Continue update

satrs-example/Cargo.toml

@@ -18,14 +18,15 @@ 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"
+version = "0.1.1"
 path = "../satrs-mib"
 
 [features]

satrs-example/src/acs/mgm.rs

@@ -1,44 +1,123 @@
 // 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;
+use satrs::pus::{EcssTmSenderCore, PusTmVariant};
-use satrs::request::GenericMessage;
+use satrs::request::{GenericMessage, MessageMetadata, UniqueApidTargetId};
 use satrs::ComponentId;
+use satrs_example::config::components::PUS_MODE_SERVICE;
 
-use crate::pus::hk::HkReply;
+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(Debug, Copy, Clone)]
+#[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: ComponentId,
+    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>>,
-    composite_request_receiver: mpsc::Receiver<GenericMessage<CompositeRequest>>,
     hk_reply_sender: mpsc::Sender<GenericMessage<HkReply>>,
     hk_tm_sender: TmSender,
-    mode: ModeAndSubmode,
     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 perform_operation(&mut self) {}
+    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
@@ -54,23 +133,37 @@ impl<ComInterface: SpiInterface, TmSender: EcssTmSenderCore> ModeRequestHandler
 {
     fn start_transition(
         &mut self,
-        request_id: satrs::request::RequestId,
+        requestor: MessageMetadata,
-        sender_id: ComponentId,
         mode_and_submode: ModeAndSubmode,
     ) -> Result<(), satrs::mode::ModeError> {
-        todo!()
+        self.mode = mode_and_submode;
+        self.handle_mode_reached(Some(requestor))?;
+        Ok(())
     }
 
-    fn announce_mode(
+    fn announce_mode(&self, _requestor_info: MessageMetadata, _recursive: bool) {
-        &self,
-        request_id: satrs::request::RequestId,
-        sender_id: satrs::ComponentId,
-        recursive: bool,
-    ) {
         log::info!("{} announcing mode: {:?}", self.dev_str, self.mode);
     }
 
-    fn handle_mode_reached(&mut self) -> Result<(), satrs::queue::GenericTargetedMessagingError> {
+    fn handle_mode_reached(
-        todo!()
+        &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

@@ -1,9 +1,9 @@
-mod mgm;
+pub mod mgm;
 
 /*
 pub struct AcsTask<VerificationReporter: VerificationReportingProvider> {
     timestamp: [u8; 7],
-    time_provider: TimeProvider<DaysLen16Bits>,
+    time_provider: CdsTime<DaysLen16Bits>,
     verif_reporter: VerificationReporter,
     tm_sender: Box<dyn EcssTmSender>,
     request_rx: mpsc::Receiver<RequestWithToken>,
@@ -17,7 +17,7 @@ impl<VerificationReporter: VerificationReportingProvider> AcsTask<VerificationRe
     ) -> Self {
         Self {
             timestamp: [0; 7],
-            time_provider: TimeProvider::new_with_u16_days(0, 0),
+            time_provider: CdsTime::new_with_u16_days(0, 0),
             verif_reporter,
             tm_sender: Box::new(tm_sender),
             request_rx,

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 {
@@ -102,14 +100,51 @@ pub mod mode_err {
     pub const WRONG_MODE: ResultU16 = ResultU16::new(GroupId::Mode as u8, 0);
 }
 
-#[derive(Copy, Clone, PartialEq, Eq)]
+pub mod components {
-pub enum ComponentIdList {
+    use satrs::request::UniqueApidTargetId;
-    PusVerification = 0,
+
-    EventManagement = 1,
+    #[derive(Copy, Clone, PartialEq, Eq)]
-    PusTest = 2,
+    pub enum Apid {
-    PusAction = 3,
+        VerificationTm = 1,
-    PusSched = 4,
+        Sched = 2,
-    PusHk = 5,
+        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,
+        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 {

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,
@@ -12,44 +15,51 @@ use satrs::{
             DefaultPusEventU32Dispatcher, EventReporter, EventRequest, EventRequestWithToken,
         },
         verification::{TcStateStarted, VerificationReportingProvider, VerificationToken},
-        EcssTmSender,
     },
-    spacepackets::time::cds::{self, TimeProvider},
+    spacepackets::time::cds::CdsTime,
     ComponentId,
 };
-use satrs_example::config::{ComponentIdList, PUS_APID};
+use satrs_example::config::components;
+use satrs_example::config::components::PUS_EVENT_MANAGEMENT;
 
 use crate::update_time;
 
 /// 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<VerificationReporter: VerificationReportingProvider> {
+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: TimeProvider,
+    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(
-            ComponentIdList::EventManagement as ComponentId,
+            PUS_EVENT_MANAGEMENT.raw(),
             pus_event_man_tx,
             event_queue_cap,
         );
@@ -58,13 +68,14 @@ impl<VerificationReporter: VerificationReportingProvider> PusEventHandler<Verifi
         event_manager.add_sender(pus_event_man_send_provider);
 
         Self {
+            id,
             event_request_rx,
             pus_event_dispatcher,
             pus_event_man_rx,
-            time_provider: cds::TimeProvider::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,
         }
     }
 
@@ -75,7 +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
@@ -104,12 +115,7 @@ 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(
+                .generate_pus_event_tm_generic(&mut self.tm_sender, &self.timestamp, event, None)
-                    self.tm_sender.upcast_mut(),
-                    &self.timestamp,
-                    event,
-                    None,
-                )
                 .expect("Sending TM as event failed");
         }
     }
@@ -151,23 +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,
+        tm_sender: TmSender,
-        verif_handler: VerificationReporter,
         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,
+    target_id: UniqueApidTargetId,
-    set_id: u32,
+    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

@@ -17,24 +17,23 @@ 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::{GenericMessage, 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::{
+use satrs_example::config::{OBSW_SERVER_ADDR, SERVER_PORT};
-    ComponentIdList, RequestTargetId, OBSW_SERVER_ADDR, PUS_APID, 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};
@@ -44,27 +43,18 @@ 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::TmInSharedPoolSender;
-use satrs::pus::{EcssTmSender, TmAsVecSenderWithId, TmInSharedPoolSenderWithId};
+use satrs::spacepackets::{time::cds::CdsTime, time::TimeWriter};
-use satrs::spacepackets::{time::cds::TimeProvider, time::TimeWriter};
 use satrs::tmtc::CcsdsDistributor;
-use satrs::ComponentId;
+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();
@@ -76,20 +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
+    let tm_funnel_tx_sender =
-    // verification reporter.
+        TmInSharedPoolSender::new(shared_tm_pool.clone(), tm_funnel_tx.clone());
-    let verif_reporter = create_verification_reporter(TmInSharedPoolSenderWithId::new(
+
-        ComponentIdList::PusVerification as ComponentId,
+    let (mgm_handler_composite_tx, mgm_handler_composite_rx) =
-        "verif_sender",
+        mpsc::channel::<GenericMessage<CompositeRequest>>();
-        shared_tm_pool.clone(),
+    let (mgm_handler_mode_tx, mgm_handler_mode_rx) = mpsc::channel::<GenericMessage<ModeRequest>>();
-        tm_funnel_tx.clone(),
-    ));
 
-    let acs_target_id = TargetAndApidId::new(PUS_APID, RequestTargetId::AcsSubsystem as u32);
-    let (acs_thread_tx, acs_thread_rx) = channel::<GenericMessage<CompositeRequest>>();
     // 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.
@@ -105,88 +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(
+    let mut event_handler = EventHandler::new(tm_funnel_tx.clone(), event_request_rx);
-        TmInSharedPoolSenderWithId::new(
-            ComponentIdList::EventManagement as ComponentId,
-            "ALL_EVENTS_TX",
-            shared_tm_pool.clone(),
-            tm_funnel_tx.clone(),
-        ),
-        verif_reporter.clone(),
-        event_request_rx,
-    );
 
-    let (pus_test_tx, pus_test_rx) = channel();
+    let (pus_test_tx, pus_test_rx) = mpsc::channel();
-    let (pus_event_tx, pus_event_rx) = channel();
+    let (pus_event_tx, pus_event_rx) = mpsc::channel();
-    let (pus_sched_tx, pus_sched_rx) = channel();
+    let (pus_sched_tx, pus_sched_rx) = mpsc::channel();
-    let (pus_hk_tx, pus_hk_rx) = channel();
+    let (pus_hk_tx, pus_hk_rx) = mpsc::channel();
-    let (pus_action_tx, pus_action_rx) = 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) = channel();
+    let (_pus_action_reply_tx, pus_action_reply_rx) = mpsc::channel();
-    let (pus_hk_reply_tx, pus_hk_reply_rx) = 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_router = PusTcMpscRouter {
-        test_service_receiver: pus_test_tx,
+        test_tc_sender: pus_test_tx,
-        event_service_receiver: pus_event_tx,
+        event_tc_sender: pus_event_tx,
-        sched_service_receiver: pus_sched_tx,
+        sched_tc_sender: pus_sched_tx,
-        hk_service_receiver: pus_hk_tx,
+        hk_tc_sender: pus_hk_tx,
-        action_service_receiver: pus_action_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_sender.clone(),
-        tm_funnel_tx.clone(),
-        verif_reporter.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_sender.clone(),
-        tm_funnel_tx.clone(),
-        verif_reporter.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_sender.clone(),
-        tm_funnel_tx.clone(),
-        verif_reporter.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_sender.clone(),
-        tm_funnel_tx.clone(),
-        verif_reporter.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_sender.clone(),
-        tm_funnel_tx.clone(),
-        verif_reporter.clone(),
         shared_tc_pool.pool.clone(),
         pus_hk_rx,
-        request_map,
+        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);
@@ -211,19 +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,
@@ -231,6 +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())
@@ -276,7 +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();
@@ -310,22 +298,23 @@ fn static_tmtc_pool_main() {
 
 #[allow(dead_code)]
 fn dyn_tmtc_pool_main() {
-    let (tc_source_tx, tc_source_rx) = channel();
+    let (tc_source_tx, tc_source_rx) = mpsc::channel();
-    let (tm_funnel_tx, tm_funnel_rx) = channel();
+    let (tm_funnel_tx, tm_funnel_rx) = mpsc::channel();
-    let (tm_server_tx, tm_server_rx) = channel();
+    let (tm_server_tx, tm_server_rx) = mpsc::channel();
-    // Every software component which needs to generate verification telemetry, gets a cloned
+
-    // verification reporter.
+    // Some request are targetable. This map is used to retrieve sender handles based on a target ID.
-    let verif_reporter = create_verification_reporter(TmAsVecSenderWithId::new(
+    let (mgm_handler_composite_tx, mgm_handler_composite_rx) =
-        ComponentIdList::PusVerification as ComponentId,
+        mpsc::channel::<GenericMessage<CompositeRequest>>();
-        "verif_sender",
+    let (mgm_handler_mode_tx, mgm_handler_mode_rx) = mpsc::channel::<GenericMessage<ModeRequest>>();
-        tm_funnel_tx.clone(),
-    ));
 
-    let acs_target_id = TargetAndApidId::new(PUS_APID, RequestTargetId::AcsSubsystem as u32);
-    let (acs_thread_tx, acs_thread_rx) = channel::<GenericMessage<CompositeRequest>>();
     // 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);
 
@@ -335,80 +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(
+    let mut event_handler = EventHandler::new(tm_funnel_tx.clone(), event_request_rx);
-        TmAsVecSenderWithId::new(
-            ComponentIdList::EventManagement as ComponentId,
-            "ALL_EVENTS_TX",
-            tm_funnel_tx.clone(),
-        ),
-        verif_reporter.clone(),
-        event_request_rx,
-    );
 
-    let (pus_test_tx, pus_test_rx) = channel();
+    let (pus_test_tx, pus_test_rx) = mpsc::channel();
-    let (pus_event_tx, pus_event_rx) = channel();
+    let (pus_event_tx, pus_event_rx) = mpsc::channel();
-    let (pus_sched_tx, pus_sched_rx) = channel();
+    let (pus_sched_tx, pus_sched_rx) = mpsc::channel();
-    let (pus_hk_tx, pus_hk_rx) = channel();
+    let (pus_hk_tx, pus_hk_rx) = mpsc::channel();
-    let (pus_action_tx, pus_action_rx) = 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) = channel();
+    let (_pus_action_reply_tx, pus_action_reply_rx) = mpsc::channel();
-    let (pus_hk_reply_tx, pus_hk_reply_rx) = 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_router = PusTcMpscRouter {
-        test_service_receiver: pus_test_tx,
+        test_tc_sender: pus_test_tx,
-        event_service_receiver: pus_event_tx,
+        event_tc_sender: pus_event_tx,
-        sched_service_receiver: pus_sched_tx,
+        sched_tc_sender: pus_sched_tx,
-        hk_service_receiver: pus_hk_tx,
+        hk_tc_sender: pus_hk_tx,
-        action_service_receiver: pus_action_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(
+    let pus_event_service =
-        tm_funnel_tx.clone(),
+        create_event_service_dynamic(tm_funnel_tx.clone(), pus_event_rx, event_request_tx);
-        verif_reporter.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,
+        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);
@@ -432,19 +415,25 @@ fn dyn_tmtc_pool_main() {
     )
     .expect("tcp server creation failed");
 
-    /*
-    let mut acs_task = AcsTask::new(
-        TmAsVecSenderWithId::new(
-            TmSenderId::AcsSubsystem as ComponentId,
-            "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())
@@ -490,7 +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();
@@ -531,7 +520,7 @@ fn main() {
     dyn_tmtc_pool_main();
 }
 
-pub fn update_time(time_provider: &mut TimeProvider, timestamp: &mut [u8]) {
+pub fn update_time(time_provider: &mut CdsTime, timestamp: &mut [u8]) {
     time_provider
         .update_from_now()
         .expect("Could not get current time");

satrs-example/src/pus/action.rs

@@ -1,34 +1,35 @@
 use log::{error, warn};
 use satrs::action::{ActionRequest, ActionRequestVariant};
 use satrs::params::WritableToBeBytes;
-use satrs::pool::{SharedStaticMemoryPool, StoreAddr};
+use satrs::pool::SharedStaticMemoryPool;
 use satrs::pus::action::{
     ActionReplyVariant, ActivePusActionRequestStd, DefaultActiveActionRequestMap, PusActionReply,
 };
 use satrs::pus::verification::{
-    FailParams, FailParamsWithStep, TcStateAccepted, TcStateStarted,
+    FailParams, FailParamsWithStep, TcStateAccepted, TcStateStarted, VerificationReporter,
-    VerificationReporterWithSharedPoolMpscBoundedSender, VerificationReporterWithVecMpscSender,
     VerificationReportingProvider, VerificationToken,
 };
 use satrs::pus::{
     ActiveRequestProvider, EcssTcAndToken, EcssTcInMemConverter, EcssTcInSharedStoreConverter,
-    EcssTcInVecConverter, EcssTcReceiverCore, EcssTmSenderCore, EcssTmtcError,
+    EcssTcInVecConverter, EcssTmSenderCore, EcssTmtcError, GenericConversionError, MpscTcReceiver,
-    GenericConversionError, MpscTcReceiver, PusPacketHandlerResult, PusReplyHandler,
+    MpscTmAsVecSender, MpscTmInSharedPoolSenderBounded, PusPacketHandlerResult, PusReplyHandler,
-    PusServiceHelper, PusTcToRequestConverter, TmAsVecSenderWithId, TmAsVecSenderWithMpsc,
+    PusServiceHelper, PusTcToRequestConverter, PusTmAsVec, PusTmInPool, TmInSharedPoolSender,
-    TmInSharedPoolSenderWithBoundedMpsc, TmInSharedPoolSenderWithId,
 };
-use satrs::request::{GenericMessage, TargetAndApidId};
+use satrs::request::{GenericMessage, UniqueApidTargetId};
 use satrs::spacepackets::ecss::tc::PusTcReader;
 use satrs::spacepackets::ecss::{EcssEnumU16, PusPacket};
-use satrs::tmtc::tm_helper::SharedTmPool;
 use satrs::ComponentId;
-use satrs_example::config::{tmtc_err, ComponentIdList, PUS_APID};
+use satrs_example::config::components::PUS_ACTION_SERVICE;
-use std::sync::mpsc::{self};
+use satrs_example::config::tmtc_err;
+use std::sync::mpsc;
 use std::time::Duration;
 
 use crate::requests::GenericRequestRouter;
 
-use super::{generic_pus_request_timeout_handler, PusTargetedRequestService, TargetedPusService};
+use super::{
+    create_verification_reporter, generic_pus_request_timeout_handler, PusTargetedRequestService,
+    TargetedPusService,
+};
 
 pub struct ActionReplyHandler {
     fail_data_buf: [u8; 128],
@@ -47,20 +48,22 @@ impl PusReplyHandler<ActivePusActionRequestStd, PusActionReply> for ActionReplyH
 
     fn handle_unrequested_reply(
         &mut self,
+        _caller_id: ComponentId,
         reply: &GenericMessage<PusActionReply>,
         _tm_sender: &impl EcssTmSenderCore,
     ) -> Result<(), Self::Error> {
-        log::warn!("received unexpected reply for service 8: {reply:?}");
+        warn!("received unexpected reply for service 8: {reply:?}");
         Ok(())
     }
 
     fn handle_reply(
         &mut self,
-        reply: &satrs::request::GenericMessage<PusActionReply>,
+        caller_id: ComponentId,
+        reply: &GenericMessage<PusActionReply>,
         active_request: &ActivePusActionRequestStd,
+        tm_sender: &(impl EcssTmSenderCore + ?Sized),
         verification_handler: &impl VerificationReportingProvider,
         time_stamp: &[u8],
-        _tm_sender: &impl EcssTmSenderCore,
     ) -> Result<bool, Self::Error> {
         let verif_token: VerificationToken<TcStateStarted> = active_request
             .token()
@@ -72,16 +75,12 @@ impl PusReplyHandler<ActivePusActionRequestStd, PusActionReply> for ActionReplyH
                 if let Some(params) = params {
                     fail_data_len = params.write_to_be_bytes(&mut self.fail_data_buf)?;
                 }
-                verification_handler
+                verification_handler.completion_failure(
-                    .completion_failure(
+                    caller_id,
-                        verif_token,
+                    tm_sender,
-                        FailParams::new(
+                    verif_token,
-                            time_stamp,
+                    FailParams::new(time_stamp, error_code, &self.fail_data_buf[..fail_data_len]),
-                            error_code,
+                )?;
-                            &self.fail_data_buf[..fail_data_len],
-                        ),
-                    )
-                    .map_err(|e| e.0)?;
                 true
             }
             ActionReplyVariant::StepFailed {
@@ -93,27 +92,32 @@ impl PusReplyHandler<ActivePusActionRequestStd, PusActionReply> for ActionReplyH
                 if let Some(params) = params {
                     fail_data_len = params.write_to_be_bytes(&mut self.fail_data_buf)?;
                 }
-                verification_handler
+                verification_handler.step_failure(
-                    .step_failure(
+                    caller_id,
-                        verif_token,
+                    tm_sender,
-                        FailParamsWithStep::new(
+                    verif_token,
-                            time_stamp,
+                    FailParamsWithStep::new(
-                            &EcssEnumU16::new(*step),
+                        time_stamp,
-                            error_code,
+                        &EcssEnumU16::new(*step),
-                            &self.fail_data_buf[..fail_data_len],
+                        error_code,
-                        ),
+                        &self.fail_data_buf[..fail_data_len],
-                    )
+                    ),
-                    .map_err(|e| e.0)?;
+                )?;
                 true
             }
             ActionReplyVariant::Completed => {
-                verification_handler
+                verification_handler.completion_success(
-                    .completion_success(verif_token, time_stamp)
+                    caller_id,
-                    .map_err(|e| e.0)?;
+                    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),
@@ -127,12 +131,15 @@ impl PusReplyHandler<ActivePusActionRequestStd, PusActionReply> for ActionReplyH
 
     fn handle_request_timeout(
         &mut self,
+        caller_id: ComponentId,
         active_request: &ActivePusActionRequestStd,
+        tm_sender: &impl EcssTmSenderCore,
         verification_handler: &impl VerificationReportingProvider,
         time_stamp: &[u8],
-        _tm_sender: &impl EcssTmSenderCore,
     ) -> Result<(), Self::Error> {
         generic_pus_request_timeout_handler(
+            caller_id,
+            tm_sender,
             active_request,
             verification_handler,
             time_stamp,
@@ -149,16 +156,20 @@ impl PusTcToRequestConverter<ActivePusActionRequestStd, ActionRequest> for Actio
 
