GenericConversionError>,
+        ReplyHandler: PusReplyHandler<ActiveRequestInfo, ReplyType, Error = EcssTmtcError>,
+        ActiveRequestMap: ActiveRequestMapProvider<ActiveRequestInfo>,
+        ActiveRequestInfo: ActiveRequestProvider,
+        RequestType,
+        ReplyType,
+    > {
+        pub service: PusTargetedRequestService<
+            MpscTcReceiver,
+            MpscTmAsVecSender,
+            EcssTcInVecConverter,
+            TestVerificationReporter,
+            RequestConverter,
+            ReplyHandler,
+            ActiveRequestMap,
+            ActiveRequestInfo,
+            RequestType,
+            ReplyType,
+        >,
+        pub tm_funnel_rx: mpsc::Receiver<PusTmAsVec>,
+        pub pus_packet_tx: mpsc::Sender<EcssTcAndToken>,
+        pub reply_tx: mpsc::Sender<GenericMessage<ReplyType>>,
+        pub request_rx: mpsc::Receiver<GenericMessage<CompositeRequest>>,
+    }
+}

satrs-example/src/pus/mode.rs

@@ -0,0 +1,442 @@
+use log::{error, warn};
+use std::sync::mpsc;
+use std::time::Duration;
+
+use crate::requests::GenericRequestRouter;
+use satrs::pool::SharedStaticMemoryPool;
+use satrs::pus::verification::VerificationReporter;
+use satrs::pus::{
+    DefaultActiveRequestMap, EcssTcAndToken, EcssTcInMemConverter, EcssTcInSharedStoreConverter,
+    EcssTcInVecConverter, MpscTcReceiver, MpscTmAsVecSender, MpscTmInSharedPoolSenderBounded,
+    PusPacketHandlerResult, PusServiceHelper, PusTmAsVec, PusTmInPool, TmInSharedPoolSender,
+};
+use satrs::request::GenericMessage;
+use satrs::{
+    mode::{ModeAndSubmode, ModeReply, ModeRequest},
+    pus::{
+        mode::Subservice,
+        verification::{
+            self, FailParams, TcStateAccepted, TcStateStarted, VerificationReportingProvider,
+            VerificationToken,
+        },
+        ActivePusRequestStd, ActiveRequestProvider, EcssTmSenderCore, EcssTmtcError,
+        GenericConversionError, PusReplyHandler, PusTcToRequestConverter, PusTmVariant,
+    },
+    request::UniqueApidTargetId,
+    spacepackets::{
+        ecss::{
+            tc::PusTcReader,
+            tm::{PusTmCreator, PusTmSecondaryHeader},
+            PusPacket,
+        },
+        SpHeader,
+    },
+    ComponentId,
+};
+use satrs_example::config::components::PUS_MODE_SERVICE;
+use satrs_example::config::{mode_err, tmtc_err};
+
+use super::{
+    create_verification_reporter, generic_pus_request_timeout_handler, PusTargetedRequestService,
+    TargetedPusService,
+};
+
+#[derive(Default)]
+pub struct ModeReplyHandler {}
+
+impl PusReplyHandler<ActivePusRequestStd, ModeReply> for ModeReplyHandler {
+    type Error = EcssTmtcError;
+
+    fn handle_unrequested_reply(
+        &mut self,
+        _caller_id: ComponentId,
+        reply: &GenericMessage<ModeReply>,
+        _tm_sender: &impl EcssTmSenderCore,
+    ) -> Result<(), Self::Error> {
+        log::warn!("received unexpected reply for mode service 5: {reply:?}");
+        Ok(())
+    }
+
+    fn handle_reply(
+        &mut self,
+        caller_id: ComponentId,
+        reply: &GenericMessage<ModeReply>,
+        active_request: &ActivePusRequestStd,
+        tm_sender: &impl EcssTmSenderCore,
+        verification_handler: &impl VerificationReportingProvider,
+        time_stamp: &[u8],
+    ) -> Result<bool, Self::Error> {
+        let started_token: VerificationToken<TcStateStarted> = active_request
+            .token()
+            .try_into()
+            .expect("invalid token state");
+        match reply.message {
+            ModeReply::ModeReply(mode_reply) => {
+                let mut source_data: [u8; 12] = [0; 12];
+                mode_reply
+                    .write_to_be_bytes(&mut source_data)
+                    .expect("writing mode reply failed");
+                let req_id = verification::RequestId::from(reply.request_id());
+                let mut sp_header = SpHeader::tm_unseg(req_id.packet_id().apid(), 0, 0)
+                    .expect("generating SP header failed");
+                let sec_header = PusTmSecondaryHeader::new(
+                    200,
+                    Subservice::TmModeReply as u8,
+                    0,
+                    0,
+                    Some(time_stamp),
+                );
+                let pus_tm = PusTmCreator::new(&mut sp_header, sec_header, &source_data, true);
+                tm_sender.send_tm(caller_id, PusTmVariant::Direct(pus_tm))?;
+                verification_handler.completion_success(
+                    caller_id,
+                    tm_sender,
+                    started_token,
+                    time_stamp,
+                )?;
+            }
+            ModeReply::CantReachMode(error_code) => {
+                verification_handler.completion_failure(
+                    caller_id,
+                    tm_sender,
+                    started_token,
+                    FailParams::new(time_stamp, &error_code, &[]),
+                )?;
+            }
+            ModeReply::WrongMode { expected, reached } => {
+                let mut error_info: [u8; 24] = [0; 24];
+                let mut written_len = expected
+                    .write_to_be_bytes(&mut error_info[0..ModeAndSubmode::RAW_LEN])
+                    .expect("writing expected mode failed");
+                written_len += reached
+                    .write_to_be_bytes(&mut error_info[ModeAndSubmode::RAW_LEN..])
+                    .expect("writing reached mode failed");
+                verification_handler.completion_failure(
+                    caller_id,
+                    tm_sender,
+                    started_token,
+                    FailParams::new(
+                        time_stamp,
+                        &mode_err::WRONG_MODE,
+                        &error_info[..written_len],
+                    ),
+                )?;
+            }
+        };
+        Ok(true)
+    }
+
+    fn handle_request_timeout(
+        &mut self,
+        caller_id: ComponentId,
+        active_request: &ActivePusRequestStd,
+        tm_sender: &impl EcssTmSenderCore,
+        verification_handler: &impl VerificationReportingProvider,
+        time_stamp: &[u8],
+    ) -> Result<(), Self::Error> {
+        generic_pus_request_timeout_handler(
+            caller_id,
+            tm_sender,
+            active_request,
+            verification_handler,
+            time_stamp,
+            "HK",
+        )?;
+        Ok(())
+    }
+}
+
+#[derive(Default)]
+pub struct ModeRequestConverter {}
+
+impl PusTcToRequestConverter<ActivePusRequestStd, ModeRequest> for ModeRequestConverter {
+    type Error = GenericConversionError;
+
+    fn convert(
+        &mut self,
+
+        caller_id: ComponentId,
+        token: VerificationToken<TcStateAccepted>,
+        tc: &PusTcReader,
+        tm_sender: &(impl EcssTmSenderCore + ?Sized),
+        verif_reporter: &impl VerificationReportingProvider,
+        time_stamp: &[u8],
+    ) -> Result<(ActivePusRequestStd, ModeRequest), Self::Error> {
+        let subservice = tc.subservice();
+        let user_data = tc.user_data();
+        let not_enough_app_data = |expected: usize| {
+            verif_reporter
+                .start_failure(
+                    caller_id,
+                    tm_sender,
+                    token,
+                    FailParams::new_no_fail_data(time_stamp, &tmtc_err::NOT_ENOUGH_APP_DATA),
+                )
+                .expect("Sending start failure failed");
+            Err(GenericConversionError::NotEnoughAppData {
+                expected,
+                found: user_data.len(),
+            })
+        };
+        if user_data.len() < core::mem::size_of::<u32>() {
+            return not_enough_app_data(4);
+        }
+        let target_id_and_apid = UniqueApidTargetId::from_pus_tc(tc).unwrap();
+        let active_request =
+            ActivePusRequestStd::new(target_id_and_apid.into(), token, Duration::from_secs(30));
+        let subservice_typed = Subservice::try_from(subservice);
+        let invalid_subservice = || {
+            // Invalid subservice
+            verif_reporter
+                .start_failure(
+                    caller_id,
+                    tm_sender,
+                    token,
+                    FailParams::new_no_fail_data(time_stamp, &tmtc_err::INVALID_PUS_SUBSERVICE),
+                )
+                .expect("Sending start failure failed");
+            Err(GenericConversionError::InvalidSubservice(subservice))
+        };
+        if subservice_typed.is_err() {
+            return invalid_subservice();
+        }
+        let subservice_typed = subservice_typed.unwrap();
+        match subservice_typed {
+            Subservice::TcSetMode => {
+                if user_data.len() < core::mem::size_of::<u32>() + ModeAndSubmode::RAW_LEN {
+                    return not_enough_app_data(4 + ModeAndSubmode::RAW_LEN);
+                }
+                let mode_and_submode = ModeAndSubmode::from_be_bytes(&tc.user_data()[4..])
+                    .expect("mode and submode extraction failed");
+                Ok((active_request, ModeRequest::SetMode(mode_and_submode)))
+            }
+            Subservice::TcReadMode => Ok((active_request, ModeRequest::ReadMode)),
+            Subservice::TcAnnounceMode => Ok((active_request, ModeRequest::AnnounceMode)),
+            Subservice::TcAnnounceModeRecursive => {
+                Ok((active_request, ModeRequest::AnnounceModeRecursive))
+            }
+            _ => invalid_subservice(),
+        }
+    }
+}
+
+pub fn create_mode_service_static(
+    tm_sender: TmInSharedPoolSender<mpsc::SyncSender<PusTmInPool>>,
+    tc_pool: SharedStaticMemoryPool,
+    pus_action_rx: mpsc::Receiver<EcssTcAndToken>,
+    mode_router: GenericRequestRouter,
+    reply_receiver: mpsc::Receiver<GenericMessage<ModeReply>>,
+) -> ModeServiceWrapper<MpscTmInSharedPoolSenderBounded, EcssTcInSharedStoreConverter> {
+    let mode_request_handler = PusTargetedRequestService::new(
+        PusServiceHelper::new(
+            PUS_MODE_SERVICE.raw(),
+            pus_action_rx,
+            tm_sender,
+            create_verification_reporter(PUS_MODE_SERVICE.apid),
+            EcssTcInSharedStoreConverter::new(tc_pool, 2048),
+        ),
+        ModeRequestConverter::default(),
+        DefaultActiveRequestMap::default(),
+        ModeReplyHandler::default(),
+        mode_router,
+        reply_receiver,
+    );
+    ModeServiceWrapper {
+        service: mode_request_handler,
+    }
+}
+
+pub fn create_mode_service_dynamic(
+    tm_funnel_tx: mpsc::Sender<PusTmAsVec>,
+    pus_action_rx: mpsc::Receiver<EcssTcAndToken>,
+    mode_router: GenericRequestRouter,
+    reply_receiver: mpsc::Receiver<GenericMessage<ModeReply>>,
+) -> ModeServiceWrapper<MpscTmAsVecSender, EcssTcInVecConverter> {
+    let mode_request_handler = PusTargetedRequestService::new(
+        PusServiceHelper::new(
+            PUS_MODE_SERVICE.raw(),
+            pus_action_rx,
+            tm_funnel_tx,
+            create_verification_reporter(PUS_MODE_SERVICE.apid),
+            EcssTcInVecConverter::default(),
+        ),
+        ModeRequestConverter::default(),
+        DefaultActiveRequestMap::default(),
+        ModeReplyHandler::default(),
+        mode_router,
+        reply_receiver,
+    );
+    ModeServiceWrapper {
+        service: mode_request_handler,
+    }
+}
+
+pub struct ModeServiceWrapper<TmSender: EcssTmSenderCore, TcInMemConverter: EcssTcInMemConverter> {
+    pub(crate) service: PusTargetedRequestService<
+        MpscTcReceiver,
+        TmSender,
+        TcInMemConverter,
+        VerificationReporter,
+        ModeRequestConverter,
+        ModeReplyHandler,
+        DefaultActiveRequestMap<ActivePusRequestStd>,
+        ActivePusRequestStd,
+        ModeRequest,
+        ModeReply,
+    >,
+}
+
+impl<TmSender: EcssTmSenderCore, TcInMemConverter: EcssTcInMemConverter> TargetedPusService
+    for ModeServiceWrapper<TmSender, TcInMemConverter>
+{
+    /// Returns [true] if the packet handling is finished.
+    fn poll_and_handle_next_tc(&mut self, time_stamp: &[u8]) -> bool {
+        match self.service.poll_and_handle_next_tc(time_stamp) {
+            Ok(result) => match result {
+                PusPacketHandlerResult::RequestHandled => {}
+                PusPacketHandlerResult::RequestHandledPartialSuccess(e) => {
+                    warn!("PUS mode service: partial packet handling success: {e:?}")
+                }
+                PusPacketHandlerResult::CustomSubservice(invalid, _) => {
+                    warn!("PUS mode service: invalid subservice {invalid}");
+                }
+                PusPacketHandlerResult::SubserviceNotImplemented(subservice, _) => {
+                    warn!("PUS mode service: {subservice} not implemented");
+                }
+                PusPacketHandlerResult::Empty => {
+                    return true;
+                }
+            },
+            Err(error) => {
+                error!("PUS mode service: packet handling error: {error:?}")
+            }
+        }
+        false
+    }
+
+    fn poll_and_handle_next_reply(&mut self, time_stamp: &[u8]) -> bool {
+        self.service
+            .poll_and_check_next_reply(time_stamp)
+            .unwrap_or_else(|e| {
+                warn!("PUS action service: Handling reply failed with error {e:?}");
+                false
+            })
+    }
+
+    fn check_for_request_timeouts(&mut self) {
+        self.service.check_for_request_timeouts();
+    }
+}
+#[cfg(test)]
+mod tests {
+    use satrs::pus::test_util::{TEST_APID, TEST_COMPONENT_ID, TEST_UNIQUE_ID};
+    use satrs::request::MessageMetadata;
+    use satrs::{
+        mode::{ModeAndSubmode, ModeReply, ModeRequest},
+        pus::mode::Subservice,
+        request::GenericMessage,
+        spacepackets::{
+            ecss::tc::{PusTcCreator, PusTcSecondaryHeader},
+            SpHeader,
+        },
+    };
+    use satrs_example::config::tmtc_err;
+
+    use crate::pus::{
+        mode::ModeReplyHandler,
+        tests::{PusConverterTestbench, ReplyHandlerTestbench},
+    };
+
+    use super::ModeRequestConverter;
+
+    #[test]
+    fn mode_converter_read_mode_request() {
+        let mut testbench = PusConverterTestbench::new(ModeRequestConverter::default());
+        let mut sp_header = SpHeader::tc_unseg(TEST_APID, 0, 0).unwrap();
+        let sec_header = PusTcSecondaryHeader::new_simple(200, Subservice::TcReadMode as u8);
+        let mut app_data: [u8; 4] = [0; 4];
+        app_data[0..4].copy_from_slice(&TEST_UNIQUE_ID.to_be_bytes());
+        let tc = PusTcCreator::new(&mut sp_header, sec_header, &app_data, true);
+        let token = testbench.add_tc(&tc);
+        let (_active_req, req) = testbench
+            .convert(token, &[], TEST_APID, TEST_UNIQUE_ID)
+            .expect("conversion has failed");
+        assert_eq!(req, ModeRequest::ReadMode);
+    }
+
+    #[test]
+    fn mode_converter_set_mode_request() {
+        let mut testbench = PusConverterTestbench::new(ModeRequestConverter::default());
+        let mut sp_header = SpHeader::tc_unseg(TEST_APID, 0, 0).unwrap();
+        let sec_header = PusTcSecondaryHeader::new_simple(200, Subservice::TcSetMode as u8);
+        let mut app_data: [u8; 4 + ModeAndSubmode::RAW_LEN] = [0; 4 + ModeAndSubmode::RAW_LEN];
+        let mode_and_submode = ModeAndSubmode::new(2, 1);
+        app_data[0..4].copy_from_slice(&TEST_UNIQUE_ID.to_be_bytes());
+        mode_and_submode
+            .write_to_be_bytes(&mut app_data[4..])
+            .unwrap();
+        let tc = PusTcCreator::new(&mut sp_header, sec_header, &app_data, true);
+        let token = testbench.add_tc(&tc);
+        let (_active_req, req) = testbench
+            .convert(token, &[], TEST_APID, TEST_UNIQUE_ID)
+            .expect("conversion has failed");
+        assert_eq!(req, ModeRequest::SetMode(mode_and_submode));
+    }
+
+    #[test]
+    fn mode_converter_announce_mode() {
+        let mut testbench = PusConverterTestbench::new(ModeRequestConverter::default());
+        let mut sp_header = SpHeader::tc_unseg(TEST_APID, 0, 0).unwrap();
+        let sec_header = PusTcSecondaryHeader::new_simple(200, Subservice::TcAnnounceMode as u8);
+        let mut app_data: [u8; 4] = [0; 4];
+        app_data[0..4].copy_from_slice(&TEST_UNIQUE_ID.to_be_bytes());
+        let tc = PusTcCreator::new(&mut sp_header, sec_header, &app_data, true);
+        let token = testbench.add_tc(&tc);
+        let (_active_req, req) = testbench
+            .convert(token, &[], TEST_APID, TEST_UNIQUE_ID)
+            .expect("conversion has failed");
+        assert_eq!(req, ModeRequest::AnnounceMode);
+    }
+
+    #[test]
+    fn mode_converter_announce_mode_recursively() {
+        let mut testbench = PusConverterTestbench::new(ModeRequestConverter::default());
+        let mut sp_header = SpHeader::tc_unseg(TEST_APID, 0, 0).unwrap();
+        let sec_header =
+            PusTcSecondaryHeader::new_simple(200, Subservice::TcAnnounceModeRecursive as u8);
+        let mut app_data: [u8; 4] = [0; 4];
+        app_data[0..4].copy_from_slice(&TEST_UNIQUE_ID.to_be_bytes());
+        let tc = PusTcCreator::new(&mut sp_header, sec_header, &app_data, true);
+        let token = testbench.add_tc(&tc);
+        let (_active_req, req) = testbench
+            .convert(token, &[], TEST_APID, TEST_UNIQUE_ID)
+            .expect("conversion has failed");
+        assert_eq!(req, ModeRequest::AnnounceModeRecursive);
+    }
+
+    #[test]
+    fn reply_handling_unrequested_reply() {
+        let mut testbench = ReplyHandlerTestbench::new(ModeReplyHandler::default());
+        let mode_reply = ModeReply::ModeReply(ModeAndSubmode::new(5, 1));
+        let unrequested_reply =
+            GenericMessage::new(MessageMetadata::new(10_u32, 15_u64), mode_reply);
+        // Right now this function does not do a lot. We simply check that it does not panic or do
+        // weird stuff.
+        let result = testbench.handle_unrequested_reply(&unrequested_reply);
+        assert!(result.is_ok());
+    }
+
+    #[test]
+    fn reply_handling_reply_timeout() {
+        let mut testbench = ReplyHandlerTestbench::new(ModeReplyHandler::default());
+        let (req_id, active_request) = testbench.add_tc(TEST_APID, TEST_UNIQUE_ID, &[]);
+        let result = testbench.handle_request_timeout(&active_request, &[]);
+        assert!(result.is_ok());
+        testbench.verif_reporter.assert_completion_failure(
+            TEST_COMPONENT_ID.raw(),
+            req_id,
+            None,
+            tmtc_err::REQUEST_TIMEOUT.raw() as u64,
+        );
+    }
+}

satrs-example/src/pus/scheduler.rs

@@ -1,23 +1,18 @@
 use std::sync::mpsc;
 use std::time::Duration;
 
+use crate::pus::create_verification_reporter;
 use log::{error, info, warn};
-use satrs::pool::{PoolProvider, StaticMemoryPool, StoreAddr};
+use satrs::pool::{PoolProvider, StaticMemoryPool};
 use satrs::pus::scheduler::{PusScheduler, TcInfo};
-use satrs::pus::scheduler_srv::PusService11SchedHandler;
-use satrs::pus::verification::std_mod::{
-    VerificationReporterWithSharedPoolMpscBoundedSender, VerificationReporterWithVecMpscSender,
-};
-use satrs::pus::verification::VerificationReportingProvider;
+use satrs::pus::scheduler_srv::PusSchedServiceHandler;
+use satrs::pus::verification::VerificationReporter;
 use satrs::pus::{
     EcssTcAndToken, EcssTcInMemConverter, EcssTcInSharedStoreConverter, EcssTcInVecConverter,
-    EcssTcReceiverCore, EcssTmSenderCore, MpscTcReceiver, PusPacketHandlerResult, PusServiceHelper,
-    TmAsVecSenderWithId, TmAsVecSenderWithMpsc, TmInSharedPoolSenderWithBoundedMpsc,
-    TmInSharedPoolSenderWithId,
+    EcssTmSenderCore, MpscTcReceiver, MpscTmAsVecSender, MpscTmInSharedPoolSenderBounded,
+    PusPacketHandlerResult, PusServiceHelper, PusTmAsVec, PusTmInPool, TmInSharedPoolSender,
 };
-use satrs::tmtc::tm_helper::SharedTmPool;
-use satrs::ChannelId;
-use satrs_example::config::{TcReceiverId, TmSenderId, PUS_APID};
+use satrs_example::config::components::PUS_SCHED_SERVICE;
 
 use crate::tmtc::PusTcSourceProviderSharedPool;
 
@@ -55,14 +50,12 @@ impl TcReleaser for mpsc::Sender<Vec<u8>> {
     }
 }
 
-pub struct Pus11Wrapper<
-    TcReceiver: EcssTcReceiverCore,
+pub struct SchedulingServiceWrapper<
     TmSender: EcssTmSenderCore,
     TcInMemConverter: EcssTcInMemConverter,
-    VerificationReporter: VerificationReportingProvider,
 > {
-    pub pus_11_handler: PusService11SchedHandler<
-        TcReceiver,
+    pub pus_11_handler: PusSchedServiceHandler<
+        MpscTcReceiver,
         TmSender,
         TcInMemConverter,
         VerificationReporter,
@@ -73,12 +66,8 @@ pub struct Pus11Wrapper<
     pub tc_releaser: Box<dyn TcReleaser + Send>,
 }
 
-impl<
-        TcReceiver: EcssTcReceiverCore,
-        TmSender: EcssTmSenderCore,
-        TcInMemConverter: EcssTcInMemConverter,
-        VerificationReporter: VerificationReportingProvider,
-    > Pus11Wrapper<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>
+impl<TmSender: EcssTmSenderCore, TcInMemConverter: EcssTcInMemConverter>
+    SchedulingServiceWrapper<TmSender, TcInMemConverter>
 {
     pub fn release_tcs(&mut self) {
         let releaser = |enabled: bool, info: &TcInfo, tc: &[u8]| -> bool {
@@ -103,8 +92,11 @@ impl<
         }
     }
 
-    pub fn handle_next_packet(&mut self) -> bool {
-        match self.pus_11_handler.handle_one_tc(&mut self.sched_tc_pool) {
+    pub fn poll_and_handle_next_tc(&mut self, time_stamp: &[u8]) -> bool {
+        match self
+            .pus_11_handler
+            .poll_and_handle_next_tc(time_stamp, &mut self.sched_tc_pool)
+        {
             Ok(result) => match result {
                 PusPacketHandlerResult::RequestHandled => {}
                 PusPacketHandlerResult::RequestHandledPartialSuccess(e) => {
@@ -129,42 +121,24 @@ impl<
 }
 
 pub fn create_scheduler_service_static(
-    shared_tm_store: SharedTmPool,
-    tm_funnel_tx: mpsc::SyncSender<StoreAddr>,
-    verif_reporter: VerificationReporterWithSharedPoolMpscBoundedSender,
+    tm_sender: TmInSharedPoolSender<mpsc::SyncSender<PusTmInPool>>,
     tc_releaser: PusTcSourceProviderSharedPool,
     pus_sched_rx: mpsc::Receiver<EcssTcAndToken>,
     sched_tc_pool: StaticMemoryPool,
-) -> Pus11Wrapper<
-    MpscTcReceiver,
-    TmInSharedPoolSenderWithBoundedMpsc,
-    EcssTcInSharedStoreConverter,
-    VerificationReporterWithSharedPoolMpscBoundedSender,
-> {
-    let sched_srv_tm_sender = TmInSharedPoolSenderWithId::new(
-        TmSenderId::PusSched as ChannelId,
-        "PUS_11_TM_SENDER",
-        shared_tm_store.clone(),
-        tm_funnel_tx.clone(),
-    );
-    let sched_srv_receiver = MpscTcReceiver::new(
-        TcReceiverId::PusSched as ChannelId,
-        "PUS_11_TC_RECV",
-        pus_sched_rx,
-    );
+) -> SchedulingServiceWrapper<MpscTmInSharedPoolSenderBounded, EcssTcInSharedStoreConverter> {
     let scheduler = PusScheduler::new_with_current_init_time(Duration::from_secs(5))
         .expect("Creating PUS Scheduler failed");
-    let pus_11_handler = PusService11SchedHandler::new(
+    let pus_11_handler = PusSchedServiceHandler::new(
         PusServiceHelper::new(
-            sched_srv_receiver,
-            sched_srv_tm_sender,
-            PUS_APID,
-            verif_reporter.clone(),
+            PUS_SCHED_SERVICE.raw(),
+            pus_sched_rx,
+            tm_sender,
+            create_verification_reporter(PUS_SCHED_SERVICE.apid),
             EcssTcInSharedStoreConverter::new(tc_releaser.clone_backing_pool(), 2048),
         ),
         scheduler,
     );
-    Pus11Wrapper {
+    SchedulingServiceWrapper {
         pus_11_handler,
         sched_tc_pool,
         releaser_buf: [0; 4096],
@@ -173,40 +147,26 @@ pub fn create_scheduler_service_static(
 }
 
 pub fn create_scheduler_service_dynamic(
-    tm_funnel_tx: mpsc::Sender<Vec<u8>>,
-    verif_reporter: VerificationReporterWithVecMpscSender,
+    tm_funnel_tx: mpsc::Sender<PusTmAsVec>,
     tc_source_sender: mpsc::Sender<Vec<u8>>,
     pus_sched_rx: mpsc::Receiver<EcssTcAndToken>,
     sched_tc_pool: StaticMemoryPool,
-) -> Pus11Wrapper<
-    MpscTcReceiver,
-    TmAsVecSenderWithMpsc,
-    EcssTcInVecConverter,
-    VerificationReporterWithVecMpscSender,
-> {
-    let sched_srv_tm_sender = TmAsVecSenderWithId::new(
-        TmSenderId::PusSched as ChannelId,
-        "PUS_11_TM_SENDER",
-        tm_funnel_tx,
-    );
-    let sched_srv_receiver = MpscTcReceiver::new(
-        TcReceiverId::PusSched as ChannelId,
-        "PUS_11_TC_RECV",
-        pus_sched_rx,
-    );
+) -> SchedulingServiceWrapper<MpscTmAsVecSender, EcssTcInVecConverter> {
+    //let sched_srv_receiver =
+    //MpscTcReceiver::new(PUS_SCHED_SERVICE.raw(), "PUS_11_TC_RECV", pus_sched_rx);
     let scheduler = PusScheduler::new_with_current_init_time(Duration::from_secs(5))
         .expect("Creating PUS Scheduler failed");
-    let pus_11_handler = PusService11SchedHandler::new(
+    let pus_11_handler = PusSchedServiceHandler::new(
         PusServiceHelper::new(
-            sched_srv_receiver,
-            sched_srv_tm_sender,
-            PUS_APID,
-            verif_reporter.clone(),
+            PUS_SCHED_SERVICE.raw(),
+            pus_sched_rx,
+            tm_funnel_tx,
+            create_verification_reporter(PUS_SCHED_SERVICE.apid),
             EcssTcInVecConverter::default(),
         ),
         scheduler,
     );
-    Pus11Wrapper {
+    SchedulingServiceWrapper {
         pus_11_handler,
         sched_tc_pool,
         releaser_buf: [0; 4096],

satrs-example/src/pus/stack.rs

@@ -1,69 +1,69 @@
-use satrs::pus::{
-    verification::VerificationReportingProvider, EcssTcInMemConverter, EcssTcReceiverCore,
-    EcssTmSenderCore,
+use crate::pus::mode::ModeServiceWrapper;
+use derive_new::new;
+use satrs::{
+    pus::{EcssTcInMemConverter, EcssTmSenderCore},
+    spacepackets::time::{cds, TimeWriter},
 };
 
 use super::{
-    action::Pus8Wrapper, event::Pus5Wrapper, hk::Pus3Wrapper, scheduler::Pus11Wrapper,
-    test::Service17CustomWrapper,
+    action::ActionServiceWrapper, event::EventServiceWrapper, hk::HkServiceWrapper,
+    scheduler::SchedulingServiceWrapper, test::TestCustomServiceWrapper, TargetedPusService,
 };
 
-pub struct PusStack<
-    TcReceiver: EcssTcReceiverCore,
-    TmSender: EcssTmSenderCore,
-    TcInMemConverter: EcssTcInMemConverter,
-    VerificationReporter: VerificationReportingProvider,
-> {
-    event_srv: Pus5Wrapper<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>,
-    hk_srv: Pus3Wrapper<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>,
-    action_srv: Pus8Wrapper<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>,
-    schedule_srv: Pus11Wrapper<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>,
-    test_srv: Service17CustomWrapper<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>,
+#[derive(new)]
+pub struct PusStack<TmSender: EcssTmSenderCore, TcInMemConverter: EcssTcInMemConverter> {
+    test_srv: TestCustomServiceWrapper<TmSender, TcInMemConverter>,
+    hk_srv_wrapper: HkServiceWrapper<TmSender, TcInMemConverter>,
+    event_srv: EventServiceWrapper<TmSender, TcInMemConverter>,
+    action_srv_wrapper: ActionServiceWrapper<TmSender, TcInMemConverter>,
+    schedule_srv: SchedulingServiceWrapper<TmSender, TcInMemConverter>,
+    mode_srv: ModeServiceWrapper<TmSender, TcInMemConverter>,
 }
 
-impl<
-        TcReceiver: EcssTcReceiverCore,
-        TmSender: EcssTmSenderCore,
-        TcInMemConverter: EcssTcInMemConverter,
-        VerificationReporter: VerificationReportingProvider,
-    > PusStack<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>
+impl<TmSender: EcssTmSenderCore, TcInMemConverter: EcssTcInMemConverter>
+    PusStack<TmSender, TcInMemConverter>
 {
-    pub fn new(
-        hk_srv: Pus3Wrapper<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>,
-        event_srv: Pus5Wrapper<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>,
-        action_srv: Pus8Wrapper<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>,
-        schedule_srv: Pus11Wrapper<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>,
-        test_srv: Service17CustomWrapper<
-            TcReceiver,
-            TmSender,
-            TcInMemConverter,
-            VerificationReporter,
-        >,
-    ) -> Self {
-        Self {
-            event_srv,
-            action_srv,
-            schedule_srv,
-            test_srv,
-            hk_srv,
-        }
-    }
-
     pub fn periodic_operation(&mut self) {
+        // Release all telecommands which reached their release time before calling the service
+        // handlers.
         self.schedule_srv.release_tcs();
+        let time_stamp = cds::CdsTime::now_with_u16_days()
+            .expect("time stamp generation error")
+            .to_vec()
+            .unwrap();
         loop {
-            let mut all_queues_empty = true;
-            let mut is_srv_finished = |srv_handler_finished: bool| {
-                if !srv_handler_finished {
-                    all_queues_empty = false;
+            let mut nothing_to_do = true;
+            let mut is_srv_finished =
+                |tc_handling_done: bool, reply_handling_done: Option<bool>| {
+                    if !tc_handling_done
+                        || (reply_handling_done.is_some() && !reply_handling_done.unwrap())
+                    {
+                        nothing_to_do = false;
                     }
                 };
-            is_srv_finished(self.test_srv.handle_next_packet());
-            is_srv_finished(self.schedule_srv.handle_next_packet());
-            is_srv_finished(self.event_srv.handle_next_packet());
-            is_srv_finished(self.action_srv.handle_next_packet());
-            is_srv_finished(self.hk_srv.handle_next_packet());
-            if all_queues_empty {
+            is_srv_finished(self.test_srv.poll_and_handle_next_packet(&time_stamp), None);
+            is_srv_finished(self.schedule_srv.poll_and_handle_next_tc(&time_stamp), None);
+            is_srv_finished(self.event_srv.poll_and_handle_next_tc(&time_stamp), None);
+            is_srv_finished(
+                self.action_srv_wrapper.poll_and_handle_next_tc(&time_stamp),
+                Some(
+                    self.action_srv_wrapper
+                        .poll_and_handle_next_reply(&time_stamp),
+                ),
+            );
+            is_srv_finished(
+                self.hk_srv_wrapper.poll_and_handle_next_tc(&time_stamp),
+                Some(self.hk_srv_wrapper.poll_and_handle_next_reply(&time_stamp)),
+            );
+            is_srv_finished(
+                self.mode_srv.poll_and_handle_next_tc(&time_stamp),
+                Some(self.mode_srv.poll_and_handle_next_reply(&time_stamp)),
+            );
+            if nothing_to_do {
+                // Timeout checking is only done once.
+                self.action_srv_wrapper.check_for_request_timeouts();
+                self.hk_srv_wrapper.check_for_request_timeouts();
+                self.mode_srv.check_for_request_timeouts();
                 break;
             }
         }

satrs-example/src/pus/test.rs

@@ -1,118 +1,74 @@
+use crate::pus::create_verification_reporter;
 use log::{info, warn};
 use satrs::params::Params;
-use satrs::pool::{SharedStaticMemoryPool, StoreAddr};
+use satrs::pool::SharedStaticMemoryPool;
 use satrs::pus::test::PusService17TestHandler;
-use satrs::pus::verification::{FailParams, VerificationReportingProvider};
-use satrs::pus::verification::{
-    VerificationReporterWithSharedPoolMpscBoundedSender, VerificationReporterWithVecMpscSender,
-};
+use satrs::pus::verification::{FailParams, VerificationReporter, VerificationReportingProvider};
 use satrs::pus::{
-    EcssTcAndToken, EcssTcInMemConverter, EcssTcInVecConverter, EcssTcReceiverCore,
-    EcssTmSenderCore, MpscTcReceiver, PusPacketHandlerResult, PusServiceHelper,
-    TmAsVecSenderWithId, TmAsVecSenderWithMpsc, TmInSharedPoolSenderWithBoundedMpsc,
-    TmInSharedPoolSenderWithId,
+    EcssTcAndToken, EcssTcInMemConverter, EcssTcInVecConverter, EcssTmSenderCore, MpscTcReceiver,
+    MpscTmAsVecSender, MpscTmInSharedPoolSenderBounded, PusPacketHandlerResult, PusServiceHelper,
+    PusTmAsVec, PusTmInPool, TmInSharedPoolSender,
 };
 use satrs::spacepackets::ecss::tc::PusTcReader;
 use satrs::spacepackets::ecss::PusPacket;
 use satrs::spacepackets::time::cds::CdsTime;
 use satrs::spacepackets::time::TimeWriter;
-use satrs::tmtc::tm_helper::SharedTmPool;
-use satrs::ChannelId;
 use satrs::{events::EventU32, pus::EcssTcInSharedStoreConverter};
-use satrs_example::config::{tmtc_err, TcReceiverId, TmSenderId, PUS_APID, TEST_EVENT};
-use std::sync::mpsc::{self, Sender};
+use satrs_example::config::components::PUS_TEST_SERVICE;
+use satrs_example::config::{tmtc_err, TEST_EVENT};
+use std::sync::mpsc;
 
 pub fn create_test_service_static(
-    shared_tm_store: SharedTmPool,
-    tm_funnel_tx: mpsc::SyncSender<StoreAddr>,
-    verif_reporter: VerificationReporterWithSharedPoolMpscBoundedSender,
+    tm_sender: TmInSharedPoolSender<mpsc::SyncSender<PusTmInPool>>,
     tc_pool: SharedStaticMemoryPool,
     event_sender: mpsc::Sender<(EventU32, Option<Params>)>,
     pus_test_rx: mpsc::Receiver<EcssTcAndToken>,
-) -> Service17CustomWrapper<
-    MpscTcReceiver,
-    TmInSharedPoolSenderWithBoundedMpsc,
-    EcssTcInSharedStoreConverter,
-    VerificationReporterWithSharedPoolMpscBoundedSender,
-> {
-    let test_srv_tm_sender = TmInSharedPoolSenderWithId::new(
-        TmSenderId::PusTest as ChannelId,
-        "PUS_17_TM_SENDER",
-        shared_tm_store.clone(),
-        tm_funnel_tx.clone(),
-    );
-    let test_srv_receiver = MpscTcReceiver::new(
-        TcReceiverId::PusTest as ChannelId,
-        "PUS_17_TC_RECV",
-        pus_test_rx,
-    );
+) -> TestCustomServiceWrapper<MpscTmInSharedPoolSenderBounded, EcssTcInSharedStoreConverter> {
     let pus17_handler = PusService17TestHandler::new(PusServiceHelper::new(
-        test_srv_receiver,
-        test_srv_tm_sender,
-        PUS_APID,
-        verif_reporter.clone(),
+        PUS_TEST_SERVICE.raw(),
+        pus_test_rx,
+        tm_sender,
+        create_verification_reporter(PUS_TEST_SERVICE.apid),
         EcssTcInSharedStoreConverter::new(tc_pool, 2048),
     ));
-    Service17CustomWrapper {
-        pus17_handler,
+    TestCustomServiceWrapper {
+        handler: pus17_handler,
         test_srv_event_sender: event_sender,
     }
 }
 
 pub fn create_test_service_dynamic(
-    tm_funnel_tx: mpsc::Sender<Vec<u8>>,
-    verif_reporter: VerificationReporterWithVecMpscSender,
+    tm_funnel_tx: mpsc::Sender<PusTmAsVec>,
     event_sender: mpsc::Sender<(EventU32, Option<Params>)>,
     pus_test_rx: mpsc::Receiver<EcssTcAndToken>,
-) -> Service17CustomWrapper<
-    MpscTcReceiver,
-    TmAsVecSenderWithMpsc,
-    EcssTcInVecConverter,
-    VerificationReporterWithVecMpscSender,
-> {
-    let test_srv_tm_sender = TmAsVecSenderWithId::new(
-        TmSenderId::PusTest as ChannelId,
-        "PUS_17_TM_SENDER",
-        tm_funnel_tx.clone(),
-    );
-    let test_srv_receiver = MpscTcReceiver::new(
-        TcReceiverId::PusTest as ChannelId,
-        "PUS_17_TC_RECV",
-        pus_test_rx,
-    );
+) -> TestCustomServiceWrapper<MpscTmAsVecSender, EcssTcInVecConverter> {
     let pus17_handler = PusService17TestHandler::new(PusServiceHelper::new(
-        test_srv_receiver,
-        test_srv_tm_sender,
-        PUS_APID,
-        verif_reporter.clone(),
+        PUS_TEST_SERVICE.raw(),
+        pus_test_rx,
+        tm_funnel_tx,
+        create_verification_reporter(PUS_TEST_SERVICE.apid),
         EcssTcInVecConverter::default(),
     ));
-    Service17CustomWrapper {
-        pus17_handler,
+    TestCustomServiceWrapper {
+        handler: pus17_handler,
         test_srv_event_sender: event_sender,
     }
 }
 
-pub struct Service17CustomWrapper<
-    TcReceiver: EcssTcReceiverCore,
+pub struct TestCustomServiceWrapper<
     TmSender: EcssTmSenderCore,
     TcInMemConverter: EcssTcInMemConverter,
-    VerificationReporter: VerificationReportingProvider,
 > {
-    pub pus17_handler:
-        PusService17TestHandler<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>,
-    pub test_srv_event_sender: Sender<(EventU32, Option<Params>)>,
+    pub handler:
+        PusService17TestHandler<MpscTcReceiver, TmSender, TcInMemConverter, VerificationReporter>,
+    pub test_srv_event_sender: mpsc::Sender<(EventU32, Option<Params>)>,
 }
 