     fn convert(
         &mut self,
+        caller_id: ComponentId,
         token: VerificationToken<TcStateAccepted>,
         tc: &PusTcReader,
-        time_stamp: &[u8],
+        tm_sender: &(impl EcssTmSenderCore + ?Sized),
         verif_reporter: &impl VerificationReportingProvider,
+        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),
                 )
@@ -168,7 +179,7 @@ impl PusTcToRequestConverter<ActivePusActionRequestStd, ActionRequest> for Actio
                 found: user_data.len(),
             });
         }
-        let target_id_and_apid = 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 {
@@ -188,6 +199,8 @@ impl PusTcToRequestConverter<ActivePusActionRequestStd, ActionRequest> for Actio
         } else {
             verif_reporter
                 .start_failure(
+                    caller_id,
+                    tm_sender,
                     token,
                     FailParams::new_no_fail_data(time_stamp, &tmtc_err::INVALID_PUS_SUBSERVICE),
                 )
@@ -198,37 +211,18 @@ impl PusTcToRequestConverter<ActivePusActionRequestStd, ActionRequest> for Actio
 }
 
 pub fn create_action_service_static(
-    shared_tm_store: SharedTmPool,
+    tm_sender: TmInSharedPoolSender<mpsc::SyncSender<PusTmInPool>>,
-    tm_funnel_tx: mpsc::SyncSender<StoreAddr>,
-    verif_reporter: VerificationReporterWithSharedPoolMpscBoundedSender,
     tc_pool: SharedStaticMemoryPool,
     pus_action_rx: mpsc::Receiver<EcssTcAndToken>,
     action_router: GenericRequestRouter,
     reply_receiver: mpsc::Receiver<GenericMessage<PusActionReply>>,
-) -> Pus8Wrapper<
+) -> ActionServiceWrapper<MpscTmInSharedPoolSenderBounded, EcssTcInSharedStoreConverter> {
-    MpscTcReceiver,
-    TmInSharedPoolSenderWithBoundedMpsc,
-    EcssTcInSharedStoreConverter,
-    VerificationReporterWithSharedPoolMpscBoundedSender,
-> {
-    let action_srv_tm_sender = TmInSharedPoolSenderWithId::new(
-        ComponentIdList::PusAction as ComponentId,
-        "PUS_8_TM_SENDER",
-        shared_tm_store.clone(),
-        tm_funnel_tx.clone(),
-    );
-    let action_srv_receiver = MpscTcReceiver::new(
-        ComponentIdList::PusAction as ComponentId,
-        "PUS_8_TC_RECV",
-        pus_action_rx,
-    );
     let action_request_handler = PusTargetedRequestService::new(
-        ComponentIdList::PusAction as ComponentId,
         PusServiceHelper::new(
-            action_srv_receiver,
+            PUS_ACTION_SERVICE.raw(),
-            action_srv_tm_sender.clone(),
+            pus_action_rx,
-            PUS_APID,
+            tm_sender,
-            verif_reporter.clone(),
+            create_verification_reporter(PUS_ACTION_SERVICE.apid),
             EcssTcInSharedStoreConverter::new(tc_pool.clone(), 2048),
         ),
         ActionRequestConverter::default(),
@@ -239,40 +233,23 @@ pub fn create_action_service_static(
         action_router,
         reply_receiver,
     );
-    Pus8Wrapper {
+    ActionServiceWrapper {
         service: action_request_handler,
     }
 }
 
 pub fn create_action_service_dynamic(
-    tm_funnel_tx: mpsc::Sender<Vec<u8>>,
+    tm_funnel_tx: mpsc::Sender<PusTmAsVec>,
-    verif_reporter: VerificationReporterWithVecMpscSender,
     pus_action_rx: mpsc::Receiver<EcssTcAndToken>,
     action_router: GenericRequestRouter,
     reply_receiver: mpsc::Receiver<GenericMessage<PusActionReply>>,
-) -> Pus8Wrapper<
+) -> ActionServiceWrapper<MpscTmAsVecSender, EcssTcInVecConverter> {
-    MpscTcReceiver,
-    TmAsVecSenderWithMpsc,
-    EcssTcInVecConverter,
-    VerificationReporterWithVecMpscSender,
-> {
-    let action_srv_tm_sender = TmAsVecSenderWithId::new(
-        ComponentIdList::PusAction as ComponentId,
-        "PUS_8_TM_SENDER",
-        tm_funnel_tx.clone(),
-    );
-    let action_srv_receiver = MpscTcReceiver::new(
-        ComponentIdList::PusAction as ComponentId,
-        "PUS_8_TC_RECV",
-        pus_action_rx,
-    );
     let action_request_handler = PusTargetedRequestService::new(
-        ComponentIdList::PusAction as ComponentId,
         PusServiceHelper::new(
-            action_srv_receiver,
+            PUS_ACTION_SERVICE.raw(),
-            action_srv_tm_sender.clone(),
+            pus_action_rx,
-            PUS_APID,
+            tm_funnel_tx,
-            verif_reporter.clone(),
+            create_verification_reporter(PUS_ACTION_SERVICE.apid),
             EcssTcInVecConverter::default(),
         ),
         ActionRequestConverter::default(),
@@ -281,19 +258,15 @@ pub fn create_action_service_dynamic(
         action_router,
         reply_receiver,
     );
-    Pus8Wrapper {
+    ActionServiceWrapper {
         service: action_request_handler,
     }
 }
 
-pub struct Pus8Wrapper<
+pub struct ActionServiceWrapper<TmSender: EcssTmSenderCore, TcInMemConverter: EcssTcInMemConverter>
-    TcReceiver: EcssTcReceiverCore,
+{
-    TmSender: EcssTmSenderCore,
-    TcInMemConverter: EcssTcInMemConverter,
-    VerificationReporter: VerificationReportingProvider,
-> {
     pub(crate) service: PusTargetedRequestService<
-        TcReceiver,
+        MpscTcReceiver,
         TmSender,
         TcInMemConverter,
         VerificationReporter,
@@ -306,13 +279,8 @@ pub struct Pus8Wrapper<
     >,
 }
 
-impl<
+impl<TmSender: EcssTmSenderCore, TcInMemConverter: EcssTcInMemConverter> TargetedPusService
-        TcReceiver: EcssTcReceiverCore,
+    for ActionServiceWrapper<TmSender, TcInMemConverter>
-        TmSender: EcssTmSenderCore,
-        TcInMemConverter: EcssTcInMemConverter,
-        VerificationReporter: VerificationReportingProvider,
-    > TargetedPusService
-    for Pus8Wrapper<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>
 {
     /// Returns [true] if the packet handling is finished.
     fn poll_and_handle_next_tc(&mut self, time_stamp: &[u8]) -> bool {
@@ -340,13 +308,12 @@ impl<
     }
 
     fn poll_and_handle_next_reply(&mut self, time_stamp: &[u8]) -> bool {
-        match self.service.poll_and_check_next_reply(time_stamp) {
+        self.service
-            Ok(packet_handled) => packet_handled,
+            .poll_and_check_next_reply(time_stamp)
-            Err(e) => {
+            .unwrap_or_else(|e| {
-                log::warn!("PUS 8: Handling reply failed with error {e:?}");
+                warn!("PUS 8: Handling reply failed with error {e:?}");
                 false
-            }
+            })
-        }
     }
 
     fn check_for_request_timeouts(&mut self) {
@@ -356,8 +323,10 @@ impl<
 
 #[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::{
-        pus::verification::VerificationReporterCfg,
         res_code::ResultU16,
         spacepackets::{
             ecss::{
@@ -370,10 +339,7 @@ mod tests {
     };
 
     use crate::{
-        pus::tests::{
+        pus::tests::{PusConverterTestbench, ReplyHandlerTestbench, TargetedPusRequestTestbench},
-            PusConverterTestbench, ReplyHandlerTestbench, TargetedPusRequestTestbench, TARGET_ID,
-            TEST_APID, TEST_APID_TARGET_ID,
-        },
         requests::CompositeRequest,
     };
 
@@ -391,31 +357,22 @@ mod tests {
     {
         pub fn new_for_action() -> Self {
             let _ = env_logger::builder().is_test(true).try_init();
-            let target_and_apid_id = TargetAndApidId::new(TEST_APID, TEST_APID_TARGET_ID);
             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_cfg = VerificationReporterCfg::new(TEST_APID, 2, 2, 64).unwrap();
+            let verif_reporter = TestVerificationReporter::default();
-            let tm_as_vec_sender =
-                TmAsVecSenderWithMpsc::new(1, "VERIF_SENDER", tm_funnel_tx.clone());
-            let verif_reporter =
-                VerificationReporterWithVecMpscSender::new(&verif_reporter_cfg, tm_as_vec_sender);
             let mut generic_req_router = GenericRequestRouter::default();
             generic_req_router
-                .0
+                .composite_router_map
-                .insert(target_and_apid_id.into(), action_req_tx);
+                .insert(TEST_APID.into(), action_req_tx);
-            let action_srv_tm_sender =
-                TmAsVecSenderWithId::new(0, "TESTBENCH", tm_funnel_tx.clone());
-            let action_srv_receiver = MpscTcReceiver::new(0, "TESTBENCH", pus_action_rx);
             Self {
                 service: PusTargetedRequestService::new(
-                    0,
                     PusServiceHelper::new(
-                        action_srv_receiver,
+                        0,
-                        action_srv_tm_sender.clone(),
+                        pus_action_rx,
-                        PUS_APID,
+                        tm_funnel_tx.clone(),
-                        verif_reporter.clone(),
+                        verif_reporter,
                         EcssTcInVecConverter::default(),
                     ),
                     ActionRequestConverter::default(),
@@ -424,7 +381,6 @@ mod tests {
                     generic_req_router,
                     action_reply_rx,
                 ),
-                verif_reporter,
                 pus_packet_tx: pus_action_tx,
                 tm_funnel_rx,
                 reply_tx: action_reply_tx,
@@ -434,7 +390,7 @@ mod tests {
 
         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, 7).unwrap().0;
+            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);
@@ -445,7 +401,7 @@ mod tests {
             if let Err(mpsc::TryRecvError::Empty) = packet {
             } else {
                 let tm = packet.unwrap();
-                let unexpected_tm = PusTmReader::new(&tm, 7).unwrap().0;
+                let unexpected_tm = PusTmReader::new(&tm.packet, 7).unwrap().0;
                 panic!("unexpected TM packet {unexpected_tm:?}");
             }
         }
@@ -483,19 +439,26 @@ mod tests {
         }
 
         pub fn add_tc(&mut self, tc: &PusTcCreator) {
-            let token = self.verif_reporter.add_tc(tc);
+            let token = self.service.service_helper.verif_reporter_mut().add_tc(tc);
             let accepted_token = self
-                .verif_reporter
+                .service
-                .acceptance_success(token, &[0; 7])
+                .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, 7).unwrap().0;
+            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, 7).unwrap().0;
+                let unexpected_tm = PusTmReader::new(&next_tm.packet, 7).unwrap().0;
                 panic!("unexpected TM packet {unexpected_tm:?}");
             }
             self.pus_packet_tx
@@ -512,7 +475,7 @@ mod tests {
         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_APID_TARGET_ID.to_be_bytes());
+        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);
@@ -531,11 +494,7 @@ mod tests {
             let action_reply = PusActionReply::new(action_id, ActionReplyVariant::Completed);
             testbench
                 .reply_tx
-                .send(GenericMessage::new(
+                .send(GenericMessage::new(req.requestor_info, action_reply))
-                    req.request_id,
-                    TARGET_ID.into(),
-                    action_reply,
-                ))
                 .unwrap();
         } else {
             panic!("unexpected request type");
@@ -556,7 +515,7 @@ mod tests {
         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_APID_TARGET_ID + 1).to_be_bytes());
+        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);
@@ -575,11 +534,11 @@ mod tests {
         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_APID_TARGET_ID.to_be_bytes());
+        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_APID_TARGET_ID);
+        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 {
@@ -587,7 +546,7 @@ mod tests {
             assert_eq!(active_req.action_id, action_id);
             assert_eq!(
                 active_req.target_id(),
-                TargetAndApidId::new(TEST_APID, TEST_APID_TARGET_ID).raw()
+                UniqueApidTargetId::new(TEST_APID, TEST_UNIQUE_ID).raw()
             );
             assert_eq!(
                 active_req.token().request_id(),
@@ -606,14 +565,14 @@ mod tests {
         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_APID_TARGET_ID.to_be_bytes());
+        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_APID_TARGET_ID);
+        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 {
@@ -629,24 +588,26 @@ mod tests {
     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_APID_TARGET_ID, &[]);
+        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(req_id.into(), 0, reply);
+        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
+        testbench.verif_reporter.assert_full_completion_success(
-            .verif_reporter
+            TEST_COMPONENT_ID.raw(),
-            .assert_full_completion_success(&req_id, None);
+            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_APID_TARGET_ID, &[]);
+        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);
@@ -657,40 +618,48 @@ mod tests {
                 params: None,
             },
         );
-        let generic_reply = GenericMessage::new(req_id.into(), 0, reply);
+        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
+        testbench.verif_reporter.assert_completion_failure(
-            .verif_reporter
+            TEST_COMPONENT_ID.into(),
-            .assert_completion_failure(&req_id, None, error_code.raw() as u64);
+            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_APID_TARGET_ID, &[]);
+        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(req_id.into(), 0, reply);
+        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());
-        let verif_info = testbench.verif_reporter.verification_info(&req_id);
+        testbench.verif_reporter.check_next_was_added(req_id);
-        assert!(verif_info.is_some());
+        testbench
-        let verif_info = verif_info.unwrap();
+            .verif_reporter
-        assert!(verif_info.step_status.unwrap());
+            .check_next_is_acceptance_success(TEST_COMPONENT_ID.raw(), req_id);
-        assert_eq!(verif_info.step, 1);
+        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_APID_TARGET_ID, &[]);
+        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);
@@ -702,22 +671,28 @@ mod tests {
                 params: None,
             },
         );
-        let generic_reply = GenericMessage::new(req_id.into(), 0, reply);
+        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());
-        let verif_info = testbench.verif_reporter.verification_info(&req_id);
+        testbench.verif_reporter.check_next_was_added(req_id);
-        assert!(verif_info.is_some());
+        testbench
-        let verif_info = verif_info.unwrap();
+            .verif_reporter
-        assert!(!verif_info.step_status.unwrap());
+            .check_next_is_acceptance_success(TEST_COMPONENT_ID.raw(), req_id);
-        assert_eq!(verif_info.step, 1);
+        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(10_u32, 15_u64, action_reply);
+        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);
@@ -727,9 +702,18 @@ mod tests {
     #[test]
     fn reply_handling_reply_timeout() {
         let mut testbench = ReplyHandlerTestbench::new(ActionReplyHandler::default());
-        // TODO: Start a request, then time it out with the API and check verification completion
+        let action_id = 5_u32;
-        // failure.
+        let (req_id, active_request) = testbench.add_tc(TEST_APID, TEST_UNIQUE_ID, &[]);
-        // testbench.reply_handler.handle_request_timeout(active_request, verification_handler, time_stamp, tm_sender)
+        let result = testbench.handle_request_timeout(
-        // testbench.default_timeout = Duration::from_millis(50);
+            &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

@@ -1,114 +1,66 @@
 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::event_srv::PusEventServiceHandler;
-use satrs::pus::verification::std_mod::{
+use satrs::pus::verification::VerificationReporter;
-    VerificationReporterWithSharedPoolMpscBoundedSender, VerificationReporterWithVecMpscSender,
-};
-use satrs::pus::verification::VerificationReportingProvider;
 use satrs::pus::{
     EcssTcAndToken, EcssTcInMemConverter, EcssTcInSharedStoreConverter, EcssTcInVecConverter,
-    EcssTcReceiverCore, EcssTmSenderCore, MpscTcReceiver, PusPacketHandlerResult, PusServiceHelper,
+    EcssTmSenderCore, MpscTcReceiver, MpscTmAsVecSender, MpscTmInSharedPoolSenderBounded,
-    TmAsVecSenderWithId, TmAsVecSenderWithMpsc, TmInSharedPoolSenderWithBoundedMpsc,
+    PusPacketHandlerResult, PusServiceHelper, PusTmAsVec, PusTmInPool, TmInSharedPoolSender,
-    TmInSharedPoolSenderWithId,
 };
-use satrs::tmtc::tm_helper::SharedTmPool;
+use satrs_example::config::components::PUS_EVENT_MANAGEMENT;
-use satrs::ComponentId;
-use satrs_example::config::{ComponentIdList, PUS_APID};
 
 pub fn create_event_service_static(
-    shared_tm_store: SharedTmPool,
+    tm_sender: TmInSharedPoolSender<mpsc::SyncSender<PusTmInPool>>,
-    tm_funnel_tx: mpsc::SyncSender<StoreAddr>,
-    verif_reporter: VerificationReporterWithSharedPoolMpscBoundedSender,
     tc_pool: SharedStaticMemoryPool,
     pus_event_rx: mpsc::Receiver<EcssTcAndToken>,
     event_request_tx: mpsc::Sender<EventRequestWithToken>,
-) -> Pus5Wrapper<
+) -> EventServiceWrapper<MpscTmInSharedPoolSenderBounded, EcssTcInSharedStoreConverter> {
-    MpscTcReceiver,
+    let pus_5_handler = PusEventServiceHandler::new(
-    TmInSharedPoolSenderWithBoundedMpsc,
-    EcssTcInSharedStoreConverter,
-    VerificationReporterWithSharedPoolMpscBoundedSender,
-> {
-    let event_srv_tm_sender = TmInSharedPoolSenderWithId::new(
-        ComponentIdList::EventManagement as ComponentId,
-        "PUS_5_TM_SENDER",
-        shared_tm_store.clone(),
-        tm_funnel_tx.clone(),
-    );
-    let event_srv_receiver = MpscTcReceiver::new(
-        ComponentIdList::EventManagement as ComponentId,
-        "PUS_5_TC_RECV",
-        pus_event_rx,
-    );
-    let pus_5_handler = PusService5EventHandler::new(
         PusServiceHelper::new(
-            event_srv_receiver,
+            PUS_EVENT_MANAGEMENT.raw(),
-            event_srv_tm_sender,
+            pus_event_rx,
-            PUS_APID,
+            tm_sender,
-            verif_reporter.clone(),
+            create_verification_reporter(PUS_EVENT_MANAGEMENT.apid),
             EcssTcInSharedStoreConverter::new(tc_pool.clone(), 2048),
         ),
         event_request_tx,
     );
-    Pus5Wrapper {
+    EventServiceWrapper {
         handler: pus_5_handler,
     }
 }
 
 pub fn create_event_service_dynamic(
-    tm_funnel_tx: mpsc::Sender<Vec<u8>>,
+    tm_funnel_tx: mpsc::Sender<PusTmAsVec>,
-    verif_reporter: VerificationReporterWithVecMpscSender,
     pus_event_rx: mpsc::Receiver<EcssTcAndToken>,
     event_request_tx: mpsc::Sender<EventRequestWithToken>,
-) -> Pus5Wrapper<
+) -> EventServiceWrapper<MpscTmAsVecSender, EcssTcInVecConverter> {
-    MpscTcReceiver,
+    let pus_5_handler = PusEventServiceHandler::new(
-    TmAsVecSenderWithMpsc,
-    EcssTcInVecConverter,
-    VerificationReporterWithVecMpscSender,
-> {
-    let event_srv_tm_sender = TmAsVecSenderWithId::new(
-        ComponentIdList::EventManagement as ComponentId,
-        "PUS_5_TM_SENDER",
-        tm_funnel_tx,
-    );
-    let event_srv_receiver = MpscTcReceiver::new(
-        ComponentIdList::EventManagement as ComponentId,
-        "PUS_5_TC_RECV",
-        pus_event_rx,
-    );
-    let pus_5_handler = PusService5EventHandler::new(
         PusServiceHelper::new(
-            event_srv_receiver,
+            PUS_EVENT_MANAGEMENT.raw(),
-            event_srv_tm_sender,
+            pus_event_rx,
-            PUS_APID,
+            tm_funnel_tx,
-            verif_reporter.clone(),
+            create_verification_reporter(PUS_EVENT_MANAGEMENT.apid),
             EcssTcInVecConverter::default(),
         ),
         event_request_tx,
     );
-    Pus5Wrapper {
+    EventServiceWrapper {
         handler: pus_5_handler,
     }
 }
 
-pub struct Pus5Wrapper<
+pub struct EventServiceWrapper<TmSender: EcssTmSenderCore, TcInMemConverter: EcssTcInMemConverter> {
-    TcReceiver: EcssTcReceiverCore,
-    TmSender: EcssTmSenderCore,
-    TcInMemConverter: EcssTcInMemConverter,
-    VerificationReporter: VerificationReportingProvider,
-> {
     pub handler:
-        PusService5EventHandler<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>,
+        PusEventServiceHandler<MpscTcReceiver, TmSender, TcInMemConverter, VerificationReporter>,
 }
 