-impl<
-        TcReceiver: EcssTcReceiverCore,
-        TmSender: EcssTmSenderCore,
-        TcInMemConverter: EcssTcInMemConverter,
-        VerificationReporter: VerificationReportingProvider,
-    > Service17CustomWrapper<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>
+impl<TmSender: EcssTmSenderCore, TcInMemConverter: EcssTcInMemConverter>
+    TestCustomServiceWrapper<TmSender, TcInMemConverter>
 {
-    pub fn handle_next_packet(&mut self) -> bool {
-        let res = self.pus17_handler.handle_one_tc();
+    pub fn poll_and_handle_next_packet(&mut self, time_stamp: &[u8]) -> bool {
+        let res = self.handler.poll_and_handle_next_tc(time_stamp);
         if res.is_err() {
             warn!("PUS17 handler failed with error {:?}", res.unwrap_err());
             return true;
@@ -133,7 +89,7 @@ impl<
             }
             PusPacketHandlerResult::CustomSubservice(subservice, token) => {
                 let (tc, _) = PusTcReader::new(
-                    self.pus17_handler
+                    self.handler
                         .service_helper
                         .tc_in_mem_converter
                         .tc_slice_raw(),
@@ -148,25 +104,34 @@ impl<
                         .send((TEST_EVENT.into(), None))
                         .expect("Sending test event failed");
                     let start_token = self
-                        .pus17_handler
+                        .handler
                         .service_helper
-                        .common
-                        .verification_handler
-                        .start_success(token, &stamp_buf)
+                        .verif_reporter()
+                        .start_success(
+                            self.handler.service_helper.common.id,
+                            self.handler.service_helper.tm_sender(),
+                            token,
+                            &stamp_buf,
+                        )
                         .expect("Error sending start success");
-                    self.pus17_handler
+                    self.handler
                         .service_helper
-                        .common
-                        .verification_handler
-                        .completion_success(start_token, &stamp_buf)
+                        .verif_reporter()
+                        .completion_success(
+                            self.handler.service_helper.id(),
+                            self.handler.service_helper.tm_sender(),
+                            start_token,
+                            &stamp_buf,
+                        )
                         .expect("Error sending completion success");
                 } else {
                     let fail_data = [tc.subservice()];
-                    self.pus17_handler
+                    self.handler
                         .service_helper
-                        .common
-                        .verification_handler
+                        .verif_reporter()
                         .start_failure(
+                            self.handler.service_helper.id(),
+                            self.handler.service_helper.tm_sender(),
                             token,
                             FailParams::new(
                                 &stamp_buf,

satrs-example/src/requests.rs

@@ -1,94 +1,151 @@
 use std::collections::HashMap;
 use std::sync::mpsc;
 
-use derive_new::new;
+use log::warn;
 use satrs::action::ActionRequest;
 use satrs::hk::HkRequest;
 use satrs::mode::ModeRequest;
-use satrs::pus::action::PusActionRequestRouter;
-use satrs::pus::hk::PusHkRequestRouter;
-use satrs::pus::verification::{TcStateAccepted, VerificationToken};
-use satrs::pus::GenericRoutingError;
+use satrs::pus::verification::{
+    FailParams, TcStateAccepted, VerificationReportingProvider, VerificationToken,
+};
+use satrs::pus::{ActiveRequestProvider, EcssTmSenderCore, GenericRoutingError, PusRequestRouter};
 use satrs::queue::GenericSendError;
-use satrs::TargetId;
+use satrs::request::{GenericMessage, MessageMetadata};
+use satrs::spacepackets::ecss::tc::PusTcReader;
+use satrs::spacepackets::ecss::PusPacket;
+use satrs::ComponentId;
+use satrs_example::config::components::PUS_ROUTING_SERVICE;
+use satrs_example::config::tmtc_err;
 
-#[allow(dead_code)]
-#[derive(Clone, Eq, PartialEq, Debug)]
+#[derive(Clone, Debug)]
 #[non_exhaustive]
-pub enum Request {
+pub enum CompositeRequest {
     Hk(HkRequest),
-    Mode(ModeRequest),
     Action(ActionRequest),
 }
 
-#[derive(Clone, Eq, PartialEq, Debug, new)]
-pub struct TargetedRequest {
-    pub(crate) target_id: TargetId,
-    pub(crate) request: Request,
+#[derive(Clone)]
+pub struct GenericRequestRouter {
+    pub id: ComponentId,
+    // All messages which do not have a dedicated queue.
+    pub composite_router_map: HashMap<ComponentId, mpsc::Sender<GenericMessage<CompositeRequest>>>,
+    pub mode_router_map: HashMap<ComponentId, mpsc::Sender<GenericMessage<ModeRequest>>>,
 }
 
-#[derive(Clone, Eq, PartialEq, Debug)]
-pub struct RequestWithToken {
-    pub(crate) targeted_request: TargetedRequest,
-    pub(crate) token: VerificationToken<TcStateAccepted>,
-}
-
-impl RequestWithToken {
-    pub fn new(
-        target_id: TargetId,
-        request: Request,
-        token: VerificationToken<TcStateAccepted>,
-    ) -> Self {
+impl Default for GenericRequestRouter {
+    fn default() -> Self {
         Self {
-            targeted_request: TargetedRequest::new(target_id, request),
-            token,
+            id: PUS_ROUTING_SERVICE.raw(),
+            composite_router_map: Default::default(),
+            mode_router_map: Default::default(),
         }
     }
 }
-
-#[derive(Default, Clone)]
-pub struct GenericRequestRouter(pub HashMap<TargetId, mpsc::Sender<RequestWithToken>>);
-
-impl PusHkRequestRouter for GenericRequestRouter {
+impl GenericRequestRouter {
+    pub(crate) fn handle_error_generic(
+        &self,
+        active_request: &impl ActiveRequestProvider,
+        tc: &PusTcReader,
+        error: GenericRoutingError,
+        tm_sender: &(impl EcssTmSenderCore + ?Sized),
+        verif_reporter: &impl VerificationReportingProvider,
+        time_stamp: &[u8],
+    ) {
+        warn!(
+            "Routing request for service {} failed: {error:?}",
+            tc.service()
+        );
+        let accepted_token: VerificationToken<TcStateAccepted> = active_request
+            .token()
+            .try_into()
+            .expect("token is not in accepted state");
+        match error {
+            GenericRoutingError::UnknownTargetId(id) => {
+                let mut fail_data: [u8; 8] = [0; 8];
+                fail_data.copy_from_slice(&id.to_be_bytes());
+                verif_reporter
+                    .completion_failure(
+                        self.id,
+                        tm_sender,
+                        accepted_token,
+                        FailParams::new(time_stamp, &tmtc_err::UNKNOWN_TARGET_ID, &fail_data),
+                    )
+                    .expect("Sending start failure failed");
+            }
+            GenericRoutingError::Send(_) => {
+                let mut fail_data: [u8; 8] = [0; 8];
+                fail_data.copy_from_slice(&active_request.target_id().to_be_bytes());
+                verif_reporter
+                    .completion_failure(
+                        self.id,
+                        tm_sender,
+                        accepted_token,
+                        FailParams::new(time_stamp, &tmtc_err::ROUTING_ERROR, &fail_data),
+                    )
+                    .expect("Sending start failure failed");
+            }
+        }
+    }
+}
+impl PusRequestRouter<HkRequest> for GenericRequestRouter {
     type Error = GenericRoutingError;
 
     fn route(
         &self,
-        target_id: TargetId,
+        requestor_info: MessageMetadata,
+        target_id: ComponentId,
         hk_request: HkRequest,
-        token: VerificationToken<TcStateAccepted>,
     ) -> Result<(), Self::Error> {
-        if let Some(sender) = self.0.get(&target_id) {
+        if let Some(sender) = self.composite_router_map.get(&target_id) {
             sender
-                .send(RequestWithToken::new(
-                    target_id,
-                    Request::Hk(hk_request),
-                    token,
+                .send(GenericMessage::new(
+                    requestor_info,
+                    CompositeRequest::Hk(hk_request),
                 ))
-                .map_err(|_| GenericRoutingError::SendError(GenericSendError::RxDisconnected))?;
+                .map_err(|_| GenericRoutingError::Send(GenericSendError::RxDisconnected))?;
+            return Ok(());
         }
-        Ok(())
+        Err(GenericRoutingError::UnknownTargetId(target_id))
     }
 }
 
-impl PusActionRequestRouter for GenericRequestRouter {
+impl PusRequestRouter<ActionRequest> for GenericRequestRouter {
     type Error = GenericRoutingError;
 
     fn route(
         &self,
-        target_id: TargetId,
+        requestor_info: MessageMetadata,
+        target_id: ComponentId,
         action_request: ActionRequest,
-        token: VerificationToken<TcStateAccepted>,
     ) -> Result<(), Self::Error> {
-        if let Some(sender) = self.0.get(&target_id) {
+        if let Some(sender) = self.composite_router_map.get(&target_id) {
             sender
-                .send(RequestWithToken::new(
-                    target_id,
-                    Request::Action(action_request),
-                    token,
+                .send(GenericMessage::new(
+                    requestor_info,
+                    CompositeRequest::Action(action_request),
                 ))
-                .map_err(|_| GenericRoutingError::SendError(GenericSendError::RxDisconnected))?;
+                .map_err(|_| GenericRoutingError::Send(GenericSendError::RxDisconnected))?;
+            return Ok(());
         }
-        Ok(())
+        Err(GenericRoutingError::UnknownTargetId(target_id))
+    }
+}
+
+impl PusRequestRouter<ModeRequest> for GenericRequestRouter {
+    type Error = GenericRoutingError;
+
+    fn route(
+        &self,
+        requestor_info: MessageMetadata,
+        target_id: ComponentId,
+        request: ModeRequest,
+    ) -> Result<(), Self::Error> {
+        if let Some(sender) = self.mode_router_map.get(&target_id) {
+            sender
+                .send(GenericMessage::new(requestor_info, request))
+                .map_err(|_| GenericRoutingError::Send(GenericSendError::RxDisconnected))?;
+            return Ok(());
+        }
+        Err(GenericRoutingError::UnknownTargetId(target_id))
     }
 }

satrs-example/src/tcp.rs

@@ -10,11 +10,16 @@ use satrs::{
     spacepackets::PacketId,
     tmtc::{CcsdsDistributor, CcsdsError, ReceivesCcsdsTc, TmPacketSourceCore},
 };
-use satrs_example::config::PUS_APID;
+use satrs_example::config::components;
 
 use crate::ccsds::CcsdsReceiver;
 
-pub const PACKET_ID_LOOKUP: &[PacketId] = &[PacketId::const_tc(true, PUS_APID)];
+pub const PACKET_ID_LOOKUP: &[PacketId] = &[
+    PacketId::const_tc(true, components::Apid::GenericPus as u16),
+    PacketId::const_tc(true, components::Apid::EventTm as u16),
+    PacketId::const_tc(true, components::Apid::Acs as u16),
+    PacketId::const_tc(true, components::Apid::Sched as u16),
+];
 
 #[derive(Default, Clone)]
 pub struct SyncTcpTmSource {

satrs-example/src/tm_funnel.rs

@@ -4,8 +4,9 @@ use std::{
 };
 
 use log::info;
+use satrs::pus::{PusTmAsVec, PusTmInPool};
 use satrs::{
-    pool::{PoolProvider, StoreAddr},
+    pool::PoolProvider,
     seq_count::{CcsdsSimpleSeqCountProvider, SequenceCountProviderCore},
     spacepackets::{
         ecss::{tm::PusTmZeroCopyWriter, PusPacket},
@@ -77,16 +78,16 @@ impl TmFunnelCommon {
 pub struct TmFunnelStatic {
     common: TmFunnelCommon,
     shared_tm_store: SharedTmPool,
-    tm_funnel_rx: mpsc::Receiver<StoreAddr>,
-    tm_server_tx: mpsc::SyncSender<StoreAddr>,
+    tm_funnel_rx: mpsc::Receiver<PusTmInPool>,
+    tm_server_tx: mpsc::SyncSender<PusTmInPool>,
 }
 
 impl TmFunnelStatic {
     pub fn new(
         shared_tm_store: SharedTmPool,
         sync_tm_tcp_source: SyncTcpTmSource,
-        tm_funnel_rx: mpsc::Receiver<StoreAddr>,
-        tm_server_tx: mpsc::SyncSender<StoreAddr>,
+        tm_funnel_rx: mpsc::Receiver<PusTmInPool>,
+        tm_server_tx: mpsc::SyncSender<PusTmInPool>,
     ) -> Self {
         Self {
             common: TmFunnelCommon::new(sync_tm_tcp_source),
@@ -97,14 +98,14 @@ impl TmFunnelStatic {
     }
 
     pub fn operation(&mut self) {
-        if let Ok(addr) = self.tm_funnel_rx.recv() {
+        if let Ok(pus_tm_in_pool) = self.tm_funnel_rx.recv() {
             // Read the TM, set sequence counter and message counter, and finally update
             // the CRC.
             let shared_pool = self.shared_tm_store.clone_backing_pool();
             let mut pool_guard = shared_pool.write().expect("Locking TM pool failed");
             let mut tm_copy = Vec::new();
             pool_guard
-                .modify(&addr, |buf| {
+                .modify(&pus_tm_in_pool.store_addr, |buf| {
                     let zero_copy_writer = PusTmZeroCopyWriter::new(buf, MIN_CDS_FIELD_LEN)
                         .expect("Creating TM zero copy writer failed");
                     self.common.apply_packet_processing(zero_copy_writer);
@@ -112,7 +113,7 @@ impl TmFunnelStatic {
                 })
                 .expect("Reading TM from pool failed");
             self.tm_server_tx
-                .send(addr)
+                .send(pus_tm_in_pool)
                 .expect("Sending TM to server failed");
             // We could also do this step in the update closure, but I'd rather avoid this, could
             // lead to nested locking.
@@ -123,15 +124,15 @@ impl TmFunnelStatic {
 
 pub struct TmFunnelDynamic {
     common: TmFunnelCommon,
-    tm_funnel_rx: mpsc::Receiver<Vec<u8>>,
-    tm_server_tx: mpsc::Sender<Vec<u8>>,
+    tm_funnel_rx: mpsc::Receiver<PusTmAsVec>,
+    tm_server_tx: mpsc::Sender<PusTmAsVec>,
 }
 
 impl TmFunnelDynamic {
     pub fn new(
         sync_tm_tcp_source: SyncTcpTmSource,
-        tm_funnel_rx: mpsc::Receiver<Vec<u8>>,
-        tm_server_tx: mpsc::Sender<Vec<u8>>,
+        tm_funnel_rx: mpsc::Receiver<PusTmAsVec>,
+        tm_server_tx: mpsc::Sender<PusTmAsVec>,
     ) -> Self {
         Self {
             common: TmFunnelCommon::new(sync_tm_tcp_source),
@@ -144,13 +145,13 @@ impl TmFunnelDynamic {
         if let Ok(mut tm) = self.tm_funnel_rx.recv() {
             // Read the TM, set sequence counter and message counter, and finally update
             // the CRC.
-            let zero_copy_writer = PusTmZeroCopyWriter::new(&mut tm, MIN_CDS_FIELD_LEN)
+            let zero_copy_writer = PusTmZeroCopyWriter::new(&mut tm.packet, MIN_CDS_FIELD_LEN)
                 .expect("Creating TM zero copy writer failed");
             self.common.apply_packet_processing(zero_copy_writer);
+            self.common.sync_tm_tcp_source.add_tm(&tm.packet);
             self.tm_server_tx
-                .send(tm.clone())
+                .send(tm)
                 .expect("Sending TM to server failed");
-            self.common.sync_tm_tcp_source.add_tm(&tm);
         }
     }
 }

satrs-example/src/tmtc.rs

@@ -1,8 +1,7 @@
 use log::warn;
-use satrs::pus::verification::std_mod::{
-    VerificationReporterWithSharedPoolMpscBoundedSender, VerificationReporterWithVecMpscSender,
+use satrs::pus::{
+    EcssTcAndToken, MpscTmAsVecSender, MpscTmInSharedPoolSenderBounded, ReceivesEcssPusTc,
 };
-use satrs::pus::{EcssTcAndToken, ReceivesEcssPusTc};
 use satrs::spacepackets::SpHeader;
 use std::sync::mpsc::{self, Receiver, SendError, Sender, SyncSender, TryRecvError};
 use thiserror::Error;
@@ -100,14 +99,14 @@ pub struct TcSourceTaskStatic {
     shared_tc_pool: SharedTcPool,
     tc_receiver: Receiver<StoreAddr>,
     tc_buf: [u8; 4096],
-    pus_receiver: PusReceiver<VerificationReporterWithSharedPoolMpscBoundedSender>,
+    pus_receiver: PusReceiver<MpscTmInSharedPoolSenderBounded>,
 }
 
 impl TcSourceTaskStatic {
     pub fn new(
         shared_tc_pool: SharedTcPool,
         tc_receiver: Receiver<StoreAddr>,
-        pus_receiver: PusReceiver<VerificationReporterWithSharedPoolMpscBoundedSender>,
+        pus_receiver: PusReceiver<MpscTmInSharedPoolSenderBounded>,
     ) -> Self {
         Self {
             shared_tc_pool,
@@ -164,13 +163,13 @@ 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<VerificationReporterWithVecMpscSender>,
+    pus_receiver: PusReceiver<MpscTmAsVecSender>,
 }
 
 impl TcSourceTaskDynamic {
     pub fn new(
         tc_receiver: Receiver<Vec<u8>>,
-        pus_receiver: PusReceiver<VerificationReporterWithVecMpscSender>,
+        pus_receiver: PusReceiver<MpscTmAsVecSender>,
     ) -> Self {
         Self {
             tc_receiver,

satrs-example/src/udp.rs

@@ -1,12 +1,11 @@
-use std::{
-    net::{SocketAddr, UdpSocket},
-    sync::mpsc::Receiver,
-};
+use std::net::{SocketAddr, UdpSocket};
+use std::sync::mpsc;
 
 use log::{info, warn};
+use satrs::pus::{PusTmAsVec, PusTmInPool};
 use satrs::{
     hal::std::udp_server::{ReceiveResult, UdpTcServer},
-    pool::{PoolProviderWithGuards, SharedStaticMemoryPool, StoreAddr},
+    pool::{PoolProviderWithGuards, SharedStaticMemoryPool},
     tmtc::CcsdsError,
 };
 
@@ -15,20 +14,20 @@ pub trait UdpTmHandler {
 }
 
 pub struct StaticUdpTmHandler {
-    pub tm_rx: Receiver<StoreAddr>,
+    pub tm_rx: mpsc::Receiver<PusTmInPool>,
     pub tm_store: SharedStaticMemoryPool,
 }
 
 impl UdpTmHandler for StaticUdpTmHandler {
     fn send_tm_to_udp_client(&mut self, socket: &UdpSocket, &recv_addr: &SocketAddr) {
-        while let Ok(addr) = self.tm_rx.try_recv() {
+        while let Ok(pus_tm_in_pool) = self.tm_rx.try_recv() {
             let store_lock = self.tm_store.write();
             if store_lock.is_err() {
                 warn!("Locking TM store failed");
                 continue;
             }
             let mut store_lock = store_lock.unwrap();
-            let pg = store_lock.read_with_guard(addr);
+            let pg = store_lock.read_with_guard(pus_tm_in_pool.store_addr);
             let read_res = pg.read_as_vec();
             if read_res.is_err() {
                 warn!("Error reading TM pool data");
@@ -44,20 +43,20 @@ impl UdpTmHandler for StaticUdpTmHandler {
 }
 
 pub struct DynamicUdpTmHandler {
-    pub tm_rx: Receiver<Vec<u8>>,
+    pub tm_rx: mpsc::Receiver<PusTmAsVec>,
 }
 
 impl UdpTmHandler for DynamicUdpTmHandler {
     fn send_tm_to_udp_client(&mut self, socket: &UdpSocket, recv_addr: &SocketAddr) {
         while let Ok(tm) = self.tm_rx.try_recv() {
-            if tm.len() > 9 {
-                let service = tm[7];
-                let subservice = tm[8];
+            if tm.packet.len() > 9 {
+                let service = tm.packet[7];
+                let subservice = tm.packet[8];
                 info!("Sending PUS TM[{service},{subservice}]")
             } else {
                 info!("Sending PUS TM");
             }
-            let result = socket.send_to(&tm, recv_addr);
+            let result = socket.send_to(&tm.packet, recv_addr);
             if let Err(e) = result {
                 warn!("Sending TM with UDP socket failed: {e}")
             }
@@ -120,7 +119,7 @@ mod tests {
         },
         tmtc::ReceivesTcCore,
     };
-    use satrs_example::config::{OBSW_SERVER_ADDR, PUS_APID};
+    use satrs_example::config::{components, OBSW_SERVER_ADDR};
 
     use super::*;
 
@@ -178,7 +177,7 @@ mod tests {
             udp_tc_server,
             tm_handler,
         };
-        let mut sph = SpHeader::tc_unseg(PUS_APID, 0, 0).unwrap();
+        let mut sph = SpHeader::tc_unseg(components::Apid::GenericPus as u16, 0, 0).unwrap();
         let ping_tc = PusTcCreator::new_simple(&mut sph, 17, 1, None, true)
             .to_vec()
             .unwrap();

satrs-mib/Cargo.toml

@@ -24,7 +24,7 @@ optional = true
 
 [dependencies.satrs-shared]
 path = "../satrs-shared"
-version = "0.1.2"
+version = "0.1.3"
 features = ["serde"]
 
 [dependencies.satrs-mib-codegen]

satrs-mib/codegen/Cargo.toml

@@ -28,7 +28,7 @@ features = ["full"]
 trybuild = { version = "1", features = ["diff"] }
 
 [dev-dependencies.satrs-shared]
-version = "0.1.2"
+version = "0.1.3"
 path = "../../satrs-shared"
 
 [dev-dependencies.satrs-mib]

satrs-shared/Cargo.toml

@@ -1,7 +1,7 @@
 [package]
 name = "satrs-shared"
 description = "Components shared by multiple sat-rs crates"
-version = "0.1.2"
+version = "0.1.3"
 edition = "2021"
 authors = ["Robin Mueller <muellerr@irs.uni-stuttgart.de>"]
 homepage = "https://absatsw.irs.uni-stuttgart.de/projects/sat-rs/"

satrs/CHANGELOG.md

@@ -18,11 +18,16 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
 - 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.
+- Renamed `WritableToBeBytes::raw_len` to `WritableToBeBytes::written_len` for consistency.
 - `PusServiceProvider` renamed to `PusServiceDistributor` to make the purpose of the object
   more clear
 - `PusServiceProvider::handle_pus_tc_packet` renamed to `PusServiceDistributor::distribute_packet`.
 - `PusServiceDistibutor` and `CcsdsDistributor` now use generics instead of trait objects.
   This makes accessing the concrete trait implementations more easy as well.
+- Major overhaul of the PUS handling module.
+- Replace `TargetId` by `ComponentId`.
+- Replace most usages of `ChannelId` by `ComponentId`. A dedicated channel ID has limited usage
+  due to the nature of typed channels in Rust.
 
 ## Fixed
 

satrs/Cargo.toml

@@ -19,7 +19,7 @@ smallvec = "1"
 crc = "3"
 
 [dependencies.satrs-shared]
-version = "0.1.2"
+version = "0.1.3"
 path = "../satrs-shared"
 
 [dependencies.num_enum]
@@ -117,6 +117,7 @@ alloc = [
 serde = ["dep:serde", "spacepackets/serde", "satrs-shared/serde"]
 crossbeam = ["crossbeam-channel"]
 heapless = ["dep:heapless"]
+test_util = []
 doc-images = []
 
 [package.metadata.docs.rs]

satrs/src/action.rs

@@ -1,63 +1,77 @@
-use crate::{pool::StoreAddr, TargetId};
+use crate::{params::Params, pool::StoreAddr};
+
+#[cfg(feature = "alloc")]
+#[cfg_attr(doc_cfg, doc(cfg(feature = "alloc")))]
+pub use alloc_mod::*;
 
 pub type ActionId = u32;
 
+#[derive(Debug, Eq, PartialEq, Clone)]
+pub struct ActionRequest {
+    pub action_id: ActionId,
+    pub variant: ActionRequestVariant,
+}
+
+impl ActionRequest {
+    pub fn new(action_id: ActionId, variant: ActionRequestVariant) -> Self {
+        Self { action_id, variant }
+    }
+}
+
 #[non_exhaustive]
 #[derive(Clone, Eq, PartialEq, Debug)]
-pub enum ActionRequest {
-    UnsignedIdAndStoreData {
-        action_id: ActionId,
-        data_addr: StoreAddr,
-    },
+pub enum ActionRequestVariant {
+    NoData,
+    StoreData(StoreAddr),
     #[cfg(feature = "alloc")]
-    UnsignedIdAndVecData {
-        action_id: ActionId,
-        data: alloc::vec::Vec<u8>,
-    },
-    #[cfg(feature = "alloc")]
-    StringIdAndVecData {
-        action_id: alloc::string::String,
-        data: alloc::vec::Vec<u8>,
-    },
-    #[cfg(feature = "alloc")]
-    StringIdAndStoreData {
-        action_id: alloc::string::String,
-        data: StoreAddr,
-    },
+    #[cfg_attr(doc_cfg, doc(cfg(feature = "alloc")))]
+    VecData(alloc::vec::Vec<u8>),
 }
 
-#[derive(Debug, Clone, PartialEq, Eq)]
-pub struct TargetedActionRequest {
-    target: TargetId,
-    action_request: ActionRequest,
-}
-
-impl TargetedActionRequest {
-    pub fn new(target: TargetId, action_request: ActionRequest) -> Self {
-        Self {
-            target,
-            action_request,
-        }
-    }
+#[derive(Debug, PartialEq, Clone)]
+pub struct ActionReply {
+    pub action_id: ActionId,
+    pub variant: ActionReplyVariant,
 }
 
 /// 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,
-    },
+#[derive(Clone, Debug, PartialEq)]
+pub enum ActionReplyVariant {
+    CompletionFailed(Params),
+    StepFailed { step: u32, reason: Params },
+    Completed,
 }
+
+#[cfg(feature = "alloc")]
+#[cfg_attr(doc_cfg, doc(cfg(feature = "alloc")))]
+pub mod alloc_mod {
+    use super::*;
+
+    #[cfg(feature = "alloc")]
+    #[cfg_attr(doc_cfg, doc(cfg(feature = "alloc")))]
+    #[derive(Debug, Eq, PartialEq, Clone)]
+    pub struct ActionRequestStringId {
+        pub action_id: alloc::string::String,
+        pub variant: ActionRequestVariant,
+    }
+
+    #[cfg(feature = "alloc")]
+    #[cfg_attr(doc_cfg, doc(cfg(feature = "alloc")))]
+    impl ActionRequestStringId {
+        pub fn new(action_id: alloc::string::String, variant: ActionRequestVariant) -> Self {
+            Self { action_id, variant }
+        }
+    }
+
+    #[cfg(feature = "alloc")]
+    #[cfg_attr(doc_cfg, doc(cfg(feature = "alloc")))]
+    #[derive(Debug, PartialEq, Clone)]
+    pub struct ActionReplyStringId {
+        pub action_id: alloc::string::String,
+        pub variant: ActionReplyVariant,
+    }
+}
+
+#[cfg(test)]
+mod tests {}

satrs/src/cfdp/dest.rs

@@ -5,7 +5,7 @@ use std::path::{Path, PathBuf};
 use super::{
     filestore::{FilestoreError, VirtualFilestore},
     user::{CfdpUser, FileSegmentRecvdParams, MetadataReceivedParams},
-    CheckTimer, CheckTimerCreator, EntityType, LocalEntityConfig, PacketInfo, PacketTarget,
+    CheckTimerCreator, CountdownProvider, EntityType, LocalEntityConfig, PacketInfo, PacketTarget,
     RemoteEntityConfig, RemoteEntityConfigProvider, State, TimerContext, TransactionId,
     TransactionStep,
 };
@@ -54,7 +54,7 @@ struct TransferState {
     completion_disposition: CompletionDisposition,
     checksum: u32,
     current_check_count: u32,
-    current_check_timer: Option<Box<dyn CheckTimer>>,
+    current_check_timer: Option<Box<dyn CountdownProvider>>,
 }
 
 impl Default for TransferState {
@@ -799,9 +799,9 @@ mod tests {
     };
 
     use crate::cfdp::{
-        filestore::NativeFilestore, user::OwnedMetadataRecvdParams, CheckTimer, CheckTimerCreator,
-        DefaultFaultHandler, IndicationConfig, RemoteEntityConfig, StdRemoteEntityConfigProvider,
-        UserFaultHandler, CRC_32,
+        filestore::NativeFilestore, user::OwnedMetadataRecvdParams, CheckTimerCreator,
+        CountdownProvider, DefaultFaultHandler, IndicationConfig, RemoteEntityConfig,
+        StdRemoteEntityConfigProvider, UserFaultHandler, CRC_32,
     };
 
     use super::*;
@@ -1057,7 +1057,7 @@ mod tests {
         expired: Arc<AtomicBool>,
     }
 
-    impl CheckTimer for TestCheckTimer {
+    impl CountdownProvider for TestCheckTimer {
         fn has_expired(&self) -> bool {
             self.expired.load(core::sync::atomic::Ordering::Relaxed)
         }
@@ -1088,7 +1088,10 @@ mod tests {
     }
 
     impl CheckTimerCreator for TestCheckTimerCreator {
-        fn get_check_timer_provider(&self, timer_context: TimerContext) -> Box<dyn CheckTimer> {
+        fn get_check_timer_provider(
+            &self,
+            timer_context: TimerContext,
+        ) -> Box<dyn CountdownProvider> {
             match timer_context {
                 TimerContext::CheckLimit { .. } => {
                     Box::new(TestCheckTimer::new(self.check_limit_expired_flag.clone()))

satrs/src/cfdp/mod.rs

@@ -17,6 +17,8 @@ use alloc::boxed::Box;
 #[cfg(feature = "serde")]
 use serde::{Deserialize, Serialize};
 
+use crate::time::CountdownProvider;
+
 #[cfg(feature = "std")]
 pub mod dest;
 #[cfg(feature = "alloc")]
@@ -45,7 +47,15 @@ pub enum TimerContext {
     },
 }
 
-/// Generic abstraction for a check timer which is used by 3 mechanisms of the CFDP protocol.
+/// A generic trait which allows CFDP entities to create check timers which are required to
+/// implement special procedures in unacknowledged transmission mode, as specified in 4.6.3.2
+/// and 4.6.3.3.
+///
+/// This trait also allows the creation of different check timers depending on context and purpose
+/// of the timer, the runtime environment (e.g. standard clock timer vs. timer using a RTC) or
+/// other factors.
+///
+/// The countdown timer is used by 3 mechanisms of the CFDP protocol.
 ///
 /// ## 1. Check limit handling
 ///
@@ -74,22 +84,9 @@ pub enum TimerContext {
 /// The timer will be used to perform the Positive Acknowledgement Procedures as  specified in
 /// 4.7. 1of the CFDP standard. The expiration period will be provided by the Positive ACK timer
 /// interval of the remote entity configuration.
-pub trait CheckTimer: Debug {
-    fn has_expired(&self) -> bool;
-    fn reset(&mut self);
-}
-
-/// A generic trait which allows CFDP entities to create check timers which are required to
-/// implement special procedures in unacknowledged transmission mode, as specified in 4.6.3.2
-/// and 4.6.3.3. The [CheckTimer] documentation provides more information about the purpose of the
-/// check timer in the context of CFDP.
-///
-/// This trait also allows the creation of different check timers depending on context and purpose
-/// of the timer, the runtime environment (e.g. standard clock timer vs. timer using a RTC) or
-/// other factors.
 #[cfg(feature = "alloc")]
 pub trait CheckTimerCreator {
-    fn get_check_timer_provider(&self, timer_context: TimerContext) -> Box<dyn CheckTimer>;
+    fn get_check_timer_provider(&self, timer_context: TimerContext) -> Box<dyn CountdownProvider>;
 }
 
 /// Simple implementation of the [CheckTimerCreator] trait assuming a standard runtime.
@@ -112,7 +109,7 @@ impl StdCheckTimer {
 }
 
 #[cfg(feature = "std")]
-impl CheckTimer for StdCheckTimer {
+impl CountdownProvider for StdCheckTimer {
     fn has_expired(&self) -> bool {
         let elapsed_time = self.start_time.elapsed();
         if elapsed_time.as_secs() > self.expiry_time_seconds {

satrs/src/event_man.rs

@@ -11,7 +11,7 @@
 //! about events first:
 //!
 //! The event manager has a listener table abstracted by the [ListenerMapProvider], which maps
-//! listener groups identified by [ListenerKey]s to a [sender ID][ChannelId].
+//! listener groups identified by [ListenerKey]s to a [sender ID][ComponentId].
 //! It also contains a sender table abstracted by the [SenderMapProvider] which maps these sender
 //! IDs to concrete [EventSendProvider]s. A simple approach would be to use one send event provider
 //! for each OBSW thread and then subscribe for all interesting events for a particular thread
@@ -50,7 +50,7 @@ use crate::queue::GenericSendError;
 use core::marker::PhantomData;
 use core::slice::Iter;
 
-use crate::ChannelId;
+use crate::ComponentId;
 
 #[cfg(feature = "alloc")]
 pub use alloc_mod::*;
@@ -74,7 +74,7 @@ pub type EventU32WithAuxData = EventWithAuxData<EventU32>;
 pub type EventU16WithAuxData = EventWithAuxData<EventU16>;
 
 pub trait EventSendProvider<EV: GenericEvent, AuxDataProvider = Params> {
-    fn channel_id(&self) -> ChannelId;
+    fn target_id(&self) -> ComponentId;
 
     fn send_no_data(&self, event: EV) -> Result<(), GenericSendError> {
         self.send(event, None)
@@ -95,46 +95,46 @@ pub trait ListenerMapProvider {
     #[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 get_listener_ids(&self, key: &ListenerKey) -> Option<Iter<ComponentId>>;
+    fn add_listener(&mut self, key: ListenerKey, sender_id: ComponentId) -> bool;
     fn remove_duplicates(&mut self, key: &ListenerKey);
 }
 
 pub trait SenderMapProvider<
-    SP: EventSendProvider<EV, AUX>,
-    EV: GenericEvent = EventU32,
-    AUX = Params,
+    EventSender: EventSendProvider<Ev, Data>,
+    Ev: GenericEvent = EventU32,
+    Data = Params,
 >
 {
-    fn contains_send_event_provider(&self, id: &ChannelId) -> bool;
+    fn contains_send_event_provider(&self, target_id: &ComponentId) -> bool;
 
-    fn get_send_event_provider(&self, id: &ChannelId) -> Option<&SP>;
-    fn add_send_event_provider(&mut self, send_provider: SP) -> bool;
+    fn get_send_event_provider(&self, target_id: &ComponentId) -> Option<&EventSender>;
+    fn add_send_event_provider(&mut self, send_provider: EventSender) -> bool;
 }
 
 /// Generic event manager implementation.
 ///
 /// # Generics
 ///
-///  * `ERP`: [EventReceiveProvider] used to receive all events.
-///  * `SMP`: [SenderMapProvider]  which maps channel IDs to send providers.
-///  * `LTR`: [ListenerMapProvider] which maps listener keys to channel IDs.
-///  * `SP`: [EventSendProvider] contained within the sender map which sends the events.
-///  * `EV`: The event type. This type must implement the [GenericEvent]. Currently only [EventU32]
+///  * `EventReceiver`: [EventReceiveProvider] used to receive all events.
+///  * `SenderMap`: [SenderMapProvider]  which maps channel IDs to send providers.
+///  * `ListenerMap`: [ListenerMapProvider] which maps listener keys to channel IDs.
+///  * `EventSender`: [EventSendProvider] contained within the sender map which sends the events.
+///  * `Ev`: The event type. This type must implement the [GenericEvent]. Currently only [EventU32]
 ///     and [EventU16] are supported.
-///  * `AUX`: Auxiliary data which is sent with the event to provide optional context information
+///  * `Data`: Auxiliary data which is sent with the event to provide optional context information
 pub struct EventManager<
-    ERP: EventReceiveProvider<EV, AUX>,
-    SMP: SenderMapProvider<SP, EV, AUX>,
-    LTR: ListenerMapProvider,
-    SP: EventSendProvider<EV, AUX>,
-    EV: GenericEvent = EventU32,
-    AUX = Params,
+    EventReceiver: EventReceiveProvider<Ev, Data>,
+    SenderMap: SenderMapProvider<EventSender, Ev, Data>,
+    ListenerMap: ListenerMapProvider,
+    EventSender: EventSendProvider<Ev, Data>,
+    Ev: GenericEvent = EventU32,
+    Data = Params,
 > {
-    event_receiver: ERP,
-    sender_map: SMP,
-    listener_map: LTR,
-    phantom: core::marker::PhantomData<(SP, EV, AUX)>,
+    event_receiver: EventReceiver,
+    sender_map: SenderMap,
+    listener_map: ListenerMap,
+    phantom: core::marker::PhantomData<(EventSender, Ev, Data)>,
 }
 
 #[derive(Debug)]
@@ -153,35 +153,35 @@ pub enum EventRoutingResult<EV: GenericEvent, AUX> {
 pub enum EventRoutingError {
     Send(GenericSendError),
     NoSendersForKey(ListenerKey),
-    NoSenderForId(ChannelId),
+    NoSenderForId(ComponentId),
 }
 
 #[derive(Debug)]
-pub struct EventRoutingErrorsWithResult<EV: GenericEvent, AUX> {
-    pub result: EventRoutingResult<EV, AUX>,
+pub struct EventRoutingErrorsWithResult<Ev: GenericEvent, Data> {
+    pub result: EventRoutingResult<Ev, Data>,
     pub errors: [Option<EventRoutingError>; 3],
 }
 
 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>
+        EventReceiver: EventReceiveProvider<Ev, Data>,
+        SenderMap: SenderMapProvider<EventSender, Ev, Data>,
+        ListenerMap: ListenerMapProvider,
+        EventSender: EventSendProvider<Ev, Data>,
+        Ev: GenericEvent + Copy,
+        Data: Clone,
+    > EventManager<EventReceiver, SenderMap, ListenerMap, EventSender, Ev, Data>
 {
     pub fn remove_duplicates(&mut self, key: &ListenerKey) {
         self.listener_map.remove_duplicates(key)
     }
 
     /// Subscribe for a unique event.
-    pub fn subscribe_single(&mut self, event: &EV, sender_id: ChannelId) {
+    pub fn subscribe_single(&mut self, event: &Ev, sender_id: ComponentId) {
         self.update_listeners(ListenerKey::Single(event.raw_as_largest_type()), sender_id);
     }
 
     /// Subscribe for an event group.
-    pub fn subscribe_group(&mut self, group_id: LargestGroupIdRaw, sender_id: ChannelId) {
+    pub fn subscribe_group(&mut self, group_id: LargestGroupIdRaw, sender_id: ComponentId) {
         self.update_listeners(ListenerKey::Group(group_id), sender_id);
     }
 
@@ -189,7 +189,7 @@ impl<
     ///
     /// For example, this can be useful for a handler component which sends every event as
     /// a telemetry packet.
-    pub fn subscribe_all(&mut self, sender_id: ChannelId) {
+    pub fn subscribe_all(&mut self, sender_id: ComponentId) {
         self.update_listeners(ListenerKey::All, sender_id);
     }
 }
@@ -216,14 +216,14 @@ impl<
     pub fn add_sender(&mut self, send_provider: SP) {
         if !self
             .sender_map
-            .contains_send_event_provider(&send_provider.channel_id())
+            .contains_send_event_provider(&send_provider.target_id())
         {
             self.sender_map.add_send_event_provider(send_provider);
         }
     }
 
     /// Generic function to update the event subscribers.
-    fn update_listeners(&mut self, key: ListenerKey, sender_id: ChannelId) {
+    fn update_listeners(&mut self, key: ListenerKey, sender_id: ComponentId) {
         self.listener_map.add_listener(key, sender_id);
     }
 
@@ -342,7 +342,7 @@ pub mod alloc_mod {
     /// Simple implementation which uses a [HashMap] and a [Vec] internally.
     #[derive(Default)]
     pub struct DefaultListenerMap {
-        listeners: HashMap<ListenerKey, Vec<ChannelId>>,
+        listeners: HashMap<ListenerKey, Vec<ComponentId>>,
     }
 
     impl ListenerMapProvider for DefaultListenerMap {
@@ -358,11 +358,11 @@ pub mod alloc_mod {
             self.listeners.contains_key(key)
         }
 
-        fn get_listener_ids(&self, key: &ListenerKey) -> Option<Iter<ChannelId>> {
+        fn get_listener_ids(&self, key: &ListenerKey) -> Option<Iter<ComponentId>> {
             self.listeners.get(key).map(|vec| vec.iter())
         }
 