-impl<
+impl<TmSender: EcssTmSenderCore, TcInMemConverter: EcssTcInMemConverter>
-        TcReceiver: EcssTcReceiverCore,
+    EventServiceWrapper<TmSender, TcInMemConverter>
-        TmSender: EcssTmSenderCore,
-        TcInMemConverter: EcssTcInMemConverter,
-        VerificationReporter: VerificationReportingProvider,
-    > Pus5Wrapper<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>
 {
     pub fn poll_and_handle_next_tc(&mut self, time_stamp: &[u8]) -> bool {
         match self.handler.poll_and_handle_next_tc(time_stamp) {

satrs-example/src/pus/hk.rs

@@ -1,30 +1,28 @@
 use derive_new::new;
 use log::{error, warn};
 use satrs::hk::{CollectionIntervalFactor, HkRequest, HkRequestVariant, UniqueId};
-use satrs::pool::{SharedStaticMemoryPool, StoreAddr};
+use satrs::pool::SharedStaticMemoryPool;
 use satrs::pus::verification::{
-    FailParams, TcStateAccepted, TcStateStarted,
+    FailParams, TcStateAccepted, TcStateStarted, VerificationReporter,
-    VerificationReporterWithSharedPoolMpscBoundedSender, VerificationReporterWithVecMpscSender,
     VerificationReportingProvider, VerificationToken,
 };
 use satrs::pus::{
     ActivePusRequestStd, ActiveRequestProvider, DefaultActiveRequestMap, EcssTcAndToken,
-    EcssTcInMemConverter, EcssTcInSharedStoreConverter, EcssTcInVecConverter, EcssTcReceiverCore,
+    EcssTcInMemConverter, EcssTcInSharedStoreConverter, EcssTcInVecConverter, EcssTmSenderCore,
-    EcssTmSenderCore, EcssTmtcError, GenericConversionError, MpscTcReceiver,
+    EcssTmtcError, GenericConversionError, MpscTcReceiver, MpscTmAsVecSender,
-    PusPacketHandlerResult, PusReplyHandler, PusServiceHelper, PusTcToRequestConverter,
+    MpscTmInSharedPoolSenderBounded, PusPacketHandlerResult, PusReplyHandler, PusServiceHelper,
-    TmAsVecSenderWithId, TmAsVecSenderWithMpsc, TmInSharedPoolSenderWithBoundedMpsc,
+    PusTcToRequestConverter, PusTmAsVec, PusTmInPool, TmInSharedPoolSender,
-    TmInSharedPoolSenderWithId,
 };
-use satrs::request::{GenericMessage, 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::ComponentId;
-use satrs_example::config::{hk_err, tmtc_err, ComponentIdList, PUS_APID};
+use satrs_example::config::components::PUS_HK_SERVICE;
-use std::sync::mpsc::{self};
+use satrs_example::config::{hk_err, tmtc_err};
+use std::sync::mpsc;
 use std::time::Duration;
 
-use crate::pus::generic_pus_request_timeout_handler;
+use crate::pus::{create_verification_reporter, generic_pus_request_timeout_handler};
 use crate::requests::GenericRequestRouter;
 
 use super::PusTargetedRequestService;
@@ -48,7 +46,8 @@ impl PusReplyHandler<ActivePusRequestStd, HkReply> for HkReplyHandler {
 
     fn handle_unrequested_reply(
         &mut self,
-        reply: &satrs::request::GenericMessage<HkReply>,
+        _caller_id: ComponentId,
+        reply: &GenericMessage<HkReply>,
         _tm_sender: &impl EcssTmSenderCore,
     ) -> Result<(), Self::Error> {
         log::warn!("received unexpected reply for service 3: {reply:?}");
@@ -57,11 +56,12 @@ impl PusReplyHandler<ActivePusRequestStd, HkReply> for HkReplyHandler {
 
     fn handle_reply(
         &mut self,
-        reply: &satrs::request::GenericMessage<HkReply>,
+        caller_id: ComponentId,
+        reply: &GenericMessage<HkReply>,
         active_request: &ActivePusRequestStd,
+        tm_sender: &impl EcssTmSenderCore,
         verification_handler: &impl VerificationReportingProvider,
         time_stamp: &[u8],
-        _tm_sender: &impl EcssTmSenderCore,
     ) -> Result<bool, Self::Error> {
         let started_token: VerificationToken<TcStateStarted> = active_request
             .token()
@@ -70,8 +70,8 @@ impl PusReplyHandler<ActivePusRequestStd, HkReply> for HkReplyHandler {
         match reply.message.variant {
             HkReplyVariant::Ack => {
                 verification_handler
-                    .completion_success(started_token, time_stamp)
+                    .completion_success(caller_id, tm_sender, started_token, time_stamp)
-                    .expect("sending completio success verification failed");
+                    .expect("sending completion success verification failed");
             }
         };
         Ok(true)
@@ -79,12 +79,15 @@ impl PusReplyHandler<ActivePusRequestStd, HkReply> for HkReplyHandler {
 
     fn handle_request_timeout(
         &mut self,
+        caller_id: ComponentId,
         active_request: &ActivePusRequestStd,
+        tm_sender: &impl EcssTmSenderCore,
         verification_handler: &impl VerificationReportingProvider,
         time_stamp: &[u8],
-        _tm_sender: &impl EcssTmSenderCore,
     ) -> Result<(), Self::Error> {
         generic_pus_request_timeout_handler(
+            caller_id,
+            tm_sender,
             active_request,
             verification_handler,
             time_stamp,
@@ -111,10 +114,12 @@ impl PusTcToRequestConverter<ActivePusRequestStd, HkRequest> for HkRequestConver
 
     fn convert(
         &mut self,
+        caller_id: ComponentId,
         token: VerificationToken<TcStateAccepted>,
         tc: &PusTcReader,
-        time_stamp: &[u8],
+        tm_sender: &(impl EcssTmSenderCore + ?Sized),
         verif_reporter: &impl VerificationReportingProvider,
+        time_stamp: &[u8],
     ) -> Result<(ActivePusRequestStd, HkRequest), Self::Error> {
         let user_data = tc.user_data();
         if user_data.is_empty() {
@@ -122,6 +127,8 @@ impl PusTcToRequestConverter<ActivePusRequestStd, HkRequest> for HkRequestConver
             let user_data_len_raw = user_data_len.to_be_bytes();
             verif_reporter
                 .start_failure(
+                    caller_id,
+                    tm_sender,
                     token,
                     FailParams::new(
                         time_stamp,
@@ -144,7 +151,12 @@ impl PusTcToRequestConverter<ActivePusRequestStd, HkRequest> for HkRequestConver
             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(GenericConversionError::NotEnoughAppData {
                 expected: 8,
@@ -152,13 +164,15 @@ impl PusTcToRequestConverter<ActivePusRequestStd, HkRequest> for HkRequestConver
             });
         }
         let subservice = tc.subservice();
-        let target_id_and_apid = 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]),
                 )
@@ -167,10 +181,10 @@ impl PusTcToRequestConverter<ActivePusRequestStd, HkRequest> for HkRequestConver
         }
         let request = match standard_subservice.unwrap() {
             hk::Subservice::TcEnableHkGeneration | hk::Subservice::TcEnableDiagGeneration => {
-                HkRequest::new(unique_id, HkRequestVariant::Enable)
+                HkRequest::new(unique_id, HkRequestVariant::EnablePeriodic)
             }
             hk::Subservice::TcDisableHkGeneration | hk::Subservice::TcDisableDiagGeneration => {
-                HkRequest::new(unique_id, HkRequestVariant::Disable)
+                HkRequest::new(unique_id, HkRequestVariant::DisablePeriodic)
             }
             hk::Subservice::TcReportHkReportStructures => todo!(),
             hk::Subservice::TmHkPacket => todo!(),
@@ -182,6 +196,8 @@ impl PusTcToRequestConverter<ActivePusRequestStd, HkRequest> for HkRequestConver
                 if user_data.len() < 12 {
                     verif_reporter
                         .start_failure(
+                            caller_id,
+                            tm_sender,
                             token,
                             FailParams::new_no_fail_data(
                                 time_stamp,
@@ -206,6 +222,8 @@ impl PusTcToRequestConverter<ActivePusRequestStd, HkRequest> for HkRequestConver
             _ => {
                 verif_reporter
                     .start_failure(
+                        caller_id,
+                        tm_sender,
                         token,
                         FailParams::new(
                             time_stamp,
@@ -225,37 +243,18 @@ impl PusTcToRequestConverter<ActivePusRequestStd, HkRequest> for HkRequestConver
 }
 
 pub fn create_hk_service_static(
-    shared_tm_store: SharedTmPool,
+    tm_sender: TmInSharedPoolSender<mpsc::SyncSender<PusTmInPool>>,
-    tm_funnel_tx: mpsc::SyncSender<StoreAddr>,
-    verif_reporter: VerificationReporterWithSharedPoolMpscBoundedSender,
     tc_pool: SharedStaticMemoryPool,
     pus_hk_rx: mpsc::Receiver<EcssTcAndToken>,
     request_router: GenericRequestRouter,
     reply_receiver: mpsc::Receiver<GenericMessage<HkReply>>,
-) -> Pus3Wrapper<
+) -> HkServiceWrapper<MpscTmInSharedPoolSenderBounded, EcssTcInSharedStoreConverter> {
-    MpscTcReceiver,
-    TmInSharedPoolSenderWithBoundedMpsc,
-    EcssTcInSharedStoreConverter,
-    VerificationReporterWithSharedPoolMpscBoundedSender,
-> {
-    let hk_srv_tm_sender = TmInSharedPoolSenderWithId::new(
-        ComponentIdList::PusHk as ComponentId,
-        "PUS_3_TM_SENDER",
-        shared_tm_store.clone(),
-        tm_funnel_tx.clone(),
-    );
-    let hk_srv_receiver = MpscTcReceiver::new(
-        ComponentIdList::PusHk as ComponentId,
-        "PUS_8_TC_RECV",
-        pus_hk_rx,
-    );
     let pus_3_handler = PusTargetedRequestService::new(
-        ComponentIdList::PusHk as ComponentId,
         PusServiceHelper::new(
-            hk_srv_receiver,
+            PUS_HK_SERVICE.raw(),
-            hk_srv_tm_sender,
+            pus_hk_rx,
-            PUS_APID,
+            tm_sender,
-            verif_reporter.clone(),
+            create_verification_reporter(PUS_HK_SERVICE.apid),
             EcssTcInSharedStoreConverter::new(tc_pool, 2048),
         ),
         HkRequestConverter::default(),
@@ -264,40 +263,23 @@ pub fn create_hk_service_static(
         request_router,
         reply_receiver,
     );
-    Pus3Wrapper {
+    HkServiceWrapper {
         service: pus_3_handler,
     }
 }
 
 pub fn create_hk_service_dynamic(
-    tm_funnel_tx: mpsc::Sender<Vec<u8>>,
+    tm_funnel_tx: mpsc::Sender<PusTmAsVec>,
-    verif_reporter: VerificationReporterWithVecMpscSender,
     pus_hk_rx: mpsc::Receiver<EcssTcAndToken>,
     request_router: GenericRequestRouter,
     reply_receiver: mpsc::Receiver<GenericMessage<HkReply>>,
-) -> Pus3Wrapper<
+) -> HkServiceWrapper<MpscTmAsVecSender, EcssTcInVecConverter> {
-    MpscTcReceiver,
-    TmAsVecSenderWithMpsc,
-    EcssTcInVecConverter,
-    VerificationReporterWithVecMpscSender,
-> {
-    let hk_srv_tm_sender = TmAsVecSenderWithId::new(
-        ComponentIdList::PusHk as ComponentId,
-        "PUS_3_TM_SENDER",
-        tm_funnel_tx.clone(),
-    );
-    let hk_srv_receiver = MpscTcReceiver::new(
-        ComponentIdList::PusHk as ComponentId,
-        "PUS_8_TC_RECV",
-        pus_hk_rx,
-    );
     let pus_3_handler = PusTargetedRequestService::new(
-        ComponentIdList::PusHk as ComponentId,
         PusServiceHelper::new(
-            hk_srv_receiver,
+            PUS_HK_SERVICE.raw(),
-            hk_srv_tm_sender,
+            pus_hk_rx,
-            PUS_APID,
+            tm_funnel_tx,
-            verif_reporter.clone(),
+            create_verification_reporter(PUS_HK_SERVICE.apid),
             EcssTcInVecConverter::default(),
         ),
         HkRequestConverter::default(),
@@ -306,19 +288,14 @@ pub fn create_hk_service_dynamic(
         request_router,
         reply_receiver,
     );
-    Pus3Wrapper {
+    HkServiceWrapper {
         service: pus_3_handler,
     }
 }
 
-pub struct Pus3Wrapper<
+pub struct HkServiceWrapper<TmSender: EcssTmSenderCore, TcInMemConverter: EcssTcInMemConverter> {
-    TcReceiver: EcssTcReceiverCore,
-    TmSender: EcssTmSenderCore,
-    TcInMemConverter: EcssTcInMemConverter,
-    VerificationReporter: VerificationReportingProvider,
-> {
     pub(crate) service: PusTargetedRequestService<
-        TcReceiver,
+        MpscTcReceiver,
         TmSender,
         TcInMemConverter,
         VerificationReporter,
@@ -331,12 +308,8 @@ pub struct Pus3Wrapper<
     >,
 }
 
-impl<
+impl<TmSender: EcssTmSenderCore, TcInMemConverter: EcssTcInMemConverter>
-        TcReceiver: EcssTcReceiverCore,
+    HkServiceWrapper<TmSender, TcInMemConverter>
-        TmSender: EcssTmSenderCore,
-        TcInMemConverter: EcssTcInMemConverter,
-        VerificationReporter: VerificationReportingProvider,
-    > Pus3Wrapper<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>
 {
     pub fn poll_and_handle_next_tc(&mut self, time_stamp: &[u8]) -> bool {
         match self.service.poll_and_handle_next_tc(time_stamp) {
@@ -363,13 +336,12 @@ impl<
     }
 
     pub fn poll_and_handle_next_reply(&mut self, time_stamp: &[u8]) -> bool {
-        match self.service.poll_and_check_next_reply(time_stamp) {
+        self.service
-            Ok(packet_handled) => packet_handled,
+            .poll_and_check_next_reply(time_stamp)
-            Err(e) => {
+            .unwrap_or_else(|e| {
-                log::warn!("PUS 3: Handling reply failed with error {e:?}");
+                warn!("PUS 3: Handling reply failed with error {e:?}");
                 false
-            }
+            })
-        }
     }
 
     pub fn check_for_request_timeouts(&mut self) {
@@ -379,6 +351,8 @@ impl<
 
 #[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,
@@ -388,10 +362,11 @@ mod tests {
             SpHeader,
         },
     };
+    use satrs_example::config::tmtc_err;
 
     use crate::pus::{
         hk::HkReplyVariant,
-        tests::{PusConverterTestbench, ReplyHandlerTestbench, TEST_APID_TARGET_ID},
+        tests::{PusConverterTestbench, ReplyHandlerTestbench},
     };
 
     use super::{HkReply, HkReplyHandler, HkRequestConverter};
@@ -400,7 +375,7 @@ mod tests {
     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_APID_TARGET_ID;
+        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());
@@ -415,7 +390,7 @@ mod tests {
         );
         let accepted_token = hk_bench.add_tc(&hk_req);
         let (_active_req, req) = hk_bench
-            .convert(accepted_token, &[], TEST_APID, TEST_APID_TARGET_ID)
+            .convert(accepted_token, &[], TEST_APID, TEST_UNIQUE_ID)
             .expect("conversion failed");
 
         assert_eq!(req.unique_id, unique_id);
@@ -429,7 +404,7 @@ mod tests {
     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_APID_TARGET_ID;
+        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());
@@ -437,10 +412,10 @@ mod tests {
         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_APID_TARGET_ID)
+                .convert(accepted_token, &[], TEST_APID, TEST_UNIQUE_ID)
                 .expect("conversion failed");
             assert_eq!(req.unique_id, unique_id);
-            if let HkRequestVariant::Enable = req.variant {
+            if let HkRequestVariant::EnablePeriodic = req.variant {
             } else {
                 panic!("unexpected HK request")
             }
@@ -467,7 +442,7 @@ mod tests {
     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_APID_TARGET_ID;
+        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());
@@ -475,10 +450,10 @@ mod tests {
         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_APID_TARGET_ID)
+                .convert(accepted_token, &[], TEST_APID, TEST_UNIQUE_ID)
                 .expect("conversion failed");
             assert_eq!(req.unique_id, unique_id);
-            if let HkRequestVariant::Disable = req.variant {
+            if let HkRequestVariant::DisablePeriodic = req.variant {
             } else {
                 panic!("unexpected HK request")
             }
@@ -505,7 +480,7 @@ mod tests {
     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_APID_TARGET_ID;
+        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;
@@ -516,7 +491,7 @@ mod tests {
         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_APID_TARGET_ID)
+                .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 {
@@ -551,24 +526,23 @@ mod tests {
         let unique_id = 5_u32;
         let (req_id, active_req) = reply_testbench.add_tc(TEST_APID, apid_target_id, &[]);
         let reply = GenericMessage::new(
-            req_id.into(),
+            MessageMetadata::new(req_id.into(), sender_id),
-            sender_id,
             HkReply::new(unique_id, HkReplyVariant::Ack),
         );
         let result = reply_testbench.handle_reply(&reply, &active_req, &[]);
         assert!(result.is_ok());
         assert!(result.unwrap());
-        assert!(reply_testbench
+        reply_testbench
             .verif_reporter
-            .completion_status(&req_id)
+            .assert_full_completion_success(TEST_COMPONENT_ID.raw(), req_id, None);
-            .unwrap());
     }
 
     #[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(10_u32, 15_u64, action_reply);
+        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);
@@ -578,9 +552,14 @@ mod tests {
     #[test]
     fn reply_handling_reply_timeout() {
         let mut testbench = ReplyHandlerTestbench::new(HkReplyHandler::default());
-        // TODO: Start a request, then time it out with the API and check verification completion
+        let (req_id, active_request) = testbench.add_tc(TEST_APID, TEST_UNIQUE_ID, &[]);
-        // failure.
+        let result = testbench.handle_request_timeout(&active_request, &[]);
-        // testbench.reply_handler.handle_request_timeout(active_request, verification_handler, time_stamp, tm_sender)
+        assert!(result.is_ok());
-        // testbench.default_timeout = Duration::from_millis(50);
+        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

@@ -2,8 +2,8 @@ use crate::requests::GenericRequestRouter;
 use crate::tmtc::MpscStoreAndSendError;
 use log::warn;
 use satrs::pus::verification::{
-    self, FailParams, TcStateAccepted, TcStateStarted, VerificationReportingProvider,
+    self, FailParams, TcStateAccepted, TcStateStarted, VerificationReporter,
-    VerificationToken,
+    VerificationReporterCfg, VerificationReportingProvider, VerificationToken,
 };
 use satrs::pus::{
     ActiveRequestMapProvider, ActiveRequestProvider, EcssTcAndToken, EcssTcInMemConverter,
@@ -12,13 +12,13 @@ use satrs::pus::{
     PusRequestRouter, PusServiceHelper, PusTcToRequestConverter, TcInMemory,
 };
 use satrs::queue::GenericReceiveError;
-use satrs::request::GenericMessage;
+use satrs::request::{Apid, GenericMessage, MessageMetadata};
 use satrs::spacepackets::ecss::tc::PusTcReader;
 use satrs::spacepackets::ecss::PusServiceId;
-use satrs::spacepackets::time::cds::TimeProvider;
-use satrs::spacepackets::time::TimeWriter;
 use satrs::ComponentId;
+use satrs_example::config::components::PUS_ROUTING_SERVICE;
 use satrs_example::config::{tmtc_err, CustomPusServiceId};
+use satrs_example::TimeStampHelper;
 use std::fmt::Debug;
 use std::sync::mpsc::{self, Sender};
 
@@ -30,58 +30,125 @@ pub mod scheduler;
 pub mod stack;
 pub mod test;
 
-/// Simple router structure which forwards PUS telecommands to dedicated handlers.
+pub fn create_verification_reporter(apid: Apid) -> VerificationReporter {
-pub struct PusTcMpscRouter {
+    let verif_cfg = VerificationReporterCfg::new(apid, 1, 2, 8).unwrap();
-    pub test_service_receiver: Sender<EcssTcAndToken>,
+    // Every software component which needs to generate verification telemetry, gets a cloned
-    pub event_service_receiver: Sender<EcssTcAndToken>,
+    // verification reporter.
-    pub sched_service_receiver: Sender<EcssTcAndToken>,
+    VerificationReporter::new(&verif_cfg)
-    pub hk_service_receiver: Sender<EcssTcAndToken>,
-    pub action_service_receiver: Sender<EcssTcAndToken>,
 }
 
-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 {
+impl<TmSender: EcssTmSenderCore> PusReceiver<TmSender> {
-    stamper: TimeProvider,
+    pub fn new(tm_sender: TmSender, pus_router: PusTcMpscRouter) -> Self {
-    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: TimeProvider::from_now_with_u16_days().expect("creating time stamper failed"),
+            id: PUS_ROUTING_SERVICE.raw(),
-            time_stamp: Default::default(),
+            tm_sender,
-        }
+            verif_reporter: create_verification_reporter(PUS_ROUTING_SERVICE.apid),
-    }
-}
-
-impl<VerificationReporter: VerificationReportingProvider> PusReceiver<VerificationReporter> {
-    pub fn new(verif_reporter: VerificationReporter, pus_router: PusTcMpscRouter) -> Self {
-        Self {
-            verif_reporter,
             pus_router,
             stamp_helper: TimeStampHelper::default(),
         }
     }
+
+    pub fn handle_tc_packet(
+        &mut self,
+        tc_in_memory: TcInMemory,
+        service: u8,
+        pus_tc: &PusTcReader,
+    ) -> Result<PusPacketHandlerResult, MpscStoreAndSendError> {
+        let init_token = self.verif_reporter.add_tc(pus_tc);
+        self.stamp_helper.update_from_now();
+        let accepted_token = self
+            .verif_reporter
+            .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_tc_sender.send(EcssTcAndToken {
+                    tc_in_memory,
+                    token: Some(accepted_token.into()),
+                })?,
+                PusServiceId::Housekeeping => {
+                    self.pus_router.hk_tc_sender.send(EcssTcAndToken {
+                        tc_in_memory,
+                        token: Some(accepted_token.into()),
+                    })?
+                }
+                PusServiceId::Event => self.pus_router.event_tc_sender.send(EcssTcAndToken {
+                    tc_in_memory,
+                    token: Some(accepted_token.into()),
+                })?,
+                PusServiceId::Scheduling => {
+                    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(),
+                            &tmtc_err::PUS_SERVICE_NOT_IMPLEMENTED,
+                            &[standard_service as u8],
+                        ),
+                    );
+                    if result.is_err() {
+                        warn!("Sending verification failure failed");
+                    }
+                }
+            },
+            Err(e) => {
+                if let Ok(custom_service) = CustomPusServiceId::try_from(e.number) {
+                    match custom_service {
+                        CustomPusServiceId::Mode => {
+                            // TODO: Fix mode service.
+                            //self.handle_mode_service(pus_tc, accepted_token)
+                        }
+                        CustomPusServiceId::Health => {}
+                    }
+                } else {
+                    self.verif_reporter
+                        .start_failure(
+                            self.id,
+                            &self.tm_sender,
+                            accepted_token,
+                            FailParams::new(
+                                self.stamp_helper.stamp(),
+                                &tmtc_err::INVALID_PUS_SUBSERVICE,
+                                &[e.number],
+                            ),
+                        )
+                        .expect("Start failure verification failed")
+                }
+            }
+        }
+        Ok(PusPacketHandlerResult::RequestHandled)
+    }
 }
 
 pub trait TargetedPusService {
@@ -123,7 +190,6 @@ pub struct PusTargetedRequestService<
     RequestType,
     ReplyType,
 > {
-    pub id: ComponentId,
     pub service_helper:
         PusServiceHelper<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>,
     pub request_router: GenericRequestRouter,
@@ -162,7 +228,6 @@ where
     GenericRequestRouter: PusRequestRouter<RequestType, Error = GenericRoutingError>,
 {
     pub fn new(
-        id: ComponentId,
         service_helper: PusServiceHelper<
             TcReceiver,
             TmSender,
@@ -176,7 +241,6 @@ where
         reply_receiver: mpsc::Receiver<GenericMessage<ReplyType>>,
     ) -> Self {
         Self {
-            id,
             service_helper,
             request_converter,
             active_request_map,
@@ -201,10 +265,12 @@ where
             .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,
-            time_stamp,
+            self.service_helper.tm_sender(),
             &self.service_helper.common.verif_reporter,
+            time_stamp,
         ) {
             Ok((info, req)) => (info, req),
             Err(e) => {
@@ -218,8 +284,7 @@ where
             .expect("token not in expected accepted state");
         let verif_request_id = verification::RequestId::new(&tc).raw();
         match self.request_router.route(
-            verif_request_id,
+            MessageMetadata::new(verif_request_id, self.service_helper.id()),
-            self.id,
             request_info.target_id(),
             request,
         ) {
@@ -227,7 +292,12 @@ where
                 let started_token = self
                     .service_helper
                     .verif_reporter()
-                    .start_success(accepted_token, time_stamp)
+                    .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
@@ -238,8 +308,9 @@ where
                     &request_info,
                     &tc,
                     e.clone(),
-                    time_stamp,
+                    self.service_helper.tm_sender(),
                     self.service_helper.verif_reporter(),
+                    time_stamp,
                 );
                 return Err(e.into());
             }
@@ -259,6 +330,8 @@ where
                 self.service_helper
                     .verif_reporter()
                     .completion_failure(
+                        self.service_helper.id(),
+                        self.service_helper.tm_sender(),
                         token,
                         FailParams::new(time_stamp, &tmtc_err::INVALID_PUS_SERVICE, &service_slice),
                     )
@@ -269,6 +342,8 @@ where
                 self.service_helper
                     .verif_reporter()
                     .completion_failure(
+                        self.service_helper.id(),
+                        self.service_helper.tm_sender(),
                         token,
                         FailParams::new(
                             time_stamp,
@@ -284,6 +359,8 @@ where
                 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),
                     )
@@ -314,25 +391,29 @@ where
         reply: &GenericMessage<ReplyType>,
         time_stamp: &[u8],
     ) -> Result<(), EcssTmtcError> {
-        let active_req_opt = self.active_request_map.get(reply.request_id);
+        let active_req_opt = self.active_request_map.get(reply.request_id());
         if active_req_opt.is_none() {
-            self.reply_handler
+            self.reply_handler.handle_unrequested_reply(
-                .handle_unrequested_reply(reply, &self.service_helper.common.tm_sender)?;
+                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,
-                &self.service_helper.common.tm_sender,
             )
             .unwrap_or(false);
         if request_finished {
-            self.active_request_map.remove(reply.request_id);
+            self.active_request_map.remove(reply.request_id());
         }
         Ok(())
     }
@@ -356,6 +437,8 @@ where
 /// 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],
@@ -366,118 +449,27 @@ pub fn generic_pus_request_timeout_handler(
         .token()
         .try_into()
         .expect("token not in expected started state");
-    verification_handler
+    verification_handler.completion_failure(
-        .completion_failure(
+        sender_id,
-            started_token,
+        sender,
-            FailParams::new(
+        started_token,
-                time_stamp,
+        FailParams::new(time_stamp, &tmtc_err::REQUEST_TIMEOUT, &[]),
-                &satrs_example::config::tmtc_err::REQUEST_TIMEOUT,
+    )?;
-                &[],
-            ),
-        )
-        .map_err(|e| e.0)?;
     Ok(())
 }
 
-impl<VerificationReporter: VerificationReportingProvider> PusReceiver<VerificationReporter> {
-    pub fn handle_tc_packet(
-        &mut self,
-        tc_in_memory: TcInMemory,
-        service: u8,
-        pus_tc: &PusTcReader,
-    ) -> Result<PusPacketHandlerResult, MpscStoreAndSendError> {
-        let init_token = self.verif_reporter.add_tc(pus_tc);
-        self.stamp_helper.update_from_now();
-        let accepted_token = self
-            .verif_reporter
-            .acceptance_success(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 {
-                        tc_in_memory,
-                        token: Some(accepted_token.into()),
-                    })?
-                }
-                PusServiceId::Housekeeping => {
-                    self.pus_router.hk_service_receiver.send(EcssTcAndToken {
-                        tc_in_memory,
-                        token: Some(accepted_token.into()),
-                    })?
-                }
-                PusServiceId::Event => {
-                    self.pus_router
-                        .event_service_receiver
-                        .send(EcssTcAndToken {
-                            tc_in_memory,
-                            token: Some(accepted_token.into()),
-                        })?
-                }
-                PusServiceId::Scheduling => {
-                    self.pus_router
-                        .sched_service_receiver
-                        .send(EcssTcAndToken {
-                            tc_in_memory,
-                            token: Some(accepted_token.into()),
-                        })?
-                }
-                _ => {
-                    let result = self.verif_reporter.start_failure(
-                        accepted_token,
-                        FailParams::new(
-                            self.stamp_helper.stamp(),
-                            &tmtc_err::PUS_SERVICE_NOT_IMPLEMENTED,
-                            &[standard_service as u8],
-                        ),
-                    );
-                    if result.is_err() {
-                        warn!("Sending verification failure failed");
-                    }
-                }
-            },
-            Err(e) => {
-                if let Ok(custom_service) = CustomPusServiceId::try_from(e.number) {
-                    match custom_service {
-                        CustomPusServiceId::Mode => {
-                            // TODO: Fix mode service.
-                            //self.handle_mode_service(pus_tc, accepted_token)
-                        }
-                        CustomPusServiceId::Health => {}
-                    }
-                } else {
-                    self.verif_reporter
-                        .start_failure(
-                            accepted_token,
-                            FailParams::new(
-                                self.stamp_helper.stamp(),
-                                &tmtc_err::INVALID_PUS_SUBSERVICE,
-                                &[e.number],
-                            ),
-                        )
-                        .expect("Start failure verification failed")
-                }
-            }
-        }
-        Ok(PusPacketHandlerResult::RequestHandled)
-    }
-}
-
 #[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::{
+            verification::test_util::TestVerificationReporter, ActivePusRequestStd,
-                test_util::{SharedVerificationMap, TestVerificationReporter},
+            ActiveRequestMapProvider, EcssTcInVecConverter, MpscTcReceiver,
-                VerificationReporterWithVecMpscSender,
-            },
-            ActivePusRequestStd, ActiveRequestMapProvider, EcssTcInVecConverter, MpscTcReceiver,
-            TmAsVecSenderWithMpsc,
         },
-        request::TargetAndApidId,
+        request::UniqueApidTargetId,
         spacepackets::{
             ecss::{
                 tc::{PusTcCreator, PusTcSecondaryHeader},
@@ -491,22 +483,18 @@ pub(crate) mod tests {
 
     use super::*;
 
-    pub const TEST_APID: u16 = 0x23;
-    pub const TEST_APID_TARGET_ID: u32 = 5;
-    pub const TARGET_ID: TargetAndApidId = TargetAndApidId::new(TEST_APID, TEST_APID_TARGET_ID);
-
     // Testbench dedicated to the testing of [PusReplyHandler]s
     pub struct ReplyHandlerTestbench<
         ReplyHandler: PusReplyHandler<ActiveRequestInfo, Reply, Error = EcssTmtcError>,
         ActiveRequestInfo: ActiveRequestProvider,
         Reply,
     > {
-        pub shared_verif_map: SharedVerificationMap,
+        pub id: ComponentId,
         pub verif_reporter: TestVerificationReporter,
         pub reply_handler: ReplyHandler,
-        pub tm_receiver: mpsc::Receiver<Vec<u8>>,
+        pub tm_receiver: mpsc::Receiver<PusTmAsVec>,
         pub default_timeout: Duration,
-        tm_sender: TmAsVecSenderWithMpsc,
+        tm_sender: MpscTmAsVecSender,
         phantom: std::marker::PhantomData<(ActiveRequestInfo, Reply)>,
     }
 
@@ -517,15 +505,14 @@ pub(crate) mod tests {
         > ReplyHandlerTestbench<ReplyHandler, ActiveRequestInfo, Reply>
     {
         pub fn new(reply_handler: ReplyHandler) -> Self {
-            let shared_verif_map = SharedVerificationMap::default();
+            let test_verif_reporter = TestVerificationReporter::default();
-            let test_verif_reporter = TestVerificationReporter::new(shared_verif_map.clone());
             let (tm_sender, tm_receiver) = mpsc::channel();
             Self {
-                shared_verif_map,
+                id: TEST_COMPONENT_ID.raw(),
                 verif_reporter: test_verif_reporter,
                 reply_handler,
                 default_timeout: Duration::from_secs(30),
-                tm_sender: TmAsVecSenderWithMpsc::new(0, "TEST_SENDER", tm_sender),
+                tm_sender,
                 tm_receiver,
                 phantom: std::marker::PhantomData,
             }
@@ -547,16 +534,16 @@ pub(crate) mod tests {
             ));
             let accepted = self
                 .verif_reporter
-                .acceptance_success(init, time_stamp)
+                .acceptance_success(self.id, &self.tm_sender, init, time_stamp)
                 .expect("acceptance failed");
             let started = self
                 .verif_reporter
-                .start_success(accepted, time_stamp)
+                .start_success(self.id, &self.tm_sender, accepted, time_stamp)
                 .expect("start failed");
             (
                 started.request_id(),
                 ActivePusRequestStd::new(
-                    TargetAndApidId::new(apid, apid_target).raw(),
+                    UniqueApidTargetId::new(apid, apid_target).raw(),
                     started,
                     self.default_timeout,
                 ),
@@ -570,11 +557,12 @@ pub(crate) mod tests {
             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,
-                &self.tm_sender,
             )
         }
 
@@ -583,7 +571,32 @@ pub(crate) mod tests {
             reply: &GenericMessage<Reply>,
         ) -> Result<(), ReplyHandler::Error> {
             self.reply_handler
-                .handle_unrequested_reply(reply, &self.tm_sender)
+                .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(())
         }
     }
 
@@ -593,9 +606,10 @@ pub(crate) mod tests {
         ActiveRequestInfo: ActiveRequestProvider,
         Request,
     > {
-        pub shared_verif_map: SharedVerificationMap,
+        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)>,
@@ -608,12 +622,12 @@ pub(crate) mod tests {
         > PusConverterTestbench<Converter, ActiveRequestInfo, Request>
     {
         pub fn new(converter: Converter) -> Self {
-            let shared_verif_map = SharedVerificationMap::default();
+            let test_verif_reporter = TestVerificationReporter::default();
-            let test_verif_reporter = TestVerificationReporter::new(shared_verif_map.clone());
             Self {
-                shared_verif_map,
+                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,
@@ -625,7 +639,7 @@ pub(crate) mod tests {
             self.current_request_id = Some(verification::RequestId::new(tc));
             self.current_packet = Some(tc.to_vec().unwrap());
             self.verif_reporter
-                .acceptance_success(token, &[])
+                .acceptance_success(self.id, &self.dummy_sender, token, &[])
                 .expect("acceptance failed")
         }
 
@@ -647,16 +661,21 @@ pub(crate) mod tests {
             }
             let current_packet = self.current_packet.take().unwrap();
             let tc_reader = PusTcReader::new(&current_packet).unwrap();
-            let (active_info, request) =
+            let (active_info, request) = self.converter.convert(
-                self.converter
+                self.id,
-                    .convert(token, &tc_reader.0, time_stamp, &self.verif_reporter)?;
+                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(),
-                TargetAndApidId::new(expected_apid, expected_apid_target).raw()
+                UniqueApidTargetId::new(expected_apid, expected_apid_target).raw()
             );
             Ok((active_info, request))
         }
@@ -672,9 +691,9 @@ pub(crate) mod tests {
     > {
         pub service: PusTargetedRequestService<
             MpscTcReceiver,
-            TmAsVecSenderWithMpsc,
+            MpscTmAsVecSender,
             EcssTcInVecConverter,
-            VerificationReporterWithVecMpscSender,
+            TestVerificationReporter,
             RequestConverter,
             ReplyHandler,
             ActiveRequestMap,
@@ -682,8 +701,7 @@ pub(crate) mod tests {
             RequestType,
             ReplyType,
         >,
-        pub verif_reporter: VerificationReporterWithVecMpscSender,
+        pub tm_funnel_rx: mpsc::Receiver<PusTmAsVec>,
-        pub tm_funnel_rx: mpsc::Receiver<Vec<u8>>,
         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

@@ -1,5 +1,16 @@
+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::{
@@ -9,9 +20,9 @@ use satrs::{
             VerificationToken,
         },
         ActivePusRequestStd, ActiveRequestProvider, EcssTmSenderCore, EcssTmtcError,
-        GenericConversionError, PusReplyHandler, PusTcToRequestConverter, PusTmWrapper,
+        GenericConversionError, PusReplyHandler, PusTcToRequestConverter, PusTmVariant,
     },
-    request::TargetAndApidId,
+    request::UniqueApidTargetId,
     spacepackets::{
         ecss::{
             tc::PusTcReader,
@@ -20,10 +31,15 @@ use satrs::{
         },
         SpHeader,
     },
+    ComponentId,
 };
+use satrs_example::config::components::PUS_MODE_SERVICE;
 use satrs_example::config::{mode_err, tmtc_err};
 
-use super::generic_pus_request_timeout_handler;
+use super::{
+    create_verification_reporter, generic_pus_request_timeout_handler, PusTargetedRequestService,
+    TargetedPusService,
+};
 
 #[derive(Default)]
 pub struct ModeReplyHandler {}
@@ -33,7 +49,8 @@ impl PusReplyHandler<ActivePusRequestStd, ModeReply> for ModeReplyHandler {
 
     fn handle_unrequested_reply(
         &mut self,
-        reply: &satrs::request::GenericMessage<ModeReply>,
+        _caller_id: ComponentId,
+        reply: &GenericMessage<ModeReply>,
         _tm_sender: &impl EcssTmSenderCore,
     ) -> Result<(), Self::Error> {
         log::warn!("received unexpected reply for mode service 5: {reply:?}");
@@ -42,30 +59,24 @@ impl PusReplyHandler<ActivePusRequestStd, ModeReply> for ModeReplyHandler {
 
     fn handle_reply(
         &mut self,
-        reply: &satrs::request::GenericMessage<ModeReply>,
+        caller_id: ComponentId,
+        reply: &GenericMessage<ModeReply>,
         active_request: &ActivePusRequestStd,
+        tm_sender: &impl EcssTmSenderCore,
         verification_handler: &impl VerificationReportingProvider,
         time_stamp: &[u8],
-        tm_sender: &impl EcssTmSenderCore,
     ) -> Result<bool, Self::Error> {
         let started_token: VerificationToken<TcStateStarted> = active_request
             .token()
             .try_into()
             .expect("invalid token state");
         match reply.message {
-            ModeReply::ModeInfo(info) => {
-                log::warn!(
-                    "received unrequest mode information for active request {:?}: {:?}",
-                    active_request,
-                    info
-                );
-            }
             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 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(
@@ -76,18 +87,21 @@ impl PusReplyHandler<ActivePusRequestStd, ModeReply> for ModeReplyHandler {
                     Some(time_stamp),
                 );
                 let pus_tm = PusTmCreator::new(&mut sp_header, sec_header, &source_data, true);
-                tm_sender.send_tm(PusTmWrapper::Direct(pus_tm))?;
+                tm_sender.send_tm(caller_id, PusTmVariant::Direct(pus_tm))?;
-                verification_handler
+                verification_handler.completion_success(
-                    .completion_success(started_token, time_stamp)
+                    caller_id,
-                    .map_err(|e| e.0)?;
+                    tm_sender,
+                    started_token,
+                    time_stamp,
+                )?;
             }
             ModeReply::CantReachMode(error_code) => {
-                verification_handler
+                verification_handler.completion_failure(
-                    .completion_failure(
+                    caller_id,
-                        started_token,
+                    tm_sender,
-                        FailParams::new(time_stamp, &error_code, &[]),
+                    started_token,
-                    )
+                    FailParams::new(time_stamp, &error_code, &[]),
-                    .map_err(|e| e.0)?;
+                )?;
             }
             ModeReply::WrongMode { expected, reached } => {
                 let mut error_info: [u8; 24] = [0; 24];
@@ -97,16 +111,16 @@ impl PusReplyHandler<ActivePusRequestStd, ModeReply> for ModeReplyHandler {
                 written_len += reached
                     .write_to_be_bytes(&mut error_info[ModeAndSubmode::RAW_LEN..])
                     .expect("writing reached mode failed");
-                verification_handler
+                verification_handler.completion_failure(
-                    .completion_failure(
+                    caller_id,
-                        started_token,
+                    tm_sender,
-                        FailParams::new(
+                    started_token,
-                            time_stamp,
+                    FailParams::new(
-                            &mode_err::WRONG_MODE,
+                        time_stamp,
-                            &error_info[..written_len],
+                        &mode_err::WRONG_MODE,
-                        ),
+                        &error_info[..written_len],
-                    )
+                    ),
-                    .map_err(|e| e.0)?;
+                )?;
             }
         };
         Ok(true)
@@ -114,12 +128,15 @@ impl PusReplyHandler<ActivePusRequestStd, ModeReply> for ModeReplyHandler {
 
     fn handle_request_timeout(
         &mut self,
+        caller_id: ComponentId,
         active_request: &ActivePusRequestStd,
+        tm_sender: &impl EcssTmSenderCore,
         verification_handler: &impl VerificationReportingProvider,
         time_stamp: &[u8],
-        _tm_sender: &impl EcssTmSenderCore,
     ) -> Result<(), Self::Error> {
         generic_pus_request_timeout_handler(
+            caller_id,
+            tm_sender,
             active_request,
             verification_handler,
             time_stamp,
@@ -137,16 +154,21 @@ impl PusTcToRequestConverter<ActivePusRequestStd, ModeRequest> for ModeRequestCo
 
     fn convert(
         &mut self,
+
+        caller_id: ComponentId,
         token: VerificationToken<TcStateAccepted>,
         tc: &PusTcReader,
-        time_stamp: &[u8],
+        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),
                 )
@@ -159,7 +181,7 @@ impl PusTcToRequestConverter<ActivePusRequestStd, ModeRequest> for ModeRequestCo
         if user_data.len() < core::mem::size_of::<u32>() {
             return not_enough_app_data(4);
         }
-        let target_id_and_apid = TargetAndApidId::from_pus_tc(tc).unwrap();
+        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);
@@ -167,6 +189,8 @@ impl PusTcToRequestConverter<ActivePusRequestStd, ModeRequest> for ModeRequestCo
             // Invalid subservice
             verif_reporter
                 .start_failure(
+                    caller_id,
+                    tm_sender,
                     token,
                     FailParams::new_no_fail_data(time_stamp, &tmtc_err::INVALID_PUS_SUBSERVICE),
                 )
@@ -196,8 +220,117 @@ impl PusTcToRequestConverter<ActivePusRequestStd, ModeRequest> for ModeRequestCo
     }
 }
 