-        fn add_listener(&mut self, key: ListenerKey, sender_id: ChannelId) -> bool {
+        fn add_listener(&mut self, key: ListenerKey, sender_id: ComponentId) -> bool {
             if let Some(existing_list) = self.listeners.get_mut(&key) {
                 existing_list.push(sender_id);
             } else {
@@ -388,7 +388,7 @@ pub mod alloc_mod {
         EV: GenericEvent = EventU32,
         AUX = Params,
     > {
-        senders: HashMap<ChannelId, SP>,
+        senders: HashMap<ComponentId, SP>,
         phantom: PhantomData<(EV, AUX)>,
     }
 
@@ -406,18 +406,18 @@ pub mod alloc_mod {
     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 {
+        fn contains_send_event_provider(&self, id: &ComponentId) -> bool {
             self.senders.contains_key(id)
         }
 
-        fn get_send_event_provider(&self, id: &ChannelId) -> Option<&SP> {
+        fn get_send_event_provider(&self, id: &ComponentId) -> Option<&SP> {
             self.senders
                 .get(id)
-                .filter(|sender| sender.channel_id() == *id)
+                .filter(|sender| sender.target_id() == *id)
         }
 
         fn add_send_event_provider(&mut self, send_provider: SP) -> bool {
-            let id = send_provider.channel_id();
+            let id = send_provider.target_id();
             if self.senders.contains_key(&id) {
                 return false;
             }
@@ -458,19 +458,19 @@ pub mod std_mod {
     /// send events.
     #[derive(Clone)]
     pub struct EventSenderMpsc<Event: GenericEvent + Send> {
-        id: u32,
+        target_id: ComponentId,
         sender: mpsc::Sender<(Event, Option<Params>)>,
     }
 
     impl<Event: GenericEvent + Send> EventSenderMpsc<Event> {
-        pub fn new(id: u32, sender: mpsc::Sender<(Event, Option<Params>)>) -> Self {
-            Self { id, sender }
+        pub fn new(target_id: ComponentId, sender: mpsc::Sender<(Event, Option<Params>)>) -> Self {
+            Self { target_id, sender }
         }
     }
 
     impl<Event: GenericEvent + Send> EventSendProvider<Event> for EventSenderMpsc<Event> {
-        fn channel_id(&self) -> u32 {
-            self.id
+        fn target_id(&self) -> ComponentId {
+            self.target_id
         }
         fn send(&self, event: Event, aux_data: Option<Params>) -> Result<(), GenericSendError> {
             self.sender
@@ -483,19 +483,19 @@ pub mod std_mod {
     /// 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,
+        target_id: ComponentId,
         sender: mpsc::SyncSender<(Event, Option<Params>)>,
         capacity: usize,
     }
 
     impl<Event: GenericEvent + Send> EventSenderMpscBounded<Event> {
         pub fn new(
-            channel_id: u32,
+            target_id: ComponentId,
             sender: mpsc::SyncSender<(Event, Option<Params>)>,
             capacity: usize,
         ) -> Self {
             Self {
-                channel_id,
+                target_id,
                 sender,
                 capacity,
             }
@@ -503,8 +503,8 @@ pub mod std_mod {
     }
 
     impl<Event: GenericEvent + Send> EventSendProvider<Event> for EventSenderMpscBounded<Event> {
-        fn channel_id(&self) -> u32 {
-            self.channel_id
+        fn target_id(&self) -> ComponentId {
+            self.target_id
         }
         fn send(&self, event: Event, aux_data: Option<Params>) -> Result<(), GenericSendError> {
             if let Err(e) = self.sender.try_send((event, aux_data)) {
@@ -577,11 +577,11 @@ mod tests {
         let event_grp_1_0 = EventU32::new(Severity::HIGH, 1, 0).unwrap();
         let (single_event_sender, single_event_receiver) = channel();
         let single_event_listener = EventSenderMpsc::new(0, single_event_sender);
-        event_man.subscribe_single(&event_grp_0, single_event_listener.channel_id());
+        event_man.subscribe_single(&event_grp_0, single_event_listener.target_id());
         event_man.add_sender(single_event_listener);
         let (group_event_sender_0, group_event_receiver_0) = channel();
         let group_event_listener = EventU32SenderMpsc::new(1, group_event_sender_0);
-        event_man.subscribe_group(event_grp_1_0.group_id(), group_event_listener.channel_id());
+        event_man.subscribe_group(event_grp_1_0.group_id(), group_event_listener.target_id());
         event_man.add_sender(group_event_listener);
 
         // Test event with one listener
@@ -609,7 +609,7 @@ mod tests {
         let event_grp_0 = EventU32::new(Severity::INFO, 0, 0).unwrap();
         let (single_event_sender, single_event_receiver) = channel();
         let single_event_listener = EventSenderMpsc::new(0, single_event_sender);
-        event_man.subscribe_single(&event_grp_0, single_event_listener.channel_id());
+        event_man.subscribe_single(&event_grp_0, single_event_listener.target_id());
         event_man.add_sender(single_event_listener);
         event_sender
             .send((event_grp_0, Some(Params::Heapless((2_u32, 3_u32).into()))))
@@ -643,11 +643,11 @@ mod tests {
         let event_grp_0_and_1_listener = EventU32SenderMpsc::new(0, event_grp_0_sender);
         event_man.subscribe_group(
             event_grp_0.group_id(),
-            event_grp_0_and_1_listener.channel_id(),
+            event_grp_0_and_1_listener.target_id(),
         );
         event_man.subscribe_group(
             event_grp_1_0.group_id(),
-            event_grp_0_and_1_listener.channel_id(),
+            event_grp_0_and_1_listener.target_id(),
         );
         event_man.add_sender(event_grp_0_and_1_listener);
 
@@ -679,10 +679,10 @@ mod tests {
         let (event_0_tx_1, event_0_rx_1) = channel();
         let event_listener_0 = EventU32SenderMpsc::new(0, event_0_tx_0);
         let event_listener_1 = EventU32SenderMpsc::new(1, event_0_tx_1);
-        let event_listener_0_sender_id = event_listener_0.channel_id();
+        let event_listener_0_sender_id = event_listener_0.target_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.channel_id();
+        let event_listener_1_sender_id = event_listener_1.target_id();
         event_man.subscribe_single(&event_0, event_listener_1_sender_id);
         event_man.add_sender(event_listener_1);
         event_sender
@@ -732,7 +732,7 @@ mod tests {
         let event_1 = EventU32::new(Severity::HIGH, 1, 0).unwrap();
         let (event_0_tx_0, all_events_rx) = channel();
         let all_events_listener = EventU32SenderMpsc::new(0, event_0_tx_0);
-        event_man.subscribe_all(all_events_listener.channel_id());
+        event_man.subscribe_all(all_events_listener.target_id());
         event_man.add_sender(all_events_listener);
         event_sender
             .send((event_0, None))

satrs/src/hk.rs

@@ -1,40 +1,40 @@
-use crate::{
-    pus::verification::{TcStateAccepted, VerificationToken},
-    TargetId,
-};
+use crate::ComponentId;
 
 pub type CollectionIntervalFactor = u32;
+/// Unique Identifier for a certain housekeeping dataset.
 pub type UniqueId = u32;
 
 #[derive(Debug, Copy, Clone, PartialEq, Eq)]
-pub enum HkRequest {
-    OneShot(UniqueId),
-    Enable(UniqueId),
-    Disable(UniqueId),
-    ModifyCollectionInterval(UniqueId, CollectionIntervalFactor),
+pub struct HkRequest {
+    pub unique_id: UniqueId,
+    pub variant: HkRequestVariant,
+}
+
+impl HkRequest {
+    pub fn new(unique_id: UniqueId, variant: HkRequestVariant) -> Self {
+        Self { unique_id, variant }
+    }
+}
+
+#[derive(Debug, Copy, Clone, PartialEq, Eq)]
+pub enum HkRequestVariant {
+    OneShot,
+    EnablePeriodic,
+    DisablePeriodic,
+    ModifyCollectionInterval(CollectionIntervalFactor),
 }
 
 #[derive(Debug, Copy, Clone, PartialEq, Eq)]
 pub struct TargetedHkRequest {
-    pub target_id: TargetId,
-    pub hk_request: HkRequest,
+    pub target_id: ComponentId,
+    pub hk_request: HkRequestVariant,
 }
 
 impl TargetedHkRequest {
-    pub fn new(target_id: TargetId, hk_request: HkRequest) -> Self {
+    pub fn new(target_id: ComponentId, hk_request: HkRequestVariant) -> Self {
         Self {
             target_id,
             hk_request,
         }
     }
 }
-
-pub trait PusHkRequestRouter {
-    type Error;
-    fn route(
-        &self,
-        target_id: TargetId,
-        hk_request: HkRequest,
-        token: VerificationToken<TcStateAccepted>,
-    ) -> Result<(), Self::Error>;
-}

satrs/src/lib.rs

@@ -32,7 +32,9 @@ pub mod events;
 #[cfg_attr(doc_cfg, doc(cfg(feature = "std")))]
 pub mod executable;
 pub mod hal;
-pub mod objects;
+#[cfg(feature = "std")]
+#[cfg_attr(doc_cfg, doc(cfg(feature = "std")))]
+pub mod mode_tree;
 pub mod pool;
 pub mod power;
 pub mod pus;
@@ -40,6 +42,7 @@ pub mod queue;
 pub mod request;
 pub mod res_code;
 pub mod seq_count;
+pub mod time;
 pub mod tmtc;
 
 pub mod action;
@@ -49,8 +52,7 @@ pub mod params;
 
 pub use spacepackets;
 
-/// Generic channel ID type.
-pub type ChannelId = u32;
+pub use queue::ChannelId;
 
-/// Generic target ID type.
-pub type TargetId = u64;
+/// Generic component ID type.
+pub type ComponentId = u64;

satrs/src/mode.rs

@@ -1,67 +1,95 @@
 use core::mem::size_of;
+use satrs_shared::res_code::ResultU16;
 #[cfg(feature = "serde")]
 use serde::{Deserialize, Serialize};
 use spacepackets::ByteConversionError;
 
-use crate::TargetId;
+#[cfg(feature = "alloc")]
+pub use alloc_mod::*;
+
+#[cfg(feature = "std")]
+pub use std_mod::*;
+
+use crate::{
+    queue::GenericTargetedMessagingError,
+    request::{GenericMessage, MessageMetadata, MessageReceiver, MessageReceiverWithId, RequestId},
+    ComponentId,
+};
+
+pub type Mode = u32;
+pub type Submode = u16;
 
 #[derive(Debug, Copy, Clone, PartialEq, Eq)]
 #[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
 pub struct ModeAndSubmode {
-    mode: u32,
-    submode: u16,
+    mode: Mode,
+    submode: Submode,
 }
 
 impl ModeAndSubmode {
-    pub const fn new_mode_only(mode: u32) -> Self {
+    pub const RAW_LEN: usize = size_of::<Mode>() + size_of::<Submode>();
+
+    pub const fn new_mode_only(mode: Mode) -> Self {
         Self { mode, submode: 0 }
     }
 
-    pub const fn new(mode: u32, submode: u16) -> Self {
+    pub const fn new(mode: Mode, submode: Submode) -> Self {
         Self { mode, submode }
     }
 
-    pub fn raw_len() -> usize {
-        size_of::<u32>() + size_of::<u16>()
-    }
-
     pub fn from_be_bytes(buf: &[u8]) -> Result<Self, ByteConversionError> {
         if buf.len() < 6 {
             return Err(ByteConversionError::FromSliceTooSmall {
-                expected: 6,
+                expected: Self::RAW_LEN,
                 found: buf.len(),
             });
         }
         Ok(Self {
-            mode: u32::from_be_bytes(buf[0..4].try_into().unwrap()),
-            submode: u16::from_be_bytes(buf[4..6].try_into().unwrap()),
+            mode: Mode::from_be_bytes(buf[0..size_of::<Mode>()].try_into().unwrap()),
+            submode: Submode::from_be_bytes(
+                buf[size_of::<Mode>()..size_of::<Mode>() + size_of::<Submode>()]
+                    .try_into()
+                    .unwrap(),
+            ),
         })
     }
 
-    pub fn mode(&self) -> u32 {
+    pub fn write_to_be_bytes(&self, buf: &mut [u8]) -> Result<usize, ByteConversionError> {
+        if buf.len() < Self::RAW_LEN {
+            return Err(ByteConversionError::ToSliceTooSmall {
+                expected: Self::RAW_LEN,
+                found: buf.len(),
+            });
+        }
+        buf[0..size_of::<Mode>()].copy_from_slice(&self.mode.to_be_bytes());
+        buf[size_of::<Mode>()..Self::RAW_LEN].copy_from_slice(&self.submode.to_be_bytes());
+        Ok(Self::RAW_LEN)
+    }
+
+    pub fn mode(&self) -> Mode {
         self.mode
     }
 
-    pub fn submode(&self) -> u16 {
+    pub fn submode(&self) -> Submode {
         self.submode
     }
 }
 #[derive(Debug, Copy, Clone, PartialEq, Eq)]
 #[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
 pub struct TargetedModeCommand {
-    pub address: TargetId,
+    pub address: ComponentId,
     pub mode_submode: ModeAndSubmode,
 }
 
 impl TargetedModeCommand {
-    pub const fn new(address: TargetId, mode_submode: ModeAndSubmode) -> Self {
+    pub const fn new(address: ComponentId, mode_submode: ModeAndSubmode) -> Self {
         Self {
             address,
             mode_submode,
         }
     }
 
-    pub fn address(&self) -> TargetId {
+    pub fn address(&self) -> ComponentId {
         self.address
     }
 
@@ -81,6 +109,8 @@ impl TargetedModeCommand {
 #[derive(Debug, Copy, Clone, PartialEq, Eq)]
 #[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
 pub enum ModeRequest {
+    /// Mode information. Can be used to notify other components of changed modes.
+    ModeInfo(ModeAndSubmode),
     SetMode(ModeAndSubmode),
     ReadMode,
     AnnounceMode,
@@ -90,6 +120,456 @@ pub enum ModeRequest {
 #[derive(Debug, Copy, Clone, PartialEq, Eq)]
 #[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
 pub struct TargetedModeRequest {
-    target_id: TargetId,
+    target_id: ComponentId,
     mode_request: ModeRequest,
 }
+
+#[derive(Debug, Copy, Clone, PartialEq, Eq)]
+#[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
+pub enum ModeReply {
+    /// Reply to a mode request to confirm the commanded mode was reached.
+    ModeReply(ModeAndSubmode),
+    // Can not reach the commanded mode. Contains a reason as a [ResultU16].
+    CantReachMode(ResultU16),
+    /// We are in the wrong mode for unknown reasons. Contains the expected and reached mode.
+    WrongMode {
+        expected: ModeAndSubmode,
+        reached: ModeAndSubmode,
+    },
+}
+
+pub type GenericModeReply = GenericMessage<ModeReply>;
+
+pub trait ModeRequestSender {
+    fn local_channel_id(&self) -> ComponentId;
+    fn send_mode_request(
+        &self,
+        request_id: RequestId,
+        target_id: ComponentId,
+        request: ModeRequest,
+    ) -> Result<(), GenericTargetedMessagingError>;
+}
+
+pub trait ModeRequestReceiver {
+    fn try_recv_mode_request(
+        &self,
+    ) -> Result<Option<GenericMessage<ModeRequest>>, GenericTargetedMessagingError>;
+}
+
+impl<R: MessageReceiver<ModeRequest>> ModeRequestReceiver
+    for MessageReceiverWithId<ModeRequest, R>
+{
+    fn try_recv_mode_request(
+        &self,
+    ) -> Result<Option<GenericMessage<ModeRequest>>, GenericTargetedMessagingError> {
+        self.try_recv_message()
+    }
+}
+
+pub trait ModeProvider {
+    fn mode_and_submode(&self) -> ModeAndSubmode;
+}
+
+#[derive(Debug, Clone)]
+pub enum ModeError {
+    Messaging(GenericTargetedMessagingError),
+}
+
+impl From<GenericTargetedMessagingError> for ModeError {
+    fn from(value: GenericTargetedMessagingError) -> Self {
+        Self::Messaging(value)
+    }
+}
+
+pub trait ModeRequestHandler: ModeProvider {
+    fn start_transition(
+        &mut self,
+        requestor: MessageMetadata,
+        mode_and_submode: ModeAndSubmode,
+    ) -> Result<(), ModeError>;
+
+    fn announce_mode(&self, requestor_info: MessageMetadata, recursive: bool);
+    fn handle_mode_reached(
+        &mut self,
+        requestor_info: Option<MessageMetadata>,
+    ) -> Result<(), GenericTargetedMessagingError>;
+    fn send_mode_reply(
+        &self,
+        requestor_info: MessageMetadata,
+        reply: ModeReply,
+    ) -> Result<(), GenericTargetedMessagingError>;
+}
+
+pub trait ModeReplyReceiver {
+    fn try_recv_mode_reply(
+        &self,
+    ) -> Result<Option<GenericMessage<ModeReply>>, GenericTargetedMessagingError>;
+}
+
+impl<R: MessageReceiver<ModeReply>> ModeReplyReceiver for MessageReceiverWithId<ModeReply, R> {
+    fn try_recv_mode_reply(
+        &self,
+    ) -> Result<Option<GenericMessage<ModeReply>>, GenericTargetedMessagingError> {
+        self.try_recv_message()
+    }
+}
+
+pub trait ModeReplySender {
+    fn local_channel_id(&self) -> ComponentId;
+
+    /// The requestor is assumed to be the target of the reply.
+    fn send_mode_reply(
+        &self,
+        requestor_info: MessageMetadata,
+        reply: ModeReply,
+    ) -> Result<(), GenericTargetedMessagingError>;
+}
+
+#[cfg(feature = "alloc")]
+#[cfg_attr(doc_cfg, doc(cfg(feature = "alloc")))]
+pub mod alloc_mod {
+    use crate::{
+        mode::ModeRequest,
+        queue::GenericTargetedMessagingError,
+        request::{
+            MessageMetadata, MessageSender, MessageSenderAndReceiver, MessageSenderMap,
+            RequestAndReplySenderAndReceiver, RequestId,
+        },
+        ComponentId,
+    };
+
+    use super::*;
+
+    impl<S: MessageSender<ModeReply>> MessageSenderMap<ModeReply, S> {
+        pub fn send_mode_reply(
+            &self,
+            requestor_info: MessageMetadata,
+            target_id: ComponentId,
+            request: ModeReply,
+        ) -> Result<(), GenericTargetedMessagingError> {
+            self.send_message(requestor_info, target_id, request)
+        }
+
+        pub fn add_reply_target(&mut self, target_id: ComponentId, request_sender: S) {
+            self.add_message_target(target_id, request_sender)
+        }
+    }
+
+    /*
+    impl<S: MessageSender<ModeReply>> ModeReplySender for MessageSenderMapWithId<ModeReply, S> {
+        fn send_mode_reply(
+            &self,
+            request_id: RequestId,
+            target_channel_id: ComponentId,
+            reply: ModeReply,
+        ) -> Result<(), GenericTargetedMessagingError> {
+            self.send_message(request_id, target_channel_id, reply)
+        }
+
+        fn local_channel_id(&self) -> ComponentId {
+            self.local_channel_id
+        }
+    }
+    */
+
+    impl<FROM, S: MessageSender<ModeReply>, R: MessageReceiver<FROM>> ModeReplySender
+        for MessageSenderAndReceiver<ModeReply, FROM, S, R>
+    {
+        fn local_channel_id(&self) -> ComponentId {
+            self.local_channel_id_generic()
+        }
+
+        fn send_mode_reply(
+            &self,
+            requestor_info: MessageMetadata,
+            request: ModeReply,
+        ) -> Result<(), GenericTargetedMessagingError> {
+            self.message_sender_map.send_mode_reply(
+                MessageMetadata::new(requestor_info.request_id(), self.local_channel_id()),
+                requestor_info.sender_id(),
+                request,
+            )
+        }
+    }
+
+    impl<TO, S: MessageSender<TO>, R: MessageReceiver<ModeReply>> ModeReplyReceiver
+        for MessageSenderAndReceiver<TO, ModeReply, S, R>
+    {
+        fn try_recv_mode_reply(
+            &self,
+        ) -> Result<Option<GenericMessage<ModeReply>>, GenericTargetedMessagingError> {
+            self.message_receiver.try_recv_message()
+        }
+    }
+
+    impl<
+            REQUEST,
+            S0: MessageSender<REQUEST>,
+            R0: MessageReceiver<ModeReply>,
+            S1: MessageSender<ModeReply>,
+            R1: MessageReceiver<REQUEST>,
+        > RequestAndReplySenderAndReceiver<REQUEST, ModeReply, S0, R0, S1, R1>
+    {
+        pub fn add_reply_target(&mut self, target_id: ComponentId, reply_sender: S1) {
+            self.reply_sender_map
+                .add_message_target(target_id, reply_sender)
+        }
+    }
+
+    impl<
+            REQUEST,
+            S0: MessageSender<REQUEST>,
+            R0: MessageReceiver<ModeReply>,
+            S1: MessageSender<ModeReply>,
+            R1: MessageReceiver<REQUEST>,
+        > ModeReplySender for RequestAndReplySenderAndReceiver<REQUEST, ModeReply, S0, R0, S1, R1>
+    {
+        fn local_channel_id(&self) -> ComponentId {
+            self.local_channel_id_generic()
+        }
+
+        fn send_mode_reply(
+            &self,
+            requestor_info: MessageMetadata,
+            request: ModeReply,
+        ) -> Result<(), GenericTargetedMessagingError> {
+            self.reply_sender_map.send_mode_reply(
+                MessageMetadata::new(requestor_info.request_id(), self.local_channel_id()),
+                requestor_info.sender_id(),
+                request,
+            )
+        }
+    }
+
+    impl<
+            REQUEST,
+            S0: MessageSender<REQUEST>,
+            R0: MessageReceiver<ModeReply>,
+            S1: MessageSender<ModeReply>,
+            R1: MessageReceiver<REQUEST>,
+        > ModeReplyReceiver
+        for RequestAndReplySenderAndReceiver<REQUEST, ModeReply, S0, R0, S1, R1>
+    {
+        fn try_recv_mode_reply(
+            &self,
+        ) -> Result<Option<GenericMessage<ModeReply>>, GenericTargetedMessagingError> {
+            self.reply_receiver.try_recv_message()
+        }
+    }
+
+    /// Helper type definition for a mode handler which can handle mode requests.
+    pub type ModeRequestHandlerInterface<S, R> =
+        MessageSenderAndReceiver<ModeReply, ModeRequest, S, R>;
+
+    impl<S: MessageSender<ModeReply>, R: MessageReceiver<ModeRequest>>
+        ModeRequestHandlerInterface<S, R>
+    {
+        pub fn try_recv_mode_request(
+            &self,
+        ) -> Result<Option<GenericMessage<ModeRequest>>, GenericTargetedMessagingError> {
+            self.try_recv_message()
+        }
+
+        pub fn send_mode_reply(
+            &self,
+            requestor_info: MessageMetadata,
+            reply: ModeReply,
+        ) -> Result<(), GenericTargetedMessagingError> {
+            self.send_message(
+                requestor_info.request_id(),
+                requestor_info.sender_id(),
+                reply,
+            )
+        }
+    }
+
+    /// Helper type defintion for a mode handler object which can send mode requests and receive
+    /// mode replies.
+    pub type ModeRequestorInterface<S, R> = MessageSenderAndReceiver<ModeRequest, ModeReply, S, R>;
+
+    impl<S: MessageSender<ModeRequest>, R: MessageReceiver<ModeReply>> ModeRequestorInterface<S, R> {
+        pub fn try_recv_mode_reply(
+            &self,
+        ) -> Result<Option<GenericMessage<ModeReply>>, GenericTargetedMessagingError> {
+            self.try_recv_message()
+        }
+
+        pub fn send_mode_request(
+            &self,
+            request_id: RequestId,
+            target_id: ComponentId,
+            reply: ModeRequest,
+        ) -> Result<(), GenericTargetedMessagingError> {
+            self.send_message(request_id, target_id, reply)
+        }
+    }
+
+    /// Helper type defintion for a mode handler object which can both send mode requests and
+    /// process mode requests.
+    pub type ModeInterface<S0, R0, S1, R1> =
+        RequestAndReplySenderAndReceiver<ModeRequest, ModeReply, S0, R0, S1, R1>;
+
+    impl<S: MessageSender<ModeRequest>> MessageSenderMap<ModeRequest, S> {
+        pub fn send_mode_request(
+            &self,
+            requestor_info: MessageMetadata,
+            target_id: ComponentId,
+            request: ModeRequest,
+        ) -> Result<(), GenericTargetedMessagingError> {
+            self.send_message(requestor_info, target_id, request)
+        }
+
+        pub fn add_request_target(&mut self, target_id: ComponentId, request_sender: S) {
+            self.add_message_target(target_id, request_sender)
+        }
+    }
+
+    /*
+    impl<S: MessageSender<ModeRequest>> ModeRequestSender for MessageSenderMapWithId<ModeRequest, S> {
+        fn local_channel_id(&self) -> ComponentId {
+            self.local_channel_id
+        }
+
+        fn send_mode_request(
+            &self,
+            request_id: RequestId,
+            target_id: ComponentId,
+            request: ModeRequest,
+        ) -> Result<(), GenericTargetedMessagingError> {
+            self.send_message(request_id, target_id, request)
+        }
+    }
+    */
+
+    impl<TO, S: MessageSender<TO>, R: MessageReceiver<ModeRequest>> ModeRequestReceiver
+        for MessageSenderAndReceiver<TO, ModeRequest, S, R>
+    {
+        fn try_recv_mode_request(
+            &self,
+        ) -> Result<Option<GenericMessage<ModeRequest>>, GenericTargetedMessagingError> {
+            self.message_receiver.try_recv_message()
+        }
+    }
+
+    impl<FROM, S: MessageSender<ModeRequest>, R: MessageReceiver<FROM>> ModeRequestSender
+        for MessageSenderAndReceiver<ModeRequest, FROM, S, R>
+    {
+        fn local_channel_id(&self) -> ComponentId {
+            self.local_channel_id_generic()
+        }
+
+        fn send_mode_request(
+            &self,
+            request_id: RequestId,
+            target_id: ComponentId,
+            request: ModeRequest,
+        ) -> Result<(), GenericTargetedMessagingError> {
+            self.message_sender_map.send_mode_request(
+                MessageMetadata::new(request_id, self.local_channel_id()),
+                target_id,
+                request,
+            )
+        }
+    }
+
+    impl<
+            REPLY,
+            S0: MessageSender<ModeRequest>,
+            R0: MessageReceiver<REPLY>,
+            S1: MessageSender<REPLY>,
+            R1: MessageReceiver<ModeRequest>,
+        > RequestAndReplySenderAndReceiver<ModeRequest, REPLY, S0, R0, S1, R1>
+    {
+        pub fn add_request_target(&mut self, target_id: ComponentId, request_sender: S0) {
+            self.request_sender_map
+                .add_message_target(target_id, request_sender)
+        }
+    }
+
+    impl<
+            REPLY,
+            S0: MessageSender<ModeRequest>,
+            R0: MessageReceiver<REPLY>,
+            S1: MessageSender<REPLY>,
+            R1: MessageReceiver<ModeRequest>,
+        > ModeRequestSender
+        for RequestAndReplySenderAndReceiver<ModeRequest, REPLY, S0, R0, S1, R1>
+    {
+        fn local_channel_id(&self) -> ComponentId {
+            self.local_channel_id_generic()
+        }
+
+        fn send_mode_request(
+            &self,
+            request_id: RequestId,
+            target_id: ComponentId,
+            request: ModeRequest,
+        ) -> Result<(), GenericTargetedMessagingError> {
+            self.request_sender_map.send_mode_request(
+                MessageMetadata::new(request_id, self.local_channel_id()),
+                target_id,
+                request,
+            )
+        }
+    }
+
+    impl<
+            REPLY,
+            S0: MessageSender<ModeRequest>,
+            R0: MessageReceiver<REPLY>,
+            S1: MessageSender<REPLY>,
+            R1: MessageReceiver<ModeRequest>,
+        > ModeRequestReceiver
+        for RequestAndReplySenderAndReceiver<ModeRequest, REPLY, S0, R0, S1, R1>
+    {
+        fn try_recv_mode_request(
+            &self,
+        ) -> Result<Option<GenericMessage<ModeRequest>>, GenericTargetedMessagingError> {
+            self.request_receiver.try_recv_message()
+        }
+    }
+}
+
+#[cfg(feature = "std")]
+#[cfg_attr(doc_cfg, doc(cfg(feature = "std")))]
+pub mod std_mod {
+    use std::sync::mpsc;
+
+    use crate::request::GenericMessage;
+
+    use super::*;
+
+    pub type ModeRequestHandlerMpsc = ModeRequestHandlerInterface<
+        mpsc::Sender<GenericMessage<ModeReply>>,
+        mpsc::Receiver<GenericMessage<ModeRequest>>,
+    >;
+    pub type ModeRequestHandlerMpscBounded = ModeRequestHandlerInterface<
+        mpsc::SyncSender<GenericMessage<ModeReply>>,
+        mpsc::Receiver<GenericMessage<ModeRequest>>,
+    >;
+
+    pub type ModeRequestorMpsc = ModeRequestorInterface<
+        mpsc::Sender<GenericMessage<ModeRequest>>,
+        mpsc::Receiver<GenericMessage<ModeReply>>,
+    >;
+    pub type ModeRequestorBoundedMpsc = ModeRequestorInterface<
+        mpsc::SyncSender<GenericMessage<ModeRequest>>,
+        mpsc::Receiver<GenericMessage<ModeReply>>,
+    >;
+
+    pub type ModeRequestorAndHandlerMpsc = ModeInterface<
+        mpsc::Sender<GenericMessage<ModeRequest>>,
+        mpsc::Receiver<GenericMessage<ModeReply>>,
+        mpsc::Sender<GenericMessage<ModeReply>>,
+        mpsc::Receiver<GenericMessage<ModeRequest>>,
+    >;
+    pub type ModeRequestorAndHandlerMpscBounded = ModeInterface<
+        mpsc::SyncSender<GenericMessage<ModeRequest>>,
+        mpsc::Receiver<GenericMessage<ModeReply>>,
+        mpsc::SyncSender<GenericMessage<ModeReply>>,
+        mpsc::Receiver<GenericMessage<ModeRequest>>,
+    >;
+}
+
+#[cfg(test)]
+mod tests {}

satrs/src/mode_tree.rs

@@ -0,0 +1,37 @@
+use alloc::vec::Vec;
+use hashbrown::HashMap;
+
+use crate::{
+    mode::{Mode, ModeAndSubmode, Submode},
+    ComponentId,
+};
+
+#[derive(Debug, Copy, Clone, PartialEq, Eq)]
+pub enum TableEntryType {
+    /// Target table containing information of the expected children modes for  given mode.
+    Target,
+    /// Sequence table which contains information about how to reach a target table, including
+    /// the order of the sequences.
+    Sequence,
+}
+
+pub struct ModeTableEntry {
+    /// Name of respective table entry.
+    pub name: &'static str,
+    /// Target channel ID.
+    pub channel_id: ComponentId,
+    pub mode_submode: ModeAndSubmode,
+    pub allowed_submode_mask: Option<Submode>,
+    pub check_success: bool,
+}
+
+pub struct ModeTableMapValue {
+    /// Name for a given mode table entry.
+    pub name: &'static str,
+    pub entries: Vec<ModeTableEntry>,
+}
+
+pub type ModeTable = HashMap<Mode, ModeTableMapValue>;
+
+#[cfg(test)]
+mod tests {}

satrs/src/objects.rs

@@ -1,308 +0,0 @@
-//! # Module providing addressable object support and a manager for them
-//!
-//! Each addressable object can be identified using an [object ID][ObjectId].
-//! The [system object][ManagedSystemObject] trait also allows storing these objects into the
-//! [object manager][ObjectManager]. They can then be retrieved and casted back to a known type
-//! using the object ID.
-//!
-//! # Examples
-//!
-//! ```rust
-//! use std::any::Any;
-//! use std::error::Error;
-//! use satrs::objects::{ManagedSystemObject, ObjectId, ObjectManager, SystemObject};
-//!
-//! struct ExampleSysObj {
-//!     id: ObjectId,
-//!     dummy: u32,
-//!     was_initialized: bool,
-//! }
-//!
-//! impl ExampleSysObj {
-//!     fn new(id: ObjectId, dummy: u32) -> ExampleSysObj {
-//!         ExampleSysObj {
-//!             id,
-//!             dummy,
-//!             was_initialized: false,
-//!         }
-//!     }
-//! }
-//!
-//! impl SystemObject for ExampleSysObj {
-//!     type Error = ();
-//!     fn get_object_id(&self) -> &ObjectId {
-//!         &self.id
-//!     }
-//!
-//!     fn initialize(&mut self) -> Result<(), Self::Error> {
-//!         self.was_initialized = true;
-//!         Ok(())
-//!     }
-//! }
-//!
-//! impl ManagedSystemObject for ExampleSysObj {}
-//!
-//!  let mut obj_manager = ObjectManager::default();
-//!  let obj_id = ObjectId { id: 0, name: "Example 0"};
-//!  let example_obj = ExampleSysObj::new(obj_id, 42);
-//!  obj_manager.insert(Box::new(example_obj));
-//!  let obj_back_casted: Option<&ExampleSysObj> = obj_manager.get_ref(&obj_id);
-//!  let example_obj = obj_back_casted.unwrap();
-//!  assert_eq!(example_obj.id, obj_id);
-//!  assert_eq!(example_obj.dummy, 42);
-//! ```
-#[cfg(feature = "alloc")]
-use alloc::boxed::Box;
-#[cfg(feature = "alloc")]
-pub use alloc_mod::*;
-#[cfg(feature = "alloc")]
-use downcast_rs::Downcast;
-#[cfg(feature = "alloc")]
-use hashbrown::HashMap;
-#[cfg(feature = "std")]
-use std::error::Error;
-
-use crate::TargetId;
-
-#[derive(PartialEq, Eq, Hash, Copy, Clone, Debug)]
-pub struct ObjectId {
-    pub id: TargetId,
-    pub name: &'static str,
-}
-
-#[cfg(feature = "alloc")]
-pub mod alloc_mod {
-    use super::*;
-
-    /// Each object which is stored inside the [object manager][ObjectManager] needs to implemented
-    /// this trait
-    pub trait SystemObject: Downcast {
-        type Error;
-        fn get_object_id(&self) -> &ObjectId;
-        fn initialize(&mut self) -> Result<(), Self::Error>;
-    }
-    downcast_rs::impl_downcast!(SystemObject assoc Error);
-
-    pub trait ManagedSystemObject: SystemObject + Send {}
-    downcast_rs::impl_downcast!(ManagedSystemObject assoc Error);
-
-    /// Helper module to manage multiple [ManagedSystemObjects][ManagedSystemObject] by mapping them
-    /// using an [object ID][ObjectId]
-    #[cfg(feature = "alloc")]
-    pub struct ObjectManager<E> {
-        obj_map: HashMap<ObjectId, Box<dyn ManagedSystemObject<Error = E>>>,
-    }
-
-    #[cfg(feature = "alloc")]
-    impl<E: 'static> Default for ObjectManager<E> {
-        fn default() -> Self {
-            Self::new()
-        }
-    }
-
-    #[cfg(feature = "alloc")]
-    impl<E: 'static> ObjectManager<E> {
-        pub fn new() -> Self {
-            ObjectManager {
-                obj_map: HashMap::new(),
-            }
-        }
-        pub fn insert(&mut self, sys_obj: Box<dyn ManagedSystemObject<Error = E>>) -> bool {
-            let obj_id = sys_obj.get_object_id();
-            if self.obj_map.contains_key(obj_id) {
-                return false;
-            }
-            self.obj_map.insert(*obj_id, sys_obj).is_none()
-        }
-
-        /// Initializes all System Objects in the hash map and returns the number of successful
-        /// initializations
-        pub fn initialize(&mut self) -> Result<u32, Box<dyn Error>> {
-            let mut init_success = 0;
-            for val in self.obj_map.values_mut() {
-                if val.initialize().is_ok() {
-                    init_success += 1
-                }
-            }
-            Ok(init_success)
-        }
-
-        /// Retrieve a reference to an object stored inside the manager. The type to retrieve needs to
-        /// be explicitly passed as a generic parameter or specified on the left hand side of the
-        /// expression.
-        pub fn get_ref<T: ManagedSystemObject<Error = E>>(&self, key: &ObjectId) -> Option<&T> {
-            self.obj_map.get(key).and_then(|o| o.downcast_ref::<T>())
-        }
-
-        /// Retrieve a mutable reference to an object stored inside the manager. The type to retrieve
-        /// needs to be explicitly passed as a generic parameter or specified on the left hand side
-        /// of the expression.
-        pub fn get_mut<T: ManagedSystemObject<Error = E>>(
-            &mut self,
-            key: &ObjectId,
-        ) -> Option<&mut T> {
-            self.obj_map
-                .get_mut(key)
-                .and_then(|o| o.downcast_mut::<T>())
-        }
-    }
-}
-
-#[cfg(test)]
-mod tests {
-    use crate::objects::{ManagedSystemObject, ObjectId, ObjectManager, SystemObject};
-    use std::boxed::Box;
-    use std::string::String;
-    use std::sync::{Arc, Mutex};
-    use std::thread;
-
-    struct ExampleSysObj {
-        id: ObjectId,
-        dummy: u32,
-        was_initialized: bool,
-    }
-
-    impl ExampleSysObj {
-        fn new(id: ObjectId, dummy: u32) -> ExampleSysObj {
-            ExampleSysObj {
-                id,
-                dummy,
-                was_initialized: false,
-            }
-        }
-    }
-
-    impl SystemObject for ExampleSysObj {
-        type Error = ();
-        fn get_object_id(&self) -> &ObjectId {
-            &self.id
-        }
-
-        fn initialize(&mut self) -> Result<(), Self::Error> {
-            self.was_initialized = true;
-            Ok(())
-        }
-    }
-
-    impl ManagedSystemObject for ExampleSysObj {}
-
-    struct OtherExampleObject {
-        id: ObjectId,
-        string: String,
-        was_initialized: bool,
-    }
-
-    impl SystemObject for OtherExampleObject {
-        type Error = ();
-        fn get_object_id(&self) -> &ObjectId {
-            &self.id
-        }
-
-        fn initialize(&mut self) -> Result<(), Self::Error> {
-            self.was_initialized = true;
-            Ok(())
-        }
-    }
-
-    impl ManagedSystemObject for OtherExampleObject {}
-
-    #[test]
-    fn test_obj_manager_simple() {
-        let mut obj_manager = ObjectManager::default();
-        let expl_obj_id = ObjectId {
-            id: 0,
-            name: "Example 0",
-        };
-        let example_obj = ExampleSysObj::new(expl_obj_id, 42);
-        assert!(obj_manager.insert(Box::new(example_obj)));
-        let res = obj_manager.initialize();
-        assert!(res.is_ok());
-        assert_eq!(res.unwrap(), 1);
-        let obj_back_casted: Option<&ExampleSysObj> = obj_manager.get_ref(&expl_obj_id);
-        assert!(obj_back_casted.is_some());
-        let expl_obj_back_casted = obj_back_casted.unwrap();
-        assert_eq!(expl_obj_back_casted.dummy, 42);
-        assert!(expl_obj_back_casted.was_initialized);
-
-        let second_obj_id = ObjectId {
-            id: 12,
-            name: "Example 1",
-        };
-        let second_example_obj = OtherExampleObject {
-            id: second_obj_id,
-            string: String::from("Hello Test"),
-            was_initialized: false,
-        };
-
-        assert!(obj_manager.insert(Box::new(second_example_obj)));
-        let res = obj_manager.initialize();
-        assert!(res.is_ok());
-        assert_eq!(res.unwrap(), 2);
-        let obj_back_casted: Option<&OtherExampleObject> = obj_manager.get_ref(&second_obj_id);
-        assert!(obj_back_casted.is_some());
-        let expl_obj_back_casted = obj_back_casted.unwrap();
-        assert_eq!(expl_obj_back_casted.string, String::from("Hello Test"));
-        assert!(expl_obj_back_casted.was_initialized);
-
-        let existing_obj_id = ObjectId {
-            id: 12,
-            name: "Example 1",
-        };
-        let invalid_obj = OtherExampleObject {
-            id: existing_obj_id,
-            string: String::from("Hello Test"),
-            was_initialized: false,
-        };
-
-        assert!(!obj_manager.insert(Box::new(invalid_obj)));
-    }
-
-    #[test]
-    fn object_man_threaded() {
-        let obj_manager = Arc::new(Mutex::new(ObjectManager::new()));
-        let expl_obj_id = ObjectId {
-            id: 0,
-            name: "Example 0",
-        };
-        let example_obj = ExampleSysObj::new(expl_obj_id, 42);
-        let second_obj_id = ObjectId {
-            id: 12,
-            name: "Example 1",
-        };
-        let second_example_obj = OtherExampleObject {
-            id: second_obj_id,
-            string: String::from("Hello Test"),
-            was_initialized: false,
-        };
-
-        let mut obj_man_handle = obj_manager.lock().expect("Mutex lock failed");
-        assert!(obj_man_handle.insert(Box::new(example_obj)));
-        assert!(obj_man_handle.insert(Box::new(second_example_obj)));
-        let res = obj_man_handle.initialize();
-        std::mem::drop(obj_man_handle);
-        assert!(res.is_ok());
-        assert_eq!(res.unwrap(), 2);
-        let obj_man_0 = obj_manager.clone();
-        let jh0 = thread::spawn(move || {
-            let locked_man = obj_man_0.lock().expect("Mutex lock failed");
-            let obj_back_casted: Option<&ExampleSysObj> = locked_man.get_ref(&expl_obj_id);
-            assert!(obj_back_casted.is_some());
-            let expl_obj_back_casted = obj_back_casted.unwrap();
-            assert_eq!(expl_obj_back_casted.dummy, 42);
-            assert!(expl_obj_back_casted.was_initialized);
-            std::mem::drop(locked_man)
-        });
-
-        let jh1 = thread::spawn(move || {
-            let locked_man = obj_manager.lock().expect("Mutex lock failed");
-            let obj_back_casted: Option<&OtherExampleObject> = locked_man.get_ref(&second_obj_id);
-            assert!(obj_back_casted.is_some());
-            let expl_obj_back_casted = obj_back_casted.unwrap();
-            assert_eq!(expl_obj_back_casted.string, String::from("Hello Test"));
-            assert!(expl_obj_back_casted.was_initialized);
-            std::mem::drop(locked_man)
-        });
-        jh0.join().expect("Joining thread 0 failed");
-        jh1.join().expect("Joining thread 1 failed");
-    }
-}

satrs/src/params.rs

@@ -60,21 +60,28 @@ use alloc::vec::Vec;
 /// Generic trait which is used for objects which can be converted into a raw network (big) endian
 /// byte format.
 pub trait WritableToBeBytes {
-    fn raw_len(&self) -> usize;
+    fn written_len(&self) -> usize;
     /// Writes the object to a raw buffer in network endianness (big)
     fn write_to_be_bytes(&self, buf: &mut [u8]) -> Result<usize, ByteConversionError>;
+
+    #[cfg(feature = "alloc")]
+    fn to_vec(&self) -> Result<Vec<u8>, ByteConversionError> {
+        let mut vec = alloc::vec![0; self.written_len()];
+        self.write_to_be_bytes(&mut vec)?;
+        Ok(vec)
+    }
 }
 
 macro_rules! param_to_be_bytes_impl {
     ($Newtype: ident) => {
         impl WritableToBeBytes for $Newtype {
             #[inline]
-            fn raw_len(&self) -> usize {
+            fn written_len(&self) -> usize {
                 size_of::<<Self as ToBeBytes>::ByteArray>()
             }
 
             fn write_to_be_bytes(&self, buf: &mut [u8]) -> Result<usize, ByteConversionError> {
-                let raw_len = self.raw_len();
+                let raw_len = WritableToBeBytes::written_len(self);
                 if buf.len() < raw_len {
                     return Err(ByteConversionError::ToSliceTooSmall {
                         found: buf.len(),
@@ -382,32 +389,32 @@ pub enum ParamsRaw {
 }
 
 impl WritableToBeBytes for ParamsRaw {
-    fn raw_len(&self) -> usize {
+    fn written_len(&self) -> usize {
         match self {
-            ParamsRaw::U8(v) => v.raw_len(),
-            ParamsRaw::U8Pair(v) => v.raw_len(),
-            ParamsRaw::U8Triplet(v) => v.raw_len(),
-            ParamsRaw::I8(v) => v.raw_len(),
-            ParamsRaw::I8Pair(v) => v.raw_len(),
-            ParamsRaw::I8Triplet(v) => v.raw_len(),
-            ParamsRaw::U16(v) => v.raw_len(),
-            ParamsRaw::U16Pair(v) => v.raw_len(),
-            ParamsRaw::U16Triplet(v) => v.raw_len(),
-            ParamsRaw::I16(v) => v.raw_len(),
-            ParamsRaw::I16Pair(v) => v.raw_len(),
-            ParamsRaw::I16Triplet(v) => v.raw_len(),
-            ParamsRaw::U32(v) => v.raw_len(),
-            ParamsRaw::U32Pair(v) => v.raw_len(),
-            ParamsRaw::U32Triplet(v) => v.raw_len(),
-            ParamsRaw::I32(v) => v.raw_len(),
-            ParamsRaw::I32Pair(v) => v.raw_len(),
-            ParamsRaw::I32Triplet(v) => v.raw_len(),
-            ParamsRaw::F32(v) => v.raw_len(),
-            ParamsRaw::F32Pair(v) => v.raw_len(),
-            ParamsRaw::F32Triplet(v) => v.raw_len(),
-            ParamsRaw::U64(v) => v.raw_len(),
-            ParamsRaw::I64(v) => v.raw_len(),
-            ParamsRaw::F64(v) => v.raw_len(),
+            ParamsRaw::U8(v) => WritableToBeBytes::written_len(v),
+            ParamsRaw::U8Pair(v) => WritableToBeBytes::written_len(v),
+            ParamsRaw::U8Triplet(v) => WritableToBeBytes::written_len(v),
+            ParamsRaw::I8(v) => WritableToBeBytes::written_len(v),
+            ParamsRaw::I8Pair(v) => WritableToBeBytes::written_len(v),
+            ParamsRaw::I8Triplet(v) => WritableToBeBytes::written_len(v),
+            ParamsRaw::U16(v) => WritableToBeBytes::written_len(v),
+            ParamsRaw::U16Pair(v) => WritableToBeBytes::written_len(v),
+            ParamsRaw::U16Triplet(v) => WritableToBeBytes::written_len(v),
+            ParamsRaw::I16(v) => WritableToBeBytes::written_len(v),
+            ParamsRaw::I16Pair(v) => WritableToBeBytes::written_len(v),
+            ParamsRaw::I16Triplet(v) => WritableToBeBytes::written_len(v),
+            ParamsRaw::U32(v) => WritableToBeBytes::written_len(v),
+            ParamsRaw::U32Pair(v) => WritableToBeBytes::written_len(v),
+            ParamsRaw::U32Triplet(v) => WritableToBeBytes::written_len(v),
+            ParamsRaw::I32(v) => WritableToBeBytes::written_len(v),
+            ParamsRaw::I32Pair(v) => WritableToBeBytes::written_len(v),
+            ParamsRaw::I32Triplet(v) => WritableToBeBytes::written_len(v),
+            ParamsRaw::F32(v) => WritableToBeBytes::written_len(v),
+            ParamsRaw::F32Pair(v) => WritableToBeBytes::written_len(v),
+            ParamsRaw::F32Triplet(v) => WritableToBeBytes::written_len(v),
+            ParamsRaw::U64(v) => WritableToBeBytes::written_len(v),
+            ParamsRaw::I64(v) => WritableToBeBytes::written_len(v),
+            ParamsRaw::F64(v) => WritableToBeBytes::written_len(v),
         }
     }
 
@@ -460,7 +467,7 @@ params_raw_from_newtype!(
 );
 
 #[derive(Debug, Copy, Clone, PartialEq, Eq)]
-pub enum EcssEnumParams {
+pub enum ParamsEcssEnum {
     U8(EcssEnumU8),
     U16(EcssEnumU16),
     U32(EcssEnumU32),
@@ -468,40 +475,46 @@ pub enum EcssEnumParams {
 }
 
 macro_rules! writable_as_be_bytes_ecss_enum_impl {
-    ($EnumIdent: ident) => {
+    ($EnumIdent: ident, $Ty: ident) => {
+        impl From<$EnumIdent> for ParamsEcssEnum {
+            fn from(e: $EnumIdent) -> Self {
+                Self::$Ty(e)
+            }
+        }
+
         impl WritableToBeBytes for $EnumIdent {
-            fn raw_len(&self) -> usize {
+            fn written_len(&self) -> usize {
                 self.size()
             }
 
             fn write_to_be_bytes(&self, buf: &mut [u8]) -> Result<usize, ByteConversionError> {
-                <Self as UnsignedEnum>::write_to_be_bytes(self, buf).map(|_| self.raw_len())
+                <Self as UnsignedEnum>::write_to_be_bytes(self, buf).map(|_| self.written_len())
             }
         }
     };
 }
 
-writable_as_be_bytes_ecss_enum_impl!(EcssEnumU8);
-writable_as_be_bytes_ecss_enum_impl!(EcssEnumU16);
-writable_as_be_bytes_ecss_enum_impl!(EcssEnumU32);
-writable_as_be_bytes_ecss_enum_impl!(EcssEnumU64);
+writable_as_be_bytes_ecss_enum_impl!(EcssEnumU8, U8);
+writable_as_be_bytes_ecss_enum_impl!(EcssEnumU16, U16);
+writable_as_be_bytes_ecss_enum_impl!(EcssEnumU32, U32);
+writable_as_be_bytes_ecss_enum_impl!(EcssEnumU64, U64);
 
-impl WritableToBeBytes for EcssEnumParams {
-    fn raw_len(&self) -> usize {
+impl WritableToBeBytes for ParamsEcssEnum {
+    fn written_len(&self) -> usize {
         match self {
-            EcssEnumParams::U8(e) => e.raw_len(),
-            EcssEnumParams::U16(e) => e.raw_len(),
-            EcssEnumParams::U32(e) => e.raw_len(),
-            EcssEnumParams::U64(e) => e.raw_len(),
+            ParamsEcssEnum::U8(e) => e.written_len(),
+            ParamsEcssEnum::U16(e) => e.written_len(),
+            ParamsEcssEnum::U32(e) => e.written_len(),
+            ParamsEcssEnum::U64(e) => e.written_len(),
         }
     }
 
     fn write_to_be_bytes(&self, buf: &mut [u8]) -> Result<usize, ByteConversionError> {
         match self {
-            EcssEnumParams::U8(e) => WritableToBeBytes::write_to_be_bytes(e, buf),
-            EcssEnumParams::U16(e) => WritableToBeBytes::write_to_be_bytes(e, buf),
-            EcssEnumParams::U32(e) => WritableToBeBytes::write_to_be_bytes(e, buf),
-            EcssEnumParams::U64(e) => WritableToBeBytes::write_to_be_bytes(e, buf),
+            ParamsEcssEnum::U8(e) => WritableToBeBytes::write_to_be_bytes(e, buf),
+            ParamsEcssEnum::U16(e) => WritableToBeBytes::write_to_be_bytes(e, buf),
+            ParamsEcssEnum::U32(e) => WritableToBeBytes::write_to_be_bytes(e, buf),
+            ParamsEcssEnum::U64(e) => WritableToBeBytes::write_to_be_bytes(e, buf),
         }
     }
 }
@@ -510,7 +523,19 @@ impl WritableToBeBytes for EcssEnumParams {
 #[derive(Debug, Copy, Clone, PartialEq)]
 pub enum ParamsHeapless {
     Raw(ParamsRaw),
-    EcssEnum(EcssEnumParams),
+    EcssEnum(ParamsEcssEnum),
+}
+
+impl From<ParamsRaw> for ParamsHeapless {
+    fn from(v: ParamsRaw) -> Self {
+        Self::Raw(v)
+    }
+}
+
+impl From<ParamsEcssEnum> for ParamsHeapless {
+    fn from(v: ParamsEcssEnum) -> Self {
+        Self::EcssEnum(v)
+    }
 }
 
 macro_rules! from_conversions_for_raw {
@@ -559,7 +584,7 @@ from_conversions_for_raw!(
 
 /// Generic enumeration for additional parameters, including parameters which rely on heap
 /// allocations.
-#[derive(Debug, Clone)]
+#[derive(Debug, Clone, PartialEq)]
 #[non_exhaustive]
 pub enum Params {
     Heapless(ParamsHeapless),
@@ -584,6 +609,12 @@ impl From<ParamsHeapless> for Params {
     }
 }
 
+impl From<ParamsRaw> for Params {
+    fn from(x: ParamsRaw) -> Self {
+        Self::Heapless(ParamsHeapless::Raw(x))
+    }
+}
+
 #[cfg(feature = "alloc")]
 #[cfg_attr(doc_cfg, doc(cfg(feature = "alloc")))]
 impl From<Vec<u8>> for Params {
@@ -618,10 +649,90 @@ impl From<&str> for Params {
     }
 }
 
+/// Please note while [WritableToBeBytes] is implemented for [Params], the default implementation
+/// will not be able to process the [Params::Store] parameter variant.
+impl WritableToBeBytes for Params {
+    fn written_len(&self) -> usize {
+        match self {
+            Params::Heapless(p) => match p {
+                ParamsHeapless::Raw(raw) => raw.written_len(),
+                ParamsHeapless::EcssEnum(enumeration) => enumeration.written_len(),
+            },
+            Params::Store(_) => 0,
+            #[cfg(feature = "alloc")]
+            Params::Vec(vec) => vec.len(),
+            #[cfg(feature = "alloc")]
+            Params::String(string) => string.len(),
+        }
+    }
+
+    fn write_to_be_bytes(&self, buf: &mut [u8]) -> Result<usize, ByteConversionError> {
+        match self {
+            Params::Heapless(p) => match p {
+                ParamsHeapless::Raw(raw) => raw.write_to_be_bytes(buf),
+                ParamsHeapless::EcssEnum(enumeration) => enumeration.write_to_be_bytes(buf),
+            },
+            Params::Store(_) => Ok(0),
+            #[cfg(feature = "alloc")]
+            Params::Vec(vec) => {
+                if buf.len() < vec.len() {
+                    return Err(ByteConversionError::ToSliceTooSmall {
+                        found: buf.len(),
+                        expected: vec.len(),
+                    });
+                }
+                buf[0..vec.len()].copy_from_slice(vec);
+                Ok(vec.len())
+            }
+            #[cfg(feature = "alloc")]
+            Params::String(string) => {
+                if buf.len() < string.len() {
+                    return Err(ByteConversionError::ToSliceTooSmall {
+                        found: buf.len(),
+                        expected: string.len(),
+                    });
+                }
+                buf[0..string.len()].copy_from_slice(string.as_bytes());
+                Ok(string.len())
+            }
+        }
+    }
+}
+
 #[cfg(test)]
 mod tests {
     use super::*;
 
+    fn test_cloning_works(param_raw: &impl WritableToBeBytes) {
+        let _new_param = param_raw;
+    }
+
+    fn test_writing_fails(param_raw: &(impl WritableToBeBytes + ToBeBytes)) {
+        let pair_size = WritableToBeBytes::written_len(param_raw);
+        assert_eq!(pair_size, ToBeBytes::written_len(param_raw));
+        let mut vec = alloc::vec![0; pair_size - 1];
+        let result = param_raw.write_to_be_bytes(&mut vec);
+        if let Err(ByteConversionError::ToSliceTooSmall { found, expected }) = result {
+            assert_eq!(found, pair_size - 1);
+            assert_eq!(expected, pair_size);
+        } else {
+            panic!("Expected ByteConversionError::ToSliceTooSmall");
+        }
+    }
+
+    fn test_writing(params_raw: &ParamsRaw, writeable: &impl WritableToBeBytes) {
+        assert_eq!(params_raw.written_len(), writeable.written_len());
+        let mut vec = alloc::vec![0; writeable.written_len()];
+        writeable
+            .write_to_be_bytes(&mut vec)
+            .expect("writing parameter to buffer failed");
+        let mut other_vec = alloc::vec![0; writeable.written_len()];
+        params_raw
+            .write_to_be_bytes(&mut other_vec)
+            .expect("writing parameter to buffer failed");
+        assert_eq!(vec, other_vec);
+    }
+
     #[test]
     fn test_basic_u32_pair() {
         let u32_pair = U32Pair(4, 8);
@@ -632,10 +743,32 @@ mod tests {
         assert_eq!(u32_conv_back, 4);
         u32_conv_back = u32::from_be_bytes(raw[4..8].try_into().unwrap());
         assert_eq!(u32_conv_back, 8);
+        test_writing_fails(&u32_pair);
+        test_cloning_works(&u32_pair);
+        let u32_praw = ParamsRaw::from(u32_pair);
+        test_writing(&u32_praw, &u32_pair);
     }
 
     #[test]
-    fn basic_signed_test_pair() {
+    fn test_u16_pair_writing_fails() {
+        let u16_pair = U16Pair(4, 8);
+        test_writing_fails(&u16_pair);
+        test_cloning_works(&u16_pair);
+        let u16_praw = ParamsRaw::from(u16_pair);
+        test_writing(&u16_praw, &u16_pair);
+    }
+
+    #[test]
+    fn test_u8_pair_writing_fails() {
+        let u8_pair = U8Pair(4, 8);
+        test_writing_fails(&u8_pair);
+        test_cloning_works(&u8_pair);
+        let u8_praw = ParamsRaw::from(u8_pair);
+        test_writing(&u8_praw, &u8_pair);
+    }
+
+    #[test]
+    fn basic_i8_test() {
         let i8_pair = I8Pair(-3, -16);
         assert_eq!(i8_pair.0, -3);
         assert_eq!(i8_pair.1, -16);
@@ -644,10 +777,31 @@ mod tests {
         assert_eq!(i8_conv_back, -3);
         i8_conv_back = i8::from_be_bytes(raw[1..2].try_into().unwrap());
         assert_eq!(i8_conv_back, -16);
+        test_writing_fails(&i8_pair);
+        test_cloning_works(&i8_pair);
+        let i8_praw = ParamsRaw::from(i8_pair);
+        test_writing(&i8_praw, &i8_pair);
     }
 
     #[test]
-    fn basic_signed_test_triplet() {
+    fn test_from_u32_triplet() {
+        let raw_params = U32Triplet::from((1, 2, 3));
+        assert_eq!(raw_params.0, 1);
+        assert_eq!(raw_params.1, 2);
+        assert_eq!(raw_params.2, 3);
+        assert_eq!(WritableToBeBytes::written_len(&raw_params), 12);
+        assert_eq!(
+            raw_params.to_be_bytes(),
+            [0, 0, 0, 1, 0, 0, 0, 2, 0, 0, 0, 3]
+        );
+        test_writing_fails(&raw_params);
+        test_cloning_works(&raw_params);
+        let u32_triplet = ParamsRaw::from(raw_params);
+        test_writing(&u32_triplet, &raw_params);
+    }
+
+    #[test]
+    fn test_i8_triplet() {
         let i8_triplet = I8Triplet(-3, -16, -126);
         assert_eq!(i8_triplet.0, -3);
         assert_eq!(i8_triplet.1, -16);
@@ -659,6 +813,10 @@ mod tests {
         assert_eq!(i8_conv_back, -16);
         i8_conv_back = i8::from_be_bytes(raw[2..3].try_into().unwrap());
         assert_eq!(i8_conv_back, -126);
+        test_writing_fails(&i8_triplet);
+        test_cloning_works(&i8_triplet);
+        let i8_praw = ParamsRaw::from(i8_triplet);
+        test_writing(&i8_praw, &i8_triplet);
     }
 
     #[test]
@@ -681,4 +839,352 @@ mod tests {
             panic!("Params type is not a vector")
         }
     }
+
+    #[test]
+    fn test_params_written_len_raw() {
+        let param_raw = ParamsRaw::from((500_u32, 1000_u32));
+        let param: Params = Params::Heapless(param_raw.into());
+        assert_eq!(param.written_len(), 8);
+        let mut buf: [u8; 8] = [0; 8];
+        param
+            .write_to_be_bytes(&mut buf)
+            .expect("writing to buffer failed");
+        assert_eq!(u32::from_be_bytes(buf[0..4].try_into().unwrap()), 500);
+        assert_eq!(u32::from_be_bytes(buf[4..8].try_into().unwrap()), 1000);
+    }
+
+    #[test]
+    fn test_params_written_string() {
+        let string = "Test String".to_string();
+        let param = Params::String(string.clone());
+        assert_eq!(param.written_len(), string.len());
+        let vec = param.to_vec().unwrap();
+        let string_conv_back = String::from_utf8(vec).expect("conversion to string failed");
+        assert_eq!(string_conv_back, string);
+    }
+
+    #[test]
+    fn test_params_written_vec() {
+        let vec: Vec<u8> = alloc::vec![1, 2, 3, 4, 5];
+        let param = Params::Vec(vec.clone());
+        assert_eq!(param.written_len(), vec.len());
+        assert_eq!(param.to_vec().expect("writing vec params failed"), vec);
+    }
+
+    #[test]
+    fn test_u32_single() {
+        let raw_params = U32::from(20);
+        assert_eq!(raw_params.0, 20);
+        assert_eq!(WritableToBeBytes::written_len(&raw_params), 4);
+        assert_eq!(raw_params.to_be_bytes(), [0, 0, 0, 20]);
+        let other = U32::from(20);
+        assert_eq!(raw_params, other);
+        test_writing_fails(&raw_params);
+        test_cloning_works(&raw_params);
+        let u32_praw = ParamsRaw::from(raw_params);
+        test_writing(&u32_praw, &raw_params);
+    }
+
+    #[test]
+    fn test_i8_single() {
+        let neg_number: i8 = -5_i8;
+        let raw_params = I8::from(neg_number);
+        assert_eq!(raw_params.0, neg_number);
+        assert_eq!(WritableToBeBytes::written_len(&raw_params), 1);
+        assert_eq!(raw_params.to_be_bytes(), neg_number.to_be_bytes());
+        test_writing_fails(&raw_params);
+        test_cloning_works(&raw_params);
+        let u8_praw = ParamsRaw::from(raw_params);
+        test_writing(&u8_praw, &raw_params);
+    }
+
+    #[test]
+    fn test_u8_single() {
+        let raw_params = U8::from(20);
+        assert_eq!(raw_params.0, 20);
+        assert_eq!(WritableToBeBytes::written_len(&raw_params), 1);
+        assert_eq!(raw_params.to_be_bytes(), [20]);
+        test_writing_fails(&raw_params);
+        test_cloning_works(&raw_params);
+        let u32_praw = ParamsRaw::from(raw_params);
+        test_writing(&u32_praw, &raw_params);
+    }
+
+    #[test]
+    fn test_u16_single() {
+        let raw_params = U16::from(0x123);
+        assert_eq!(raw_params.0, 0x123);
+        assert_eq!(WritableToBeBytes::written_len(&raw_params), 2);
+        assert_eq!(raw_params.to_be_bytes(), [0x01, 0x23]);
+        test_writing_fails(&raw_params);
+        test_cloning_works(&raw_params);
+        let u16_praw = ParamsRaw::from(raw_params);
+        test_writing(&u16_praw, &raw_params);
+    }
+
+    #[test]
+    fn test_u16_triplet() {
+        let raw_params = U16Triplet::from((1, 2, 3));
+        assert_eq!(raw_params.0, 1);
+        assert_eq!(raw_params.1, 2);
+        assert_eq!(raw_params.2, 3);
+        assert_eq!(WritableToBeBytes::written_len(&raw_params), 6);
+        assert_eq!(raw_params.to_be_bytes(), [0, 1, 0, 2, 0, 3]);
+        test_writing_fails(&raw_params);
+        test_cloning_works(&raw_params);
+        let u16_praw = ParamsRaw::from(raw_params);
+        test_writing(&u16_praw, &raw_params);
+    }
+
+    #[test]
+    fn test_u8_triplet() {
+        let raw_params = U8Triplet::from((1, 2, 3));
+        assert_eq!(raw_params.0, 1);
+        assert_eq!(raw_params.1, 2);
+        assert_eq!(raw_params.2, 3);
+        assert_eq!(WritableToBeBytes::written_len(&raw_params), 3);
+        assert_eq!(raw_params.to_be_bytes(), [1, 2, 3]);
+        test_writing_fails(&raw_params);
+        test_cloning_works(&raw_params);
+        let u8_praw = ParamsRaw::from(raw_params);
+        test_writing(&u8_praw, &raw_params);
+    }
+
+    #[test]
+    fn test_i16_single() {
+        let value = -300_i16;
+        let raw_params = I16::from(value);
+        assert_eq!(raw_params.0, value);
+        assert_eq!(WritableToBeBytes::written_len(&raw_params), 2);
+        assert_eq!(raw_params.to_be_bytes(), value.to_be_bytes());
+        test_writing_fails(&raw_params);
+        test_cloning_works(&raw_params);
+        let i16_praw = ParamsRaw::from(raw_params);
+        test_writing(&i16_praw, &raw_params);
+    }
+
+    #[test]
+    fn test_i16_pair() {
+        let raw_params = I16Pair::from((-300, -400));
+        assert_eq!(raw_params.0, -300);
+        assert_eq!(raw_params.1, -400);
+        assert_eq!(WritableToBeBytes::written_len(&raw_params), 4);
+        test_writing_fails(&raw_params);
+        test_cloning_works(&raw_params);
+        let i16_praw = ParamsRaw::from(raw_params);
+        test_writing(&i16_praw, &raw_params);
+    }
+
+    #[test]
+    fn test_i16_triplet() {
+        let raw_params = I16Triplet::from((-300, -400, -350));
+        assert_eq!(raw_params.0, -300);
+        assert_eq!(raw_params.1, -400);
+        assert_eq!(raw_params.2, -350);
+        assert_eq!(WritableToBeBytes::written_len(&raw_params), 6);
+        test_writing_fails(&raw_params);
+        test_cloning_works(&raw_params);
+        let i16_praw = ParamsRaw::from(raw_params);
+        test_writing(&i16_praw, &raw_params);
+    }
+
+    #[test]
+    fn test_i32_single() {
+        let raw_params = I32::from(-80000);
+        assert_eq!(raw_params.0, -80000);
+        assert_eq!(WritableToBeBytes::written_len(&raw_params), 4);
+        test_writing_fails(&raw_params);
+        test_cloning_works(&raw_params);
+        let i32_praw = ParamsRaw::from(raw_params);
+        test_writing(&i32_praw, &raw_params);
+    }
+
+    #[test]
+    fn test_i32_pair() {
+        let raw_params = I32Pair::from((-80000, -200));
+        assert_eq!(raw_params.0, -80000);
+        assert_eq!(raw_params.1, -200);
+        assert_eq!(WritableToBeBytes::written_len(&raw_params), 8);
+        test_writing_fails(&raw_params);
+        test_cloning_works(&raw_params);
+        let i32_praw = ParamsRaw::from(raw_params);
+        test_writing(&i32_praw, &raw_params);
+    }
+
+    #[test]
+    fn test_i32_triplet() {
+        let raw_params = I32Triplet::from((-80000, -5, -200));
+        assert_eq!(raw_params.0, -80000);
+        assert_eq!(raw_params.1, -5);
+        assert_eq!(raw_params.2, -200);
+        assert_eq!(WritableToBeBytes::written_len(&raw_params), 12);
+        test_writing_fails(&raw_params);
+        test_cloning_works(&raw_params);
+        let i32_praw = ParamsRaw::from(raw_params);
+        test_writing(&i32_praw, &raw_params);
+    }
+
+    #[test]
+    fn test_f32_single() {
+        let param = F32::from(0.1);
+        assert_eq!(param.0, 0.1);
+        assert_eq!(WritableToBeBytes::written_len(&param), 4);
+        let f32_pair_raw = param.to_be_bytes();
+        let f32_0 = f32::from_be_bytes(f32_pair_raw[0..4].try_into().unwrap());
+        assert_eq!(f32_0, 0.1);
+        test_writing_fails(&param);
+        test_cloning_works(&param);
+        let praw = ParamsRaw::from(param);
+        test_writing(&praw, &param);
+        let p_try_from = F32::try_from(param.to_be_bytes().as_ref()).expect("try_from failed");
+        assert_eq!(p_try_from, param);
+    }
+
+    #[test]
+    fn test_f32_pair() {
+        let param = F32Pair::from((0.1, 0.2));
+        assert_eq!(param.0, 0.1);
+        assert_eq!(param.1, 0.2);
+        assert_eq!(WritableToBeBytes::written_len(&param), 8);
+        let f32_pair_raw = param.to_be_bytes();
+        let f32_0 = f32::from_be_bytes(f32_pair_raw[0..4].try_into().unwrap());
+        assert_eq!(f32_0, 0.1);
+        let f32_1 = f32::from_be_bytes(f32_pair_raw[4..8].try_into().unwrap());
+        assert_eq!(f32_1, 0.2);
+        let other_pair = F32Pair::from((0.1, 0.2));
+        assert_eq!(param, other_pair);
+        test_writing_fails(&param);
+        test_cloning_works(&param);
+        let praw = ParamsRaw::from(param);
+        test_writing(&praw, &param);
+        let p_try_from = F32Pair::try_from(param.to_be_bytes().as_ref()).expect("try_from failed");
+        assert_eq!(p_try_from, param);
+    }
+
+    #[test]
+    fn test_f32_triplet() {
+        let f32 = F32Triplet::from((0.1, -0.1, -5.2));
+        assert_eq!(f32.0, 0.1);
+        assert_eq!(f32.1, -0.1);
+        assert_eq!(f32.2, -5.2);
+        assert_eq!(WritableToBeBytes::written_len(&f32), 12);
+        let f32_pair_raw = f32.to_be_bytes();
+        let f32_0 = f32::from_be_bytes(f32_pair_raw[0..4].try_into().unwrap());
+        assert_eq!(f32_0, 0.1);
+        let f32_1 = f32::from_be_bytes(f32_pair_raw[4..8].try_into().unwrap());
+        assert_eq!(f32_1, -0.1);
+        let f32_2 = f32::from_be_bytes(f32_pair_raw[8..12].try_into().unwrap());
+        assert_eq!(f32_2, -5.2);
+        test_writing_fails(&f32);
+        test_cloning_works(&f32);
+        let f32_praw = ParamsRaw::from(f32);
+        test_writing(&f32_praw, &f32);
+        let f32_try_from =
+            F32Triplet::try_from(f32.to_be_bytes().as_ref()).expect("try_from failed");
+        assert_eq!(f32_try_from, f32);
+    }
+
+    #[test]
+    fn test_u64_single() {
+        let u64 = U64::from(0x1010101010);
+        assert_eq!(u64.0, 0x1010101010);
+        assert_eq!(WritableToBeBytes::written_len(&u64), 8);
+        test_writing_fails(&u64);
+        test_cloning_works(&u64);
+        let praw = ParamsRaw::from(u64);
+        test_writing(&praw, &u64);
+    }
+
+    #[test]
+    fn test_i64_single() {
+        let i64 = I64::from(-0xfffffffff);
+        assert_eq!(i64.0, -0xfffffffff);
+        assert_eq!(WritableToBeBytes::written_len(&i64), 8);
+        test_writing_fails(&i64);
+        test_cloning_works(&i64);
+        let praw = ParamsRaw::from(i64);
+        test_writing(&praw, &i64);
+    }
+
+    #[test]
+    fn test_f64_single() {
+        let value = 823_823_812_832.232_3;
+        let f64 = F64::from(value);
+        assert_eq!(f64.0, value);
+        assert_eq!(WritableToBeBytes::written_len(&f64), 8);
+        test_writing_fails(&f64);
+        test_cloning_works(&f64);
+        let praw = ParamsRaw::from(f64);
+        test_writing(&praw, &f64);
+    }
+
+    #[test]
+    fn test_f64_triplet() {
+        let f64_triplet = F64Triplet::from((0.1, 0.2, 0.3));
+        assert_eq!(f64_triplet.0, 0.1);
+        assert_eq!(f64_triplet.1, 0.2);
+        assert_eq!(f64_triplet.2, 0.3);
+        assert_eq!(WritableToBeBytes::written_len(&f64_triplet), 24);
+        let f64_triplet_raw = f64_triplet.to_be_bytes();
+        let f64_0 = f64::from_be_bytes(f64_triplet_raw[0..8].try_into().unwrap());
+        assert_eq!(f64_0, 0.1);
+        let f64_1 = f64::from_be_bytes(f64_triplet_raw[8..16].try_into().unwrap());
+        assert_eq!(f64_1, 0.2);
+        let f64_2 = f64::from_be_bytes(f64_triplet_raw[16..24].try_into().unwrap());
+        assert_eq!(f64_2, 0.3);
+        test_writing_fails(&f64_triplet);
+        test_cloning_works(&f64_triplet);
+    }
+
+    #[test]
+    fn test_u8_ecss_enum() {
+        let value = 200;
+        let u8p = EcssEnumU8::new(value);
+        test_cloning_works(&u8p);
+        let praw = ParamsEcssEnum::from(u8p);
+        assert_eq!(praw.written_len(), 1);
+        let mut buf = [0; 1];
+        praw.write_to_be_bytes(&mut buf)
+            .expect("writing to buffer failed");
+        buf[0] = 200;
+    }
+
+    #[test]
+    fn test_u16_ecss_enum() {
+        let value = 60000;
+        let u16p = EcssEnumU16::new(value);
+        test_cloning_works(&u16p);
+        let praw = ParamsEcssEnum::from(u16p);
+        assert_eq!(praw.written_len(), 2);
+        let mut buf = [0; 2];
+        praw.write_to_be_bytes(&mut buf)
+            .expect("writing to buffer failed");
+        assert_eq!(u16::from_be_bytes(buf), value);
+    }
+
+    #[test]
+    fn test_u32_ecss_enum() {
+        let value = 70000;
+        let u32p = EcssEnumU32::new(value);
+        test_cloning_works(&u32p);
+        let praw = ParamsEcssEnum::from(u32p);
+        assert_eq!(praw.written_len(), 4);
+        let mut buf = [0; 4];
+        praw.write_to_be_bytes(&mut buf)
+            .expect("writing to buffer failed");
+        assert_eq!(u32::from_be_bytes(buf), value);
+    }
+
+    #[test]
+    fn test_u64_ecss_enum() {
+        let value = 0xffffffffff;
+        let u64p = EcssEnumU64::new(value);
+        test_cloning_works(&u64p);
+        let praw = ParamsEcssEnum::from(u64p);
+        assert_eq!(praw.written_len(), 8);
+        let mut buf = [0; 8];
+        praw.write_to_be_bytes(&mut buf)
+            .expect("writing to buffer failed");
+        assert_eq!(u64::from_be_bytes(buf), value);
+    }
 }

satrs/src/pus/action.rs

@@ -1,6 +1,10 @@
-use crate::{action::ActionRequest, TargetId};
+use crate::{
+    action::{ActionId, ActionRequest},
+    params::Params,
+    request::{GenericMessage, MessageMetadata, RequestId},
+};
 
-use super::verification::{TcStateAccepted, VerificationToken};
+use satrs_shared::res_code::ResultU16;
 
 #[cfg(feature = "std")]
 #[cfg_attr(doc_cfg, doc(cfg(feature = "std")))]
@@ -8,219 +12,278 @@ pub use std_mod::*;
 
 #[cfg(feature = "alloc")]
 #[cfg_attr(doc_cfg, doc(cfg(feature = "alloc")))]
+#[allow(unused_imports)]
 pub use alloc_mod::*;
 
-/// This trait is an abstraction for the routing of PUS service 8 action requests to a dedicated
-/// recipient using the generic [TargetId].
-pub trait PusActionRequestRouter {
-    type Error;
-    fn route(
-        &self,
-        target_id: TargetId,
-        hk_request: ActionRequest,
-        token: VerificationToken<TcStateAccepted>,
-    ) -> Result<(), Self::Error>;
+#[derive(Clone, Debug)]
+pub struct ActionRequestWithId {
+    pub request_id: RequestId,
+    pub request: ActionRequest,
+}
+
+/// A reply to an action request, but tailored to the PUS standard verification process.
+#[non_exhaustive]
+#[derive(Clone, PartialEq, Debug)]
+pub enum ActionReplyVariant {
+    Completed,
+    StepSuccess {
+        step: u16,
+    },
+    CompletionFailed {
+        error_code: ResultU16,
+        params: Option<Params>,
+    },
+    StepFailed {
+        error_code: ResultU16,
+        step: u16,
+        params: Option<Params>,
+    },
+}
+
+#[derive(Debug, PartialEq, Clone)]
+pub struct PusActionReply {
+    pub action_id: ActionId,
+    pub variant: ActionReplyVariant,
+}
+
+impl PusActionReply {
+    pub fn new(action_id: ActionId, variant: ActionReplyVariant) -> Self {
+        Self { action_id, variant }
+    }
+}
+
+pub type GenericActionReplyPus = GenericMessage<PusActionReply>;
+
+impl GenericActionReplyPus {
+    pub fn new_action_reply(
+        requestor_info: MessageMetadata,
+        action_id: ActionId,
+        reply: ActionReplyVariant,
+    ) -> Self {
+        Self::new(requestor_info, PusActionReply::new(action_id, reply))
+    }
 }
 
 #[cfg(feature = "alloc")]
 #[cfg_attr(doc_cfg, doc(cfg(feature = "alloc")))]
 pub mod alloc_mod {
-    use spacepackets::ecss::tc::PusTcReader;
+    use crate::{
+        action::ActionRequest,
+        queue::GenericTargetedMessagingError,
+        request::{
+            GenericMessage, MessageReceiver, MessageSender, MessageSenderAndReceiver, RequestId,
+        },
+        ComponentId,
+    };
 
-    use crate::pus::verification::VerificationReportingProvider;
+    use super::PusActionReply;
 
-    use super::*;
+    /// Helper type definition for a mode handler which can handle mode requests.
+    pub type ActionRequestHandlerInterface<S, R> =
+        MessageSenderAndReceiver<PusActionReply, ActionRequest, S, R>;
 
-    /// This trait is an abstraction for the conversion of a PUS service 8 action telecommand into
-    /// an [ActionRequest].
-    ///
-    /// Having a dedicated trait for this allows maximum flexiblity and tailoring of the standard.
-    /// The only requirement is that a valid [TargetId] and an [ActionRequest] are returned by the
-    /// core conversion function.
-    ///
-    /// The user should take care of performing the error handling as well. Some of the following
-    /// aspects might be relevant:
-    ///
-    /// - Checking the validity of the APID, service ID, subservice ID.
-    /// - Checking the validity of the user data.
-    ///
-    /// 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;
-        fn convert(
-            &mut self,
-            token: VerificationToken<TcStateAccepted>,
-            tc: &PusTcReader,
-            time_stamp: &[u8],
-            verif_reporter: &impl VerificationReportingProvider,
-        ) -> Result<(TargetId, ActionRequest), Self::Error>;
+    impl<S: MessageSender<PusActionReply>, R: MessageReceiver<ActionRequest>>
+        ActionRequestHandlerInterface<S, R>
+    {
+        pub fn try_recv_action_request(
+            &self,
+        ) -> Result<Option<GenericMessage<ActionRequest>>, GenericTargetedMessagingError> {
+            self.try_recv_message()
+        }
+
+        pub fn send_action_reply(
+            &self,
+            request_id: RequestId,
+            target_id: ComponentId,
+            reply: PusActionReply,
+        ) -> Result<(), GenericTargetedMessagingError> {
+            self.send_message(request_id, target_id, reply)
+        }
+    }
+
+    /// Helper type defintion for a mode handler object which can send mode requests and receive
+    /// mode replies.
+    pub type ActionRequestorInterface<S, R> =
+        MessageSenderAndReceiver<ActionRequest, PusActionReply, S, R>;
+
+    impl<S: MessageSender<ActionRequest>, R: MessageReceiver<PusActionReply>>
+        ActionRequestorInterface<S, R>
+    {
+        pub fn try_recv_action_reply(
+            &self,
+        ) -> Result<Option<GenericMessage<PusActionReply>>, GenericTargetedMessagingError> {
+            self.try_recv_message()
+        }
+
+        pub fn send_action_request(
+            &self,
+            request_id: RequestId,
+            target_id: ComponentId,
+            request: ActionRequest,
+        ) -> Result<(), GenericTargetedMessagingError> {
+            self.send_message(request_id, target_id, request)
+        }
     }
 }
 