+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,
@@ -207,10 +340,11 @@ mod tests {
             SpHeader,
         },
     };
+    use satrs_example::config::tmtc_err;
 
     use crate::pus::{
         mode::ModeReplyHandler,
-        tests::{PusConverterTestbench, ReplyHandlerTestbench, TEST_APID, TEST_APID_TARGET_ID},
+        tests::{PusConverterTestbench, ReplyHandlerTestbench},
     };
 
     use super::ModeRequestConverter;
@@ -221,11 +355,11 @@ mod tests {
         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_APID_TARGET_ID.to_be_bytes());
+        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_APID_TARGET_ID)
+            .convert(token, &[], TEST_APID, TEST_UNIQUE_ID)
             .expect("conversion has failed");
         assert_eq!(req, ModeRequest::ReadMode);
     }
@@ -237,14 +371,14 @@ mod tests {
         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_APID_TARGET_ID.to_be_bytes());
+        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_APID_TARGET_ID)
+            .convert(token, &[], TEST_APID, TEST_UNIQUE_ID)
             .expect("conversion has failed");
         assert_eq!(req, ModeRequest::SetMode(mode_and_submode));
     }
@@ -255,11 +389,11 @@ mod tests {
         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_APID_TARGET_ID.to_be_bytes());
+        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_APID_TARGET_ID)
+            .convert(token, &[], TEST_APID, TEST_UNIQUE_ID)
             .expect("conversion has failed");
         assert_eq!(req, ModeRequest::AnnounceMode);
     }
@@ -271,11 +405,11 @@ mod tests {
         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_APID_TARGET_ID.to_be_bytes());
+        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_APID_TARGET_ID)
+            .convert(token, &[], TEST_APID, TEST_UNIQUE_ID)
             .expect("conversion has failed");
         assert_eq!(req, ModeRequest::AnnounceModeRecursive);
     }
@@ -283,8 +417,9 @@ mod tests {
     #[test]
     fn reply_handling_unrequested_reply() {
         let mut testbench = ReplyHandlerTestbench::new(ModeReplyHandler::default());
-        let mode_reply = ModeReply::ModeInfo(ModeAndSubmode::new(5, 1));
+        let mode_reply = ModeReply::ModeReply(ModeAndSubmode::new(5, 1));
-        let unrequested_reply = GenericMessage::new(10_u32, 15_u64, mode_reply);
+        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);
@@ -294,9 +429,14 @@ mod tests {
     #[test]
     fn reply_handling_reply_timeout() {
         let mut testbench = ReplyHandlerTestbench::new(ModeReplyHandler::default());
-        // TODO: Start a request, then time it out with the API and check verification completion
+        let (req_id, active_request) = testbench.add_tc(TEST_APID, TEST_UNIQUE_ID, &[]);
-        // failure.
+        let result = testbench.handle_request_timeout(&active_request, &[]);
-        // testbench.reply_handler.handle_request_timeout(active_request, verification_handler, time_stamp, tm_sender)
+        assert!(result.is_ok());
-        // testbench.default_timeout = Duration::from_millis(50);
+        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::scheduler_srv::PusSchedServiceHandler;
-use satrs::pus::verification::std_mod::{
+use satrs::pus::verification::VerificationReporter;
-    VerificationReporterWithSharedPoolMpscBoundedSender, VerificationReporterWithVecMpscSender,
-};
-use satrs::pus::verification::VerificationReportingProvider;
 use satrs::pus::{
     EcssTcAndToken, EcssTcInMemConverter, EcssTcInSharedStoreConverter, EcssTcInVecConverter,
-    EcssTcReceiverCore, EcssTmSenderCore, MpscTcReceiver, PusPacketHandlerResult, PusServiceHelper,
+    EcssTmSenderCore, MpscTcReceiver, MpscTmAsVecSender, MpscTmInSharedPoolSenderBounded,
-    TmAsVecSenderWithId, TmAsVecSenderWithMpsc, TmInSharedPoolSenderWithBoundedMpsc,
+    PusPacketHandlerResult, PusServiceHelper, PusTmAsVec, PusTmInPool, TmInSharedPoolSender,
-    TmInSharedPoolSenderWithId,
 };
-use satrs::tmtc::tm_helper::SharedTmPool;
+use satrs_example::config::components::PUS_SCHED_SERVICE;
-use satrs::ComponentId;
-use satrs_example::config::{ComponentIdList, PUS_APID};
 
 use crate::tmtc::PusTcSourceProviderSharedPool;
 
@@ -55,14 +50,12 @@ impl TcReleaser for mpsc::Sender<Vec<u8>> {
     }
 }
 
-pub struct Pus11Wrapper<
+pub struct SchedulingServiceWrapper<
-    TcReceiver: EcssTcReceiverCore,
     TmSender: EcssTmSenderCore,
     TcInMemConverter: EcssTcInMemConverter,
-    VerificationReporter: VerificationReportingProvider,
 > {
-    pub pus_11_handler: PusService11SchedHandler<
+    pub pus_11_handler: PusSchedServiceHandler<
-        TcReceiver,
+        MpscTcReceiver,
         TmSender,
         TcInMemConverter,
         VerificationReporter,
@@ -73,12 +66,8 @@ pub struct Pus11Wrapper<
     pub tc_releaser: Box<dyn TcReleaser + Send>,
 }
 
-impl<
+impl<TmSender: EcssTmSenderCore, TcInMemConverter: EcssTcInMemConverter>
-        TcReceiver: EcssTcReceiverCore,
+    SchedulingServiceWrapper<TmSender, TcInMemConverter>
-        TmSender: EcssTmSenderCore,
-        TcInMemConverter: EcssTcInMemConverter,
-        VerificationReporter: VerificationReportingProvider,
-    > Pus11Wrapper<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>
 {
     pub fn release_tcs(&mut self) {
         let releaser = |enabled: bool, info: &TcInfo, tc: &[u8]| -> bool {
@@ -132,42 +121,24 @@ impl<
 }
 
 pub fn create_scheduler_service_static(
-    shared_tm_store: SharedTmPool,
+    tm_sender: TmInSharedPoolSender<mpsc::SyncSender<PusTmInPool>>,
-    tm_funnel_tx: mpsc::SyncSender<StoreAddr>,
-    verif_reporter: VerificationReporterWithSharedPoolMpscBoundedSender,
     tc_releaser: PusTcSourceProviderSharedPool,
     pus_sched_rx: mpsc::Receiver<EcssTcAndToken>,
     sched_tc_pool: StaticMemoryPool,
-) -> Pus11Wrapper<
+) -> SchedulingServiceWrapper<MpscTmInSharedPoolSenderBounded, EcssTcInSharedStoreConverter> {
-    MpscTcReceiver,
-    TmInSharedPoolSenderWithBoundedMpsc,
-    EcssTcInSharedStoreConverter,
-    VerificationReporterWithSharedPoolMpscBoundedSender,
-> {
-    let sched_srv_tm_sender = TmInSharedPoolSenderWithId::new(
-        ComponentIdList::PusSched as ComponentId,
-        "PUS_11_TM_SENDER",
-        shared_tm_store.clone(),
-        tm_funnel_tx.clone(),
-    );
-    let sched_srv_receiver = MpscTcReceiver::new(
-        ComponentIdList::PusSched as ComponentId,
-        "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,
+            PUS_SCHED_SERVICE.raw(),
-            sched_srv_tm_sender,
+            pus_sched_rx,
-            PUS_APID,
+            tm_sender,
-            verif_reporter.clone(),
+            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],
@@ -176,40 +147,26 @@ pub fn create_scheduler_service_static(
 }
 
 pub fn create_scheduler_service_dynamic(
-    tm_funnel_tx: mpsc::Sender<Vec<u8>>,
+    tm_funnel_tx: mpsc::Sender<PusTmAsVec>,
-    verif_reporter: VerificationReporterWithVecMpscSender,
     tc_source_sender: mpsc::Sender<Vec<u8>>,
     pus_sched_rx: mpsc::Receiver<EcssTcAndToken>,
     sched_tc_pool: StaticMemoryPool,
-) -> Pus11Wrapper<
+) -> SchedulingServiceWrapper<MpscTmAsVecSender, EcssTcInVecConverter> {
-    MpscTcReceiver,
+    //let sched_srv_receiver =
-    TmAsVecSenderWithMpsc,
+    //MpscTcReceiver::new(PUS_SCHED_SERVICE.raw(), "PUS_11_TC_RECV", pus_sched_rx);
-    EcssTcInVecConverter,
-    VerificationReporterWithVecMpscSender,
-> {
-    let sched_srv_tm_sender = TmAsVecSenderWithId::new(
-        ComponentIdList::PusSched as ComponentId,
-        "PUS_11_TM_SENDER",
-        tm_funnel_tx,
-    );
-    let sched_srv_receiver = MpscTcReceiver::new(
-        ComponentIdList::PusSched as ComponentId,
-        "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,
+            PUS_SCHED_SERVICE.raw(),
-            sched_srv_tm_sender,
+            pus_sched_rx,
-            PUS_APID,
+            tm_funnel_tx,
-            verif_reporter.clone(),
+            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

@@ -1,62 +1,33 @@
+use crate::pus::mode::ModeServiceWrapper;
+use derive_new::new;
 use satrs::{
-    pus::{
+    pus::{EcssTcInMemConverter, EcssTmSenderCore},
-        verification::VerificationReportingProvider, EcssTcInMemConverter, EcssTcReceiverCore,
-        EcssTmSenderCore,
-    },
     spacepackets::time::{cds, TimeWriter},
 };
 
 use super::{
-    action::Pus8Wrapper, event::Pus5Wrapper, hk::Pus3Wrapper, scheduler::Pus11Wrapper,
+    action::ActionServiceWrapper, event::EventServiceWrapper, hk::HkServiceWrapper,
-    test::Service17CustomWrapper, TargetedPusService,
+    scheduler::SchedulingServiceWrapper, test::TestCustomServiceWrapper, TargetedPusService,
 };
 
-pub struct PusStack<
+#[derive(new)]
-    TcReceiver: EcssTcReceiverCore,
+pub struct PusStack<TmSender: EcssTmSenderCore, TcInMemConverter: EcssTcInMemConverter> {
-    TmSender: EcssTmSenderCore,
+    test_srv: TestCustomServiceWrapper<TmSender, TcInMemConverter>,
-    TcInMemConverter: EcssTcInMemConverter,
+    hk_srv_wrapper: HkServiceWrapper<TmSender, TcInMemConverter>,
-    VerificationReporter: VerificationReportingProvider,
+    event_srv: EventServiceWrapper<TmSender, TcInMemConverter>,
-> {
+    action_srv_wrapper: ActionServiceWrapper<TmSender, TcInMemConverter>,
-    event_srv: Pus5Wrapper<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>,
+    schedule_srv: SchedulingServiceWrapper<TmSender, TcInMemConverter>,
-    hk_srv_wrapper: Pus3Wrapper<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>,
+    mode_srv: ModeServiceWrapper<TmSender, TcInMemConverter>,
-    action_srv_wrapper: Pus8Wrapper<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>,
-    schedule_srv: Pus11Wrapper<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>,
-    test_srv: Service17CustomWrapper<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>,
 }
 
-impl<
+impl<TmSender: EcssTmSenderCore, TcInMemConverter: EcssTcInMemConverter>
-        TcReceiver: EcssTcReceiverCore,
+    PusStack<TmSender, TcInMemConverter>
-        TmSender: EcssTmSenderCore,
-        TcInMemConverter: EcssTcInMemConverter,
-        VerificationReporter: VerificationReportingProvider,
-    > PusStack<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>
 {
-    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_wrapper: action_srv,
-            schedule_srv,
-            test_srv,
-            hk_srv_wrapper: 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::TimeProvider::from_now_with_u16_days()
+        let time_stamp = cds::CdsTime::now_with_u16_days()
             .expect("time stamp generation error")
             .to_vec()
             .unwrap();
@@ -84,10 +55,15 @@ impl<
                 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

@@ -1,115 +1,71 @@
+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::{FailParams, VerificationReporter, VerificationReportingProvider};
-use satrs::pus::verification::{
-    VerificationReporterWithSharedPoolMpscBoundedSender, VerificationReporterWithVecMpscSender,
-};
 use satrs::pus::{
-    EcssTcAndToken, EcssTcInMemConverter, EcssTcInVecConverter, EcssTcReceiverCore,
+    EcssTcAndToken, EcssTcInMemConverter, EcssTcInVecConverter, EcssTmSenderCore, MpscTcReceiver,
-    EcssTmSenderCore, MpscTcReceiver, PusPacketHandlerResult, PusServiceHelper,
+    MpscTmAsVecSender, MpscTmInSharedPoolSenderBounded, PusPacketHandlerResult, PusServiceHelper,
-    TmAsVecSenderWithId, TmAsVecSenderWithMpsc, TmInSharedPoolSenderWithBoundedMpsc,
+    PusTmAsVec, PusTmInPool, TmInSharedPoolSender,
-    TmInSharedPoolSenderWithId,
 };
 use satrs::spacepackets::ecss::tc::PusTcReader;
 use satrs::spacepackets::ecss::PusPacket;
-use satrs::spacepackets::time::cds::TimeProvider;
+use satrs::spacepackets::time::cds::CdsTime;
 use satrs::spacepackets::time::TimeWriter;
-use satrs::tmtc::tm_helper::SharedTmPool;
-use satrs::ComponentId;
 use satrs::{events::EventU32, pus::EcssTcInSharedStoreConverter};
-use satrs_example::config::{tmtc_err, ComponentIdList, PUS_APID, TEST_EVENT};
+use satrs_example::config::components::PUS_TEST_SERVICE;
-use std::sync::mpsc::{self, Sender};
+use satrs_example::config::{tmtc_err, TEST_EVENT};
+use std::sync::mpsc;
 
 pub fn create_test_service_static(
-    shared_tm_store: SharedTmPool,
+    tm_sender: TmInSharedPoolSender<mpsc::SyncSender<PusTmInPool>>,
-    tm_funnel_tx: mpsc::SyncSender<StoreAddr>,
-    verif_reporter: VerificationReporterWithSharedPoolMpscBoundedSender,
     tc_pool: SharedStaticMemoryPool,
     event_sender: mpsc::Sender<(EventU32, Option<Params>)>,
     pus_test_rx: mpsc::Receiver<EcssTcAndToken>,
-) -> Service17CustomWrapper<
+) -> TestCustomServiceWrapper<MpscTmInSharedPoolSenderBounded, EcssTcInSharedStoreConverter> {
-    MpscTcReceiver,
-    TmInSharedPoolSenderWithBoundedMpsc,
-    EcssTcInSharedStoreConverter,
-    VerificationReporterWithSharedPoolMpscBoundedSender,
-> {
-    let test_srv_tm_sender = TmInSharedPoolSenderWithId::new(
-        ComponentIdList::PusTest as ComponentId,
-        "PUS_17_TM_SENDER",
-        shared_tm_store.clone(),
-        tm_funnel_tx.clone(),
-    );
-    let test_srv_receiver = MpscTcReceiver::new(
-        ComponentIdList::PusTest as ComponentId,
-        "PUS_17_TC_RECV",
-        pus_test_rx,
-    );
     let pus17_handler = PusService17TestHandler::new(PusServiceHelper::new(
-        test_srv_receiver,
+        PUS_TEST_SERVICE.raw(),
-        test_srv_tm_sender,
+        pus_test_rx,
-        PUS_APID,
+        tm_sender,
-        verif_reporter.clone(),
+        create_verification_reporter(PUS_TEST_SERVICE.apid),
         EcssTcInSharedStoreConverter::new(tc_pool, 2048),
     ));
-    Service17CustomWrapper {
+    TestCustomServiceWrapper {
         handler: pus17_handler,
         test_srv_event_sender: event_sender,
     }
 }
 
 pub fn create_test_service_dynamic(
-    tm_funnel_tx: mpsc::Sender<Vec<u8>>,
+    tm_funnel_tx: mpsc::Sender<PusTmAsVec>,
-    verif_reporter: VerificationReporterWithVecMpscSender,
     event_sender: mpsc::Sender<(EventU32, Option<Params>)>,
     pus_test_rx: mpsc::Receiver<EcssTcAndToken>,
-) -> Service17CustomWrapper<
+) -> TestCustomServiceWrapper<MpscTmAsVecSender, EcssTcInVecConverter> {
-    MpscTcReceiver,
-    TmAsVecSenderWithMpsc,
-    EcssTcInVecConverter,
-    VerificationReporterWithVecMpscSender,
-> {
-    let test_srv_tm_sender = TmAsVecSenderWithId::new(
-        ComponentIdList::PusTest as ComponentId,
-        "PUS_17_TM_SENDER",
-        tm_funnel_tx.clone(),
-    );
-    let test_srv_receiver = MpscTcReceiver::new(
-        ComponentIdList::PusTest as ComponentId,
-        "PUS_17_TC_RECV",
-        pus_test_rx,
-    );
     let pus17_handler = PusService17TestHandler::new(PusServiceHelper::new(
-        test_srv_receiver,
+        PUS_TEST_SERVICE.raw(),
-        test_srv_tm_sender,
+        pus_test_rx,
-        PUS_APID,
+        tm_funnel_tx,
-        verif_reporter.clone(),
+        create_verification_reporter(PUS_TEST_SERVICE.apid),
         EcssTcInVecConverter::default(),
     ));
-    Service17CustomWrapper {
+    TestCustomServiceWrapper {
         handler: pus17_handler,
         test_srv_event_sender: event_sender,
     }
 }
 
-pub struct Service17CustomWrapper<
+pub struct TestCustomServiceWrapper<
-    TcReceiver: EcssTcReceiverCore,
     TmSender: EcssTmSenderCore,
     TcInMemConverter: EcssTcInMemConverter,
-    VerificationReporter: VerificationReportingProvider,
 > {
     pub handler:
-        PusService17TestHandler<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>,
+        PusService17TestHandler<MpscTcReceiver, TmSender, TcInMemConverter, VerificationReporter>,
-    pub test_srv_event_sender: Sender<(EventU32, Option<Params>)>,
+    pub test_srv_event_sender: mpsc::Sender<(EventU32, Option<Params>)>,
 }
 