 #[cfg(feature = "std")]
 #[cfg_attr(doc_cfg, doc(cfg(feature = "std")))]
 pub mod std_mod {
-    use crate::pus::{
-        get_current_cds_short_timestamp, verification::VerificationReportingProvider,
-        EcssTcInMemConverter, EcssTcReceiverCore, EcssTmSenderCore, GenericRoutingError,
-        PusPacketHandlerResult, PusPacketHandlingError, PusRoutingErrorHandler, PusServiceHelper,
+    use std::sync::mpsc;
+
+    use crate::{
+        pus::{
+            verification::{self, TcStateToken},
+            ActivePusRequestStd, ActiveRequestProvider, DefaultActiveRequestMap,
+        },
+        ComponentId,
     };
 
     use super::*;
 
-    /// This is a high-level handler for the PUS service 8 action service.
-    ///
-    /// It performs the following handling steps:
-    ///
-    /// 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
-    ///    [PusPacketHandlingError] for the concrete implementation which offers a packet handler.
-    /// 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,
-        RequestRouter: PusActionRequestRouter<Error = RoutingError>,
-        RoutingErrorHandler: PusRoutingErrorHandler<Error = RoutingError>,
-        RoutingError = GenericRoutingError,
-    > {
-        service_helper:
-            PusServiceHelper<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>,
-        pub request_converter: RequestConverter,
-        pub request_router: RequestRouter,
-        pub routing_error_handler: RoutingErrorHandler,
+    #[derive(Debug, Clone, PartialEq, Eq)]
+    pub struct ActivePusActionRequestStd {
+        pub action_id: ActionId,
+        common: ActivePusRequestStd,
+    }
+
+    impl ActiveRequestProvider for ActivePusActionRequestStd {
+        delegate::delegate! {
+            to self.common {
+                fn target_id(&self) -> ComponentId;
+                fn token(&self) -> verification::TcStateToken;
+                fn set_token(&mut self, token: verification::TcStateToken);
+                fn has_timed_out(&self) -> bool;
+                fn timeout(&self) -> core::time::Duration;
+            }
+        }
+    }
+
+    impl ActivePusActionRequestStd {
+        pub fn new_from_common_req(action_id: ActionId, common: ActivePusRequestStd) -> Self {
+            Self { action_id, common }
         }
 
-    impl<
-            TcReceiver: EcssTcReceiverCore,
-            TmSender: EcssTmSenderCore,
-            TcInMemConverter: EcssTcInMemConverter,
-            VerificationReporter: VerificationReportingProvider,
-            RequestConverter: PusActionToRequestConverter<Error = PusPacketHandlingError>,
-            RequestRouter: PusActionRequestRouter<Error = RoutingError>,
-            RoutingErrorHandler: PusRoutingErrorHandler<Error = RoutingError>,
-            RoutingError: Clone,
-        >
-        PusService8ActionHandler<
-            TcReceiver,
-            TmSender,
-            TcInMemConverter,
-            VerificationReporter,
-            RequestConverter,
-            RequestRouter,
-            RoutingErrorHandler,
-            RoutingError,
-        >
-    where
-        PusPacketHandlingError: From<RoutingError>,
-    {
         pub fn new(
-            service_helper: PusServiceHelper<
-                TcReceiver,
-                TmSender,
-                TcInMemConverter,
-                VerificationReporter,
-            >,
-            request_converter: RequestConverter,
-            request_router: RequestRouter,
-            routing_error_handler: RoutingErrorHandler,
+            action_id: ActionId,
+            target_id: ComponentId,
+            token: TcStateToken,
+            timeout: core::time::Duration,
         ) -> Self {
             Self {
-                service_helper,
-                request_converter,
-                request_router,
-                routing_error_handler,
+                action_id,
+                common: ActivePusRequestStd::new(target_id, token, timeout),
             }
         }
+    }
+    pub type DefaultActiveActionRequestMap = DefaultActiveRequestMap<ActivePusActionRequestStd>;
 
-        /// Core function to poll the next TC packet and try to handle it.
-        pub fn handle_one_tc(&mut self) -> Result<PusPacketHandlerResult, PusPacketHandlingError> {
-            let possible_packet = self.service_helper.retrieve_and_accept_next_packet()?;
-            if possible_packet.is_none() {
-                return Ok(PusPacketHandlerResult::Empty);
-            }
-            let ecss_tc_and_token = possible_packet.unwrap();
-            let tc = self
-                .service_helper
-                .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 = get_current_cds_short_timestamp(&mut partial_error);
-            let (target_id, action_request) = self.request_converter.convert(
-                ecss_tc_and_token.token,
-                &tc,
-                &time_stamp,
-                &self.service_helper.common.verification_handler,
-            )?;
-            if let Err(e) =
-                self.request_router
-                    .route(target_id, action_request, ecss_tc_and_token.token)
-            {
-                self.routing_error_handler.handle_error(
-                    target_id,
-                    ecss_tc_and_token.token,
-                    &tc,
-                    e.clone(),
-                    &time_stamp,
-                    &self.service_helper.common.verification_handler,
-                );
-                return Err(e.into());
-            }
-            Ok(PusPacketHandlerResult::RequestHandled)
-        }
-    }
+    pub type ActionRequestHandlerMpsc = ActionRequestHandlerInterface<
+        mpsc::Sender<GenericMessage<PusActionReply>>,
+        mpsc::Receiver<GenericMessage<ActionRequest>>,
+    >;
+    pub type ActionRequestHandlerMpscBounded = ActionRequestHandlerInterface<
+        mpsc::SyncSender<GenericMessage<PusActionReply>>,
+        mpsc::Receiver<GenericMessage<ActionRequest>>,
+    >;
+
+    pub type ActionRequestorMpsc = ActionRequestorInterface<
+        mpsc::Sender<GenericMessage<ActionRequest>>,
+        mpsc::Receiver<GenericMessage<PusActionReply>>,
+    >;
+    pub type ActionRequestorBoundedMpsc = ActionRequestorInterface<
+        mpsc::SyncSender<GenericMessage<ActionRequest>>,
+        mpsc::Receiver<GenericMessage<PusActionReply>>,
+    >;
+
+    /*
+    pub type ModeRequestorAndHandlerMpsc = ModeInterface<
+        mpsc::Sender<GenericMessage<ModeRequest>>,
+        mpsc::Receiver<GenericMessage<ModeReply>>,
+        mpsc::Sender<GenericMessage<ModeReply>>,
+        mpsc::Receiver<GenericMessage<ModeRequest>>,
+    >;
+    pub type ModeRequestorAndHandlerMpscBounded = ModeInterface<
+        mpsc::SyncSender<GenericMessage<ModeRequest>>,
+        mpsc::Receiver<GenericMessage<ModeReply>>,
+        mpsc::SyncSender<GenericMessage<ModeReply>>,
+        mpsc::Receiver<GenericMessage<ModeRequest>>,
+    >;
+    */
 }
 
 #[cfg(test)]
 mod tests {
+    /*
+    use core::{cell::RefCell, time::Duration};
+    use std::{sync::mpsc, time::SystemTimeError};
+
+    use alloc::{collections::VecDeque, vec::Vec};
     use delegate::delegate;
 
     use spacepackets::{
         ecss::{
-            tc::{PusTcCreator, PusTcReader, PusTcSecondaryHeader},
+            tc::{PusTcCreator, PusTcReader},
             tm::PusTmReader,
             PusPacket,
         },
-        CcsdsPacket, SequenceFlags, SpHeader,
+        time::{cds, TimeWriter},
+        CcsdsPacket,
     };
 
-    use crate::pus::{
+    use crate::{
+        action::ActionRequestVariant,
+        params::{self, ParamsRaw, WritableToBeBytes},
+        pus::{
             tests::{
-            PusServiceHandlerWithVecCommon, PusTestHarness, SimplePusPacketHandler, TestConverter,
-            TestRouter, TestRoutingErrorHandler, APP_DATA_TOO_SHORT, TEST_APID,
+                PusServiceHandlerWithVecCommon, PusTestHarness, SimplePusPacketHandler,
+                TestConverter, TestRouter, APP_DATA_TOO_SHORT,
             },
             verification::{
-            tests::TestVerificationReporter, FailParams, RequestId, VerificationReportingProvider,
+                self,
+                tests::{SharedVerificationMap, TestVerificationReporter, VerificationStatus},
+                FailParams, TcStateAccepted, TcStateNone, TcStateStarted,
+                VerificationReportingProvider,
+            },
+            EcssTcInMemConverter, EcssTcInVecConverter, EcssTmtcError, GenericRoutingError,
+            MpscTcReceiver, PusPacketHandlerResult, PusPacketHandlingError, PusRequestRouter,
+            PusServiceHelper, PusTcToRequestConverter, TmAsVecSenderWithMpsc,
         },
-        EcssTcInVecConverter, GenericRoutingError, MpscTcReceiver, PusPacketHandlerResult,
-        PusPacketHandlingError, TmAsVecSenderWithMpsc,
     };
 
     use super::*;
 
-    impl PusActionRequestRouter for TestRouter<ActionRequest> {
+    impl<Request> PusRequestRouter<Request> for TestRouter<Request> {
         type Error = GenericRoutingError;
 
         fn route(
             &self,
             target_id: TargetId,
-            hk_request: ActionRequest,
+            request: Request,
             _token: VerificationToken<TcStateAccepted>,
         ) -> Result<(), Self::Error> {
             self.routing_requests
                 .borrow_mut()
-                .push_back((target_id, hk_request));
+                .push_back((target_id, request));
             self.check_for_injected_error()
         }
+
+        fn handle_error(
+            &self,
+            target_id: TargetId,
+            token: VerificationToken<TcStateAccepted>,
+            tc: &PusTcReader,
+            error: Self::Error,
+            time_stamp: &[u8],
+            verif_reporter: &impl VerificationReportingProvider,
+        ) {
+            self.routing_errors
+                .borrow_mut()
+                .push_back((target_id, error));
+        }
     }
 
-    impl PusActionToRequestConverter for TestConverter<8> {
+    impl PusTcToRequestConverter<ActionRequest> for TestConverter<8> {
         type Error = PusPacketHandlingError;
         fn convert(
             &mut self,
@@ -254,9 +317,9 @@ mod tests {
                     .expect("start success failure");
                 return Ok((
                     target_id.into(),
-                    ActionRequest::UnsignedIdAndVecData {
+                    ActionRequest {
                         action_id: u32::from_be_bytes(tc.user_data()[0..4].try_into().unwrap()),
-                        data: tc.user_data()[4..].to_vec(),
+                        variant: ActionRequestVariant::VecData(tc.user_data()[4..].to_vec()),
                     },
                 ));
             }
@@ -266,31 +329,32 @@ mod tests {
         }
     }
 
-    struct Pus8HandlerWithVecTester {
-        common: PusServiceHandlerWithVecCommon<TestVerificationReporter>,
-        handler: PusService8ActionHandler<
+    pub struct PusDynRequestHandler<const SERVICE: u8, Request> {
+        srv_helper: PusServiceHelper<
             MpscTcReceiver,
             TmAsVecSenderWithMpsc,
             EcssTcInVecConverter,
             TestVerificationReporter,
-            TestConverter<8>,
-            TestRouter<ActionRequest>,
-            TestRoutingErrorHandler,
         >,
+        request_converter: TestConverter<SERVICE>,
+        request_router: TestRouter<Request>,
     }
 
-    impl Pus8HandlerWithVecTester {
+    struct Pus8RequestTestbenchWithVec {
+        common: PusServiceHandlerWithVecCommon<TestVerificationReporter>,
+        handler: PusDynRequestHandler<8, ActionRequest>,
+    }
+
+    impl Pus8RequestTestbenchWithVec {
         pub fn new() -> Self {
-            let (common, srv_handler) =
-                PusServiceHandlerWithVecCommon::new_with_test_verif_sender();
+            let (common, srv_helper) = PusServiceHandlerWithVecCommon::new_with_test_verif_sender();
             Self {
                 common,
-                handler: PusService8ActionHandler::new(
-                    srv_handler,
-                    TestConverter::default(),
-                    TestRouter::default(),
-                    TestRoutingErrorHandler::default(),
-                ),
+                handler: PusDynRequestHandler {
+                    srv_helper,
+                    request_converter: TestConverter::default(),
+                    request_router: TestRouter::default(),
+                },
             }
         }
 
@@ -305,13 +369,13 @@ mod tests {
             }
         }
         delegate! {
-            to self.handler.routing_error_handler {
-                pub fn retrieve_next_error(&mut self) -> (TargetId, GenericRoutingError);
+            to self.handler.request_router {
+                pub fn retrieve_next_routing_error(&mut self) -> (TargetId, GenericRoutingError);
             }
         }
     }
 
-    impl PusTestHarness for Pus8HandlerWithVecTester {
+    impl PusTestHarness for Pus8RequestTestbenchWithVec {
         delegate! {
             to self.common {
                 fn send_tc(&mut self, tc: &PusTcCreator) -> VerificationToken<TcStateAccepted>;
@@ -320,78 +384,421 @@ mod tests {
                 fn check_next_verification_tm(
                     &self,
                     subservice: u8,
-                    expected_request_id: RequestId,
+                    expected_request_id: verification::RequestId,
                 );
             }
         }
     }
-    impl SimplePusPacketHandler for Pus8HandlerWithVecTester {
+    impl SimplePusPacketHandler for Pus8RequestTestbenchWithVec {
+        fn handle_one_tc(&mut self) -> Result<PusPacketHandlerResult, PusPacketHandlingError> {
+            let possible_packet = self.handler.srv_helper.retrieve_and_accept_next_packet()?;
+            if possible_packet.is_none() {
+                return Ok(PusPacketHandlerResult::Empty);
+            }
+            let ecss_tc_and_token = possible_packet.unwrap();
+            let tc = self
+                .handler
+                .srv_helper
+                .tc_in_mem_converter
+                .convert_ecss_tc_in_memory_to_reader(&ecss_tc_and_token.tc_in_memory)?;
+            let time_stamp = cds::TimeProvider::from_now_with_u16_days()
+                .expect("timestamp generation failed")
+                .to_vec()
+                .unwrap();
+            let (target_id, action_request) = self.handler.request_converter.convert(
+                ecss_tc_and_token.token,
+                &tc,
+                &time_stamp,
+                &self.handler.srv_helper.common.verification_handler,
+            )?;
+            if let Err(e) = self.handler.request_router.route(
+                target_id,
+                action_request,
+                ecss_tc_and_token.token,
+            ) {
+                self.handler.request_router.handle_error(
+                    target_id,
+                    ecss_tc_and_token.token,
+                    &tc,
+                    e.clone(),
+                    &time_stamp,
+                    &self.handler.srv_helper.common.verification_handler,
+                );
+                return Err(e.into());
+            }
+            Ok(PusPacketHandlerResult::RequestHandled)
+        }
+    }
+
+    const TIMEOUT_ERROR_CODE: ResultU16 = ResultU16::new(1, 2);
+    const COMPLETION_ERROR_CODE: ResultU16 = ResultU16::new(2, 0);
+    const COMPLETION_ERROR_CODE_STEP: ResultU16 = ResultU16::new(2, 1);
+
+    #[derive(Default)]
+    pub struct TestReplyHandlerHook {
+        pub unexpected_replies: VecDeque<GenericActionReplyPus>,
+        pub timeouts: RefCell<VecDeque<ActivePusActionRequest>>,
+    }
+
+    impl ReplyHandlerHook<ActivePusActionRequest, ActionReplyPusWithActionId> for TestReplyHandlerHook {
+        fn handle_unexpected_reply(&mut self, reply: &GenericActionReplyPus) {
+            self.unexpected_replies.push_back(reply.clone());
+        }
+
+        fn timeout_callback(&self, active_request: &ActivePusActionRequest) {
+            self.timeouts.borrow_mut().push_back(active_request.clone());
+        }
+
+        fn timeout_error_code(&self) -> ResultU16 {
+            TIMEOUT_ERROR_CODE
+        }
+    }
+
+    pub struct Pus8ReplyTestbench {
+        verif_reporter: TestVerificationReporter,
+        #[allow(dead_code)]
+        ecss_tm_receiver: mpsc::Receiver<Vec<u8>>,
+        handler: PusService8ReplyHandler<
+            TestVerificationReporter,
+            DefaultActiveActionRequestMap,
+            TestReplyHandlerHook,
+            mpsc::Sender<Vec<u8>>,
+        >,
+    }
+
+    impl Pus8ReplyTestbench {
+        pub fn new(normal_ctor: bool) -> Self {
+            let reply_handler_hook = TestReplyHandlerHook::default();
+            let shared_verif_map = SharedVerificationMap::default();
+            let test_verif_reporter = TestVerificationReporter::new(shared_verif_map.clone());
+            let (ecss_tm_sender, ecss_tm_receiver) = mpsc::channel();
+            let reply_handler = if normal_ctor {
+                PusService8ReplyHandler::new_from_now_with_default_map(
+                    test_verif_reporter.clone(),
+                    128,
+                    reply_handler_hook,
+                    ecss_tm_sender,
+                )
+                .expect("creating reply handler failed")
+            } else {
+                PusService8ReplyHandler::new_from_now(
+                    test_verif_reporter.clone(),
+                    DefaultActiveActionRequestMap::default(),
+                    128,
+                    reply_handler_hook,
+                    ecss_tm_sender,
+                )
+                .expect("creating reply handler failed")
+            };
+            Self {
+                verif_reporter: test_verif_reporter,
+                ecss_tm_receiver,
+                handler: reply_handler,
+            }
+        }
+
+        pub fn init_handling_for_request(
+            &mut self,
+            request_id: RequestId,
+            _action_id: ActionId,
+        ) -> VerificationToken<TcStateStarted> {
+            assert!(!self.handler.request_active(request_id));
+            // let action_req = ActionRequest::new(action_id, ActionRequestVariant::NoData);
+            let token = self.add_tc_with_req_id(request_id.into());
+            let token = self
+                .verif_reporter
+                .acceptance_success(token, &[])
+                .expect("acceptance success failure");
+            let token = self
+                .verif_reporter
+                .start_success(token, &[])
+                .expect("start success failure");
+            let verif_info = self
+                .verif_reporter
+                .verification_info(&verification::RequestId::from(request_id))
+                .expect("no verification info found");
+            assert!(verif_info.started.expect("request was not started"));
+            assert!(verif_info.accepted.expect("request was not accepted"));
+            token
+        }
+
+        pub fn next_unrequested_reply(&self) -> Option<GenericActionReplyPus> {
+            self.handler.user_hook.unexpected_replies.front().cloned()
+        }
+
+        pub fn assert_request_completion_success(&self, step: Option<u16>, request_id: RequestId) {
+            let verif_info = self
+                .verif_reporter
+                .verification_info(&verification::RequestId::from(request_id))
+                .expect("no verification info found");
+            self.assert_request_completion_common(request_id, &verif_info, step, true);
+        }
+
+        pub fn assert_request_completion_failure(
+            &self,
+            step: Option<u16>,
+            request_id: RequestId,
+            fail_enum: ResultU16,
+            fail_data: &[u8],
+        ) {
+            let verif_info = self
+                .verif_reporter
+                .verification_info(&verification::RequestId::from(request_id))
+                .expect("no verification info found");
+            self.assert_request_completion_common(request_id, &verif_info, step, false);
+            assert_eq!(verif_info.fail_enum.unwrap(), fail_enum.raw() as u64);
+            assert_eq!(verif_info.failure_data.unwrap(), fail_data);
+        }
+
+        pub fn assert_request_completion_common(
+            &self,
+            request_id: RequestId,
+            verif_info: &VerificationStatus,
+            step: Option<u16>,
+            completion_success: bool,
+        ) {
+            if let Some(step) = step {
+                assert!(verif_info.step_status.is_some());
+                assert!(verif_info.step_status.unwrap());
+                assert_eq!(step, verif_info.step);
+            }
+            assert_eq!(
+                verif_info.completed.expect("request is not completed"),
+                completion_success
+            );
+            assert!(!self.handler.request_active(request_id));
+        }
+
+        pub fn assert_request_step_failure(&self, step: u16, request_id: RequestId) {
+            let verif_info = self
+                .verif_reporter
+                .verification_info(&verification::RequestId::from(request_id))
+                .expect("no verification info found");
+            assert!(verif_info.step_status.is_some());
+            assert!(!verif_info.step_status.unwrap());
+            assert_eq!(step, verif_info.step);
+        }
+        pub fn add_routed_request(
+            &mut self,
+            request_id: verification::RequestId,
+            target_id: TargetId,
+            action_id: ActionId,
+            token: VerificationToken<TcStateStarted>,
+            timeout: Duration,
+        ) {
+            if self.handler.request_active(request_id.into()) {
+                panic!("request already present");
+            }
+            self.handler
+                .add_routed_action_request(request_id, target_id, action_id, token, timeout);
+            if !self.handler.request_active(request_id.into()) {
+                panic!("request should be active now");
+            }
+        }
+
         delegate! {
             to self.handler {
-                fn handle_one_tc(&mut self) -> Result<PusPacketHandlerResult, PusPacketHandlingError>;
+                pub fn request_active(&self, request_id: RequestId) -> bool;
+
+        pub fn handle_action_reply(
+            &mut self,
+            action_reply_with_ids: GenericMessage<ActionReplyPusWithActionId>,
+            time_stamp: &[u8]
+        ) -> Result<(), EcssTmtcError>;
+
+                pub fn update_time_from_now(&mut self) -> Result<(), SystemTimeError>;
+
+                pub fn check_for_timeouts(&mut self, time_stamp: &[u8]) -> Result<(), EcssTmtcError>;
+            }
+            to self.verif_reporter {
+                fn add_tc_with_req_id(&mut self, req_id: verification::RequestId) -> VerificationToken<TcStateNone>;
             }
         }
     }
 
     #[test]
-    fn basic_test() {
-        let mut action_handler = Pus8HandlerWithVecTester::new();
-        let mut sp_header = SpHeader::tc(TEST_APID, SequenceFlags::Unsegmented, 0, 0).unwrap();
-        let sec_header = PusTcSecondaryHeader::new_simple(8, 1);
-        let action_id: u32 = 1;
-        let action_id_raw = action_id.to_be_bytes();
-        let tc = PusTcCreator::new(&mut sp_header, sec_header, action_id_raw.as_ref(), true);
-        action_handler.send_tc(&tc);
-        let result = action_handler.handle_one_tc();
-        assert!(result.is_ok());
-        action_handler.check_next_conversion(&tc);
-        let (target_id, action_req) = action_handler.retrieve_next_request();
-        assert_eq!(target_id, TEST_APID.into());
-        if let ActionRequest::UnsignedIdAndVecData { action_id, data } = action_req {
-            assert_eq!(action_id, 1);
-            assert_eq!(data, &[]);
-        }
+    fn test_reply_handler_completion_success() {
+        let mut reply_testbench = Pus8ReplyTestbench::new(true);
+        let sender_id = 0x06;
+        let request_id = 0x02;
+        let target_id = 0x05;
+        let action_id = 0x03;
+        let token = reply_testbench.init_handling_for_request(request_id, action_id);
+        reply_testbench.add_routed_request(
+            request_id.into(),
+            target_id,
+            action_id,
+            token,
+            Duration::from_millis(1),
+        );
+        assert!(reply_testbench.request_active(request_id));
+        let action_reply = GenericMessage::new(
+            request_id,
+            sender_id,
+            ActionReplyPusWithActionId {
+                action_id,
+                variant: ActionReplyPus::Completed,
+            },
+        );
+        reply_testbench
+            .handle_action_reply(action_reply, &[])
+            .expect("reply handling failure");
+        reply_testbench.assert_request_completion_success(None, request_id);
     }
 
     #[test]
-    fn test_routing_error() {
-        let mut action_handler = Pus8HandlerWithVecTester::new();
-        let mut sp_header = SpHeader::tc(TEST_APID, SequenceFlags::Unsegmented, 0, 0).unwrap();
-        let sec_header = PusTcSecondaryHeader::new_simple(8, 1);
-        let action_id: u32 = 1;
-        let action_id_raw = action_id.to_be_bytes();
-        let tc = PusTcCreator::new(&mut sp_header, sec_header, action_id_raw.as_ref(), true);
-        let error = GenericRoutingError::UnknownTargetId(25);
-        action_handler
-            .handler
-            .request_router
-            .inject_routing_error(error);
-        action_handler.send_tc(&tc);
-        let result = action_handler.handle_one_tc();
-        assert!(result.is_err());
-        let check_error = |routing_error: GenericRoutingError| {
-            if let GenericRoutingError::UnknownTargetId(id) = routing_error {
-                assert_eq!(id, 25);
-            } else {
-                panic!("unexpected error type");
-            }
-        };
-        if let PusPacketHandlingError::RequestRoutingError(routing_error) = result.unwrap_err() {
-            check_error(routing_error);
-        } else {
-            panic!("unexpected error type");
+    fn test_reply_handler_step_success() {
+        let mut reply_testbench = Pus8ReplyTestbench::new(false);
+        let request_id = 0x02;
+        let target_id = 0x05;
+        let action_id = 0x03;
+        let token = reply_testbench.init_handling_for_request(request_id, action_id);
+        reply_testbench.add_routed_request(
+            request_id.into(),
+            target_id,
+            action_id,
+            token,
+            Duration::from_millis(1),
+        );
+        let action_reply = GenericActionReplyPus::new_action_reply(
+            request_id,
+            action_id,
+            action_id,
+            ActionReplyPus::StepSuccess { step: 1 },
+        );
+        reply_testbench
+            .handle_action_reply(action_reply, &[])
+            .expect("reply handling failure");
+        let action_reply = GenericActionReplyPus::new_action_reply(
+            request_id,
+            action_id,
+            action_id,
+            ActionReplyPus::Completed,
+        );
+        reply_testbench
+            .handle_action_reply(action_reply, &[])
+            .expect("reply handling failure");
+        reply_testbench.assert_request_completion_success(Some(1), request_id);
     }
 
-        action_handler.check_next_conversion(&tc);
-        let (target_id, action_req) = action_handler.retrieve_next_request();
-        assert_eq!(target_id, TEST_APID.into());
-        if let ActionRequest::UnsignedIdAndVecData { action_id, data } = action_req {
-            assert_eq!(action_id, 1);
-            assert_eq!(data, &[]);
+    #[test]
+    fn test_reply_handler_completion_failure() {
+        let mut reply_testbench = Pus8ReplyTestbench::new(true);
+        let sender_id = 0x01;
+        let request_id = 0x02;
+        let target_id = 0x05;
+        let action_id = 0x03;
+        let token = reply_testbench.init_handling_for_request(request_id, action_id);
+        reply_testbench.add_routed_request(
+            request_id.into(),
+            target_id,
+            action_id,
+            token,
+            Duration::from_millis(1),
+        );
+        let params_raw = ParamsRaw::U32(params::U32(5));
+        let action_reply = GenericActionReplyPus::new_action_reply(
+            request_id,
+            sender_id,
+            action_id,
+            ActionReplyPus::CompletionFailed {
+                error_code: COMPLETION_ERROR_CODE,
+                params: params_raw.into(),
+            },
+        );
+        reply_testbench
+            .handle_action_reply(action_reply, &[])
+            .expect("reply handling failure");
+        reply_testbench.assert_request_completion_failure(
+            None,
+            request_id,
+            COMPLETION_ERROR_CODE,
+            &params_raw.to_vec().unwrap(),
+        );
     }
 
-        let (target_id, found_error) = action_handler.retrieve_next_error();
-        assert_eq!(target_id, TEST_APID.into());
-        check_error(found_error);
+    #[test]
+    fn test_reply_handler_step_failure() {
+        let mut reply_testbench = Pus8ReplyTestbench::new(false);
+        let sender_id = 0x01;
+        let request_id = 0x02;
+        let target_id = 0x05;
+        let action_id = 0x03;
+        let token = reply_testbench.init_handling_for_request(request_id, action_id);
+        reply_testbench.add_routed_request(
+            request_id.into(),
+            target_id,
+            action_id,
+            token,
+            Duration::from_millis(1),
+        );
+        let action_reply = GenericActionReplyPus::new_action_reply(
+            request_id,
+            sender_id,
+            action_id,
+            ActionReplyPus::StepFailed {
+                error_code: COMPLETION_ERROR_CODE_STEP,
+                step: 2,
+                params: ParamsRaw::U32(crate::params::U32(5)).into(),
+            },
+        );
+        reply_testbench
+            .handle_action_reply(action_reply, &[])
+            .expect("reply handling failure");
+        reply_testbench.assert_request_step_failure(2, request_id);
     }
+
+    #[test]
+    fn test_reply_handler_timeout_handling() {
+        let mut reply_testbench = Pus8ReplyTestbench::new(true);
+        let request_id = 0x02;
+        let target_id = 0x06;
+        let action_id = 0x03;
+        let token = reply_testbench.init_handling_for_request(request_id, action_id);
+        reply_testbench.add_routed_request(
+            request_id.into(),
+            target_id,
+            action_id,
+            token,
+            Duration::from_millis(1),
+        );
+        let timeout_param = Duration::from_millis(1).as_millis() as u64;
+        let timeout_param_raw = timeout_param.to_be_bytes();
+        std::thread::sleep(Duration::from_millis(2));
+        reply_testbench
+            .update_time_from_now()
+            .expect("time update failure");
+        reply_testbench.check_for_timeouts(&[]).unwrap();
+        reply_testbench.assert_request_completion_failure(
+            None,
+            request_id,
+            TIMEOUT_ERROR_CODE,
+            &timeout_param_raw,
+        );
+    }
+
+    #[test]
+    fn test_unrequested_reply() {
+        let mut reply_testbench = Pus8ReplyTestbench::new(true);
+        let sender_id = 0x01;
+        let request_id = 0x02;
+        let action_id = 0x03;
+
+        let action_reply = GenericActionReplyPus::new_action_reply(
+            request_id,
+            sender_id,
+            action_id,
+            ActionReplyPus::Completed,
+        );
+        reply_testbench
+            .handle_action_reply(action_reply, &[])
+            .expect("reply handling failure");
+        let reply = reply_testbench.next_unrequested_reply();
+        assert!(reply.is_some());
+        let reply = reply.unwrap();
+        assert_eq!(reply.message.action_id, action_id);
+        assert_eq!(reply.request_id, request_id);
+        assert_eq!(reply.message.variant, ActionReplyPus::Completed);
+    }
+    */
 }

satrs/src/pus/event.rs

@@ -28,7 +28,7 @@ impl EventReportCreator {
     }
 
     pub fn event_info<'time, 'src_data>(
-        &mut self,
+        &self,
         src_data_buf: &'src_data mut [u8],
         time_stamp: &'time [u8],
         event_id: impl EcssEnumeration,
@@ -44,7 +44,7 @@ impl EventReportCreator {
     }
 
     pub fn event_low_severity<'time, 'src_data>(
-        &mut self,
+        &self,
         src_data_buf: &'src_data mut [u8],
         time_stamp: &'time [u8],
         event_id: impl EcssEnumeration,
@@ -60,7 +60,7 @@ impl EventReportCreator {
     }
 
     pub fn event_medium_severity<'time, 'src_data>(
-        &mut self,
+        &self,
         buf: &'src_data mut [u8],
         time_stamp: &'time [u8],
         event_id: impl EcssEnumeration,
@@ -76,7 +76,7 @@ impl EventReportCreator {
     }
 
     pub fn event_high_severity<'time, 'src_data>(
-        &mut self,
+        &self,
         src_data_buf: &'src_data mut [u8],
         time_stamp: &'time [u8],
         event_id: impl EcssEnumeration,
@@ -92,7 +92,7 @@ impl EventReportCreator {
     }
 
     fn generate_and_send_generic_tm<'time, 'src_data>(
-        &mut self,
+        &self,
         src_data_buf: &'src_data mut [u8],
         subservice: Subservice,
         time_stamp: &'time [u8],
@@ -137,99 +137,94 @@ impl EventReportCreator {
 #[cfg(feature = "alloc")]
 mod alloc_mod {
     use super::*;
+    use crate::ComponentId;
     use alloc::vec;
     use alloc::vec::Vec;
+    use core::cell::RefCell;
 
     pub struct EventReporter {
-        source_data_buf: Vec<u8>,
-        pub reporter: EventReportCreator,
+        id: ComponentId,
+        // Use interior mutability pattern here. This is just an intermediate buffer to the PUS event packet
+        // generation.
+        source_data_buf: RefCell<Vec<u8>>,
+        pub report_creator: EventReportCreator,
     }
 
     impl EventReporter {
-        pub fn new(apid: u16, max_event_id_and_aux_data_size: usize) -> Option<Self> {
+        pub fn new(
+            id: ComponentId,
+            apid: u16,
+            max_event_id_and_aux_data_size: usize,
+        ) -> Option<Self> {
             let reporter = EventReportCreator::new(apid)?;
             Some(Self {
-                source_data_buf: vec![0; max_event_id_and_aux_data_size],
-                reporter,
+                id,
+                source_data_buf: RefCell::new(vec![0; max_event_id_and_aux_data_size]),
+                report_creator: reporter,
             })
         }
+
         pub fn event_info(
-            &mut self,
-            sender: &mut (impl EcssTmSenderCore + ?Sized),
+            &self,
+            sender: &(impl EcssTmSenderCore + ?Sized),
             time_stamp: &[u8],
             event_id: impl EcssEnumeration,
             aux_data: Option<&[u8]>,
         ) -> Result<(), EcssTmtcError> {
+            let mut mut_buf = self.source_data_buf.borrow_mut();
             let tm_creator = self
-                .reporter
-                .event_info(
-                    self.source_data_buf.as_mut_slice(),
-                    time_stamp,
-                    event_id,
-                    aux_data,
-                )
+                .report_creator
+                .event_info(mut_buf.as_mut_slice(), time_stamp, event_id, aux_data)
                 .map_err(PusError::ByteConversion)?;
-            sender.send_tm(tm_creator.into())?;
+            sender.send_tm(self.id, tm_creator.into())?;
             Ok(())
         }
 
         pub fn event_low_severity(
-            &mut self,
-            sender: &mut (impl EcssTmSenderCore + ?Sized),
+            &self,
+            sender: &(impl EcssTmSenderCore + ?Sized),
             time_stamp: &[u8],
             event_id: impl EcssEnumeration,
             aux_data: Option<&[u8]>,
         ) -> Result<(), EcssTmtcError> {
+            let mut mut_buf = self.source_data_buf.borrow_mut();
             let tm_creator = self
-                .reporter
-                .event_low_severity(
-                    self.source_data_buf.as_mut_slice(),
-                    time_stamp,
-                    event_id,
-                    aux_data,
-                )
+                .report_creator
+                .event_low_severity(mut_buf.as_mut_slice(), time_stamp, event_id, aux_data)
                 .map_err(PusError::ByteConversion)?;
-            sender.send_tm(tm_creator.into())?;
+            sender.send_tm(self.id, tm_creator.into())?;
             Ok(())
         }
 
         pub fn event_medium_severity(
-            &mut self,
-            sender: &mut (impl EcssTmSenderCore + ?Sized),
+            &self,
+            sender: &(impl EcssTmSenderCore + ?Sized),
             time_stamp: &[u8],
             event_id: impl EcssEnumeration,
             aux_data: Option<&[u8]>,
         ) -> Result<(), EcssTmtcError> {
+            let mut mut_buf = self.source_data_buf.borrow_mut();
             let tm_creator = self
-                .reporter
-                .event_medium_severity(
-                    self.source_data_buf.as_mut_slice(),
-                    time_stamp,
-                    event_id,
-                    aux_data,
-                )
+                .report_creator
+                .event_medium_severity(mut_buf.as_mut_slice(), time_stamp, event_id, aux_data)
                 .map_err(PusError::ByteConversion)?;
-            sender.send_tm(tm_creator.into())?;
+            sender.send_tm(self.id, tm_creator.into())?;
             Ok(())
         }
 
         pub fn event_high_severity(
-            &mut self,
-            sender: &mut (impl EcssTmSenderCore + ?Sized),
+            &self,
+            sender: &(impl EcssTmSenderCore + ?Sized),
             time_stamp: &[u8],
             event_id: impl EcssEnumeration,
             aux_data: Option<&[u8]>,
         ) -> Result<(), EcssTmtcError> {
+            let mut mut_buf = self.source_data_buf.borrow_mut();
             let tm_creator = self
-                .reporter
-                .event_high_severity(
-                    self.source_data_buf.as_mut_slice(),
-                    time_stamp,
-                    event_id,
-                    aux_data,
-                )
+                .report_creator
+                .event_high_severity(mut_buf.as_mut_slice(), time_stamp, event_id, aux_data)
                 .map_err(PusError::ByteConversion)?;
-            sender.send_tm(tm_creator.into())?;
+            sender.send_tm(self.id, tm_creator.into())?;
             Ok(())
         }
     }
@@ -240,8 +235,8 @@ mod tests {
     use super::*;
     use crate::events::{EventU32, Severity};
     use crate::pus::tests::CommonTmInfo;
-    use crate::pus::{EcssChannel, PusTmWrapper};
-    use crate::ChannelId;
+    use crate::pus::{ChannelWithId, PusTmVariant};
+    use crate::ComponentId;
     use spacepackets::ByteConversionError;
     use std::cell::RefCell;
     use std::collections::VecDeque;
@@ -265,19 +260,19 @@ mod tests {
         pub service_queue: RefCell<VecDeque<TmInfo>>,
     }
 