-impl<
+impl<TmSender: EcssTmSenderCore, TcInMemConverter: EcssTcInMemConverter>
-        TcReceiver: EcssTcReceiverCore,
+    TestCustomServiceWrapper<TmSender, TcInMemConverter>
-        TmSender: EcssTmSenderCore,
-        TcInMemConverter: EcssTcInMemConverter,
-        VerificationReporter: VerificationReportingProvider,
-    > Service17CustomWrapper<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>
 {
     pub fn poll_and_handle_next_packet(&mut self, time_stamp: &[u8]) -> bool {
         let res = self.handler.poll_and_handle_next_tc(time_stamp);
@@ -139,7 +95,7 @@ impl<
                         .tc_slice_raw(),
                 )
                 .unwrap();
-                let time_stamper = TimeProvider::from_now_with_u16_days().unwrap();
+                let time_stamper = CdsTime::now_with_u16_days().unwrap();
                 let mut stamp_buf: [u8; 7] = [0; 7];
                 time_stamper.write_to_bytes(&mut stamp_buf).unwrap();
                 if subservice == 128 {
@@ -151,12 +107,22 @@ impl<
                         .handler
                         .service_helper
                         .verif_reporter()
-                        .start_success(token, &stamp_buf)
+                        .start_success(
+                            self.handler.service_helper.common.id,
+                            self.handler.service_helper.tm_sender(),
+                            token,
+                            &stamp_buf,
+                        )
                         .expect("Error sending start success");
                     self.handler
                         .service_helper
                         .verif_reporter()
-                        .completion_success(start_token, &stamp_buf)
+                        .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()];
@@ -164,6 +130,8 @@ impl<
                         .service_helper
                         .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

@@ -4,15 +4,17 @@ use std::sync::mpsc;
 use log::warn;
 use satrs::action::ActionRequest;
 use satrs::hk::HkRequest;
+use satrs::mode::ModeRequest;
 use satrs::pus::verification::{
     FailParams, TcStateAccepted, VerificationReportingProvider, VerificationToken,
 };
-use satrs::pus::{ActiveRequestProvider, GenericRoutingError, PusRequestRouter};
+use satrs::pus::{ActiveRequestProvider, EcssTmSenderCore, GenericRoutingError, PusRequestRouter};
 use satrs::queue::GenericSendError;
-use satrs::request::{GenericMessage, RequestId};
+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;
 
 #[derive(Clone, Debug)]
@@ -22,19 +24,32 @@ pub enum CompositeRequest {
     Action(ActionRequest),
 }
 
-#[derive(Default, Clone)]
+#[derive(Clone)]
-pub struct GenericRequestRouter(
+pub struct GenericRequestRouter {
-    pub HashMap<ComponentId, mpsc::Sender<GenericMessage<CompositeRequest>>>,
+    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>>>,
+}
 
+impl Default for GenericRequestRouter {
+    fn default() -> Self {
+        Self {
+            id: PUS_ROUTING_SERVICE.raw(),
+            composite_router_map: Default::default(),
+            mode_router_map: Default::default(),
+        }
+    }
+}
 impl GenericRequestRouter {
     pub(crate) fn handle_error_generic(
         &self,
         active_request: &impl ActiveRequestProvider,
         tc: &PusTcReader,
         error: GenericRoutingError,
-        time_stamp: &[u8],
+        tm_sender: &(impl EcssTmSenderCore + ?Sized),
         verif_reporter: &impl VerificationReportingProvider,
+        time_stamp: &[u8],
     ) {
         warn!(
             "Routing request for service {} failed: {error:?}",
@@ -50,6 +65,8 @@ impl GenericRequestRouter {
                 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),
                     )
@@ -60,6 +77,8 @@ impl GenericRequestRouter {
                 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),
                     )
@@ -73,16 +92,14 @@ impl PusRequestRouter<HkRequest> for GenericRequestRouter {
 
     fn route(
         &self,
-        request_id: RequestId,
+        requestor_info: MessageMetadata,
-        source_id: ComponentId,
         target_id: ComponentId,
         hk_request: HkRequest,
     ) -> 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(GenericMessage::new(
-                    request_id,
+                    requestor_info,
-                    source_id,
                     CompositeRequest::Hk(hk_request),
                 ))
                 .map_err(|_| GenericRoutingError::Send(GenericSendError::RxDisconnected))?;
@@ -97,16 +114,14 @@ impl PusRequestRouter<ActionRequest> for GenericRequestRouter {
 
     fn route(
         &self,
-        request_id: RequestId,
+        requestor_info: MessageMetadata,
-        source_id: ComponentId,
         target_id: ComponentId,
         action_request: ActionRequest,
     ) -> 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(GenericMessage::new(
-                    request_id,
+                    requestor_info,
-                    source_id,
                     CompositeRequest::Action(action_request),
                 ))
                 .map_err(|_| GenericRoutingError::Send(GenericSendError::RxDisconnected))?;
@@ -115,3 +130,22 @@ impl PusRequestRouter<ActionRequest> for GenericRequestRouter {
         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_funnel_rx: mpsc::Receiver<PusTmInPool>,
-    tm_server_tx: mpsc::SyncSender<StoreAddr>,
+    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_funnel_rx: mpsc::Receiver<PusTmInPool>,
-        tm_server_tx: mpsc::SyncSender<StoreAddr>,
+        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_funnel_rx: mpsc::Receiver<PusTmAsVec>,
-    tm_server_tx: mpsc::Sender<Vec<u8>>,
+    tm_server_tx: mpsc::Sender<PusTmAsVec>,
 }
 
 impl TmFunnelDynamic {
     pub fn new(
         sync_tm_tcp_source: SyncTcpTmSource,
-        tm_funnel_rx: mpsc::Receiver<Vec<u8>>,
+        tm_funnel_rx: mpsc::Receiver<PusTmAsVec>,
-        tm_server_tx: mpsc::Sender<Vec<u8>>,
+        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::{
+use satrs::pus::{
-    VerificationReporterWithSharedPoolMpscBoundedSender, VerificationReporterWithVecMpscSender,
+    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::{
+use std::net::{SocketAddr, UdpSocket};
-    net::{SocketAddr, UdpSocket},
+use std::sync::mpsc;
-    sync::mpsc::Receiver,
-};
 
 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 {
+            if tm.packet.len() > 9 {
-                let service = tm[7];
+                let service = tm.packet[7];
-                let subservice = tm[8];
+                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/codegen/Cargo.toml

@@ -28,7 +28,6 @@ features = ["full"]
 trybuild = { version = "1", features = ["diff"] }
 
 [dev-dependencies.satrs-shared]
-# satrs-shared = "0.1.2"
 path = "../../satrs-shared"
 version = "0.1.3"
 

satrs-shared/Cargo.toml

@@ -18,7 +18,9 @@ default-features = false
 optional = true
 
 [dependencies.spacepackets]
+git = "https://egit.irs.uni-stuttgart.de/rust/spacepackets.git"
 version = "0.11.0-rc.0"
+branch = "main"
 default-features = false
 
 [features]

satrs/Cargo.toml

@@ -71,7 +71,9 @@ features = ["all"]
 optional = true
 
 [dependencies.spacepackets]
+git = "https://egit.irs.uni-stuttgart.de/rust/spacepackets.git"
 version = "0.11.0-rc.0"
+branch = "main"
 default-features = false
 
 [dependencies.cobs]

satrs/src/hk.rs

@@ -19,8 +19,8 @@ impl HkRequest {
 #[derive(Debug, Copy, Clone, PartialEq, Eq)]
 pub enum HkRequestVariant {
     OneShot,
-    Enable,
+    EnablePeriodic,
-    Disable,
+    DisablePeriodic,
     ModifyCollectionInterval(CollectionIntervalFactor),
 }
 

satrs/src/mode.rs

@@ -12,7 +12,7 @@ pub use std_mod::*;
 
 use crate::{
     queue::GenericTargetedMessagingError,
-    request::{GenericMessage, MessageReceiver, MessageReceiverWithId, RequestId},
+    request::{GenericMessage, MessageMetadata, MessageReceiver, MessageReceiverWithId, RequestId},
     ComponentId,
 };
 
@@ -109,6 +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,
@@ -125,8 +127,6 @@ pub struct TargetedModeRequest {
 #[derive(Debug, Copy, Clone, PartialEq, Eq)]
 #[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
 pub enum ModeReply {
-    /// Unrequest mode information. Can be used to notify other components of changed modes.
-    ModeInfo(ModeAndSubmode),
     /// 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].
@@ -184,13 +184,20 @@ impl From<GenericTargetedMessagingError> for ModeError {
 pub trait ModeRequestHandler: ModeProvider {
     fn start_transition(
         &mut self,
-        request_id: RequestId,
+        requestor: MessageMetadata,
-        sender_id: ComponentId,
         mode_and_submode: ModeAndSubmode,
     ) -> Result<(), ModeError>;
 
-    fn announce_mode(&self, request_id: RequestId, sender_id: ComponentId, recursive: bool);
+    fn announce_mode(&self, requestor_info: MessageMetadata, recursive: bool);
-    fn handle_mode_reached(&mut self) -> Result<(), GenericTargetedMessagingError>;
+    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 {
@@ -210,10 +217,10 @@ impl<R: MessageReceiver<ModeReply>> ModeReplyReceiver for MessageReceiverWithId<
 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,
-        request_id: RequestId,
+        requestor_info: MessageMetadata,
-        target_id: ComponentId,
         reply: ModeReply,
     ) -> Result<(), GenericTargetedMessagingError>;
 }
@@ -225,7 +232,7 @@ pub mod alloc_mod {
         mode::ModeRequest,
         queue::GenericTargetedMessagingError,
         request::{
-            MessageSender, MessageSenderAndReceiver, MessageSenderMap, MessageSenderMapWithId,
+            MessageMetadata, MessageSender, MessageSenderAndReceiver, MessageSenderMap,
             RequestAndReplySenderAndReceiver, RequestId,
         },
         ComponentId,
@@ -236,12 +243,11 @@ pub mod alloc_mod {
     impl<S: MessageSender<ModeReply>> MessageSenderMap<ModeReply, S> {
         pub fn send_mode_reply(
             &self,
-            request_id: RequestId,
+            requestor_info: MessageMetadata,
-            local_id: ComponentId,
             target_id: ComponentId,
             request: ModeReply,
         ) -> Result<(), GenericTargetedMessagingError> {
-            self.send_message(request_id, local_id, target_id, request)
+            self.send_message(requestor_info, target_id, request)
         }
 
         pub fn add_reply_target(&mut self, target_id: ComponentId, request_sender: S) {
@@ -249,6 +255,7 @@ pub mod alloc_mod {
         }
     }
 
+    /*
     impl<S: MessageSender<ModeReply>> ModeReplySender for MessageSenderMapWithId<ModeReply, S> {
         fn send_mode_reply(
             &self,
@@ -263,6 +270,7 @@ pub mod alloc_mod {
             self.local_channel_id
         }
     }
+    */
 
     impl<FROM, S: MessageSender<ModeReply>, R: MessageReceiver<FROM>> ModeReplySender
         for MessageSenderAndReceiver<ModeReply, FROM, S, R>
@@ -273,14 +281,12 @@ pub mod alloc_mod {
 
         fn send_mode_reply(
             &self,
-            request_id: RequestId,
+            requestor_info: MessageMetadata,
-            target_id: ComponentId,
             request: ModeReply,
         ) -> Result<(), GenericTargetedMessagingError> {
             self.message_sender_map.send_mode_reply(
-                request_id,
+                MessageMetadata::new(requestor_info.request_id(), self.local_channel_id()),
-                self.local_channel_id(),
+                requestor_info.sender_id(),
-                target_id,
                 request,
             )
         }
@@ -324,14 +330,12 @@ pub mod alloc_mod {
 
         fn send_mode_reply(
             &self,
-            request_id: RequestId,
+            requestor_info: MessageMetadata,
-            target_id: ComponentId,
             request: ModeReply,
         ) -> Result<(), GenericTargetedMessagingError> {
             self.reply_sender_map.send_mode_reply(
-                request_id,
+                MessageMetadata::new(requestor_info.request_id(), self.local_channel_id()),
-                self.local_channel_id(),
+                requestor_info.sender_id(),
-                target_id,
                 request,
             )
         }
@@ -368,11 +372,14 @@ pub mod alloc_mod {
 
         pub fn send_mode_reply(
             &self,
-            request_id: RequestId,
+            requestor_info: MessageMetadata,
-            target_id: ComponentId,
             reply: ModeReply,
         ) -> Result<(), GenericTargetedMessagingError> {
-            self.send_message(request_id, target_id, reply)
+            self.send_message(
+                requestor_info.request_id(),
+                requestor_info.sender_id(),
+                reply,
+            )
         }
     }
 
@@ -405,12 +412,11 @@ pub mod alloc_mod {
     impl<S: MessageSender<ModeRequest>> MessageSenderMap<ModeRequest, S> {
         pub fn send_mode_request(
             &self,
-            request_id: RequestId,
+            requestor_info: MessageMetadata,
-            local_id: ComponentId,
             target_id: ComponentId,
             request: ModeRequest,
         ) -> Result<(), GenericTargetedMessagingError> {
-            self.send_message(request_id, local_id, target_id, request)
+            self.send_message(requestor_info, target_id, request)
         }
 
         pub fn add_request_target(&mut self, target_id: ComponentId, request_sender: S) {
@@ -418,6 +424,7 @@ pub mod alloc_mod {
         }
     }
 
+    /*
     impl<S: MessageSender<ModeRequest>> ModeRequestSender for MessageSenderMapWithId<ModeRequest, S> {
         fn local_channel_id(&self) -> ComponentId {
             self.local_channel_id
@@ -432,6 +439,7 @@ pub mod alloc_mod {
             self.send_message(request_id, target_id, request)
         }
     }
+    */
 
     impl<TO, S: MessageSender<TO>, R: MessageReceiver<ModeRequest>> ModeRequestReceiver
         for MessageSenderAndReceiver<TO, ModeRequest, S, R>
@@ -457,8 +465,7 @@ pub mod alloc_mod {
             request: ModeRequest,
         ) -> Result<(), GenericTargetedMessagingError> {
             self.message_sender_map.send_mode_request(
-                request_id,
+                MessageMetadata::new(request_id, self.local_channel_id()),
-                self.local_channel_id(),
                 target_id,
                 request,
             )
@@ -499,8 +506,7 @@ pub mod alloc_mod {
             request: ModeRequest,
         ) -> Result<(), GenericTargetedMessagingError> {
             self.request_sender_map.send_mode_request(
-                request_id,
+                MessageMetadata::new(request_id, self.local_channel_id()),
-                self.local_channel_id(),
                 target_id,
                 request,
             )

satrs/src/pus/action.rs

@@ -1,8 +1,7 @@
 use crate::{
     action::{ActionId, ActionRequest},
     params::Params,
-    request::{GenericMessage, RequestId},
+    request::{GenericMessage, MessageMetadata, RequestId},
-    ComponentId,
 };
 
 use satrs_shared::res_code::ResultU16;
@@ -57,12 +56,11 @@ pub type GenericActionReplyPus = GenericMessage<PusActionReply>;
 
 impl GenericActionReplyPus {
     pub fn new_action_reply(
-        request_id: RequestId,
+        requestor_info: MessageMetadata,
-        sender_id: ComponentId,
         action_id: ActionId,
         reply: ActionReplyVariant,
     ) -> Self {
-        Self::new(request_id, sender_id, PusActionReply::new(action_id, reply))
+        Self::new(requestor_info, PusActionReply::new(action_id, reply))
     }
 }
 

satrs/src/pus/event.rs

@@ -2,6 +2,7 @@ use crate::pus::{source_buffer_large_enough, EcssTmtcError};
 use spacepackets::ecss::tm::PusTmCreator;
 use spacepackets::ecss::tm::PusTmSecondaryHeader;
 use spacepackets::ecss::{EcssEnumeration, PusError};
+use spacepackets::ByteConversionError;
 use spacepackets::{SpHeader, MAX_APID};
 
 use crate::pus::EcssTmSenderCore;
@@ -9,145 +10,125 @@ use crate::pus::EcssTmSenderCore;
 pub use alloc_mod::EventReporter;
 pub use spacepackets::ecss::event::*;
 
-pub struct EventReporterBase {
+pub struct EventReportCreator {
-    msg_count: u16,
     apid: u16,
     pub dest_id: u16,
 }
 
-impl EventReporterBase {
+impl EventReportCreator {
     pub fn new(apid: u16) -> Option<Self> {
         if apid > MAX_APID {
             return None;
         }
         Some(Self {
-            msg_count: 0,
+            // msg_count: 0,
             dest_id: 0,
             apid,
         })
     }
 
-    pub fn event_info(
+    pub fn event_info<'time, 'src_data>(
-        &mut self,
+        &self,
-        buf: &mut [u8],
+        src_data_buf: &'src_data mut [u8],
-        sender: &mut (impl EcssTmSenderCore + ?Sized),
+        time_stamp: &'time [u8],
-        time_stamp: &[u8],
         event_id: impl EcssEnumeration,
-        aux_data: Option<&[u8]>,
+        aux_data: Option<&'src_data [u8]>,
-    ) -> Result<(), EcssTmtcError> {
+    ) -> Result<PusTmCreator<'time, 'src_data>, ByteConversionError> {
         self.generate_and_send_generic_tm(
-            buf,
+            src_data_buf,
             Subservice::TmInfoReport,
-            sender,
             time_stamp,
             event_id,
             aux_data,
         )
     }
 
-    pub fn event_low_severity(
+    pub fn event_low_severity<'time, 'src_data>(
-        &mut self,
+        &self,
-        buf: &mut [u8],
+        src_data_buf: &'src_data mut [u8],
-        sender: &mut (impl EcssTmSenderCore + ?Sized),
+        time_stamp: &'time [u8],
-        time_stamp: &[u8],
         event_id: impl EcssEnumeration,
-        aux_data: Option<&[u8]>,
+        aux_data: Option<&'src_data [u8]>,
-    ) -> Result<(), EcssTmtcError> {
+    ) -> Result<PusTmCreator<'time, 'src_data>, ByteConversionError> {
         self.generate_and_send_generic_tm(
-            buf,
+            src_data_buf,
             Subservice::TmLowSeverityReport,
-            sender,
             time_stamp,
             event_id,
             aux_data,
         )
     }
 
-    pub fn event_medium_severity(
+    pub fn event_medium_severity<'time, 'src_data>(
-        &mut self,
+        &self,
-        buf: &mut [u8],
+        buf: &'src_data mut [u8],
-        sender: &mut (impl EcssTmSenderCore + ?Sized),
+        time_stamp: &'time [u8],
-        time_stamp: &[u8],
         event_id: impl EcssEnumeration,
-        aux_data: Option<&[u8]>,
+        aux_data: Option<&'src_data [u8]>,
-    ) -> Result<(), EcssTmtcError> {
+    ) -> Result<PusTmCreator<'time, 'src_data>, ByteConversionError> {
         self.generate_and_send_generic_tm(
             buf,
             Subservice::TmMediumSeverityReport,
-            sender,
             time_stamp,
             event_id,
             aux_data,
         )
     }
 
-    pub fn event_high_severity(
+    pub fn event_high_severity<'time, 'src_data>(
-        &mut self,
+        &self,
-        buf: &mut [u8],
+        src_data_buf: &'src_data mut [u8],
-        sender: &mut (impl EcssTmSenderCore + ?Sized),
+        time_stamp: &'time [u8],
-        time_stamp: &[u8],
         event_id: impl EcssEnumeration,
-        aux_data: Option<&[u8]>,
+        aux_data: Option<&'src_data [u8]>,
-    ) -> Result<(), EcssTmtcError> {
+    ) -> Result<PusTmCreator<'time, 'src_data>, ByteConversionError> {
         self.generate_and_send_generic_tm(
-            buf,
+            src_data_buf,
             Subservice::TmHighSeverityReport,
-            sender,
             time_stamp,
             event_id,
             aux_data,
         )
     }
 
-    fn generate_and_send_generic_tm(
+    fn generate_and_send_generic_tm<'time, 'src_data>(
-        &mut self,
+        &self,
-        buf: &mut [u8],
+        src_data_buf: &'src_data mut [u8],
         subservice: Subservice,
-        sender: &mut (impl EcssTmSenderCore + ?Sized),
+        time_stamp: &'time [u8],
-        time_stamp: &[u8],
         event_id: impl EcssEnumeration,
-        aux_data: Option<&[u8]>,
+        aux_data: Option<&'src_data [u8]>,
-    ) -> Result<(), EcssTmtcError> {
+    ) -> Result<PusTmCreator<'time, 'src_data>, ByteConversionError> {
-        let tm = self.generate_generic_event_tm(buf, subservice, time_stamp, event_id, aux_data)?;
+        self.generate_generic_event_tm(src_data_buf, subservice, time_stamp, event_id, aux_data)
-        sender.send_tm(tm.into())?;
-        self.msg_count += 1;
-        Ok(())
     }
 