-    impl EcssChannel for TestSender {
-        fn channel_id(&self) -> ChannelId {
+    impl ChannelWithId for TestSender {
+        fn id(&self) -> ComponentId {
             0
         }
     }
 
     impl EcssTmSenderCore for TestSender {
-        fn send_tm(&self, tm: PusTmWrapper) -> Result<(), EcssTmtcError> {
+        fn send_tm(&self, sender_id: ComponentId, tm: PusTmVariant) -> Result<(), EcssTmtcError> {
             match tm {
-                PusTmWrapper::InStore(_) => {
+                PusTmVariant::InStore(_) => {
                     panic!("TestSender: unexpected call with address");
                 }
-                PusTmWrapper::Direct(tm) => {
+                PusTmVariant::Direct(tm) => {
                     assert!(!tm.source_data().is_empty());
                     let src_data = tm.source_data();
                     assert!(src_data.len() >= 4);
@@ -345,7 +340,7 @@ mod tests {
         error_data: Option<&[u8]>,
     ) {
         let mut sender = TestSender::default();
-        let reporter = EventReporter::new(EXAMPLE_APID, max_event_aux_data_buf);
+        let reporter = EventReporter::new(0, EXAMPLE_APID, max_event_aux_data_buf);
         assert!(reporter.is_some());
         let mut reporter = reporter.unwrap();
         let time_stamp_empty: [u8; 7] = [0; 7];
@@ -437,7 +432,7 @@ mod tests {
     fn insufficient_buffer() {
         let mut sender = TestSender::default();
         for i in 0..3 {
-            let reporter = EventReporter::new(EXAMPLE_APID, i);
+            let reporter = EventReporter::new(0, EXAMPLE_APID, i);
             assert!(reporter.is_some());
             let mut reporter = reporter.unwrap();
             check_buf_too_small(&mut reporter, &mut sender, i);

satrs/src/pus/event_man.rs

@@ -177,8 +177,8 @@ pub mod alloc_mod {
         }
 
         pub fn generate_pus_event_tm_generic(
-            &mut self,
-            sender: &mut (impl EcssTmSenderCore + ?Sized),
+            &self,
+            sender: &(impl EcssTmSenderCore + ?Sized),
             time_stamp: &[u8],
             event: EV,
             aux_data: Option<&[u8]>,
@@ -239,8 +239,8 @@ pub mod alloc_mod {
         }
 
         pub fn generate_pus_event_tm<Severity: HasSeverity>(
-            &mut self,
-            sender: &mut (impl EcssTmSenderCore + ?Sized),
+            &self,
+            sender: &(impl EcssTmSenderCore + ?Sized),
             time_stamp: &[u8],
             event: EventU32TypedSev<Severity>,
             aux_data: Option<&[u8]>,
@@ -257,20 +257,26 @@ pub mod alloc_mod {
 #[cfg(test)]
 mod tests {
     use super::*;
-    use crate::{events::SeverityInfo, pus::TmAsVecSenderWithMpsc};
+    use crate::events::SeverityInfo;
+    use crate::pus::PusTmAsVec;
+    use crate::request::UniqueApidTargetId;
     use std::sync::mpsc::{self, TryRecvError};
 
     const INFO_EVENT: EventU32TypedSev<SeverityInfo> =
         EventU32TypedSev::<SeverityInfo>::const_new(1, 0);
     const LOW_SEV_EVENT: EventU32 = EventU32::const_new(Severity::LOW, 1, 5);
     const EMPTY_STAMP: [u8; 7] = [0; 7];
+    const TEST_APID: u16 = 0x02;
+    const TEST_ID: UniqueApidTargetId = UniqueApidTargetId::new(TEST_APID, 0x05);
 
     fn create_basic_man_1() -> DefaultPusEventU32Dispatcher<()> {
-        let reporter = EventReporter::new(0x02, 128).expect("Creating event repoter failed");
+        let reporter = EventReporter::new(TEST_ID.raw(), TEST_APID, 128)
+            .expect("Creating event repoter failed");
         PusEventDispatcher::new_with_default_backend(reporter)
     }
     fn create_basic_man_2() -> DefaultPusEventU32Dispatcher<()> {
-        let reporter = EventReporter::new(0x02, 128).expect("Creating event repoter failed");
+        let reporter = EventReporter::new(TEST_ID.raw(), TEST_APID, 128)
+            .expect("Creating event repoter failed");
         let backend = DefaultPusEventMgmtBackend::default();
         PusEventDispatcher::new(reporter, backend)
     }
@@ -278,10 +284,9 @@ mod tests {
     #[test]
     fn test_basic() {
         let mut event_man = create_basic_man_1();
-        let (event_tx, event_rx) = mpsc::channel();
-        let mut sender = TmAsVecSenderWithMpsc::new(0, "test_sender", event_tx);
+        let (mut event_tx, event_rx) = mpsc::channel::<PusTmAsVec>();
         let event_sent = event_man
-            .generate_pus_event_tm(&mut sender, &EMPTY_STAMP, INFO_EVENT, None)
+            .generate_pus_event_tm(&mut event_tx, &EMPTY_STAMP, INFO_EVENT, None)
             .expect("Sending info event failed");
 
         assert!(event_sent);
@@ -292,13 +297,13 @@ mod tests {
     #[test]
     fn test_disable_event() {
         let mut event_man = create_basic_man_2();
-        let (event_tx, event_rx) = mpsc::channel();
-        let mut sender = TmAsVecSenderWithMpsc::new(0, "test", event_tx);
+        let (event_tx, event_rx) = mpsc::channel::<PusTmAsVec>();
+        // 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());
         let mut event_sent = event_man
-            .generate_pus_event_tm_generic(&mut sender, &EMPTY_STAMP, LOW_SEV_EVENT, None)
+            .generate_pus_event_tm_generic(&event_tx, &EMPTY_STAMP, LOW_SEV_EVENT, None)
             .expect("Sending low severity event failed");
         assert!(!event_sent);
         let res = event_rx.try_recv();
@@ -306,7 +311,7 @@ mod tests {
         assert!(matches!(res.unwrap_err(), TryRecvError::Empty));
         // Check that only the low severity event was disabled
         event_sent = event_man
-            .generate_pus_event_tm(&mut sender, &EMPTY_STAMP, INFO_EVENT, None)
+            .generate_pus_event_tm(&event_tx, &EMPTY_STAMP, INFO_EVENT, None)
             .expect("Sending info event failed");
         assert!(event_sent);
         event_rx.try_recv().expect("No info event received");
@@ -315,8 +320,7 @@ mod tests {
     #[test]
     fn test_reenable_event() {
         let mut event_man = create_basic_man_1();
-        let (event_tx, event_rx) = mpsc::channel();
-        let mut sender = TmAsVecSenderWithMpsc::new(0, "test", event_tx);
+        let (event_tx, event_rx) = mpsc::channel::<PusTmAsVec>();
         let mut res = event_man.disable_tm_for_event_with_sev(&INFO_EVENT);
         assert!(res.is_ok());
         assert!(res.unwrap());
@@ -324,7 +328,7 @@ mod tests {
         assert!(res.is_ok());
         assert!(res.unwrap());
         let event_sent = event_man
-            .generate_pus_event_tm(&mut sender, &EMPTY_STAMP, INFO_EVENT, None)
+            .generate_pus_event_tm(&event_tx, &EMPTY_STAMP, INFO_EVENT, None)
             .expect("Sending info event failed");
         assert!(event_sent);
         event_rx.try_recv().expect("No info event received");

satrs/src/pus/event_srv.rs

@@ -2,17 +2,18 @@ use crate::events::EventU32;
 use crate::pus::event_man::{EventRequest, EventRequestWithToken};
 use crate::pus::verification::TcStateToken;
 use crate::pus::{PartialPusHandlingError, PusPacketHandlerResult, PusPacketHandlingError};
+use crate::queue::GenericSendError;
 use spacepackets::ecss::event::Subservice;
 use spacepackets::ecss::PusPacket;
 use std::sync::mpsc::Sender;
 
 use super::verification::VerificationReportingProvider;
 use super::{
-    get_current_cds_short_timestamp, EcssTcInMemConverter, EcssTcReceiverCore, EcssTmSenderCore,
-    PusServiceHelper,
+    EcssTcInMemConverter, EcssTcReceiverCore, EcssTmSenderCore, GenericConversionError,
+    GenericRoutingError, PusServiceHelper,
 };
 
-pub struct PusService5EventHandler<
+pub struct PusEventServiceHandler<
     TcReceiver: EcssTcReceiverCore,
     TmSender: EcssTmSenderCore,
     TcInMemConverter: EcssTcInMemConverter,
@@ -28,7 +29,7 @@ impl<
         TmSender: EcssTmSenderCore,
         TcInMemConverter: EcssTcInMemConverter,
         VerificationReporter: VerificationReportingProvider,
-    > PusService5EventHandler<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>
+    > PusEventServiceHandler<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>
 {
     pub fn new(
         service_helper: PusServiceHelper<
@@ -45,16 +46,19 @@ impl<
         }
     }
 
-    pub fn handle_one_tc(&mut self) -> Result<PusPacketHandlerResult, PusPacketHandlingError> {
+    pub fn poll_and_handle_next_tc(
+        &mut self,
+        time_stamp: &[u8],
+    ) -> Result<PusPacketHandlerResult, PusPacketHandlingError> {
         let possible_packet = self.service_helper.retrieve_and_accept_next_packet()?;
         if possible_packet.is_none() {
             return Ok(PusPacketHandlerResult::Empty);
         }
         let ecss_tc_and_token = possible_packet.unwrap();
-        let tc = self
-            .service_helper
-            .tc_in_mem_converter
-            .convert_ecss_tc_in_memory_to_reader(&ecss_tc_and_token.tc_in_memory)?;
+        self.service_helper
+            .tc_in_mem_converter_mut()
+            .cache(&ecss_tc_and_token.tc_in_memory)?;
+        let tc = self.service_helper.tc_in_mem_converter().convert()?;
         let subservice = tc.subservice();
         let srv = Subservice::try_from(subservice);
         if srv.is_err() {
@@ -63,20 +67,28 @@ impl<
                 ecss_tc_and_token.token,
             ));
         }
-        let handle_enable_disable_request = |enable: bool, stamp: [u8; 7]| {
+        let handle_enable_disable_request =
+            |enable: bool| -> Result<PusPacketHandlerResult, PusPacketHandlingError> {
                 if tc.user_data().len() < 4 {
-                return Err(PusPacketHandlingError::NotEnoughAppData {
+                    return Err(GenericConversionError::NotEnoughAppData {
                         expected: 4,
                         found: tc.user_data().len(),
-                });
+                    }
+                    .into());
                 }
                 let user_data = tc.user_data();
-            let event_u32 = EventU32::from(u32::from_be_bytes(user_data[0..4].try_into().unwrap()));
+                let event_u32 =
+                    EventU32::from(u32::from_be_bytes(user_data[0..4].try_into().unwrap()));
                 let start_token = self
                     .service_helper
                     .common
-                .verification_handler
-                .start_success(ecss_tc_and_token.token, &stamp)
+                    .verif_reporter
+                    .start_success(
+                        self.service_helper.common.id,
+                        &self.service_helper.common.tm_sender,
+                        ecss_tc_and_token.token,
+                        time_stamp,
+                    )
                     .map_err(|_| PartialPusHandlingError::Verification);
                 let partial_error = start_token.clone().err();
                 let mut token: TcStateToken = ecss_tc_and_token.token.into();
@@ -97,7 +109,9 @@ impl<
                 self.event_request_tx
                     .send(event_req_with_token)
                     .map_err(|_| {
-                    PusPacketHandlingError::Other("Forwarding event request failed".into())
+                        PusPacketHandlingError::RequestRouting(GenericRoutingError::Send(
+                            GenericSendError::RxDisconnected,
+                        ))
                     })?;
                 if let Some(partial_error) = partial_error {
                     return Ok(PusPacketHandlerResult::RequestHandledPartialSuccess(
@@ -106,20 +120,21 @@ impl<
                 }
                 Ok(PusPacketHandlerResult::RequestHandled)
             };
-        let mut partial_error = None;
-        let time_stamp = get_current_cds_short_timestamp(&mut partial_error);
+
         match srv.unwrap() {
             Subservice::TmInfoReport
             | Subservice::TmLowSeverityReport
             | Subservice::TmMediumSeverityReport
             | Subservice::TmHighSeverityReport => {
-                return Err(PusPacketHandlingError::InvalidSubservice(tc.subservice()))
+                return Err(PusPacketHandlingError::RequestConversion(
+                    GenericConversionError::WrongService(tc.subservice()),
+                ))
             }
             Subservice::TcEnableEventGeneration => {
-                handle_enable_disable_request(true, time_stamp)?;
+                handle_enable_disable_request(true)?;
             }
             Subservice::TcDisableEventGeneration => {
-                handle_enable_disable_request(false, time_stamp)?;
+                handle_enable_disable_request(false)?;
             }
             Subservice::TcReportDisabledList | Subservice::TmDisabledEventsReport => {
                 return Ok(PusPacketHandlerResult::SubserviceNotImplemented(
@@ -137,6 +152,7 @@ impl<
 mod tests {
     use delegate::delegate;
     use spacepackets::ecss::event::Subservice;
+    use spacepackets::time::{cds, TimeWriter};
     use spacepackets::util::UnsignedEnum;
     use spacepackets::{
         ecss::{
@@ -148,49 +164,63 @@ mod tests {
     use std::sync::mpsc::{self, Sender};
 
     use crate::pus::event_man::EventRequest;
-    use crate::pus::tests::SimplePusPacketHandler;
+    use crate::pus::test_util::{PusTestHarness, SimplePusPacketHandler, TEST_APID};
     use crate::pus::verification::{
-        RequestId, VerificationReporterWithSharedPoolMpscBoundedSender,
+        RequestId, VerificationReporter, VerificationReportingProvider,
     };
-    use crate::pus::{MpscTcReceiver, TmInSharedPoolSenderWithBoundedMpsc};
+    use crate::pus::{GenericConversionError, MpscTcReceiver, MpscTmInSharedPoolSenderBounded};
     use crate::{
         events::EventU32,
         pus::{
             event_man::EventRequestWithToken,
-            tests::{PusServiceHandlerWithSharedStoreCommon, PusTestHarness, TEST_APID},
+            tests::PusServiceHandlerWithSharedStoreCommon,
             verification::{TcStateAccepted, VerificationToken},
             EcssTcInSharedStoreConverter, PusPacketHandlerResult, PusPacketHandlingError,
         },
     };
 
-    use super::PusService5EventHandler;
+    use super::PusEventServiceHandler;
 
     const TEST_EVENT_0: EventU32 = EventU32::const_new(crate::events::Severity::INFO, 5, 25);
 
     struct Pus5HandlerWithStoreTester {
         common: PusServiceHandlerWithSharedStoreCommon,
-        handler: PusService5EventHandler<
+        handler: PusEventServiceHandler<
             MpscTcReceiver,
-            TmInSharedPoolSenderWithBoundedMpsc,
+            MpscTmInSharedPoolSenderBounded,
             EcssTcInSharedStoreConverter,
-            VerificationReporterWithSharedPoolMpscBoundedSender,
+            VerificationReporter,
         >,
     }
 
     impl Pus5HandlerWithStoreTester {
         pub fn new(event_request_tx: Sender<EventRequestWithToken>) -> Self {
-            let (common, srv_handler) = PusServiceHandlerWithSharedStoreCommon::new();
+            let (common, srv_handler) = PusServiceHandlerWithSharedStoreCommon::new(0);
             Self {
                 common,
-                handler: PusService5EventHandler::new(srv_handler, event_request_tx),
+                handler: PusEventServiceHandler::new(srv_handler, event_request_tx),
             }
         }
     }
 
     impl PusTestHarness for Pus5HandlerWithStoreTester {
+        fn init_verification(&mut self, tc: &PusTcCreator) -> VerificationToken<TcStateAccepted> {
+            let init_token = self.handler.service_helper.verif_reporter_mut().add_tc(tc);
+            self.handler
+                .service_helper
+                .verif_reporter()
+                .acceptance_success(
+                    self.handler.service_helper.id(),
+                    self.handler.service_helper.tm_sender(),
+                    init_token,
+                    &[0; 7],
+                )
+                .expect("acceptance success failure")
+        }
+
         delegate! {
             to self.common {
-                fn send_tc(&mut self, tc: &PusTcCreator) -> VerificationToken<TcStateAccepted>;
+                fn send_tc(&self, token: &VerificationToken<TcStateAccepted>, tc: &PusTcCreator);
                 fn read_next_tm(&mut self) -> PusTmReader<'_>;
                 fn check_no_tm_available(&self) -> bool;
                 fn check_next_verification_tm(&self, subservice: u8, expected_request_id: RequestId);
@@ -200,10 +230,9 @@ mod tests {
     }
 
     impl SimplePusPacketHandler for Pus5HandlerWithStoreTester {
-        delegate! {
-            to self.handler {
-                fn handle_one_tc(&mut self) -> Result<PusPacketHandlerResult, PusPacketHandlingError>;
-            }
+        fn handle_one_tc(&mut self) -> Result<PusPacketHandlerResult, PusPacketHandlingError> {
+            let time_stamp = cds::CdsTime::new_with_u16_days(0, 0).to_vec().unwrap();
+            self.handler.poll_and_handle_next_tc(&time_stamp)
         }
     }
 
@@ -220,8 +249,9 @@ mod tests {
             .write_to_be_bytes(&mut app_data)
             .expect("writing test event failed");
         let ping_tc = PusTcCreator::new(&mut sp_header, sec_header, &app_data, true);
-        let token = test_harness.send_tc(&ping_tc);
-        let request_id = token.req_id();
+        let token = test_harness.init_verification(&ping_tc);
+        test_harness.send_tc(&token, &ping_tc);
+        let request_id = token.request_id();
         test_harness.handle_one_tc().unwrap();
         test_harness.check_next_verification_tm(1, request_id);
         test_harness.check_next_verification_tm(3, request_id);
@@ -277,7 +307,8 @@ mod tests {
         let mut sp_header = SpHeader::tc(TEST_APID, SequenceFlags::Unsegmented, 0, 0).unwrap();
         let sec_header = PusTcSecondaryHeader::new_simple(5, 200);
         let ping_tc = PusTcCreator::new_no_app_data(&mut sp_header, sec_header, true);
-        test_harness.send_tc(&ping_tc);
+        let token = test_harness.init_verification(&ping_tc);
+        test_harness.send_tc(&token, &ping_tc);
         let result = test_harness.handle_one_tc();
         assert!(result.is_ok());
         let result = result.unwrap();
@@ -296,11 +327,15 @@ mod tests {
         let sec_header =
             PusTcSecondaryHeader::new_simple(5, Subservice::TcEnableEventGeneration as u8);
         let ping_tc = PusTcCreator::new(&mut sp_header, sec_header, &[0, 1, 2], true);
-        test_harness.send_tc(&ping_tc);
+        let token = test_harness.init_verification(&ping_tc);
+        test_harness.send_tc(&token, &ping_tc);
         let result = test_harness.handle_one_tc();
         assert!(result.is_err());
         let result = result.unwrap_err();
-        if let PusPacketHandlingError::NotEnoughAppData { expected, found } = result {
+        if let PusPacketHandlingError::RequestConversion(
+            GenericConversionError::NotEnoughAppData { expected, found },
+        ) = result
+        {
             assert_eq!(expected, 4);
             assert_eq!(found, 3);
         } else {

satrs/src/pus/hk.rs

@@ -1,406 +0,0 @@
-pub use spacepackets::ecss::hk::*;
-
-#[cfg(feature = "std")]
-#[cfg_attr(doc_cfg, doc(cfg(feature = "std")))]
-pub use std_mod::*;
-
-#[cfg(feature = "alloc")]
-#[cfg_attr(doc_cfg, doc(cfg(feature = "alloc")))]
-pub use alloc_mod::*;
-
-use crate::{hk::HkRequest, TargetId};
-
-use super::verification::{TcStateAccepted, VerificationToken};
-
-/// This trait is an abstraction for the routing of PUS service 3 housekeeping requests to a
-/// dedicated recipient using the generic [TargetId].
-pub trait PusHkRequestRouter {
-    type Error;
-    fn route(
-        &self,
-        target_id: TargetId,
-        hk_request: HkRequest,
-        token: VerificationToken<TcStateAccepted>,
-    ) -> Result<(), Self::Error>;
-}
-
-#[cfg(feature = "alloc")]
-#[cfg_attr(doc_cfg, doc(cfg(feature = "alloc")))]
-pub mod alloc_mod {
-    use spacepackets::ecss::tc::PusTcReader;
-
-    use crate::pus::verification::VerificationReportingProvider;
-
-    use super::*;
-
-    /// This trait is an abstraction for the conversion of a PUS service 8 action telecommand into
-    /// a [HkRequest].
-    ///
-    /// Having a dedicated trait for this allows maximum flexiblity and tailoring of the standard.
-    /// The only requirement is that a valid [TargetId] and a [HkRequest] are returned by the
-    /// core conversion function.
-    ///
-    /// The user should take care of performing the error handling as well. Some of the following
-    /// aspects might be relevant:
-    ///
-    /// - Checking the validity of the APID, service ID, subservice ID.
-    /// - Checking the validity of the user data.
-    ///
-    /// 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;
-        fn convert(
-            &mut self,
-            token: VerificationToken<TcStateAccepted>,
-            tc: &PusTcReader,
-            time_stamp: &[u8],
-            verif_reporter: &impl VerificationReportingProvider,
-        ) -> Result<(TargetId, HkRequest), Self::Error>;
-    }
-}
-
-#[cfg(feature = "std")]
-#[cfg_attr(doc_cfg, doc(cfg(feature = "std")))]
-pub mod std_mod {
-    use crate::pus::{
-        get_current_cds_short_timestamp, verification::VerificationReportingProvider,
-        EcssTcInMemConverter, EcssTcReceiverCore, EcssTmSenderCore, GenericRoutingError,
-        PusPacketHandlerResult, PusPacketHandlingError, PusRoutingErrorHandler, PusServiceHelper,
-    };
-
-    use super::*;
-
-    /// This is a generic high-level handler for the PUS service 3 housekeeping service.
-    ///
-    /// It performs the following handling steps:
-    ///
-    /// 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
-    ///    [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 [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,
-        RequestRouter: PusHkRequestRouter<Error = RoutingError>,
-        RoutingErrorHandler: PusRoutingErrorHandler<Error = RoutingError>,
-        RoutingError = GenericRoutingError,
-    > {
-        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>,
-            RequestRouter: PusHkRequestRouter<Error = RoutingError>,
-            RoutingErrorHandler: PusRoutingErrorHandler<Error = RoutingError>,
-            RoutingError: Clone,
-        >
-        PusService3HkHandler<
-            TcReceiver,
-            TmSender,
-            TcInMemConverter,
-            VerificationReporter,
-            RequestConverter,
-            RequestRouter,
-            RoutingErrorHandler,
-            RoutingError,
-        >
-    where
-        PusPacketHandlingError: From<RoutingError>,
-    {
-        pub fn new(
-            service_helper: PusServiceHelper<
-                TcReceiver,
-                TmSender,
-                TcInMemConverter,
-                VerificationReporter,
-            >,
-            request_converter: RequestConverter,
-            request_router: RequestRouter,
-            routing_error_handler: RoutingErrorHandler,
-        ) -> Self {
-            Self {
-                service_helper,
-                request_converter,
-                request_router,
-                routing_error_handler,
-            }
-        }
-
-        pub fn handle_one_tc(&mut self) -> Result<PusPacketHandlerResult, PusPacketHandlingError> {
-            let possible_packet = self.service_helper.retrieve_and_accept_next_packet()?;
-            if possible_packet.is_none() {
-                return Ok(PusPacketHandlerResult::Empty);
-            }
-            let ecss_tc_and_token = possible_packet.unwrap();
-            let tc = self
-                .service_helper
-                .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 = get_current_cds_short_timestamp(&mut partial_error);
-            let (target_id, hk_request) = self.request_converter.convert(
-                ecss_tc_and_token.token,
-                &tc,
-                &time_stamp,
-                &self.service_helper.common.verification_handler,
-            )?;
-            if let Err(e) =
-                self.request_router
-                    .route(target_id, hk_request, ecss_tc_and_token.token)
-            {
-                self.routing_error_handler.handle_error(
-                    target_id,
-                    ecss_tc_and_token.token,
-                    &tc,
-                    e.clone(),
-                    &time_stamp,
-                    &self.service_helper.common.verification_handler,
-                );
-                return Err(e.into());
-            }
-            Ok(PusPacketHandlerResult::RequestHandled)
-        }
-    }
-}
-
-#[cfg(test)]
-mod tests {
-    use delegate::delegate;
-    use spacepackets::ecss::hk::Subservice;
-
-    use spacepackets::{
-        ecss::{
-            tc::{PusTcCreator, PusTcReader, PusTcSecondaryHeader},
-            tm::PusTmReader,
-            PusPacket,
-        },
-        CcsdsPacket, SequenceFlags, SpHeader,
-    };
-
-    use crate::pus::{MpscTcReceiver, TmAsVecSenderWithMpsc};
-    use crate::{
-        hk::HkRequest,
-        pus::{
-            tests::{
-                PusServiceHandlerWithVecCommon, PusTestHarness, SimplePusPacketHandler,
-                TestConverter, TestRouter, TestRoutingErrorHandler, APP_DATA_TOO_SHORT, TEST_APID,
-            },
-            verification::{
-                tests::TestVerificationReporter, FailParams, RequestId, TcStateAccepted,
-                VerificationReportingProvider, VerificationToken,
-            },
-            EcssTcInVecConverter, GenericRoutingError, PusPacketHandlerResult,
-            PusPacketHandlingError,
-        },
-        TargetId,
-    };
-
-    use super::{PusHkRequestRouter, PusHkToRequestConverter, PusService3HkHandler};
-
-    impl PusHkRequestRouter for TestRouter<HkRequest> {
-        type Error = GenericRoutingError;
-
-        fn route(
-            &self,
-            target_id: TargetId,
-            hk_request: HkRequest,
-            _token: VerificationToken<TcStateAccepted>,
-        ) -> Result<(), Self::Error> {
-            self.routing_requests
-                .borrow_mut()
-                .push_back((target_id, hk_request));
-            self.check_for_injected_error()
-        }
-    }
-
-    impl PusHkToRequestConverter for TestConverter<3> {
-        type Error = PusPacketHandlingError;
-        fn convert(
-            &mut self,
-            token: VerificationToken<TcStateAccepted>,
-            tc: &PusTcReader,
-            time_stamp: &[u8],
-            verif_reporter: &impl VerificationReportingProvider,
-        ) -> Result<(TargetId, HkRequest), Self::Error> {
-            self.conversion_request.push_back(tc.raw_data().to_vec());
-            self.check_service(tc)?;
-            let target_id = tc.apid();
-            if tc.user_data().len() < 4 {
-                verif_reporter
-                    .start_failure(
-                        token,
-                        FailParams::new(
-                            time_stamp,
-                            &APP_DATA_TOO_SHORT,
-                            (tc.user_data().len() as u32).to_be_bytes().as_ref(),
-                        ),
-                    )
-                    .expect("start success failure");
-                return Err(PusPacketHandlingError::NotEnoughAppData {
-                    expected: 4,
-                    found: tc.user_data().len(),
-                });
-            }
-            if tc.subservice() == Subservice::TcGenerateOneShotHk as u8 {
-                verif_reporter
-                    .start_success(token, time_stamp)
-                    .expect("start success failure");
-                return Ok((
-                    target_id.into(),
-                    HkRequest::OneShot(u32::from_be_bytes(
-                        tc.user_data()[0..4].try_into().unwrap(),
-                    )),
-                ));
-            }
-            Err(PusPacketHandlingError::InvalidAppData(
-                "unexpected app data".into(),
-            ))
-        }
-    }
-
-    struct Pus3HandlerWithVecTester {
-        common: PusServiceHandlerWithVecCommon<TestVerificationReporter>,
-        handler: PusService3HkHandler<
-            MpscTcReceiver,
-            TmAsVecSenderWithMpsc,
-            EcssTcInVecConverter,
-            TestVerificationReporter,
-            TestConverter<3>,
-            TestRouter<HkRequest>,
-            TestRoutingErrorHandler,
-        >,
-    }
-
-    impl Pus3HandlerWithVecTester {
-        pub fn new() -> Self {
-            let (common, srv_handler) =
-                PusServiceHandlerWithVecCommon::new_with_test_verif_sender();
-            Self {
-                common,
-                handler: PusService3HkHandler::new(
-                    srv_handler,
-                    TestConverter::default(),
-                    TestRouter::default(),
-                    TestRoutingErrorHandler::default(),
-                ),
-            }
-        }
-
-        delegate! {
-            to self.handler.request_converter {
-                pub fn check_next_conversion(&mut self, tc: &PusTcCreator);
-            }
-        }
-        delegate! {
-            to self.handler.request_router {
-                pub fn retrieve_next_request(&mut self) -> (TargetId, HkRequest);
-            }
-        }
-        delegate! {
-            to self.handler.routing_error_handler {
-                pub fn retrieve_next_error(&mut self) -> (TargetId, GenericRoutingError);
-            }
-        }
-    }
-
-    impl PusTestHarness for Pus3HandlerWithVecTester {
-        delegate! {
-            to self.common {
-                fn send_tc(&mut self, tc: &PusTcCreator) -> VerificationToken<TcStateAccepted>;
-                fn read_next_tm(&mut self) -> PusTmReader<'_>;
-                fn check_no_tm_available(&self) -> bool;
-                fn check_next_verification_tm(
-                    &self,
-                    subservice: u8,
-                    expected_request_id: RequestId,
-                );
-            }
-        }
-    }
-    impl SimplePusPacketHandler for Pus3HandlerWithVecTester {
-        delegate! {
-            to self.handler {
-                fn handle_one_tc(&mut self) -> Result<PusPacketHandlerResult, PusPacketHandlingError>;
-            }
-        }
-    }
-
-    #[test]
-    fn basic_test() {
-        let mut hk_handler = Pus3HandlerWithVecTester::new();
-        let mut sp_header = SpHeader::tc(TEST_APID, SequenceFlags::Unsegmented, 0, 0).unwrap();
-        let sec_header = PusTcSecondaryHeader::new_simple(3, Subservice::TcGenerateOneShotHk as u8);
-        let unique_id: u32 = 1;
-        let unique_id_raw = unique_id.to_be_bytes();
-        let tc = PusTcCreator::new(&mut sp_header, sec_header, unique_id_raw.as_ref(), true);
-        hk_handler.send_tc(&tc);
-        let result = hk_handler.handle_one_tc();
-        assert!(result.is_ok());
-        hk_handler.check_next_conversion(&tc);
-        let (target_id, hk_request) = hk_handler.retrieve_next_request();
-        assert_eq!(target_id, TEST_APID.into());
-        if let HkRequest::OneShot(id) = hk_request {
-            assert_eq!(id, unique_id);
-        } else {
-            panic!("unexpected request");
-        }
-    }
-
-    #[test]
-    fn test_routing_error() {
-        let mut hk_handler = Pus3HandlerWithVecTester::new();
-        let mut sp_header = SpHeader::tc(TEST_APID, SequenceFlags::Unsegmented, 0, 0).unwrap();
-        let sec_header = PusTcSecondaryHeader::new_simple(3, Subservice::TcGenerateOneShotHk as u8);
-        let unique_id: u32 = 1;
-        let unique_id_raw = unique_id.to_be_bytes();
-        let tc = PusTcCreator::new(&mut sp_header, sec_header, unique_id_raw.as_ref(), true);
-        let error = GenericRoutingError::UnknownTargetId(25);
-        hk_handler
-            .handler
-            .request_router
-            .inject_routing_error(error);
-        hk_handler.send_tc(&tc);
-        let result = hk_handler.handle_one_tc();
-        assert!(result.is_err());
-        let check_error = |routing_error: GenericRoutingError| {
-            if let GenericRoutingError::UnknownTargetId(id) = routing_error {
-                assert_eq!(id, 25);
-            } else {
-                panic!("unexpected error type");
-            }
-        };
-        if let PusPacketHandlingError::RequestRoutingError(routing_error) = result.unwrap_err() {
-            check_error(routing_error);
-        } else {
-            panic!("unexpected error type");
-        }
-
-        hk_handler.check_next_conversion(&tc);
-        let (target_id, hk_req) = hk_handler.retrieve_next_request();
-        assert_eq!(target_id, TEST_APID.into());
-        if let HkRequest::OneShot(unique_id) = hk_req {
-            assert_eq!(unique_id, 1);
-        }
-
-        let (target_id, found_error) = hk_handler.retrieve_next_error();
-        assert_eq!(target_id, TEST_APID.into());
-        check_error(found_error);
-    }
-}

satrs/src/pus/mode.rs

@@ -2,6 +2,16 @@ use num_enum::{IntoPrimitive, TryFromPrimitive};
 #[cfg(feature = "serde")]
 use serde::{Deserialize, Serialize};
 
+#[cfg(feature = "alloc")]
+#[allow(unused_imports)]
+pub use alloc_mod::*;
+
+#[cfg(feature = "std")]
+#[allow(unused_imports)]
+pub use std_mod::*;
+
+pub const MODE_SERVICE_ID: u8 = 200;
+
 #[derive(Debug, Eq, PartialEq, Copy, Clone, IntoPrimitive, TryFromPrimitive)]
 #[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
 #[repr(u8)]
@@ -14,3 +24,134 @@ pub enum Subservice {
     TmCantReachMode = 7,
     TmWrongModeReply = 8,
 }
+
+#[cfg(feature = "alloc")]
+#[cfg_attr(doc_cfg, doc(cfg(feature = "alloc")))]
+pub mod alloc_mod {}
+
+#[cfg(feature = "alloc")]
+#[cfg_attr(doc_cfg, doc(cfg(feature = "alloc")))]
+pub mod std_mod {}
+
+#[cfg(test)]
+mod tests {
+
+    use std::sync::mpsc;
+
+    use crate::{
+        mode::{
+            ModeAndSubmode, ModeReply, ModeReplySender, ModeRequest, ModeRequestSender,
+            ModeRequestorAndHandlerMpsc, ModeRequestorMpsc,
+        },
+        request::{GenericMessage, MessageMetadata},
+    };
+
+    const TEST_COMPONENT_ID_0: u64 = 5;
+    const TEST_COMPONENT_ID_1: u64 = 6;
+    const TEST_COMPONENT_ID_2: u64 = 7;
+
+    #[test]
+    fn test_simple_mode_requestor() {
+        let (reply_sender, reply_receiver) = mpsc::channel();
+        let (request_sender, request_receiver) = mpsc::channel();
+        let mut mode_requestor = ModeRequestorMpsc::new(TEST_COMPONENT_ID_0, reply_receiver);
+        mode_requestor.add_message_target(TEST_COMPONENT_ID_1, request_sender);
+
+        // Send a request and verify it arrives at the receiver.
+        let request_id = 2;
+        let sent_request = ModeRequest::ReadMode;
+        mode_requestor
+            .send_mode_request(request_id, TEST_COMPONENT_ID_1, sent_request)
+            .expect("send failed");
+        let request = request_receiver.recv().expect("recv failed");
+        assert_eq!(request.request_id(), 2);
+        assert_eq!(request.sender_id(), TEST_COMPONENT_ID_0);
+        assert_eq!(request.message, sent_request);
+
+        // Send a reply and verify it arrives at the requestor.
+        let mode_reply = ModeReply::ModeReply(ModeAndSubmode::new(1, 5));
+        reply_sender
+            .send(GenericMessage::new(
+                MessageMetadata::new(request_id, TEST_COMPONENT_ID_1),
+                mode_reply,
+            ))
+            .expect("send failed");
+        let reply = mode_requestor.try_recv_mode_reply().expect("recv failed");
+        assert!(reply.is_some());
+        let reply = reply.unwrap();
+        assert_eq!(reply.sender_id(), TEST_COMPONENT_ID_1);
+        assert_eq!(reply.request_id(), 2);
+        assert_eq!(reply.message, mode_reply);
+    }
+
+    #[test]
+    fn test_mode_requestor_and_request_handler_request_sending() {
+        let (_reply_sender_to_connector, reply_receiver_of_connector) = mpsc::channel();
+        let (_request_sender_to_connector, request_receiver_of_connector) = mpsc::channel();
+
+        let (request_sender_to_channel_1, request_receiver_channel_1) = mpsc::channel();
+        //let (reply_sender_to_channel_2, reply_receiver_channel_2) = mpsc::channel();
+        let mut mode_connector = ModeRequestorAndHandlerMpsc::new(
+            TEST_COMPONENT_ID_0,
+            request_receiver_of_connector,
+            reply_receiver_of_connector,
+        );
+        assert_eq!(
+            ModeRequestSender::local_channel_id(&mode_connector),
+            TEST_COMPONENT_ID_0
+        );
+        assert_eq!(
+            ModeReplySender::local_channel_id(&mode_connector),
+            TEST_COMPONENT_ID_0
+        );
+        assert_eq!(
+            mode_connector.local_channel_id_generic(),
+            TEST_COMPONENT_ID_0
+        );
+
+        mode_connector.add_request_target(TEST_COMPONENT_ID_1, request_sender_to_channel_1);
+
+        // Send a request and verify it arrives at the receiver.
+        let request_id = 2;
+        let sent_request = ModeRequest::ReadMode;
+        mode_connector
+            .send_mode_request(request_id, TEST_COMPONENT_ID_1, sent_request)
+            .expect("send failed");
+
+        let request = request_receiver_channel_1.recv().expect("recv failed");
+        assert_eq!(request.request_id(), 2);
+        assert_eq!(request.sender_id(), TEST_COMPONENT_ID_0);
+        assert_eq!(request.message, ModeRequest::ReadMode);
+    }
+
+    #[test]
+    fn test_mode_requestor_and_request_handler_reply_sending() {
+        let (_reply_sender_to_connector, reply_receiver_of_connector) = mpsc::channel();
+        let (_request_sender_to_connector, request_receiver_of_connector) = mpsc::channel();
+
+        let (reply_sender_to_channel_2, reply_receiver_channel_2) = mpsc::channel();
+        let mut mode_connector = ModeRequestorAndHandlerMpsc::new(
+            TEST_COMPONENT_ID_0,
+            request_receiver_of_connector,
+            reply_receiver_of_connector,
+        );
+        mode_connector.add_reply_target(TEST_COMPONENT_ID_2, reply_sender_to_channel_2);
+
+        // Send a request and verify it arrives at the receiver.
+        let request_id = 2;
+        let sent_reply = ModeReply::ModeReply(ModeAndSubmode::new(3, 5));
+        mode_connector
+            .send_mode_reply(
+                MessageMetadata::new(request_id, TEST_COMPONENT_ID_0),
+                sent_reply,
+            )
+            .expect("send failed");
+        let reply = reply_receiver_channel_2.recv().expect("recv failed");
+        assert_eq!(reply.request_id(), 2);
+        assert_eq!(reply.sender_id(), TEST_COMPONENT_ID_0);
+        assert_eq!(reply.message, sent_reply);
+    }
+
+    #[test]
+    fn test_mode_reply_handler() {}
+}

satrs/src/pus/scheduler_srv.rs

@@ -1,20 +1,16 @@
 use super::scheduler::PusSchedulerProvider;
-use super::verification::{
-    VerificationReporterWithSharedPoolMpscBoundedSender,
-    VerificationReporterWithSharedPoolMpscSender, VerificationReporterWithVecMpscBoundedSender,
-    VerificationReporterWithVecMpscSender, VerificationReportingProvider,
-};
+use super::verification::{VerificationReporter, VerificationReportingProvider};
 use super::{
-    get_current_cds_short_timestamp, EcssTcInMemConverter, EcssTcInSharedStoreConverter,
-    EcssTcInVecConverter, EcssTcReceiverCore, EcssTmSenderCore, MpscTcReceiver, PusServiceHelper,
-    TmAsVecSenderWithBoundedMpsc, TmAsVecSenderWithMpsc, TmInSharedPoolSenderWithBoundedMpsc,
-    TmInSharedPoolSenderWithMpsc,
+    EcssTcInMemConverter, EcssTcInSharedStoreConverter, EcssTcInVecConverter, EcssTcReceiverCore,
+    EcssTmSenderCore, MpscTcReceiver, MpscTmInSharedPoolSender, MpscTmInSharedPoolSenderBounded,
+    PusServiceHelper, PusTmAsVec,
 };
 use crate::pool::PoolProvider;
 use crate::pus::{PusPacketHandlerResult, PusPacketHandlingError};
 use alloc::string::ToString;
 use spacepackets::ecss::{scheduling, PusPacket};
 use spacepackets::time::cds::CdsTime;
+use std::sync::mpsc;
 
 /// This is a helper class for [std] environments to handle generic PUS 11 (scheduling service)
 /// packets. This handler is able to handle the most important PUS requests for a scheduling
@@ -24,7 +20,7 @@ use spacepackets::time::cds::CdsTime;
 /// telecommands inside the scheduler. The user can retrieve the wrapped scheduler via the
 /// [Self::scheduler] and [Self::scheduler_mut] function and then use the scheduler API to release
 /// telecommands when applicable.
-pub struct PusService11SchedHandler<
+pub struct PusSchedServiceHandler<
     TcReceiver: EcssTcReceiverCore,
     TmSender: EcssTmSenderCore,
     TcInMemConverter: EcssTcInMemConverter,
@@ -43,13 +39,7 @@ impl<
         VerificationReporter: VerificationReportingProvider,
         Scheduler: PusSchedulerProvider,
     >
-    PusService11SchedHandler<
-        TcReceiver,
-        TmSender,
-        TcInMemConverter,
-        VerificationReporter,
-        Scheduler,
-    >
+    PusSchedServiceHandler<TcReceiver, TmSender, TcInMemConverter, VerificationReporter, Scheduler>
 {
     pub fn new(
         service_helper: PusServiceHelper<
@@ -74,8 +64,9 @@ impl<
         &self.scheduler
     }
 
-    pub fn handle_one_tc(
+    pub fn poll_and_handle_next_tc(
         &mut self,
+        time_stamp: &[u8],
         sched_tc_pool: &mut (impl PoolProvider + ?Sized),
     ) -> Result<PusPacketHandlerResult, PusPacketHandlingError> {
         let possible_packet = self.service_helper.retrieve_and_accept_next_packet()?;
@@ -83,10 +74,10 @@ impl<
             return Ok(PusPacketHandlerResult::Empty);
         }
         let ecss_tc_and_token = possible_packet.unwrap();
-        let tc = self
-            .service_helper
-            .tc_in_mem_converter
-            .convert_ecss_tc_in_memory_to_reader(&ecss_tc_and_token.tc_in_memory)?;
+        self.service_helper
+            .tc_in_mem_converter_mut()
+            .cache(&ecss_tc_and_token.tc_in_memory)?;
+        let tc = self.service_helper.tc_in_mem_converter().convert()?;
         let subservice = PusPacket::subservice(&tc);
         let standard_subservice = scheduling::Subservice::try_from(subservice);
         if standard_subservice.is_err() {
@@ -95,23 +86,30 @@ impl<
                 ecss_tc_and_token.token,
             ));
         }
-        let mut partial_error = None;
-        let time_stamp = get_current_cds_short_timestamp(&mut partial_error);
+        let partial_error = None;
         match standard_subservice.unwrap() {
             scheduling::Subservice::TcEnableScheduling => {
                 let start_token = self
                     .service_helper
-                    .common
-                    .verification_handler
-                    .start_success(ecss_tc_and_token.token, &time_stamp)
+                    .verif_reporter()
+                    .start_success(
+                        self.service_helper.common.id,
+                        &self.service_helper.common.tm_sender,
+                        ecss_tc_and_token.token,
+                        time_stamp,
+                    )
                     .expect("Error sending start success");
 
                 self.scheduler.enable();
                 if self.scheduler.is_enabled() {
                     self.service_helper
-                        .common
-                        .verification_handler
-                        .completion_success(start_token, &time_stamp)
+                        .verif_reporter()
+                        .completion_success(
+                            self.service_helper.common.id,
+                            &self.service_helper.common.tm_sender,
+                            start_token,
+                            time_stamp,
+                        )
                         .expect("Error sending completion success");
                 } else {
                     return Err(PusPacketHandlingError::Other(
@@ -122,17 +120,25 @@ impl<
             scheduling::Subservice::TcDisableScheduling => {
                 let start_token = self
                     .service_helper
-                    .common
-                    .verification_handler
-                    .start_success(ecss_tc_and_token.token, &time_stamp)
+                    .verif_reporter()
+                    .start_success(
+                        self.service_helper.common.id,
+                        &self.service_helper.common.tm_sender,
+                        ecss_tc_and_token.token,
+                        time_stamp,
+                    )
                     .expect("Error sending start success");
 
                 self.scheduler.disable();
                 if !self.scheduler.is_enabled() {
                     self.service_helper
-                        .common
-                        .verification_handler
-                        .completion_success(start_token, &time_stamp)
+                        .verif_reporter()
+                        .completion_success(
+                            self.service_helper.common.id,
+                            &self.service_helper.common.tm_sender,
+                            start_token,
+                            time_stamp,
+                        )
                         .expect("Error sending completion success");
                 } else {
                     return Err(PusPacketHandlingError::Other(
@@ -143,9 +149,13 @@ impl<
             scheduling::Subservice::TcResetScheduling => {
                 let start_token = self
                     .service_helper
-                    .common
-                    .verification_handler
-                    .start_success(ecss_tc_and_token.token, &time_stamp)
+                    .verif_reporter()
+                    .start_success(
+                        self.service_helper.common.id,
+                        &self.service_helper.common.tm_sender,
+                        ecss_tc_and_token.token,
+                        time_stamp,
+                    )
                     .expect("Error sending start success");
 
                 self.scheduler
@@ -153,17 +163,26 @@ impl<
                     .expect("Error resetting TC Pool");
 
                 self.service_helper
-                    .common
-                    .verification_handler
-                    .completion_success(start_token, &time_stamp)
+                    .verif_reporter()
+                    .completion_success(
+                        self.service_helper.common.id,
+                        &self.service_helper.common.tm_sender,
+                        start_token,
+                        time_stamp,
+                    )
                     .expect("Error sending completion success");
             }
             scheduling::Subservice::TcInsertActivity => {
                 let start_token = self
                     .service_helper
                     .common
-                    .verification_handler
-                    .start_success(ecss_tc_and_token.token, &time_stamp)
+                    .verif_reporter
+                    .start_success(
+                        self.service_helper.common.id,
+                        &self.service_helper.common.tm_sender,
+                        ecss_tc_and_token.token,
+                        time_stamp,
+                    )
                     .expect("error sending start success");
 
                 // let mut pool = self.sched_tc_pool.write().expect("locking pool failed");
@@ -172,9 +191,13 @@ impl<
                     .expect("insertion of activity into pool failed");
 
                 self.service_helper
-                    .common
-                    .verification_handler
-                    .completion_success(start_token, &time_stamp)
+                    .verif_reporter()
+                    .completion_success(
+                        self.service_helper.common.id,
+                        &self.service_helper.common.tm_sender,
+                        start_token,
+                        time_stamp,
+                    )
                     .expect("sending completion success failed");
             }
             _ => {
@@ -195,53 +218,57 @@ impl<
 }
 /// Helper type definition for a PUS 11 handler with a dynamic TMTC memory backend and regular
 /// mpsc queues.
-pub type PusService11SchedHandlerDynWithMpsc<PusScheduler> = PusService11SchedHandler<
+pub type PusService11SchedHandlerDynWithMpsc<PusScheduler> = PusSchedServiceHandler<
     MpscTcReceiver,
-    TmAsVecSenderWithMpsc,
+    mpsc::Sender<PusTmAsVec>,
     EcssTcInVecConverter,
-    VerificationReporterWithVecMpscSender,
+    VerificationReporter,
     PusScheduler,
 >;
 /// Helper type definition for a PUS 11 handler with a dynamic TMTC memory backend and bounded MPSC
 /// queues.
-pub type PusService11SchedHandlerDynWithBoundedMpsc<PusScheduler> = PusService11SchedHandler<
+pub type PusService11SchedHandlerDynWithBoundedMpsc<PusScheduler> = PusSchedServiceHandler<
     MpscTcReceiver,
-    TmAsVecSenderWithBoundedMpsc,
+    mpsc::SyncSender<PusTmAsVec>,
     EcssTcInVecConverter,
-    VerificationReporterWithVecMpscBoundedSender,
+    VerificationReporter,
     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<
+pub type PusService11SchedHandlerStaticWithMpsc<PusScheduler> = PusSchedServiceHandler<
     MpscTcReceiver,
-    TmInSharedPoolSenderWithMpsc,
+    MpscTmInSharedPoolSender,
     EcssTcInSharedStoreConverter,
-    VerificationReporterWithSharedPoolMpscSender,
+    VerificationReporter,
     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<
+pub type PusService11SchedHandlerStaticWithBoundedMpsc<PusScheduler> = PusSchedServiceHandler<
     MpscTcReceiver,
-    TmInSharedPoolSenderWithBoundedMpsc,
+    MpscTmInSharedPoolSenderBounded,
     EcssTcInSharedStoreConverter,
-    VerificationReporterWithSharedPoolMpscBoundedSender,
+    VerificationReporter,
     PusScheduler,
 >;
 
 #[cfg(test)]
 mod tests {
     use crate::pool::{StaticMemoryPool, StaticPoolConfig};
-    use crate::pus::tests::TEST_APID;
-    use crate::pus::verification::VerificationReporterWithSharedPoolMpscBoundedSender;
+    use crate::pus::test_util::{PusTestHarness, TEST_APID};
+    use crate::pus::verification::{VerificationReporter, VerificationReportingProvider};
+
     use crate::pus::{
         scheduler::{self, PusSchedulerProvider, TcInfo},
-        tests::{PusServiceHandlerWithSharedStoreCommon, PusTestHarness},
+        tests::PusServiceHandlerWithSharedStoreCommon,
         verification::{RequestId, TcStateAccepted, VerificationToken},
         EcssTcInSharedStoreConverter,
     };
-    use crate::pus::{MpscTcReceiver, TmInSharedPoolSenderWithBoundedMpsc};
+    use crate::pus::{
+        MpscTcReceiver, MpscTmInSharedPoolSenderBounded, PusPacketHandlerResult,
+        PusPacketHandlingError,
+    };
     use alloc::collections::VecDeque;
     use delegate::delegate;
     use spacepackets::ecss::scheduling::Subservice;
@@ -254,15 +281,15 @@ mod tests {
         time::cds,
     };
 
-    use super::PusService11SchedHandler;
+    use super::PusSchedServiceHandler;
 
     struct Pus11HandlerWithStoreTester {
         common: PusServiceHandlerWithSharedStoreCommon,
-        handler: PusService11SchedHandler<
+        handler: PusSchedServiceHandler<
             MpscTcReceiver,
-            TmInSharedPoolSenderWithBoundedMpsc,
+            MpscTmInSharedPoolSenderBounded,
             EcssTcInSharedStoreConverter,
-            VerificationReporterWithSharedPoolMpscBoundedSender,
+            VerificationReporter,
             TestScheduler,
         >,
         sched_tc_pool: StaticMemoryPool,
@@ -273,19 +300,39 @@ mod tests {
             let test_scheduler = TestScheduler::default();
             let pool_cfg = StaticPoolConfig::new(alloc::vec![(16, 16), (8, 32), (4, 64)], false);
             let sched_tc_pool = StaticMemoryPool::new(pool_cfg.clone());
-            let (common, srv_handler) = PusServiceHandlerWithSharedStoreCommon::new();
+            let (common, srv_handler) = PusServiceHandlerWithSharedStoreCommon::new(0);
             Self {
                 common,
-                handler: PusService11SchedHandler::new(srv_handler, test_scheduler),
+                handler: PusSchedServiceHandler::new(srv_handler, test_scheduler),
                 sched_tc_pool,
             }
         }
+
+        pub fn handle_one_tc(&mut self) -> Result<PusPacketHandlerResult, PusPacketHandlingError> {
+            let time_stamp = cds::CdsTime::new_with_u16_days(0, 0).to_vec().unwrap();
+            self.handler
+                .poll_and_handle_next_tc(&time_stamp, &mut self.sched_tc_pool)
+        }
     }
 
     impl PusTestHarness for Pus11HandlerWithStoreTester {
+        fn init_verification(&mut self, tc: &PusTcCreator) -> VerificationToken<TcStateAccepted> {
+            let init_token = self.handler.service_helper.verif_reporter_mut().add_tc(tc);
+            self.handler
+                .service_helper
+                .verif_reporter()
+                .acceptance_success(
+                    self.handler.service_helper.id(),
+                    self.handler.service_helper.tm_sender(),
+                    init_token,
+                    &[0; 7],
+                )
+                .expect("acceptance success failure")
+        }
+
         delegate! {
             to self.common {
-                fn send_tc(&mut self, tc: &PusTcCreator) -> VerificationToken<TcStateAccepted>;
+                fn send_tc(&self, token: &VerificationToken<TcStateAccepted>, tc: &PusTcCreator);
                 fn read_next_tm(&mut self) -> PusTmReader<'_>;
                 fn check_no_tm_available(&self) -> bool;
                 fn check_next_verification_tm(&self, subservice: u8, expected_request_id: RequestId);
@@ -344,12 +391,14 @@ mod tests {
         let mut reply_header = SpHeader::tm_unseg(TEST_APID, 0, 0).unwrap();
         let tc_header = PusTcSecondaryHeader::new_simple(11, subservice as u8);
         let enable_scheduling = PusTcCreator::new(&mut reply_header, tc_header, &[0; 7], true);
-        let token = test_harness.send_tc(&enable_scheduling);
+        let token = test_harness.init_verification(&enable_scheduling);
+        test_harness.send_tc(&token, &enable_scheduling);
 
-        let request_id = token.req_id();
+        let request_id = token.request_id();
+        let time_stamp = cds::CdsTime::new_with_u16_days(0, 0).to_vec().unwrap();
         test_harness
             .handler
-            .handle_one_tc(&mut test_harness.sched_tc_pool)
+            .poll_and_handle_next_tc(&time_stamp, &mut test_harness.sched_tc_pool)
             .unwrap();
         test_harness.check_next_verification_tm(1, request_id);
         test_harness.check_next_verification_tm(3, request_id);
@@ -404,13 +453,11 @@ mod tests {
             &sched_app_data[..written_len],
             true,
         );
-        let token = test_harness.send_tc(&enable_scheduling);
+        let token = test_harness.init_verification(&enable_scheduling);
+        test_harness.send_tc(&token, &enable_scheduling);
 
-        let request_id = token.req_id();
-        test_harness
-            .handler
-            .handle_one_tc(&mut test_harness.sched_tc_pool)
-            .unwrap();
+        let request_id = token.request_id();
+        test_harness.handle_one_tc().unwrap();
         test_harness.check_next_verification_tm(1, request_id);
         test_harness.check_next_verification_tm(3, request_id);
         test_harness.check_next_verification_tm(7, request_id);

satrs/src/pus/test.rs

@@ -1,20 +1,17 @@
 use crate::pus::{
-    PartialPusHandlingError, PusPacketHandlerResult, PusPacketHandlingError, PusTmWrapper,
+    PartialPusHandlingError, PusPacketHandlerResult, PusPacketHandlingError, PusTmAsVec,
+    PusTmInPool, PusTmVariant,
 };
 use spacepackets::ecss::tm::{PusTmCreator, PusTmSecondaryHeader};
 use spacepackets::ecss::PusPacket;
 use spacepackets::SpHeader;
+use std::sync::mpsc;
 
-use super::verification::{
-    VerificationReporterWithSharedPoolMpscBoundedSender,
-    VerificationReporterWithSharedPoolMpscSender, VerificationReporterWithVecMpscBoundedSender,
-    VerificationReporterWithVecMpscSender, VerificationReportingProvider,
-};
+use super::verification::{VerificationReporter, VerificationReportingProvider};
 use super::{
-    get_current_cds_short_timestamp, EcssTcInMemConverter, EcssTcInSharedStoreConverter,
-    EcssTcInVecConverter, EcssTcReceiverCore, EcssTmSenderCore, MpscTcReceiver, PusServiceHelper,
-    TmAsVecSenderWithBoundedMpsc, TmAsVecSenderWithMpsc, TmInSharedPoolSenderWithBoundedMpsc,
-    TmInSharedPoolSenderWithMpsc,
+    EcssTcInMemConverter, EcssTcInSharedStoreConverter, EcssTcInVecConverter, EcssTcReceiverCore,
+    EcssTmSenderCore, GenericConversionError, MpscTcReceiver, MpscTmInSharedPoolSender,
+    MpscTmInSharedPoolSenderBounded, PusServiceHelper,
 };
 
 /// This is a helper class for [std] environments to handle generic PUS 17 (test service) packets.
@@ -47,27 +44,33 @@ impl<
         Self { service_helper }
     }
 
-    pub fn handle_one_tc(&mut self) -> Result<PusPacketHandlerResult, PusPacketHandlingError> {
+    pub fn poll_and_handle_next_tc(
+        &mut self,
+        time_stamp: &[u8],
+    ) -> Result<PusPacketHandlerResult, PusPacketHandlingError> {
         let possible_packet = self.service_helper.retrieve_and_accept_next_packet()?;
         if possible_packet.is_none() {
             return Ok(PusPacketHandlerResult::Empty);
         }
         let ecss_tc_and_token = possible_packet.unwrap();
-        let tc = self
-            .service_helper
-            .tc_in_mem_converter
-            .convert_ecss_tc_in_memory_to_reader(&ecss_tc_and_token.tc_in_memory)?;
+        self.service_helper
+            .tc_in_mem_converter_mut()
+            .cache(&ecss_tc_and_token.tc_in_memory)?;
+        let tc = self.service_helper.tc_in_mem_converter().convert()?;
         if tc.service() != 17 {
-            return Err(PusPacketHandlingError::WrongService(tc.service()));
+            return Err(GenericConversionError::WrongService(tc.service()).into());
         }
         if tc.subservice() == 1 {
             let mut partial_error = None;
-            let time_stamp = get_current_cds_short_timestamp(&mut partial_error);
             let result = self
                 .service_helper
-                .common
-                .verification_handler
-                .start_success(ecss_tc_and_token.token, &time_stamp)
+                .verif_reporter()
+                .start_success(
+                    self.service_helper.common.id,
+                    &self.service_helper.common.tm_sender,
+                    ecss_tc_and_token.token,
+                    time_stamp,
+                )
                 .map_err(|_| PartialPusHandlingError::Verification);
             let start_token = if let Ok(result) = result {
                 Some(result)
@@ -77,14 +80,14 @@ impl<
             };
             // Sequence count will be handled centrally in TM funnel.
             let mut reply_header =
-                SpHeader::tm_unseg(self.service_helper.common.tm_apid, 0, 0).unwrap();
-            let tc_header = PusTmSecondaryHeader::new_simple(17, 2, &time_stamp);
+                SpHeader::tm_unseg(self.service_helper.verif_reporter().apid(), 0, 0).unwrap();
+            let tc_header = PusTmSecondaryHeader::new_simple(17, 2, time_stamp);
             let ping_reply = PusTmCreator::new(&mut reply_header, tc_header, &[], true);
             let result = self
                 .service_helper
                 .common
                 .tm_sender
-                .send_tm(PusTmWrapper::Direct(ping_reply))
+                .send_tm(self.service_helper.id(), PusTmVariant::Direct(ping_reply))
                 .map_err(PartialPusHandlingError::TmSend);
             if let Err(err) = result {
                 partial_error = Some(err);
@@ -93,9 +96,13 @@ impl<
             if let Some(start_token) = start_token {
                 if self
                     .service_helper
-                    .common
-                    .verification_handler
-                    .completion_success(start_token, &time_stamp)
+                    .verif_reporter()
+                    .completion_success(
+                        self.service_helper.common.id,
+                        &self.service_helper.common.tm_sender,
+                        start_token,
+                        time_stamp,
+                    )
                     .is_err()
                 {
                     partial_error = Some(PartialPusHandlingError::Verification)
@@ -120,54 +127,57 @@ impl<
 /// mpsc queues.
 pub type PusService17TestHandlerDynWithMpsc = PusService17TestHandler<
     MpscTcReceiver,
-    TmAsVecSenderWithMpsc,
+    mpsc::Sender<PusTmAsVec>,
     EcssTcInVecConverter,
-    VerificationReporterWithVecMpscSender,
+    VerificationReporter,
 >;
 /// Helper type definition for a PUS 17 handler with a dynamic TMTC memory backend and bounded MPSC
 /// queues.
 pub type PusService17TestHandlerDynWithBoundedMpsc = PusService17TestHandler<
     MpscTcReceiver,
-    TmAsVecSenderWithBoundedMpsc,
+    mpsc::SyncSender<PusTmInPool>,
     EcssTcInVecConverter,
-    VerificationReporterWithVecMpscBoundedSender,
+    VerificationReporter,
 >;
 /// 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,
+    MpscTmInSharedPoolSender,
     EcssTcInSharedStoreConverter,
-    VerificationReporterWithSharedPoolMpscSender,
+    VerificationReporter,
 >;
 /// 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,
+    MpscTmInSharedPoolSenderBounded,
     EcssTcInSharedStoreConverter,
-    VerificationReporterWithSharedPoolMpscBoundedSender,
+    VerificationReporter,
 >;
 
 #[cfg(test)]
 mod tests {
+    use crate::pus::test_util::{PusTestHarness, SimplePusPacketHandler, TEST_APID};
     use crate::pus::tests::{
-        PusServiceHandlerWithSharedStoreCommon, PusServiceHandlerWithVecCommon, PusTestHarness,
-        SimplePusPacketHandler, TEST_APID,
+        PusServiceHandlerWithSharedStoreCommon, PusServiceHandlerWithVecCommon,
     };
-    use crate::pus::verification::std_mod::{
-        VerificationReporterWithSharedPoolMpscBoundedSender, VerificationReporterWithVecMpscSender,
+    use crate::pus::verification::test_util::TestVerificationReporter;
+    use crate::pus::verification::{
+        RequestId, VerificationReporter, VerificationReportingProvider,
     };
-    use crate::pus::verification::RequestId;
     use crate::pus::verification::{TcStateAccepted, VerificationToken};
     use crate::pus::{
-        EcssTcInSharedStoreConverter, EcssTcInVecConverter, MpscTcReceiver, PusPacketHandlerResult,
-        PusPacketHandlingError, TmAsVecSenderWithMpsc, TmInSharedPoolSenderWithBoundedMpsc,
+        EcssTcInSharedStoreConverter, EcssTcInVecConverter, GenericConversionError, MpscTcReceiver,
+        MpscTmAsVecSender, MpscTmInSharedPoolSenderBounded, PusPacketHandlerResult,
+        PusPacketHandlingError,
     };
+    use crate::ComponentId;
     use delegate::delegate;
     use spacepackets::ecss::tc::{PusTcCreator, PusTcSecondaryHeader};
     use spacepackets::ecss::tm::PusTmReader;
     use spacepackets::ecss::PusPacket;
+    use spacepackets::time::{cds, TimeWriter};
     use spacepackets::{SequenceFlags, SpHeader};
 
     use super::PusService17TestHandler;
@@ -176,15 +186,15 @@ mod tests {
         common: PusServiceHandlerWithSharedStoreCommon,
         handler: PusService17TestHandler<
             MpscTcReceiver,
-            TmInSharedPoolSenderWithBoundedMpsc,
+            MpscTmInSharedPoolSenderBounded,
             EcssTcInSharedStoreConverter,
-            VerificationReporterWithSharedPoolMpscBoundedSender,
+            VerificationReporter,
         >,
     }
 
     impl Pus17HandlerWithStoreTester {
-        pub fn new() -> Self {
-            let (common, srv_handler) = PusServiceHandlerWithSharedStoreCommon::new();
+        pub fn new(id: ComponentId) -> Self {
+            let (common, srv_handler) = PusServiceHandlerWithSharedStoreCommon::new(id);
             let pus_17_handler = PusService17TestHandler::new(srv_handler);
             Self {
                 common,
@@ -194,10 +204,24 @@ mod tests {
     }
 
     impl PusTestHarness for Pus17HandlerWithStoreTester {
+        fn init_verification(&mut self, tc: &PusTcCreator) -> VerificationToken<TcStateAccepted> {
+            let init_token = self.handler.service_helper.verif_reporter_mut().add_tc(tc);
+            self.handler
+                .service_helper
+                .verif_reporter()
+                .acceptance_success(
+                    self.handler.service_helper.id(),
+                    self.handler.service_helper.tm_sender(),
+                    init_token,
+                    &[0; 7],
+                )
+                .expect("acceptance success failure")
+        }
+
         delegate! {
             to self.common {
-                fn send_tc(&mut self, tc: &PusTcCreator) -> VerificationToken<TcStateAccepted>;
                 fn read_next_tm(&mut self) -> PusTmReader<'_>;
+                fn send_tc(&self, token: &VerificationToken<TcStateAccepted>, tc: &PusTcCreator);
                 fn check_no_tm_available(&self) -> bool;
                 fn check_next_verification_tm(
                     &self,
@@ -208,27 +232,26 @@ mod tests {
         }
     }
     impl SimplePusPacketHandler for Pus17HandlerWithStoreTester {
-        delegate! {
-            to self.handler {
-                fn handle_one_tc(&mut self) -> Result<PusPacketHandlerResult, PusPacketHandlingError>;
-            }
+        fn handle_one_tc(&mut self) -> Result<PusPacketHandlerResult, PusPacketHandlingError> {
+            let time_stamp = cds::CdsTime::new_with_u16_days(0, 0).to_vec().unwrap();
+            self.handler.poll_and_handle_next_tc(&time_stamp)
         }
     }
 
     struct Pus17HandlerWithVecTester {
-        common: PusServiceHandlerWithVecCommon<VerificationReporterWithVecMpscSender>,
+        common: PusServiceHandlerWithVecCommon,
         handler: PusService17TestHandler<
             MpscTcReceiver,
-            TmAsVecSenderWithMpsc,
+            MpscTmAsVecSender,
             EcssTcInVecConverter,
-            VerificationReporterWithVecMpscSender,
+            TestVerificationReporter,
         >,
     }
 
     impl Pus17HandlerWithVecTester {
-        pub fn new() -> Self {
+        pub fn new(id: ComponentId) -> Self {
             let (common, srv_handler) =
-                PusServiceHandlerWithVecCommon::new_with_standard_verif_reporter();
+                PusServiceHandlerWithVecCommon::new_with_standard_verif_reporter(id);
             Self {
                 common,
                 handler: PusService17TestHandler::new(srv_handler),
@@ -237,9 +260,23 @@ mod tests {
     }
 
     impl PusTestHarness for Pus17HandlerWithVecTester {
+        fn init_verification(&mut self, tc: &PusTcCreator) -> VerificationToken<TcStateAccepted> {
+            let init_token = self.handler.service_helper.verif_reporter_mut().add_tc(tc);
+            self.handler
+                .service_helper
+                .verif_reporter()
+                .acceptance_success(
+                    self.handler.service_helper.id(),
+                    self.handler.service_helper.tm_sender(),
+                    init_token,
+                    &[0; 7],
+                )
+                .expect("acceptance success failure")
+        }
+
         delegate! {
             to self.common {
-                fn send_tc(&mut self, tc: &PusTcCreator) -> VerificationToken<TcStateAccepted>;
+                fn send_tc(&self, token: &VerificationToken<TcStateAccepted>, tc: &PusTcCreator);
                 fn read_next_tm(&mut self) -> PusTmReader<'_>;
                 fn check_no_tm_available(&self) -> bool;
                 fn check_next_verification_tm(
@@ -251,10 +288,9 @@ mod tests {
         }
     }
     impl SimplePusPacketHandler for Pus17HandlerWithVecTester {
-        delegate! {
-            to self.handler {
-                fn handle_one_tc(&mut self) -> Result<PusPacketHandlerResult, PusPacketHandlingError>;
-            }
+        fn handle_one_tc(&mut self) -> Result<PusPacketHandlerResult, PusPacketHandlingError> {
+            let time_stamp = cds::CdsTime::new_with_u16_days(0, 0).to_vec().unwrap();
+            self.handler.poll_and_handle_next_tc(&time_stamp)
         }
     }
 
@@ -263,8 +299,9 @@ mod tests {
         let mut sp_header = SpHeader::tc(TEST_APID, SequenceFlags::Unsegmented, 0, 0).unwrap();
         let sec_header = PusTcSecondaryHeader::new_simple(17, 1);
         let ping_tc = PusTcCreator::new_no_app_data(&mut sp_header, sec_header, true);
-        let token = test_harness.send_tc(&ping_tc);
-        let request_id = token.req_id();
+        let token = test_harness.init_verification(&ping_tc);
+        test_harness.send_tc(&token, &ping_tc);
+        let request_id = token.request_id();
         let result = test_harness.handle_one_tc();
         assert!(result.is_ok());
         // We should see 4 replies in the TM queue now: Acceptance TM, Start TM, ping reply and
@@ -288,19 +325,19 @@ mod tests {
 
     #[test]
     fn test_basic_ping_processing_using_store() {
-        let mut test_harness = Pus17HandlerWithStoreTester::new();
+        let mut test_harness = Pus17HandlerWithStoreTester::new(0);
         ping_test(&mut test_harness);
     }
 
     #[test]
     fn test_basic_ping_processing_using_vec() {
-        let mut test_harness = Pus17HandlerWithVecTester::new();
+        let mut test_harness = Pus17HandlerWithVecTester::new(0);
         ping_test(&mut test_harness);
     }
 
     #[test]
     fn test_empty_tc_queue() {
-        let mut test_harness = Pus17HandlerWithStoreTester::new();
+        let mut test_harness = Pus17HandlerWithStoreTester::new(0);
         let result = test_harness.handle_one_tc();
         assert!(result.is_ok());
         let result = result.unwrap();
@@ -312,15 +349,19 @@ mod tests {
 
     #[test]
     fn test_sending_unsupported_service() {
-        let mut test_harness = Pus17HandlerWithStoreTester::new();
+        let mut test_harness = Pus17HandlerWithStoreTester::new(0);
         let mut sp_header = SpHeader::tc(TEST_APID, SequenceFlags::Unsegmented, 0, 0).unwrap();
         let sec_header = PusTcSecondaryHeader::new_simple(3, 1);
         let ping_tc = PusTcCreator::new_no_app_data(&mut sp_header, sec_header, true);
-        test_harness.send_tc(&ping_tc);
+        let token = test_harness.init_verification(&ping_tc);
+        test_harness.send_tc(&token, &ping_tc);
         let result = test_harness.handle_one_tc();
         assert!(result.is_err());
         let error = result.unwrap_err();
-        if let PusPacketHandlingError::WrongService(num) = error {
+        if let PusPacketHandlingError::RequestConversion(GenericConversionError::WrongService(
+            num,
+        )) = error
+        {
             assert_eq!(num, 3);
         } else {
             panic!("unexpected error type {error}")
@@ -329,11 +370,12 @@ mod tests {
 
     #[test]
     fn test_sending_custom_subservice() {
-        let mut test_harness = Pus17HandlerWithStoreTester::new();
+        let mut test_harness = Pus17HandlerWithStoreTester::new(0);
         let mut sp_header = SpHeader::tc(TEST_APID, SequenceFlags::Unsegmented, 0, 0).unwrap();
         let sec_header = PusTcSecondaryHeader::new_simple(17, 200);
         let ping_tc = PusTcCreator::new_no_app_data(&mut sp_header, sec_header, true);
-        test_harness.send_tc(&ping_tc);
+        let token = test_harness.init_verification(&ping_tc);
+        test_harness.send_tc(&token, &ping_tc);
         let result = test_harness.handle_one_tc();
         assert!(result.is_ok());
         let result = result.unwrap();

satrs/src/queue.rs

@@ -4,11 +4,17 @@ use std::error::Error;
 #[cfg(feature = "std")]
 use std::sync::mpsc;
 
+use crate::ComponentId;
+
+/// Generic channel ID type.
+pub type ChannelId = u32;
+
 /// Generic error type for sending something via a message queue.
-#[derive(Debug, Copy, Clone)]
+#[derive(Debug, Copy, Clone, PartialEq, Eq)]
 pub enum GenericSendError {
     RxDisconnected,
     QueueFull(Option<u32>),
+    TargetDoesNotExist(ComponentId),
 }
 
 impl Display for GenericSendError {
@@ -20,6 +26,9 @@ impl Display for GenericSendError {
             GenericSendError::QueueFull(max_cap) => {
                 write!(f, "queue with max capacity of {max_cap:?} is full")
             }
+            GenericSendError::TargetDoesNotExist(target) => {
+                write!(f, "target queue with ID {target} does not exist")
+            }
         }
     }
 }
@@ -28,17 +37,17 @@ impl Display for GenericSendError {
 impl Error for GenericSendError {}
 
 /// Generic error type for sending something via a message queue.
-#[derive(Debug, Copy, Clone)]
-pub enum GenericRecvError {
+#[derive(Debug, Copy, Clone, PartialEq, Eq)]
+pub enum GenericReceiveError {
     Empty,
-    TxDisconnected,
+    TxDisconnected(Option<ComponentId>),
 }
 
-impl Display for GenericRecvError {
+impl Display for GenericReceiveError {
     fn fmt(&self, f: &mut Formatter<'_>) -> core::fmt::Result {
         match self {
-            Self::TxDisconnected => {
-                write!(f, "tx side has disconnected")
+            Self::TxDisconnected(channel_id) => {
+                write!(f, "tx side with id {channel_id:?} has disconnected")
             }
             Self::Empty => {
                 write!(f, "nothing to receive")
@@ -48,7 +57,43 @@ impl Display for GenericRecvError {
 }
 
 #[cfg(feature = "std")]
-impl Error for GenericRecvError {}
+impl Error for GenericReceiveError {}
+
+#[derive(Debug, Clone)]
+pub enum GenericTargetedMessagingError {
+    Send(GenericSendError),
+    Receive(GenericReceiveError),
+}
+impl From<GenericSendError> for GenericTargetedMessagingError {
+    fn from(value: GenericSendError) -> Self {
+        Self::Send(value)
+    }
+}
+
+impl From<GenericReceiveError> for GenericTargetedMessagingError {
+    fn from(value: GenericReceiveError) -> Self {
+        Self::Receive(value)
+    }
+}
+
+impl Display for GenericTargetedMessagingError {
+    fn fmt(&self, f: &mut Formatter<'_>) -> core::fmt::Result {
+        match self {
+            Self::Send(err) => write!(f, "generic targeted messaging error: {}", err),
+            Self::Receive(err) => write!(f, "generic targeted messaging error: {}", err),
+        }
+    }
+}
+
+#[cfg(feature = "std")]
+impl Error for GenericTargetedMessagingError {
+    fn source(&self) -> Option<&(dyn Error + 'static)> {
+        match self {
+            GenericTargetedMessagingError::Send(send) => Some(send),
+            GenericTargetedMessagingError::Receive(receive) => Some(receive),
+        }
+    }
+}
 
 #[cfg(feature = "std")]
 impl<T> From<mpsc::SendError<T>> for GenericSendError {

satrs/src/request.rs

@@ -1,110 +1,587 @@
-use core::fmt;
+use core::{fmt, marker::PhantomData};
+#[cfg(feature = "serde")]
+use serde::{Deserialize, Serialize};
+
+#[cfg(feature = "alloc")]
+#[cfg_attr(doc_cfg, doc(cfg(feature = "alloc")))]
+pub use alloc_mod::*;
+
 #[cfg(feature = "std")]
-use std::error::Error;
+#[cfg_attr(doc_cfg, doc(cfg(feature = "std")))]
+pub use std_mod::*;
 
 use spacepackets::{
     ecss::{tc::IsPusTelecommand, PusPacket},
     ByteConversionError, CcsdsPacket,
 };
 
-use crate::TargetId;
+use crate::{queue::GenericTargetedMessagingError, ComponentId};
 
+/// Generic request ID type. Requests can be associated with an ID to have a unique identifier
+/// for them. This can be useful for tasks like tracking their progress.
+pub type RequestId = u32;
+
+/// CCSDS APID type definition. Please note that the APID is a 14 bit value.
 pub type Apid = u16;
 
-#[derive(Debug, Clone, PartialEq, Eq)]
-pub enum TargetIdCreationError {
-    ByteConversion(ByteConversionError),
-    NotEnoughAppData(usize),
+#[derive(Copy, Clone, PartialEq, Eq, Hash, Debug)]
+pub struct UniqueApidTargetId {
+    pub apid: Apid,
+    pub unique_id: u32,
 }
 
-impl From<ByteConversionError> for TargetIdCreationError {
-    fn from(e: ByteConversionError) -> Self {
-        Self::ByteConversion(e)
+impl UniqueApidTargetId {
+    pub const fn new(apid: Apid, target: u32) -> Self {
+        Self {
+            apid,
+            unique_id: target,
+        }
+    }
+
+    pub fn raw(&self) -> ComponentId {
+        ((self.apid as u64) << 32) | (self.unique_id as u64)
+    }
+
+    pub fn id(&self) -> ComponentId {
+        self.raw()
+    }
+
+    /// This function attempts to build the ID from a PUS telecommand by extracting the APID
+    /// and the first four bytes of the application data field as the target field.
+    pub fn from_pus_tc(
+        tc: &(impl CcsdsPacket + PusPacket + IsPusTelecommand),
+    ) -> Result<Self, ByteConversionError> {
+        if tc.user_data().len() < 4 {
+            return Err(ByteConversionError::FromSliceTooSmall {
+                found: tc.user_data().len(),
+                expected: 4,
+            });
+        }
+        Ok(Self::new(
+            tc.apid(),
+            u32::from_be_bytes(tc.user_data()[0..4].try_into().unwrap()),
+        ))
     }
 }
 
-impl fmt::Display for TargetIdCreationError {
+impl From<u64> for UniqueApidTargetId {
+    fn from(raw: u64) -> Self {
+        Self {
+            apid: (raw >> 32) as u16,
+            unique_id: raw as u32,
+        }
+    }
+}
+
+impl From<UniqueApidTargetId> for u64 {
+    fn from(target_and_apid_id: UniqueApidTargetId) -> Self {
+        target_and_apid_id.raw()
+    }
+}
+
+impl fmt::Display for UniqueApidTargetId {
     fn fmt(&self, f: &mut fmt::Formatter) -> fmt::Result {
-        match self {
-            Self::ByteConversion(e) => write!(f, "target ID creation: {}", e),
-            Self::NotEnoughAppData(len) => {
-                write!(f, "not enough app data to generate target ID: {}", len)
+        write!(
+            f,
+            "Target and APID ID with  APID {:#03x} and target {}",
+            self.apid, self.unique_id
+        )
     }
+}
+
+#[derive(Debug, Copy, PartialEq, Eq, Clone)]
+#[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
+pub struct MessageMetadata {
+    request_id: RequestId,
+    sender_id: ComponentId,
+}
+
+impl MessageMetadata {
+    pub const fn new(request_id: RequestId, sender_id: ComponentId) -> Self {
+        Self {
+            request_id,
+            sender_id,
+        }
+    }
+
+    pub fn request_id(&self) -> RequestId {
+        self.request_id
+    }
+
+    pub fn sender_id(&self) -> ComponentId {
+        self.sender_id
+    }
+}
+
+/// Generic message type which is associated with a sender using a [ChannelId] and associated
+/// with a request using a [RequestId].
+#[derive(Debug, Clone, PartialEq, Eq)]
+#[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
+pub struct GenericMessage<MSG> {
+    pub requestor_info: MessageMetadata,
+    pub message: MSG,
+}
+
+impl<MSG> GenericMessage<MSG> {
+    pub fn new(requestor_info: MessageMetadata, message: MSG) -> Self {
+        Self {
+            requestor_info,
+            message,
+        }
+    }
+
+    delegate::delegate! {
+        to self.requestor_info {
+            pub fn request_id(&self) -> RequestId;
+            pub fn sender_id(&self) -> ComponentId;
+        }
+    }
+}
+
+/// Generic trait for objects which can send targeted messages.
+pub trait MessageSender<MSG>: Send {
+    fn send(&self, message: GenericMessage<MSG>) -> Result<(), GenericTargetedMessagingError>;
+}
+
+// Generic trait for objects which can receive targeted messages.
+pub trait MessageReceiver<MSG> {
+    fn try_recv(&self) -> Result<Option<GenericMessage<MSG>>, GenericTargetedMessagingError>;
+}
+
+pub struct MessageWithSenderIdReceiver<MSG, R: MessageReceiver<MSG>>(pub R, PhantomData<MSG>);
+
+impl<MSG, R: MessageReceiver<MSG>> From<R> for MessageWithSenderIdReceiver<MSG, R> {
+    fn from(receiver: R) -> Self {
+        MessageWithSenderIdReceiver(receiver, PhantomData)
+    }
+}
+
+impl<MSG, R: MessageReceiver<MSG>> MessageWithSenderIdReceiver<MSG, R> {
+    pub fn try_recv_message(
+        &self,
+    ) -> Result<Option<GenericMessage<MSG>>, GenericTargetedMessagingError> {
+        self.0.try_recv()
+    }
+}
+
+pub struct MessageReceiverWithId<MSG, R: MessageReceiver<MSG>> {
+    local_channel_id: ComponentId,
+    reply_receiver: MessageWithSenderIdReceiver<MSG, R>,
+}
+
+impl<MSG, R: MessageReceiver<MSG>> MessageReceiverWithId<MSG, R> {
+    pub fn new(local_channel_id: ComponentId, reply_receiver: R) -> Self {
+        Self {
+            local_channel_id,
+            reply_receiver: MessageWithSenderIdReceiver::from(reply_receiver),
+        }
+    }
+
+    pub fn local_channel_id(&self) -> ComponentId {
+        self.local_channel_id
+    }
+}
+
+impl<MSG, R: MessageReceiver<MSG>> MessageReceiverWithId<MSG, R> {
+    pub fn try_recv_message(
+        &self,
+    ) -> Result<Option<GenericMessage<MSG>>, GenericTargetedMessagingError> {
+        self.reply_receiver.0.try_recv()
+    }
+}
+
+#[cfg(feature = "alloc")]
+#[cfg_attr(doc_cfg, doc(cfg(feature = "alloc")))]
+pub mod alloc_mod {
+    use core::marker::PhantomData;
+
+    use crate::queue::GenericSendError;
+
+    use super::*;
+    use hashbrown::HashMap;
+
+    pub struct MessageSenderMap<MSG, S: MessageSender<MSG>>(
+        pub HashMap<ComponentId, S>,
+        pub(crate) PhantomData<MSG>,
+    );
+
+    impl<MSG, S: MessageSender<MSG>> Default for MessageSenderMap<MSG, S> {
+        fn default() -> Self {
+            Self(Default::default(), PhantomData)
+        }
+    }
+
+    impl<MSG, S: MessageSender<MSG>> MessageSenderMap<MSG, S> {
+        pub fn add_message_target(&mut self, target_id: ComponentId, message_sender: S) {
+            self.0.insert(target_id, message_sender);
+        }
+
+        pub fn send_message(
+            &self,
+            requestor_info: MessageMetadata,
+            target_channel_id: ComponentId,
+            message: MSG,
+        ) -> Result<(), GenericTargetedMessagingError> {
+            if self.0.contains_key(&target_channel_id) {
+                return self
+                    .0
+                    .get(&target_channel_id)
+                    .unwrap()
+                    .send(GenericMessage::new(requestor_info, message));
+            }
+            Err(GenericSendError::TargetDoesNotExist(target_channel_id).into())
+        }
+    }
+
+    pub struct MessageSenderAndReceiver<TO, FROM, S: MessageSender<TO>, R: MessageReceiver<FROM>> {
+        pub local_channel_id: ComponentId,
+        pub message_sender_map: MessageSenderMap<TO, S>,
+        pub message_receiver: MessageWithSenderIdReceiver<FROM, R>,
+    }
+
+    impl<TO, FROM, S: MessageSender<TO>, R: MessageReceiver<FROM>>
+        MessageSenderAndReceiver<TO, FROM, S, R>
+    {
+        pub fn new(local_channel_id: ComponentId, message_receiver: R) -> Self {
+            Self {
+                local_channel_id,
+                message_sender_map: Default::default(),
+                message_receiver: MessageWithSenderIdReceiver::from(message_receiver),
+            }
+        }
+
+        pub fn add_message_target(&mut self, target_id: ComponentId, message_sender: S) {
+            self.message_sender_map
+                .add_message_target(target_id, message_sender)
+        }
+
+        pub fn local_channel_id_generic(&self) -> ComponentId {
+            self.local_channel_id
+        }
+
+        /// Try to send a message, which can be a reply or a request, depending on the generics.
+        pub fn send_message(
+            &self,
+            request_id: RequestId,
+            target_id: ComponentId,
+            message: TO,
+        ) -> Result<(), GenericTargetedMessagingError> {
+            self.message_sender_map.send_message(
+                MessageMetadata::new(request_id, self.local_channel_id_generic()),
+                target_id,
+                message,
+            )
+        }
+
+        /// Try to receive a message, which can be a reply or a request, depending on the generics.
+        pub fn try_recv_message(
+            &self,
+        ) -> Result<Option<GenericMessage<FROM>>, GenericTargetedMessagingError> {
+            self.message_receiver.try_recv_message()
+        }
+    }
+
+    pub struct RequestAndReplySenderAndReceiver<
+        REQUEST,
+        REPLY,
+        S0: MessageSender<REQUEST>,
+        R0: MessageReceiver<REPLY>,
+        S1: MessageSender<REPLY>,
+        R1: MessageReceiver<REQUEST>,
+    > {
+        pub local_channel_id: ComponentId,
+        // These 2 are a functional group.
+        pub request_sender_map: MessageSenderMap<REQUEST, S0>,
+        pub reply_receiver: MessageWithSenderIdReceiver<REPLY, R0>,
+        // These 2 are a functional group.
+        pub request_receiver: MessageWithSenderIdReceiver<REQUEST, R1>,
+        pub reply_sender_map: MessageSenderMap<REPLY, S1>,
+    }
+
+    impl<
+            REQUEST,
+            REPLY,
+            S0: MessageSender<REQUEST>,
+            R0: MessageReceiver<REPLY>,
+            S1: MessageSender<REPLY>,
+            R1: MessageReceiver<REQUEST>,
+        > RequestAndReplySenderAndReceiver<REQUEST, REPLY, S0, R0, S1, R1>
+    {
+        pub fn new(
+            local_channel_id: ComponentId,
+            request_receiver: R1,
+            reply_receiver: R0,
+        ) -> Self {
+            Self {
+                local_channel_id,
+                request_receiver: request_receiver.into(),
+                reply_receiver: reply_receiver.into(),
+                request_sender_map: Default::default(),
+                reply_sender_map: Default::default(),
+            }
+        }
+
+        pub fn local_channel_id_generic(&self) -> ComponentId {
+            self.local_channel_id
         }
     }
 }
 