-    fn generate_generic_event_tm<'a>(
+    fn generate_generic_event_tm<'time, 'src_data>(
-        &'a self,
+        &self,
-        buf: &'a mut [u8],
+        src_data_buf: &'src_data mut [u8],
         subservice: Subservice,
-        time_stamp: &'a [u8],
+        time_stamp: &'time [u8],
         event_id: impl EcssEnumeration,
-        aux_data: Option<&[u8]>,
+        aux_data: Option<&'src_data [u8]>,
-    ) -> Result<PusTmCreator, EcssTmtcError> {
+    ) -> Result<PusTmCreator<'time, 'src_data>, ByteConversionError> {
         let mut src_data_len = event_id.size();
         if let Some(aux_data) = aux_data {
             src_data_len += aux_data.len();
         }
-        source_buffer_large_enough(buf.len(), src_data_len)?;
+        source_buffer_large_enough(src_data_buf.len(), src_data_len)?;
         let mut sp_header = SpHeader::tm_unseg(self.apid, 0, 0).unwrap();
-        let sec_header = PusTmSecondaryHeader::new(
+        let sec_header =
-            5,
+            PusTmSecondaryHeader::new(5, subservice.into(), 0, self.dest_id, Some(time_stamp));
-            subservice.into(),
-            self.msg_count,
-            self.dest_id,
-            Some(time_stamp),
-        );
         let mut current_idx = 0;
-        event_id
+        event_id.write_to_be_bytes(&mut src_data_buf[0..event_id.size()])?;
-            .write_to_be_bytes(&mut buf[0..event_id.size()])
-            .map_err(PusError::ByteConversion)?;
         current_idx += event_id.size();
         if let Some(aux_data) = aux_data {
-            buf[current_idx..current_idx + aux_data.len()].copy_from_slice(aux_data);
+            src_data_buf[current_idx..current_idx + aux_data.len()].copy_from_slice(aux_data);
             current_idx += aux_data.len();
         }
         Ok(PusTmCreator::new(
             &mut sp_header,
             sec_header,
-            &buf[0..current_idx],
+            &src_data_buf[0..current_idx],
             true,
         ))
     }
@@ -156,84 +137,95 @@ impl EventReporterBase {
 #[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>,
+        id: ComponentId,
-        pub reporter: EventReporterBase,
+        // 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(
-            let reporter = EventReporterBase::new(apid)?;
+            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],
+                id,
-                reporter,
+                source_data_buf: RefCell::new(vec![0; max_event_id_and_aux_data_size]),
+                report_creator: reporter,
             })
         }
+
         pub fn event_info(
-            &mut self,
+            &self,
-            sender: &mut (impl EcssTmSenderCore + ?Sized),
+            sender: &(impl EcssTmSenderCore + ?Sized),
             time_stamp: &[u8],
             event_id: impl EcssEnumeration,
             aux_data: Option<&[u8]>,
         ) -> Result<(), EcssTmtcError> {
-            self.reporter.event_info(
+            let mut mut_buf = self.source_data_buf.borrow_mut();
-                self.source_data_buf.as_mut_slice(),
+            let tm_creator = self
-                sender,
+                .report_creator
-                time_stamp,
+                .event_info(mut_buf.as_mut_slice(), time_stamp, event_id, aux_data)
-                event_id,
+                .map_err(PusError::ByteConversion)?;
-                aux_data,
+            sender.send_tm(self.id, tm_creator.into())?;
-            )
+            Ok(())
         }
 
         pub fn event_low_severity(
-            &mut self,
+            &self,
-            sender: &mut (impl EcssTmSenderCore + ?Sized),
+            sender: &(impl EcssTmSenderCore + ?Sized),
             time_stamp: &[u8],
             event_id: impl EcssEnumeration,
             aux_data: Option<&[u8]>,
         ) -> Result<(), EcssTmtcError> {
-            self.reporter.event_low_severity(
+            let mut mut_buf = self.source_data_buf.borrow_mut();
-                self.source_data_buf.as_mut_slice(),
+            let tm_creator = self
-                sender,
+                .report_creator
-                time_stamp,
+                .event_low_severity(mut_buf.as_mut_slice(), time_stamp, event_id, aux_data)
-                event_id,
+                .map_err(PusError::ByteConversion)?;
-                aux_data,
+            sender.send_tm(self.id, tm_creator.into())?;
-            )
+            Ok(())
         }
 
         pub fn event_medium_severity(
-            &mut self,
+            &self,
-            sender: &mut (impl EcssTmSenderCore + ?Sized),
+            sender: &(impl EcssTmSenderCore + ?Sized),
             time_stamp: &[u8],
             event_id: impl EcssEnumeration,
             aux_data: Option<&[u8]>,
         ) -> Result<(), EcssTmtcError> {
-            self.reporter.event_medium_severity(
+            let mut mut_buf = self.source_data_buf.borrow_mut();
-                self.source_data_buf.as_mut_slice(),
+            let tm_creator = self
-                sender,
+                .report_creator
-                time_stamp,
+                .event_medium_severity(mut_buf.as_mut_slice(), time_stamp, event_id, aux_data)
-                event_id,
+                .map_err(PusError::ByteConversion)?;
-                aux_data,
+            sender.send_tm(self.id, tm_creator.into())?;
-            )
+            Ok(())
         }
 
         pub fn event_high_severity(
-            &mut self,
+            &self,
-            sender: &mut (impl EcssTmSenderCore + ?Sized),
+            sender: &(impl EcssTmSenderCore + ?Sized),
             time_stamp: &[u8],
             event_id: impl EcssEnumeration,
             aux_data: Option<&[u8]>,
         ) -> Result<(), EcssTmtcError> {
-            self.reporter.event_high_severity(
+            let mut mut_buf = self.source_data_buf.borrow_mut();
-                self.source_data_buf.as_mut_slice(),
+            let tm_creator = self
-                sender,
+                .report_creator
-                time_stamp,
+                .event_high_severity(mut_buf.as_mut_slice(), time_stamp, event_id, aux_data)
-                event_id,
+                .map_err(PusError::ByteConversion)?;
-                aux_data,
+            sender.send_tm(self.id, tm_creator.into())?;
-            )
+            Ok(())
         }
     }
 }
@@ -243,7 +235,7 @@ mod tests {
     use super::*;
     use crate::events::{EventU32, Severity};
     use crate::pus::tests::CommonTmInfo;
-    use crate::pus::{EcssChannel, PusTmWrapper};
+    use crate::pus::{ChannelWithId, PusTmVariant};
     use crate::ComponentId;
     use spacepackets::ByteConversionError;
     use std::cell::RefCell;
@@ -268,19 +260,19 @@ mod tests {
         pub service_queue: RefCell<VecDeque<TmInfo>>,
     }
 
-    impl EcssChannel for TestSender {
+    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);
@@ -348,7 +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];
@@ -440,7 +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,
+            &self,
-            sender: &mut (impl EcssTmSenderCore + ?Sized),
+            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,
+            &self,
-            sender: &mut (impl EcssTmSenderCore + ?Sized),
+            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 event_tx, event_rx) = mpsc::channel::<PusTmAsVec>();
-        let mut sender = TmAsVecSenderWithMpsc::new(0, "test_sender", event_tx);
         let event_sent = event_man
-            .generate_pus_event_tm(&mut sender, &EMPTY_STAMP, INFO_EVENT, None)
+            .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 (event_tx, event_rx) = mpsc::channel::<PusTmAsVec>();
-        let mut sender = TmAsVecSenderWithMpsc::new(0, "test", event_tx);
+        // let mut sender = TmAsVecSenderWithMpsc::new(0, "test", event_tx);
         let res = event_man.disable_tm_for_event(&LOW_SEV_EVENT);
         assert!(res.is_ok());
         assert!(res.unwrap());
         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 (event_tx, event_rx) = mpsc::channel::<PusTmAsVec>();
-        let mut sender = TmAsVecSenderWithMpsc::new(0, "test", event_tx);
         let mut res = event_man.disable_tm_for_event_with_sev(&INFO_EVENT);
         assert!(res.is_ok());
         assert!(res.unwrap());
@@ -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

@@ -13,7 +13,7 @@ use super::{
     GenericRoutingError, PusServiceHelper,
 };
 
-pub struct PusService5EventHandler<
+pub struct PusEventServiceHandler<
     TcReceiver: EcssTcReceiverCore,
     TmSender: EcssTmSenderCore,
     TcInMemConverter: EcssTcInMemConverter,
@@ -29,7 +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<
@@ -83,7 +83,12 @@ impl<
                     .service_helper
                     .common
                     .verif_reporter
-                    .start_success(ecss_tc_and_token.token, time_stamp)
+                    .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();
@@ -161,9 +166,9 @@ mod tests {
     use crate::pus::event_man::EventRequest;
     use crate::pus::test_util::{PusTestHarness, SimplePusPacketHandler, TEST_APID};
     use crate::pus::verification::{
-        RequestId, VerificationReporterWithSharedPoolMpscBoundedSender,
+        RequestId, VerificationReporter, VerificationReportingProvider,
     };
-    use crate::pus::{GenericConversionError, MpscTcReceiver, TmInSharedPoolSenderWithBoundedMpsc};
+    use crate::pus::{GenericConversionError, MpscTcReceiver, MpscTmInSharedPoolSenderBounded};
     use crate::{
         events::EventU32,
         pus::{
@@ -174,34 +179,48 @@ mod tests {
         },
     };
 
-    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);
@@ -212,7 +231,7 @@ mod tests {
 
     impl SimplePusPacketHandler for Pus5HandlerWithStoreTester {
         fn handle_one_tc(&mut self) -> Result<PusPacketHandlerResult, PusPacketHandlingError> {
-            let time_stamp = cds::TimeProvider::new_with_u16_days(0, 0).to_vec().unwrap();
+            let time_stamp = cds::CdsTime::new_with_u16_days(0, 0).to_vec().unwrap();
             self.handler.poll_and_handle_next_tc(&time_stamp)
         }
     }
@@ -230,7 +249,8 @@ 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 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);
@@ -287,7 +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();
@@ -306,7 +327,8 @@ 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();

satrs/src/pus/mod.rs

@@ -5,7 +5,7 @@
 use crate::pool::{StoreAddr, StoreError};
 use crate::pus::verification::{TcStateAccepted, TcStateToken, VerificationToken};
 use crate::queue::{GenericReceiveError, GenericSendError};
-use crate::request::{GenericMessage, RequestId};
+use crate::request::{GenericMessage, MessageMetadata, RequestId};
 use crate::ComponentId;
 use core::fmt::{Display, Formatter};
 use core::time::Duration;
@@ -43,19 +43,19 @@ pub use std_mod::*;
 use self::verification::VerificationReportingProvider;
 
 #[derive(Debug, PartialEq, Eq, Clone)]
-pub enum PusTmWrapper<'tm> {
+pub enum PusTmVariant<'time, 'src_data> {
     InStore(StoreAddr),
-    Direct(PusTmCreator<'tm>),
+    Direct(PusTmCreator<'time, 'src_data>),
 }
 
-impl From<StoreAddr> for PusTmWrapper<'_> {
+impl From<StoreAddr> for PusTmVariant<'_, '_> {
     fn from(value: StoreAddr) -> Self {
         Self::InStore(value)
     }
 }
 
-impl<'tm> From<PusTmCreator<'tm>> for PusTmWrapper<'tm> {
+impl<'time, 'src_data> From<PusTmCreator<'time, 'src_data>> for PusTmVariant<'time, 'src_data> {
-    fn from(value: PusTmCreator<'tm>) -> Self {
+    fn from(value: PusTmCreator<'time, 'src_data>) -> Self {
         Self::Direct(value)
     }
 }
@@ -142,7 +142,7 @@ impl Error for EcssTmtcError {
         }
     }
 }
-pub trait EcssChannel: Send {
+pub trait ChannelWithId: Send {
     /// Each sender can have an ID associated with it
     fn id(&self) -> ComponentId;
     fn name(&self) -> &'static str {
@@ -154,7 +154,7 @@ pub trait EcssChannel: Send {
 ///
 /// This sender object is responsible for sending PUS telemetry to a TM sink.
 pub trait EcssTmSenderCore: Send {
-    fn send_tm(&self, tm: PusTmWrapper) -> Result<(), EcssTmtcError>;
+    fn send_tm(&self, source_id: ComponentId, tm: PusTmVariant) -> Result<(), EcssTmtcError>;
 }
 
 /// Generic trait for a user supplied sender object.
@@ -165,6 +165,16 @@ pub trait EcssTcSenderCore {
     fn send_tc(&self, tc: PusTcCreator, token: Option<TcStateToken>) -> Result<(), EcssTmtcError>;
 }
 
+/// Dummy object which can be useful for tests.
+#[derive(Default)]
+pub struct EcssTmDummySender {}
+
+impl EcssTmSenderCore for EcssTmDummySender {
+    fn send_tm(&self, _source_id: ComponentId, _tm: PusTmVariant) -> Result<(), EcssTmtcError> {
+        Ok(())
+    }
+}
+
 /// A PUS telecommand packet can be stored in memory using different methods. Right now,
 /// storage inside a pool structure like [crate::pool::StaticMemoryPool], and storage inside a
 /// `Vec<u8>` are supported.
@@ -259,7 +269,7 @@ impl From<StoreError> for TryRecvTmtcError {
 }
 
 /// Generic trait for a user supplied receiver object.
-pub trait EcssTcReceiverCore: EcssChannel {
+pub trait EcssTcReceiverCore {
     fn recv_tc(&self) -> Result<EcssTcAndToken, TryRecvTmtcError>;
 }
 
@@ -301,8 +311,7 @@ pub trait PusRequestRouter<Request> {
 
     fn route(
         &self,
-        request_id: RequestId,
+        requestor_info: MessageMetadata,
-        source_id: ComponentId,
         target_id: ComponentId,
         request: Request,
     ) -> Result<(), Self::Error>;
@@ -315,15 +324,17 @@ pub trait PusReplyHandler<ActiveRequestInfo: ActiveRequestProvider, ReplyType> {
     /// is finished. A finished PUS request will be removed from the active request map.
     fn handle_reply(
         &mut self,
+        caller_id: ComponentId,
         reply: &GenericMessage<ReplyType>,
         active_request: &ActiveRequestInfo,
+        tm_sender: &impl EcssTmSenderCore,
         verification_handler: &impl VerificationReportingProvider,
         time_stamp: &[u8],
-        tm_sender: &impl EcssTmSenderCore,
     ) -> Result<bool, Self::Error>;
 
     fn handle_unrequested_reply(
         &mut self,
+        caller_id: ComponentId,
         reply: &GenericMessage<ReplyType>,
         tm_sender: &impl EcssTmSenderCore,
     ) -> Result<(), Self::Error>;
@@ -331,10 +342,11 @@ pub trait PusReplyHandler<ActiveRequestInfo: ActiveRequestProvider, ReplyType> {
     /// Handle the timeout of an active request.
     fn handle_request_timeout(
         &mut self,
+        caller_id: ComponentId,
         active_request: &ActiveRequestInfo,
+        tm_sender: &impl EcssTmSenderCore,
         verification_handler: &impl VerificationReportingProvider,
         time_stamp: &[u8],
-        tm_sender: &impl EcssTmSenderCore,
     ) -> Result<(), Self::Error>;
 }
 
@@ -445,10 +457,12 @@ pub mod alloc_mod {
         type Error;
         fn convert(
             &mut self,
+            caller_id: ComponentId,
             token: VerificationToken<TcStateAccepted>,
             tc: &PusTcReader,
-            time_stamp: &[u8],
+            tm_sender: &(impl EcssTmSenderCore + ?Sized),
             verif_reporter: &impl VerificationReportingProvider,
+            time_stamp: &[u8],
         ) -> Result<(ActiveRequestInfo, Request), Self::Error>;
     }
 
@@ -647,8 +661,8 @@ pub mod std_mod {
     };
     use crate::pus::verification::{TcStateAccepted, VerificationToken};
     use crate::pus::{
-        EcssChannel, EcssTcAndToken, EcssTcReceiverCore, EcssTmSenderCore, EcssTmtcError,
+        EcssTcAndToken, EcssTcReceiverCore, EcssTmSenderCore, EcssTmtcError, GenericReceiveError,
-        GenericReceiveError, GenericSendError, PusTmWrapper, TryRecvTmtcError,
+        GenericSendError, PusTmVariant, TryRecvTmtcError,
     };
     use crate::tmtc::tm_helper::SharedTmPool;
     use crate::ComponentId;
@@ -670,54 +684,82 @@ pub mod std_mod {
     use super::verification::{TcStateToken, VerificationReportingProvider};
     use super::{AcceptedEcssTcAndToken, ActiveRequestProvider, TcInMemory};
 
+    #[derive(Debug)]
+    pub struct PusTmInPool {
+        pub source_id: ComponentId,
+        pub store_addr: StoreAddr,
+    }
+
     impl From<mpsc::SendError<StoreAddr>> for EcssTmtcError {
         fn from(_: mpsc::SendError<StoreAddr>) -> Self {
             Self::Send(GenericSendError::RxDisconnected)
         }
     }
 
-    impl EcssTmSenderCore for mpsc::Sender<StoreAddr> {
+    impl EcssTmSenderCore for mpsc::Sender<PusTmInPool> {
-        fn send_tm(&self, tm: PusTmWrapper) -> Result<(), EcssTmtcError> {
+        fn send_tm(&self, source_id: ComponentId, tm: PusTmVariant) -> Result<(), EcssTmtcError> {
             match tm {
-                PusTmWrapper::InStore(addr) => self
+                PusTmVariant::InStore(store_addr) => self
-                    .send(addr)
+                    .send(PusTmInPool {
+                        source_id,
+                        store_addr,
+                    })
                     .map_err(|_| GenericSendError::RxDisconnected)?,
-                PusTmWrapper::Direct(_) => return Err(EcssTmtcError::CantSendDirectTm),
+                PusTmVariant::Direct(_) => return Err(EcssTmtcError::CantSendDirectTm),
             };
             Ok(())
         }
     }
 
-    impl EcssTmSenderCore for mpsc::SyncSender<StoreAddr> {
+    impl EcssTmSenderCore for mpsc::SyncSender<PusTmInPool> {
-        fn send_tm(&self, tm: PusTmWrapper) -> Result<(), EcssTmtcError> {
+        fn send_tm(&self, source_id: ComponentId, tm: PusTmVariant) -> Result<(), EcssTmtcError> {
             match tm {
-                PusTmWrapper::InStore(addr) => self
+                PusTmVariant::InStore(store_addr) => self
-                    .try_send(addr)
+                    .try_send(PusTmInPool {
+                        source_id,
+                        store_addr,
+                    })
                     .map_err(|e| EcssTmtcError::Send(e.into()))?,
-                PusTmWrapper::Direct(_) => return Err(EcssTmtcError::CantSendDirectTm),
+                PusTmVariant::Direct(_) => return Err(EcssTmtcError::CantSendDirectTm),
             };
             Ok(())
         }
     }
 
-    impl EcssTmSenderCore for mpsc::Sender<Vec<u8>> {
+    #[derive(Debug)]
-        fn send_tm(&self, tm: PusTmWrapper) -> Result<(), EcssTmtcError> {
+    pub struct PusTmAsVec {
+        pub source_id: ComponentId,
+        pub packet: Vec<u8>,
+    }
+
+    pub type MpscTmAsVecSender = mpsc::Sender<PusTmAsVec>;
+
+    impl EcssTmSenderCore for MpscTmAsVecSender {
+        fn send_tm(&self, source_id: ComponentId, tm: PusTmVariant) -> Result<(), EcssTmtcError> {
             match tm {
-                PusTmWrapper::InStore(addr) => return Err(EcssTmtcError::CantSendAddr(addr)),
+                PusTmVariant::InStore(addr) => return Err(EcssTmtcError::CantSendAddr(addr)),
-                PusTmWrapper::Direct(tm) => self
+                PusTmVariant::Direct(tm) => self
-                    .send(tm.to_vec()?)
+                    .send(PusTmAsVec {
+                        source_id,
+                        packet: tm.to_vec()?,
+                    })
                     .map_err(|e| EcssTmtcError::Send(e.into()))?,
             };
             Ok(())
         }
     }
 
-    impl EcssTmSenderCore for mpsc::SyncSender<Vec<u8>> {
+    pub type MpscTmAsVecSenderBounded = mpsc::SyncSender<PusTmAsVec>;
-        fn send_tm(&self, tm: PusTmWrapper) -> Result<(), EcssTmtcError> {
+
+    impl EcssTmSenderCore for MpscTmAsVecSenderBounded {
+        fn send_tm(&self, source_id: ComponentId, tm: PusTmVariant) -> Result<(), EcssTmtcError> {
             match tm {
-                PusTmWrapper::InStore(addr) => return Err(EcssTmtcError::CantSendAddr(addr)),
+                PusTmVariant::InStore(addr) => return Err(EcssTmtcError::CantSendAddr(addr)),
-                PusTmWrapper::Direct(tm) => self
+                PusTmVariant::Direct(tm) => self
-                    .send(tm.to_vec()?)
+                    .send(PusTmAsVec {
+                        source_id,
+                        packet: tm.to_vec()?,
+                    })
                     .map_err(|e| EcssTmtcError::Send(e.into()))?,
             };
             Ok(())
@@ -725,67 +767,52 @@ pub mod std_mod {
     }
 