 #[cfg(feature = "std")]
-impl Error for TargetIdCreationError {
-    fn source(&self) -> Option<&(dyn Error + 'static)> {
-        if let Self::ByteConversion(e) = self {
-            return Some(e);
+#[cfg_attr(doc_cfg, doc(cfg(feature = "std")))]
+pub mod std_mod {
+
+    use super::*;
+    use std::sync::mpsc;
+
+    use crate::queue::{GenericReceiveError, GenericSendError, GenericTargetedMessagingError};
+
+    impl<MSG: Send> MessageSender<MSG> for mpsc::Sender<GenericMessage<MSG>> {
+        fn send(&self, message: GenericMessage<MSG>) -> Result<(), GenericTargetedMessagingError> {
+            self.send(message)
+                .map_err(|_| GenericSendError::RxDisconnected)?;
+            Ok(())
         }
-        None
     }
+    impl<MSG: Send> MessageSender<MSG> for mpsc::SyncSender<GenericMessage<MSG>> {
+        fn send(&self, message: GenericMessage<MSG>) -> Result<(), GenericTargetedMessagingError> {
+            if let Err(e) = self.try_send(message) {
+                return match e {
+                    mpsc::TrySendError::Full(_) => Err(GenericSendError::QueueFull(None).into()),
+                    mpsc::TrySendError::Disconnected(_) => {
+                        Err(GenericSendError::RxDisconnected.into())
+                    }
+                };
+            }
+            Ok(())
+        }
+    }
+
+    pub type MessageSenderMapMpsc<MSG> = MessageReceiverWithId<MSG, mpsc::Sender<MSG>>;
+    pub type MessageSenderMapBoundedMpsc<MSG> = MessageReceiverWithId<MSG, mpsc::SyncSender<MSG>>;
+
+    impl<MSG> MessageReceiver<MSG> for mpsc::Receiver<GenericMessage<MSG>> {
+        fn try_recv(&self) -> Result<Option<GenericMessage<MSG>>, GenericTargetedMessagingError> {
+            match self.try_recv() {
+                Ok(msg) => Ok(Some(msg)),
+                Err(e) => match e {
+                    mpsc::TryRecvError::Empty => Ok(None),
+                    mpsc::TryRecvError::Disconnected => {
+                        Err(GenericReceiveError::TxDisconnected(None).into())
+                    }
+                },
+            }
+        }
+    }
+
+    pub type MessageReceiverWithIdMpsc<MSG> = MessageReceiverWithId<MSG, mpsc::Receiver<MSG>>;
 }
 
-#[derive(Copy, Clone, PartialEq, Eq, Hash, Debug)]
-pub struct TargetAndApidId {
-    pub apid: Apid,
-    pub target: u32,
-}
+#[cfg(test)]
+mod tests {
+    use std::sync::mpsc;
 
-impl TargetAndApidId {
-    pub fn new(apid: Apid, target: u32) -> Self {
-        Self { apid, target }
+    use alloc::string::ToString;
+    use spacepackets::{
+        ecss::tc::{PusTcCreator, PusTcSecondaryHeader},
+        ByteConversionError, SpHeader,
+    };
+
+    use crate::{
+        queue::{GenericReceiveError, GenericSendError, GenericTargetedMessagingError},
+        request::{MessageMetadata, MessageSenderMap},
+    };
+
+    use super::{GenericMessage, MessageReceiverWithId, UniqueApidTargetId};
+
+    const TEST_CHANNEL_ID_0: u64 = 1;
+    const TEST_CHANNEL_ID_1: u64 = 2;
+    const TEST_CHANNEL_ID_2: u64 = 3;
+
+    #[test]
+    fn test_basic_target_id_with_apid() {
+        let id = UniqueApidTargetId::new(0x111, 0x01);
+        assert_eq!(id.apid, 0x111);
+        assert_eq!(id.unique_id, 0x01);
+        assert_eq!(id.id(), id.raw());
+        assert_eq!(u64::from(id), id.raw());
+        let id_raw = id.raw();
+        let id_from_raw = UniqueApidTargetId::from(id_raw);
+        assert_eq!(id_from_raw, id);
+        assert_eq!(id.id(), (0x111 << 32) | 0x01);
+        let string = id.to_string();
+        assert_eq!(
+            string,
+            "Target and APID ID with  APID 0x111 and target 1".to_string()
+        );
     }
 
-    pub fn apid(&self) -> Apid {
-        self.apid
+    #[test]
+    fn test_basic_target_id_with_apid_from_pus_tc() {
+        let mut sp_header = SpHeader::tc_unseg(0x111, 5, 0).unwrap();
+        let app_data = 1_u32.to_be_bytes();
+        let pus_tc = PusTcCreator::new_simple(&mut sp_header, 17, 1, Some(&app_data), true);
+        let id = UniqueApidTargetId::from_pus_tc(&pus_tc).unwrap();
+        assert_eq!(id.apid, 0x111);
+        assert_eq!(id.unique_id, 1);
     }
 
-    pub fn target(&self) -> u32 {
-        self.target
+    #[test]
+    fn test_basic_target_id_with_apid_from_pus_tc_invalid_app_data() {
+        let mut sp_header = SpHeader::tc_unseg(0x111, 5, 0).unwrap();
+        let sec_header = PusTcSecondaryHeader::new_simple(17, 1);
+        let pus_tc = PusTcCreator::new_no_app_data(&mut sp_header, sec_header, true);
+        let error = UniqueApidTargetId::from_pus_tc(&pus_tc);
+        assert!(error.is_err());
+        let error = error.unwrap_err();
+        if let ByteConversionError::FromSliceTooSmall { found, expected } = error {
+            assert_eq!(found, 0);
+            assert_eq!(expected, 4);
+        } else {
+            panic!("Unexpected error type");
+        }
     }
 
-    pub fn raw(&self) -> TargetId {
-        ((self.apid as u64) << 32) | (self.target as u64)
+    #[test]
+    fn test_receiver_only() {
+        let (sender, receiver) = mpsc::channel();
+        // Test structure with only a receiver which has a channel ID.
+        let receiver = MessageReceiverWithId::new(TEST_CHANNEL_ID_0, receiver);
+        let request_id = 5;
+        sender
+            .send(GenericMessage::new(
+                MessageMetadata::new(request_id, TEST_CHANNEL_ID_1),
+                5,
+            ))
+            .unwrap();
+        let reply = receiver.try_recv_message().unwrap();
+        assert!(reply.is_some());
+        assert_eq!(receiver.local_channel_id(), TEST_CHANNEL_ID_0);
+        let reply = reply.unwrap();
+        assert_eq!(reply.requestor_info.request_id, request_id);
+        assert_eq!(reply.requestor_info.sender_id, TEST_CHANNEL_ID_1);
+        assert_eq!(reply.message, 5);
     }
 
-    pub fn target_id(&self) -> TargetId {
-        self.raw()
+    #[test]
+    fn test_receiver_empty() {
+        let (_sender, receiver) = mpsc::sync_channel::<GenericMessage<i32>>(2);
+        // Test structure with only a receiver which has a channel ID.
+        let receiver = MessageReceiverWithId::new(TEST_CHANNEL_ID_0, receiver);
+        let reply = receiver.try_recv_message().unwrap();
+        assert!(reply.is_none());
     }
 
-    pub fn from_pus_tc(
-        tc: &(impl CcsdsPacket + PusPacket + IsPusTelecommand),
-    ) -> Result<Self, TargetIdCreationError> {
-        if tc.user_data().len() < 4 {
-            return Err(ByteConversionError::FromSliceTooSmall {
-                found: tc.user_data().len(),
-                expected: 8,
+    #[test]
+    fn test_all_tx_disconnected() {
+        let (sender, receiver) = mpsc::sync_channel::<GenericMessage<i32>>(2);
+        // Test structure with only a receiver which has a channel ID.
+        let receiver = MessageReceiverWithId::new(TEST_CHANNEL_ID_0, receiver);
+        drop(sender);
+        let reply = receiver.try_recv_message();
+        assert!(reply.is_err());
+        let error = reply.unwrap_err();
+        if let GenericTargetedMessagingError::Receive(GenericReceiveError::TxDisconnected(None)) =
+            error
+        {
+        } else {
+            panic!("unexpected error type");
         }
-            .into());
     }
-        Ok(Self {
-            apid: tc.apid(),
-            target: u32::from_be_bytes(tc.user_data()[0..4].try_into().unwrap()),
-        })
-    }
-}
 
-impl From<u64> for TargetAndApidId {
-    fn from(raw: u64) -> Self {
-        Self {
-            apid: (raw >> 32) as u16,
-            target: raw as u32,
+    #[test]
+    fn test_sender_map() {
+        let (sender0, receiver0) = mpsc::channel();
+        let (sender1, receiver1) = mpsc::channel();
+        let mut sender_map_with_id = MessageSenderMap::default();
+        sender_map_with_id.add_message_target(TEST_CHANNEL_ID_1, sender0);
+        sender_map_with_id.add_message_target(TEST_CHANNEL_ID_2, sender1);
+        sender_map_with_id
+            .send_message(
+                MessageMetadata::new(1, TEST_CHANNEL_ID_0),
+                TEST_CHANNEL_ID_1,
+                5,
+            )
+            .expect("sending message failed");
+        let mut reply = receiver0.recv().expect("receiving message failed");
+        assert_eq!(reply.request_id(), 1);
+        assert_eq!(reply.sender_id(), TEST_CHANNEL_ID_0);
+        assert_eq!(reply.message, 5);
+        sender_map_with_id
+            .send_message(
+                MessageMetadata::new(2, TEST_CHANNEL_ID_1),
+                TEST_CHANNEL_ID_2,
+                10,
+            )
+            .expect("sending message failed");
+        reply = receiver1.recv().expect("receiving message failed");
+        assert_eq!(reply.request_id(), 2);
+        assert_eq!(reply.sender_id(), TEST_CHANNEL_ID_0);
+        assert_eq!(reply.message, 10);
+    }
+
+    #[test]
+    fn test_sender_map_target_does_not_exist() {
+        let (sender0, _) = mpsc::channel();
+        let mut sender_map_with_id = MessageSenderMap::default();
+        sender_map_with_id.add_message_target(TEST_CHANNEL_ID_1, sender0);
+        let result = sender_map_with_id.send_message(
+            MessageMetadata::new(1, TEST_CHANNEL_ID_0),
+            TEST_CHANNEL_ID_2,
+            5,
+        );
+        assert!(result.is_err());
+        let error = result.unwrap_err();
+        if let GenericTargetedMessagingError::Send(GenericSendError::TargetDoesNotExist(target)) =
+            error
+        {
+            assert_eq!(target, TEST_CHANNEL_ID_2);
+        } else {
+            panic!("Unexpected error type");
+        }
+    }
+    #[test]
+    fn test_sender_map_queue_full() {
+        let (sender0, _receiver0) = mpsc::sync_channel(1);
+        let mut sender_map_with_id = MessageSenderMap::default();
+        sender_map_with_id.add_message_target(TEST_CHANNEL_ID_1, sender0);
+        sender_map_with_id
+            .send_message(
+                MessageMetadata::new(1, TEST_CHANNEL_ID_0),
+                TEST_CHANNEL_ID_1,
+                5,
+            )
+            .expect("sending message failed");
+        let result = sender_map_with_id.send_message(
+            MessageMetadata::new(1, TEST_CHANNEL_ID_0),
+            TEST_CHANNEL_ID_1,
+            5,
+        );
+        assert!(result.is_err());
+        let error = result.unwrap_err();
+        if let GenericTargetedMessagingError::Send(GenericSendError::QueueFull(capacity)) = error {
+            assert!(capacity.is_none());
+        } else {
+            panic!("Unexpected error type {}", error);
+        }
+    }
+
+    #[test]
+    fn test_sender_map_queue_receiver_disconnected() {
+        let (sender0, receiver0) = mpsc::sync_channel(1);
+        let mut sender_map_with_id = MessageSenderMap::default();
+        sender_map_with_id.add_message_target(TEST_CHANNEL_ID_1, sender0);
+        drop(receiver0);
+        let result = sender_map_with_id.send_message(
+            MessageMetadata::new(1, TEST_CHANNEL_ID_0),
+            TEST_CHANNEL_ID_1,
+            5,
+        );
+        assert!(result.is_err());
+        let error = result.unwrap_err();
+        if let GenericTargetedMessagingError::Send(GenericSendError::RxDisconnected) = error {
+        } else {
+            panic!("Unexpected error type {}", error);
         }
     }
 }
-
-impl From<TargetAndApidId> for u64 {
-    fn from(target_and_apid_id: TargetAndApidId) -> Self {
-        target_and_apid_id.raw()
-    }
-}
-
-impl fmt::Display for TargetAndApidId {
-    fn fmt(&self, f: &mut fmt::Formatter) -> fmt::Result {
-        write!(f, "{}, {}", self.apid, self.target)
-    }
-}

satrs/src/time.rs

@@ -0,0 +1,7 @@
+use core::fmt::Debug;
+
+/// Generic abstraction for a check/countdown timer.
+pub trait CountdownProvider: Debug {
+    fn has_expired(&self) -> bool;
+    fn reset(&mut self);
+}

satrs/src/tmtc/ccsds_distrib.rs

@@ -96,6 +96,7 @@ use std::error::Error;
 pub trait CcsdsPacketHandler {
     type Error;
 
+    // TODO: Rework this to return a boolean based on u16 input..
     fn valid_apids(&self) -> &'static [u16];
     fn handle_known_apid(&mut self, sp_header: &SpHeader, tc_raw: &[u8])
         -> Result<(), Self::Error>;

satrs/src/tmtc/tm_helper.rs

@@ -8,7 +8,9 @@ pub use std_mod::*;
 
 #[cfg(feature = "std")]
 pub mod std_mod {
-    use crate::pool::{PoolProvider, SharedStaticMemoryPool, StaticMemoryPool, StoreAddr};
+    use crate::pool::{
+        PoolProvider, SharedStaticMemoryPool, StaticMemoryPool, StoreAddr, StoreError,
+    };
     use crate::pus::EcssTmtcError;
     use spacepackets::ecss::tm::PusTmCreator;
     use spacepackets::ecss::WritablePusPacket;
@@ -34,7 +36,7 @@ pub mod std_mod {
         }
 
         pub fn add_pus_tm(&self, pus_tm: &PusTmCreator) -> Result<StoreAddr, EcssTmtcError> {
-            let mut pg = self.0.write().map_err(|_| EcssTmtcError::StoreLock)?;
+            let mut pg = self.0.write().map_err(|_| StoreError::LockError)?;
             let addr = pg.free_element(pus_tm.len_written(), |buf| {
                 pus_tm
                     .write_to_bytes(buf)

satrs/tests/mode_tree.rs

@@ -0,0 +1,380 @@
+use core::cell::Cell;
+use std::{println, sync::mpsc};
+
+use satrs::mode::{
+    ModeError, ModeProvider, ModeReplyReceiver, ModeReplySender, ModeRequestHandler,
+    ModeRequestHandlerMpscBounded, ModeRequestReceiver, ModeRequestorAndHandlerMpscBounded,
+    ModeRequestorBoundedMpsc,
+};
+use satrs::request::{MessageMetadata, RequestId};
+use satrs::{
+    mode::{ModeAndSubmode, ModeReply, ModeRequest},
+    queue::GenericTargetedMessagingError,
+    request::GenericMessage,
+    ComponentId,
+};
+use std::string::{String, ToString};
+
+pub enum TestComponentId {
+    Device1 = 1,
+    Device2 = 2,
+    Assembly = 3,
+    PusModeService = 4,
+}
+
+struct PusModeService {
+    pub request_id_counter: Cell<u32>,
+    pub mode_node: ModeRequestorBoundedMpsc,
+}
+
+impl PusModeService {
+    pub fn send_announce_mode_cmd_to_assy(&self) {
+        self.mode_node
+            .send_mode_request(
+                self.request_id_counter.get(),
+                TestComponentId::Assembly as ComponentId,
+                ModeRequest::AnnounceModeRecursive,
+            )
+            .unwrap();
+        self.request_id_counter
+            .replace(self.request_id_counter.get() + 1);
+    }
+}
+
+struct TestDevice {
+    pub name: String,
+    pub mode_node: ModeRequestHandlerMpscBounded,
+    pub mode_and_submode: ModeAndSubmode,
+    pub mode_requestor_info: Option<MessageMetadata>,
+}
+
+fn mode_leaf_node_req_handler(
+    handler: &mut impl ModeRequestHandler,
+    request: GenericMessage<ModeRequest>,
+) {
+    match request.message {
+        ModeRequest::SetMode(mode_and_submode) => {
+            handler
+                .start_transition(request.requestor_info, mode_and_submode)
+                .unwrap();
+        }
+        ModeRequest::ReadMode => handler
+            .send_mode_reply(
+                request.requestor_info,
+                ModeReply::ModeReply(handler.mode_and_submode()),
+            )
+            .unwrap(),
+        ModeRequest::AnnounceMode => handler.announce_mode(request.requestor_info, false),
+        ModeRequest::AnnounceModeRecursive => handler.announce_mode(request.requestor_info, true),
+        ModeRequest::ModeInfo(_) => todo!(),
+    }
+}
+
+impl TestDevice {
+    pub fn run(&mut self) {
+        self.check_mode_requests().expect("mode messaging error");
+    }
+
+    pub fn check_mode_requests(&mut self) -> Result<(), GenericTargetedMessagingError> {
+        if let Some(request) = self.mode_node.try_recv_mode_request()? {
+            match request.message {
+                ModeRequest::SetMode(mode_and_submode) => {
+                    self.start_transition(request.requestor_info, mode_and_submode)
+                        .unwrap();
+                    self.mode_requestor_info = Some(request.requestor_info);
+                }
+                ModeRequest::ReadMode => self
+                    .mode_node
+                    .send_mode_reply(
+                        request.requestor_info,
+                        ModeReply::ModeReply(self.mode_and_submode),
+                    )
+                    .unwrap(),
+                ModeRequest::AnnounceMode => self.announce_mode(request.requestor_info, false),
+                ModeRequest::AnnounceModeRecursive => {
+                    self.announce_mode(request.requestor_info, true)
+                }
+                ModeRequest::ModeInfo(_) => todo!(),
+            }
+        }
+        Ok(())
+    }
+}
+
+impl ModeProvider for TestDevice {
+    fn mode_and_submode(&self) -> ModeAndSubmode {
+        self.mode_and_submode
+    }
+}
+
+impl ModeRequestHandler for TestDevice {
+    fn start_transition(
+        &mut self,
+        requestor: MessageMetadata,
+        mode_and_submode: ModeAndSubmode,
+    ) -> Result<(), ModeError> {
+        self.mode_and_submode = mode_and_submode;
+        self.handle_mode_reached(Some(requestor))?;
+        Ok(())
+    }
+
+    fn announce_mode(&self, requestor_info: MessageMetadata, _recursive: bool) {
+        println!(
+            "{}: announcing mode: {:?}",
+            self.name, self.mode_and_submode
+        );
+    }
+
+    fn handle_mode_reached(
+        &mut self,
+
+        requestor: Option<MessageMetadata>,
+    ) -> Result<(), GenericTargetedMessagingError> {
+        if let Some(requestor) = requestor {
+            self.send_mode_reply(requestor, ModeReply::ModeReply(self.mode_and_submode))?;
+        }
+        Ok(())
+    }
+    fn send_mode_reply(
+        &self,
+        requestor_info: MessageMetadata,
+        reply: ModeReply,
+    ) -> Result<(), GenericTargetedMessagingError> {
+        self.mode_node
+            .send_mode_reply(requestor_info, ModeReply::ModeReply(self.mode_and_submode))?;
+        Ok(())
+    }
+}
+
+struct TestAssembly {
+    pub mode_node: ModeRequestorAndHandlerMpscBounded,
+    pub mode_requestor_info: Option<MessageMetadata>,
+    pub mode_and_submode: ModeAndSubmode,
+    pub target_mode_and_submode: Option<ModeAndSubmode>,
+}
+
+impl ModeProvider for TestAssembly {
+    fn mode_and_submode(&self) -> ModeAndSubmode {
+        self.mode_and_submode
+    }
+}
+
+impl TestAssembly {
+    pub fn run(&mut self) {
+        self.check_mode_requests().expect("mode messaging error");
+        self.check_mode_replies().expect("mode messaging error");
+    }
+
+    pub fn check_mode_requests(&mut self) -> Result<(), GenericTargetedMessagingError> {
+        if let Some(request) = self.mode_node.try_recv_mode_request()? {
+            match request.message {
+                ModeRequest::SetMode(mode_and_submode) => {
+                    self.start_transition(request.requestor_info, mode_and_submode)
+                        .unwrap();
+                }
+                ModeRequest::ReadMode => self
+                    .mode_node
+                    .send_mode_reply(
+                        request.requestor_info,
+                        ModeReply::ModeReply(self.mode_and_submode),
+                    )
+                    .unwrap(),
+                ModeRequest::AnnounceMode => self.announce_mode(request.requestor_info, false),
+                ModeRequest::AnnounceModeRecursive => {
+                    self.announce_mode(request.requestor_info, true)
+                }
+                ModeRequest::ModeInfo(_) => todo!(),
+            }
+        }
+        Ok(())
+    }
+
+    pub fn check_mode_replies(&mut self) -> Result<(), GenericTargetedMessagingError> {
+        if let Some(reply_and_id) = self.mode_node.try_recv_mode_reply()? {
+            match reply_and_id.message {
+                ModeReply::ModeReply(reply) => {
+                    println!(
+                        "TestAssembly: Received mode reply from {:?}, reached: {:?}",
+                        reply_and_id.sender_id(),
+                        reply
+                    );
+                }
+                ModeReply::CantReachMode(_) => todo!(),
+                ModeReply::WrongMode { expected, reached } => {
+                    println!(
+                        "TestAssembly: Wrong mode reply from {:?}, reached {:?}, expected {:?}",
+                        reply_and_id.sender_id(),
+                        reached,
+                        expected
+                    );
+                }
+            }
+        }
+        Ok(())
+    }
+}
+
+impl ModeRequestHandler for TestAssembly {
+    fn start_transition(
+        &mut self,
+        requestor: MessageMetadata,
+        mode_and_submode: ModeAndSubmode,
+    ) -> Result<(), ModeError> {
+        self.mode_requestor_info = Some(requestor);
+        self.target_mode_and_submode = Some(mode_and_submode);
+        Ok(())
+    }
+
+    fn announce_mode(&self, requestor_info: MessageMetadata, recursive: bool) {
+        println!(
+            "TestAssembly: Announcing mode (recursively: {}): {:?}",
+            recursive, self.mode_and_submode
+        );
+        // self.mode_requestor_info = Some((request_id, sender_id));
+        let mut mode_request = ModeRequest::AnnounceMode;
+        if recursive {
+            mode_request = ModeRequest::AnnounceModeRecursive;
+        }
+        self.mode_node
+            .request_sender_map
+            .0
+            .iter()
+            .for_each(|(_, sender)| {
+                sender
+                    .send(GenericMessage::new(
+                        MessageMetadata::new(
+                            requestor_info.request_id(),
+                            self.mode_node.local_channel_id_generic(),
+                        ),
+                        mode_request,
+                    ))
+                    .expect("sending mode request failed");
+            });
+    }
+
+    fn handle_mode_reached(
+        &mut self,
+        mode_requestor: Option<MessageMetadata>,
+    ) -> Result<(), GenericTargetedMessagingError> {
+        if let Some(requestor) = mode_requestor {
+            self.send_mode_reply(requestor, ModeReply::ModeReply(self.mode_and_submode))?;
+        }
+        Ok(())
+    }
+
+    fn send_mode_reply(
+        &self,
+        requestor: MessageMetadata,
+        reply: ModeReply,
+    ) -> Result<(), GenericTargetedMessagingError> {
+        self.mode_node
+            .send_mode_reply(requestor, ModeReply::ModeReply(self.mode_and_submode))?;
+        Ok(())
+    }
+}
+
+fn main() {
+    // All request channel handles.
+    let (request_sender_to_dev1, request_receiver_dev1) = mpsc::sync_channel(10);
+    let (request_sender_to_dev2, request_receiver_dev2) = mpsc::sync_channel(10);
+    let (request_sender_to_assy, request_receiver_assy) = mpsc::sync_channel(10);
+
+    // All reply channel handles.
+    let (reply_sender_to_assy, reply_receiver_assy) = mpsc::sync_channel(10);
+    let (reply_sender_to_pus, reply_receiver_pus) = mpsc::sync_channel(10);
+
+    // Mode requestors and handlers.
+    let mut mode_node_assy = ModeRequestorAndHandlerMpscBounded::new(
+        TestComponentId::Assembly as ComponentId,
+        request_receiver_assy,
+        reply_receiver_assy,
+    );
+    // Mode requestors only.
+    let mut mode_node_pus = ModeRequestorBoundedMpsc::new(
+        TestComponentId::PusModeService as ComponentId,
+        reply_receiver_pus,
+    );
+
+    // Request handlers only.
+    let mut mode_node_dev1 = ModeRequestHandlerMpscBounded::new(
+        TestComponentId::Device1 as ComponentId,
+        request_receiver_dev1,
+    );
+    let mut mode_node_dev2 = ModeRequestHandlerMpscBounded::new(
+        TestComponentId::Device2 as ComponentId,
+        request_receiver_dev2,
+    );
+
+    // Set up mode request senders first.
+    mode_node_pus.add_message_target(
+        TestComponentId::Assembly as ComponentId,
+        request_sender_to_assy,
+    );
+    mode_node_pus.add_message_target(
+        TestComponentId::Device1 as ComponentId,
+        request_sender_to_dev1.clone(),
+    );
+    mode_node_pus.add_message_target(
+        TestComponentId::Device2 as ComponentId,
+        request_sender_to_dev2.clone(),
+    );
+    mode_node_assy.add_request_target(
+        TestComponentId::Device1 as ComponentId,
+        request_sender_to_dev1,
+    );
+    mode_node_assy.add_request_target(
+        TestComponentId::Device2 as ComponentId,
+        request_sender_to_dev2,
+    );
+
+    // Set up mode reply senders.
+    mode_node_dev1.add_message_target(
+        TestComponentId::Assembly as ComponentId,
+        reply_sender_to_assy.clone(),
+    );
+    mode_node_dev1.add_message_target(
+        TestComponentId::PusModeService as ComponentId,
+        reply_sender_to_pus.clone(),
+    );
+    mode_node_dev2.add_message_target(
+        TestComponentId::Assembly as ComponentId,
+        reply_sender_to_assy,
+    );
+    mode_node_dev2.add_message_target(
+        TestComponentId::PusModeService as ComponentId,
+        reply_sender_to_pus.clone(),
+    );
+    mode_node_assy.add_reply_target(
+        TestComponentId::PusModeService as ComponentId,
+        reply_sender_to_pus,
+    );
+
+    let mut device1 = TestDevice {
+        name: "Test Device 1".to_string(),
+        mode_node: mode_node_dev1,
+        mode_requestor_info: None,
+        mode_and_submode: ModeAndSubmode::new(0, 0),
+    };
+    let mut device2 = TestDevice {
+        name: "Test Device 2".to_string(),
+        mode_node: mode_node_dev2,
+        mode_requestor_info: None,
+        mode_and_submode: ModeAndSubmode::new(0, 0),
+    };
+    let mut assy = TestAssembly {
+        mode_node: mode_node_assy,
+        mode_requestor_info: None,
+        mode_and_submode: ModeAndSubmode::new(0, 0),
+        target_mode_and_submode: None,
+    };
+    let pus_service = PusModeService {
+        request_id_counter: Cell::new(0),
+        mode_node: mode_node_pus,
+    };
+
+    pus_service.send_announce_mode_cmd_to_assy();
+    assy.run();
+    device1.run();
+    device2.run();
+    assy.run();
+}

satrs/tests/pus_events.rs

@@ -5,7 +5,8 @@ use satrs::events::{EventU32, EventU32TypedSev, Severity, SeverityInfo};
 use satrs::params::U32Pair;
 use satrs::params::{Params, ParamsHeapless, WritableToBeBytes};
 use satrs::pus::event_man::{DefaultPusEventMgmtBackend, EventReporter, PusEventDispatcher};
-use satrs::pus::TmAsVecSenderWithMpsc;
+use satrs::pus::PusTmAsVec;
+use satrs::request::UniqueApidTargetId;
 use spacepackets::ecss::tm::PusTmReader;
 use spacepackets::ecss::{PusError, PusPacket};
 use std::sync::mpsc::{self, SendError, TryRecvError};
@@ -15,6 +16,8 @@ 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];
+const TEST_APID: u16 = 0x02;
+const TEST_ID: UniqueApidTargetId = UniqueApidTargetId::new(TEST_APID, 0x05);
 
 #[derive(Debug, Clone)]
 pub enum CustomTmSenderError {
@@ -30,15 +33,14 @@ fn test_threaded_usage() {
 
     let (pus_event_man_tx, pus_event_man_rx) = mpsc::channel();
     let pus_event_man_send_provider = EventU32SenderMpsc::new(1, pus_event_man_tx);
-    event_man.subscribe_all(pus_event_man_send_provider.channel_id());
+    event_man.subscribe_all(pus_event_man_send_provider.target_id());
     event_man.add_sender(pus_event_man_send_provider);
-    let (event_tx, event_rx) = mpsc::channel();
-    let reporter = EventReporter::new(0x02, 128).expect("Creating event reporter failed");
-    let mut pus_event_man =
-        PusEventDispatcher::new(reporter, DefaultPusEventMgmtBackend::default());
+    let (event_tx, event_rx) = mpsc::channel::<PusTmAsVec>();
+    let reporter =
+        EventReporter::new(TEST_ID.raw(), 0x02, 128).expect("Creating event reporter failed");
+    let pus_event_man = PusEventDispatcher::new(reporter, DefaultPusEventMgmtBackend::default());
     // PUS + Generic event manager thread
     let jh0 = thread::spawn(move || {
-        let mut sender = TmAsVecSenderWithMpsc::new(0, "event_sender", event_tx);
         let mut event_cnt = 0;
         let mut params_array: [u8; 128] = [0; 128];
         loop {
@@ -46,9 +48,9 @@ fn test_threaded_usage() {
             assert!(res.is_ok());
             match pus_event_man_rx.try_recv() {
                 Ok((event, aux_data)) => {
-                    let mut gen_event = |aux_data| {
+                    let gen_event = |aux_data| {
                         pus_event_man.generate_pus_event_tm_generic(
-                            &mut sender,
+                            &event_tx,
                             &EMPTY_STAMP,
                             event,
                             aux_data,
@@ -60,12 +62,12 @@ fn test_threaded_usage() {
                                 ParamsHeapless::Raw(raw) => {
                                     raw.write_to_be_bytes(&mut params_array)
                                         .expect("Writing raw parameter failed");
-                                    gen_event(Some(&params_array[0..raw.raw_len()]))
+                                    gen_event(Some(&params_array[0..raw.written_len()]))
                                 }
                                 ParamsHeapless::EcssEnum(e) => {
                                     e.write_to_be_bytes(&mut params_array)
                                         .expect("Writing ECSS enum failed");
-                                    gen_event(Some(&params_array[0..e.raw_len()]))
+                                    gen_event(Some(&params_array[0..e.written_len()]))
                                 }
                             },
                             Params::Vec(vec) => gen_event(Some(vec.as_slice())),
@@ -101,8 +103,8 @@ fn test_threaded_usage() {
             match event_rx.try_recv() {
                 // Event TM received successfully
                 Ok(event_tm) => {
-                    let tm =
-                        PusTmReader::new(event_tm.as_slice(), 7).expect("Deserializing TM failed");
+                    let tm = PusTmReader::new(event_tm.packet.as_slice(), 7)
+                        .expect("Deserializing TM failed");
                     assert_eq!(tm.0.service(), 5);
                     assert_eq!(tm.0.subservice(), 1);
                     let src_data = tm.0.source_data();
@@ -127,8 +129,8 @@ fn test_threaded_usage() {
             match event_rx.try_recv() {
                 // Event TM received successfully
                 Ok(event_tm) => {
-                    let tm =
-                        PusTmReader::new(event_tm.as_slice(), 7).expect("Deserializing TM failed");
+                    let tm = PusTmReader::new(event_tm.packet.as_slice(), 7)
+                        .expect("Deserializing TM failed");
                     assert_eq!(tm.0.service(), 5);
                     assert_eq!(tm.0.subservice(), 2);
                     let src_data = tm.0.source_data();

satrs/tests/pus_verification.rs

@@ -3,10 +3,11 @@ pub mod crossbeam_test {
     use hashbrown::HashMap;
     use satrs::pool::{PoolProvider, PoolProviderWithGuards, StaticMemoryPool, StaticPoolConfig};
     use satrs::pus::verification::{
-        FailParams, RequestId, VerificationReporterCfg, VerificationReporterWithSender,
+        FailParams, RequestId, VerificationReporter, VerificationReporterCfg,
         VerificationReportingProvider,
     };
     use satrs::pus::TmInSharedPoolSenderWithCrossbeam;
+    use satrs::request::UniqueApidTargetId;
     use satrs::tmtc::tm_helper::SharedTmPool;
     use spacepackets::ecss::tc::{PusTcCreator, PusTcReader, PusTcSecondaryHeader};
     use spacepackets::ecss::tm::PusTmReader;
@@ -17,6 +18,8 @@ pub mod crossbeam_test {
     use std::time::Duration;
 
     const TEST_APID: u16 = 0x03;
+    const TEST_ID: TargetAndApidId = TargetAndApidId::new(TEST_APID, 0x05);
+
     const FIXED_STAMP: [u8; 7] = [0; 7];
     const PACKETS_SENT: u8 = 8;
 
@@ -40,13 +43,9 @@ 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 = TmInSharedPoolSenderWithCrossbeam::new(
-            0,
-            "verif_sender",
-            shared_tm_pool.clone(),
-            tx.clone(),
-        );
-        let mut reporter_with_sender_0 = VerificationReporterWithSender::new(&cfg, sender);
+        let sender_0 = TmInSharedPoolSenderWithCrossbeam::new(shared_tm_pool.clone(), tx.clone());
+        let sender_1 = sender_0.clone();
+        let mut reporter_with_sender_0 = VerificationReporter::new(&cfg);
         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.
@@ -93,24 +92,36 @@ pub mod crossbeam_test {
 
             let token = reporter_with_sender_0.add_tc_with_req_id(req_id_0);
             let accepted_token = reporter_with_sender_0
-                .acceptance_success(token, &FIXED_STAMP)
+                .acceptance_success(TEST_ID.raw(), &sender_0, token, &FIXED_STAMP)
                 .expect("Acceptance success failed");
 
             // Do some start handling here
             let started_token = reporter_with_sender_0
-                .start_success(accepted_token, &FIXED_STAMP)
+                .start_success(TEST_ID.raw(), &sender_0, accepted_token, &FIXED_STAMP)
                 .expect("Start success failed");
             // Do some step handling here
             reporter_with_sender_0
-                .step_success(&started_token, &FIXED_STAMP, EcssEnumU8::new(0))
+                .step_success(
+                    TEST_ID.raw(),
+                    &sender_0,
+                    &started_token,
+                    &FIXED_STAMP,
+                    EcssEnumU8::new(0),
+                )
                 .expect("Start success failed");
 
             // Finish up
             reporter_with_sender_0
-                .step_success(&started_token, &FIXED_STAMP, EcssEnumU8::new(1))
+                .step_success(
+                    TEST_ID.raw(),
+                    &sender_0,
+                    &started_token,
+                    &FIXED_STAMP,
+                    EcssEnumU8::new(1),
+                )
                 .expect("Start success failed");
             reporter_with_sender_0
-                .completion_success(started_token, &FIXED_STAMP)
+                .completion_success(TEST_ID.raw(), &sender_0, started_token, &FIXED_STAMP)
                 .expect("Completion success failed");
         });
 
@@ -128,15 +139,15 @@ pub mod crossbeam_test {
             let (tc, _) = PusTcReader::new(&tc_buf[0..tc_len]).unwrap();
             let token = reporter_with_sender_1.add_tc(&tc);
             let accepted_token = reporter_with_sender_1
-                .acceptance_success(token, &FIXED_STAMP)
+                .acceptance_success(TEST_ID.raw(), &sender_1, token, &FIXED_STAMP)
                 .expect("Acceptance success failed");
             let started_token = reporter_with_sender_1
-                .start_success(accepted_token, &FIXED_STAMP)
+                .start_success(TEST_ID.raw(), &sender_1, accepted_token, &FIXED_STAMP)
                 .expect("Start success failed");
             let fail_code = EcssEnumU16::new(2);
             let params = FailParams::new_no_fail_data(&FIXED_STAMP, &fail_code);
             reporter_with_sender_1
-                .completion_failure(started_token, params)
+                .completion_failure(TEST_ID.raw(), &sender_1, started_token, params)
                 .expect("Completion success failed");
         });
 
@@ -145,14 +156,14 @@ pub mod crossbeam_test {
             let mut tm_buf: [u8; 1024] = [0; 1024];
             let mut verif_map = HashMap::new();
             while packet_counter < PACKETS_SENT {
-                let verif_addr = rx
+                let tm_in_pool = rx
                     .recv_timeout(Duration::from_millis(50))
                     .expect("Packet reception timeout");
                 let tm_len;
                 let shared_tm_store = shared_tm_pool.clone_backing_pool();
                 {
                     let mut rg = shared_tm_store.write().expect("Error locking shared pool");
-                    let store_guard = rg.read_with_guard(verif_addr);
+                    let store_guard = rg.read_with_guard(tm_in_pool.store_addr);
                     tm_len = store_guard
                         .read(&mut tm_buf)
                         .expect("Error reading TM slice");