     #[derive(Clone)]
-    pub struct TmInSharedPoolSenderWithId<Sender: EcssTmSenderCore> {
+    pub struct TmInSharedPoolSender<Sender: EcssTmSenderCore> {
-        channel_id: ComponentId,
-        name: &'static str,
         shared_tm_store: SharedTmPool,
         sender: Sender,
     }
 
-    impl<Sender: EcssTmSenderCore> EcssChannel for TmInSharedPoolSenderWithId<Sender> {
+    impl<Sender: EcssTmSenderCore> TmInSharedPoolSender<Sender> {
-        fn id(&self) -> ComponentId {
+        pub fn send_direct_tm(
-            self.channel_id
+            &self,
-        }
+            source_id: ComponentId,
-
+            tm: PusTmCreator,
-        fn name(&self) -> &'static str {
+        ) -> Result<(), EcssTmtcError> {
-            self.name
-        }
-    }
-
-    impl<Sender: EcssTmSenderCore> TmInSharedPoolSenderWithId<Sender> {
-        pub fn send_direct_tm(&self, tm: PusTmCreator) -> Result<(), EcssTmtcError> {
             let addr = self.shared_tm_store.add_pus_tm(&tm)?;
-            self.sender.send_tm(PusTmWrapper::InStore(addr))
+            self.sender.send_tm(source_id, PusTmVariant::InStore(addr))
         }
     }
 
-    impl<Sender: EcssTmSenderCore> EcssTmSenderCore for TmInSharedPoolSenderWithId<Sender> {
+    impl<Sender: EcssTmSenderCore> EcssTmSenderCore for TmInSharedPoolSender<Sender> {
-        fn send_tm(&self, tm: PusTmWrapper) -> Result<(), EcssTmtcError> {
+        fn send_tm(&self, source_id: ComponentId, tm: PusTmVariant) -> Result<(), EcssTmtcError> {
-            if let PusTmWrapper::Direct(tm) = tm {
+            if let PusTmVariant::Direct(tm) = tm {
-                return self.send_direct_tm(tm);
+                return self.send_direct_tm(source_id, tm);
             }
-            self.sender.send_tm(tm)
+            self.sender.send_tm(source_id, tm)
         }
     }
 
-    impl<Sender: EcssTmSenderCore> TmInSharedPoolSenderWithId<Sender> {
+    impl<Sender: EcssTmSenderCore> TmInSharedPoolSender<Sender> {
-        pub fn new(
+        pub fn new(shared_tm_store: SharedTmPool, sender: Sender) -> Self {
-            id: ComponentId,
-            name: &'static str,
-            shared_tm_store: SharedTmPool,
-            sender: Sender,
-        ) -> Self {
             Self {
-                channel_id: id,
-                name,
                 shared_tm_store,
                 sender,
             }
         }
     }
 
-    pub type TmInSharedPoolSenderWithMpsc = TmInSharedPoolSenderWithId<mpsc::Sender<StoreAddr>>;
+    pub type MpscTmInSharedPoolSender = TmInSharedPoolSender<mpsc::Sender<PusTmInPool>>;
-    pub type TmInSharedPoolSenderWithBoundedMpsc =
+    pub type MpscTmInSharedPoolSenderBounded = TmInSharedPoolSender<mpsc::SyncSender<PusTmInPool>>;
-        TmInSharedPoolSenderWithId<mpsc::SyncSender<StoreAddr>>;
 
+    /*
     /// This class can be used if frequent heap allocations during run-time are not an issue.
     /// PUS TM packets will be sent around as [Vec]s. Please note that the current implementation
     /// of this class can not deal with store addresses, so it is assumed that is is always
     /// going to be called with direct packets.
     #[derive(Clone)]
     pub struct TmAsVecSenderWithId<Sender: EcssTmSenderCore> {
-        id: ComponentId,
+        // id: ComponentId,
-        name: &'static str,
+        //name: &'static str,
         sender: Sender,
     }
 
@@ -801,7 +828,7 @@ pub mod std_mod {
         }
     }
 
-    impl<Sender: EcssTmSenderCore> EcssChannel for TmAsVecSenderWithId<Sender> {
+    impl<Sender: EcssTmSenderCore> ChannelWithId for TmAsVecSenderWithId<Sender> {
         fn id(&self) -> ComponentId {
             self.id
         }
@@ -811,58 +838,34 @@ pub mod std_mod {
     }
 
     impl<Sender: EcssTmSenderCore> EcssTmSenderCore for TmAsVecSenderWithId<Sender> {
-        fn send_tm(&self, tm: PusTmWrapper) -> Result<(), EcssTmtcError> {
+        fn send_tm(&self, tm: PusTmVariant) -> Result<(), EcssTmtcError> {
             self.sender.send_tm(tm)
         }
     }
 
     pub type TmAsVecSenderWithMpsc = TmAsVecSenderWithId<mpsc::Sender<Vec<u8>>>;
     pub type TmAsVecSenderWithBoundedMpsc = TmAsVecSenderWithId<mpsc::SyncSender<Vec<u8>>>;
+     */
 
-    pub struct MpscTcReceiver {
+    pub type MpscTcReceiver = mpsc::Receiver<EcssTcAndToken>;
-        id: ComponentId,
-        name: &'static str,
-        receiver: mpsc::Receiver<EcssTcAndToken>,
-    }
-
-    impl EcssChannel for MpscTcReceiver {
-        fn id(&self) -> ComponentId {
-            self.id
-        }
-
-        fn name(&self) -> &'static str {
-            self.name
-        }
-    }
 
     impl EcssTcReceiverCore for MpscTcReceiver {
         fn recv_tc(&self) -> Result<EcssTcAndToken, TryRecvTmtcError> {
-            self.receiver.try_recv().map_err(|e| match e {
+            self.try_recv().map_err(|e| match e {
                 TryRecvError::Empty => TryRecvTmtcError::Empty,
                 TryRecvError::Disconnected => TryRecvTmtcError::Tmtc(EcssTmtcError::from(
-                    GenericReceiveError::TxDisconnected(Some(self.id())),
+                    GenericReceiveError::TxDisconnected(None),
                 )),
             })
         }
     }
 
-    impl MpscTcReceiver {
-        pub fn new(
-            id: ComponentId,
-            name: &'static str,
-            receiver: mpsc::Receiver<EcssTcAndToken>,
-        ) -> Self {
-            Self { id, name, receiver }
-        }
-    }
-
     #[cfg(feature = "crossbeam")]
     pub mod cb_mod {
         use super::*;
         use crossbeam_channel as cb;
 
-        pub type TmInSharedPoolSenderWithCrossbeam =
+        pub type TmInSharedPoolSenderWithCrossbeam = TmInSharedPoolSender<cb::Sender<PusTmInPool>>;
-            TmInSharedPoolSenderWithId<cb::Sender<StoreAddr>>;
 
         impl From<cb::SendError<StoreAddr>> for EcssTmtcError {
             fn from(_: cb::SendError<StoreAddr>) -> Self {
@@ -881,65 +884,44 @@ pub mod std_mod {
             }
         }
 
-        impl EcssTmSenderCore for cb::Sender<StoreAddr> {
+        impl EcssTmSenderCore for cb::Sender<PusTmInPool> {
-            fn send_tm(&self, tm: PusTmWrapper) -> Result<(), EcssTmtcError> {
+            fn send_tm(
+                &self,
+                source_id: ComponentId,
+                tm: PusTmVariant,
+            ) -> Result<(), EcssTmtcError> {
                 match tm {
-                    PusTmWrapper::InStore(addr) => self
+                    PusTmVariant::InStore(addr) => self
-                        .try_send(addr)
+                        .try_send(PusTmInPool {
+                            source_id,
+                            store_addr: addr,
+                        })
                         .map_err(|e| EcssTmtcError::Send(e.into()))?,
-                    PusTmWrapper::Direct(_) => return Err(EcssTmtcError::CantSendDirectTm),
+                    PusTmVariant::Direct(_) => return Err(EcssTmtcError::CantSendDirectTm),
                 };
                 Ok(())
             }
         }
-        impl EcssTmSenderCore for cb::Sender<Vec<u8>> {
+        impl EcssTmSenderCore for cb::Sender<PusTmAsVec> {
-            fn send_tm(&self, tm: PusTmWrapper) -> Result<(), EcssTmtcError> {
+            fn send_tm(
+                &self,
+                source_id: ComponentId,
+                tm: PusTmVariant,
+            ) -> Result<(), EcssTmtcError> {
                 match tm {
-                    PusTmWrapper::InStore(addr) => return Err(EcssTmtcError::CantSendAddr(addr)),
+                    PusTmVariant::InStore(addr) => return Err(EcssTmtcError::CantSendAddr(addr)),
-                    PusTmWrapper::Direct(tm) => self
+                    PusTmVariant::Direct(tm) => self
-                        .send(tm.to_vec()?)
+                        .send(PusTmAsVec {
+                            source_id,
+                            packet: tm.to_vec()?,
+                        })
                         .map_err(|e| EcssTmtcError::Send(e.into()))?,
                 };
                 Ok(())
             }
         }
 
-        pub struct CrossbeamTcReceiver {
+        pub type CrossbeamTcReceiver = cb::Receiver<EcssTcAndToken>;
-            id: ComponentId,
-            name: &'static str,
-            receiver: cb::Receiver<EcssTcAndToken>,
-        }
-
-        impl CrossbeamTcReceiver {
-            pub fn new(
-                id: ComponentId,
-                name: &'static str,
-                receiver: cb::Receiver<EcssTcAndToken>,
-            ) -> Self {
-                Self { id, name, receiver }
-            }
-        }
-
-        impl EcssChannel for CrossbeamTcReceiver {
-            fn id(&self) -> ComponentId {
-                self.id
-            }
-
-            fn name(&self) -> &'static str {
-                self.name
-            }
-        }
-
-        impl EcssTcReceiverCore for CrossbeamTcReceiver {
-            fn recv_tc(&self) -> Result<EcssTcAndToken, TryRecvTmtcError> {
-                self.receiver.try_recv().map_err(|e| match e {
-                    cb::TryRecvError::Empty => TryRecvTmtcError::Empty,
-                    cb::TryRecvError::Disconnected => TryRecvTmtcError::Tmtc(EcssTmtcError::from(
-                        GenericReceiveError::TxDisconnected(Some(self.id())),
-                    )),
-                })
-            }
-        }
     }
 
     /// This is a high-level handler for the generic PUS services which need to convert PUS
@@ -1294,9 +1276,9 @@ pub mod std_mod {
         TmSender: EcssTmSenderCore,
         VerificationReporter: VerificationReportingProvider,
     > {
+        pub id: ComponentId,
         pub tc_receiver: TcReceiver,
         pub tm_sender: TmSender,
-        pub tm_apid: u16,
         pub verif_reporter: VerificationReporter,
     }
 
@@ -1327,23 +1309,31 @@ pub mod std_mod {
         > PusServiceHelper<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>
     {
         pub fn new(
+            id: ComponentId,
             tc_receiver: TcReceiver,
             tm_sender: TmSender,
-            tm_apid: u16,
             verification_handler: VerificationReporter,
             tc_in_mem_converter: TcInMemConverter,
         ) -> Self {
             Self {
                 common: PusServiceBase {
+                    id,
                     tc_receiver,
                     tm_sender,
-                    tm_apid,
                     verif_reporter: verification_handler,
                 },
                 tc_in_mem_converter,
             }
         }
 
+        pub fn id(&self) -> ComponentId {
+            self.common.id
+        }
+
+        pub fn tm_sender(&self) -> &TmSender {
+            &self.common.tm_sender
+        }
+
         /// This function can be used to poll the internal [EcssTcReceiverCore] object for the next
         /// telecommand packet. It will return `Ok(None)` if there are not packets available.
         /// In any other case, it will perform the acceptance of the ECSS TC packet using the
@@ -1378,6 +1368,9 @@ pub mod std_mod {
         pub fn verif_reporter(&self) -> &VerificationReporter {
             &self.common.verif_reporter
         }
+        pub fn verif_reporter_mut(&mut self) -> &mut VerificationReporter {
+            &mut self.common.verif_reporter
+        }
 
         pub fn tc_in_mem_converter(&self) -> &TcInMemConverter {
             &self.tc_in_mem_converter
@@ -1388,50 +1381,47 @@ pub mod std_mod {
         }
     }
 
-    pub type PusServiceHelperDynWithMpsc<TcInMemConverter, VerificationReporter> = PusServiceHelper<
+    pub type PusServiceHelperDynWithMpsc<TcInMemConverter, VerificationReporter> =
-        MpscTcReceiver,
+        PusServiceHelper<MpscTcReceiver, MpscTmAsVecSender, TcInMemConverter, VerificationReporter>;
-        TmAsVecSenderWithMpsc,
-        TcInMemConverter,
-        VerificationReporter,
-    >;
     pub type PusServiceHelperDynWithBoundedMpsc<TcInMemConverter, VerificationReporter> =
         PusServiceHelper<
             MpscTcReceiver,
-            TmAsVecSenderWithBoundedMpsc,
+            MpscTmAsVecSenderBounded,
             TcInMemConverter,
             VerificationReporter,
         >;
     pub type PusServiceHelperStaticWithMpsc<TcInMemConverter, VerificationReporter> =
         PusServiceHelper<
             MpscTcReceiver,
-            TmInSharedPoolSenderWithMpsc,
+            MpscTmInSharedPoolSender,
             TcInMemConverter,
             VerificationReporter,
         >;
     pub type PusServiceHelperStaticWithBoundedMpsc<TcInMemConverter, VerificationReporter> =
         PusServiceHelper<
             MpscTcReceiver,
-            TmInSharedPoolSenderWithBoundedMpsc,
+            MpscTmInSharedPoolSenderBounded,
             TcInMemConverter,
             VerificationReporter,
         >;
 }
 
-pub(crate) fn source_buffer_large_enough(cap: usize, len: usize) -> Result<(), EcssTmtcError> {
+pub(crate) fn source_buffer_large_enough(
+    cap: usize,
+    len: usize,
+) -> Result<(), ByteConversionError> {
     if len > cap {
-        return Err(
+        return Err(ByteConversionError::ToSliceTooSmall {
-            PusError::ByteConversion(ByteConversionError::ToSliceTooSmall {
+            found: cap,
-                found: cap,
+            expected: len,
-                expected: len,
+        });
-            })
-            .into(),
-        );
     }
     Ok(())
 }
 
 #[cfg(any(feature = "test_util", test))]
 pub mod test_util {
+    use crate::request::UniqueApidTargetId;
     use spacepackets::ecss::{tc::PusTcCreator, tm::PusTmReader};
 
     use super::{
@@ -1440,9 +1430,13 @@ pub mod test_util {
     };
 
     pub const TEST_APID: u16 = 0x101;
+    pub const TEST_UNIQUE_ID: u32 = 0x05;
+    pub const TEST_COMPONENT_ID: UniqueApidTargetId =
+        UniqueApidTargetId::new(TEST_APID, TEST_UNIQUE_ID);
 
     pub trait PusTestHarness {
-        fn send_tc(&mut self, tc: &PusTcCreator) -> VerificationToken<TcStateAccepted>;
+        fn init_verification(&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(
@@ -1471,22 +1465,16 @@ pub mod tests {
     use spacepackets::ecss::{PusPacket, WritablePusPacket};
     use spacepackets::CcsdsPacket;
 
-    use crate::pool::{
+    use crate::pool::{PoolProvider, SharedStaticMemoryPool, StaticMemoryPool, StaticPoolConfig};
-        PoolProvider, SharedStaticMemoryPool, StaticMemoryPool, StaticPoolConfig, StoreAddr,
+    use crate::pus::verification::{RequestId, VerificationReporter};
-    };
-    use crate::pus::verification::RequestId;
     use crate::tmtc::tm_helper::SharedTmPool;
     use crate::ComponentId;
 
-    use super::test_util::TEST_APID;
+    use super::test_util::{TEST_APID, TEST_COMPONENT_ID};
 
-    use super::verification::std_mod::{
+    use super::verification::test_util::TestVerificationReporter;
-        VerificationReporterWithSharedPoolMpscBoundedSender, VerificationReporterWithVecMpscSender,
-    };
-    use super::verification::test_util::{SharedVerificationMap, TestVerificationReporter};
     use super::verification::{
-        TcStateAccepted, VerificationReporterCfg, VerificationReporterWithSender,
+        TcStateAccepted, VerificationReporterCfg, VerificationReportingProvider, VerificationToken,
-        VerificationReportingProvider, VerificationToken,
     };
     use super::*;
 
@@ -1515,20 +1503,19 @@ pub mod tests {
 
     /// Common fields for a PUS service test harness.
     pub struct PusServiceHandlerWithSharedStoreCommon {
-        pus_buf: [u8; 2048],
+        pus_buf: RefCell<[u8; 2048]>,
         tm_buf: [u8; 2048],
         tc_pool: SharedStaticMemoryPool,
         tm_pool: SharedTmPool,
         tc_sender: mpsc::SyncSender<EcssTcAndToken>,
-        tm_receiver: mpsc::Receiver<StoreAddr>,
+        tm_receiver: mpsc::Receiver<PusTmInPool>,
-        verification_handler: VerificationReporterWithSharedPoolMpscBoundedSender,
     }
 
     pub type PusServiceHelperStatic = PusServiceHelper<
         MpscTcReceiver,
-        TmInSharedPoolSenderWithBoundedMpsc,
+        MpscTmInSharedPoolSenderBounded,
         EcssTcInSharedStoreConverter,
-        VerificationReporterWithSharedPoolMpscBoundedSender,
+        VerificationReporter,
     >;
 
     impl PusServiceHandlerWithSharedStoreCommon {
@@ -1536,7 +1523,7 @@ pub mod tests {
         /// [PusServiceHandler] which might be required for a specific PUS service handler.
         ///
         /// The PUS service handler is instantiated with a [EcssTcInStoreConverter].
-        pub fn new() -> (Self, PusServiceHelperStatic) {
+        pub fn new(id: ComponentId) -> (Self, PusServiceHelperStatic) {
             let pool_cfg = StaticPoolConfig::new(alloc::vec![(16, 16), (8, 32), (4, 64)], false);
             let tc_pool = StaticMemoryPool::new(pool_cfg.clone());
             let tm_pool = StaticMemoryPool::new(pool_cfg);
@@ -1545,62 +1532,47 @@ pub mod tests {
             let (test_srv_tc_tx, test_srv_tc_rx) = mpsc::sync_channel(10);
             let (tm_tx, tm_rx) = mpsc::sync_channel(10);
 
-            let verif_sender = TmInSharedPoolSenderWithBoundedMpsc::new(
-                0,
-                "verif_sender",
-                shared_tm_pool.clone(),
-                tm_tx.clone(),
-            );
             let verif_cfg = VerificationReporterCfg::new(TEST_APID, 1, 2, 8).unwrap();
-            let verification_handler =
+            let verification_handler = VerificationReporter::new(&verif_cfg);
-                VerificationReporterWithSharedPoolMpscBoundedSender::new(&verif_cfg, verif_sender);
+            let test_srv_tm_sender = TmInSharedPoolSender::new(shared_tm_pool.clone(), tm_tx);
-            let test_srv_tm_sender =
-                TmInSharedPoolSenderWithId::new(0, "TEST_SENDER", shared_tm_pool.clone(), tm_tx);
-            let test_srv_tc_receiver = MpscTcReceiver::new(0, "TEST_RECEIVER", test_srv_tc_rx);
             let in_store_converter =
                 EcssTcInSharedStoreConverter::new(shared_tc_pool.clone(), 2048);
             (
                 Self {
-                    pus_buf: [0; 2048],
+                    pus_buf: RefCell::new([0; 2048]),
                     tm_buf: [0; 2048],
                     tc_pool: shared_tc_pool,
                     tm_pool: shared_tm_pool,
                     tc_sender: test_srv_tc_tx,
                     tm_receiver: tm_rx,
-                    verification_handler: verification_handler.clone(),
                 },
                 PusServiceHelper::new(
-                    test_srv_tc_receiver,
+                    id,
+                    test_srv_tc_rx,
                     test_srv_tm_sender,
-                    TEST_APID,
                     verification_handler,
                     in_store_converter,
                 ),
             )
         }
-        pub fn send_tc(&mut self, tc: &PusTcCreator) -> VerificationToken<TcStateAccepted> {
+        pub fn send_tc(&self, token: &VerificationToken<TcStateAccepted>, tc: &PusTcCreator) {
-            let token = self.verification_handler.add_tc(tc);
+            let mut mut_buf = self.pus_buf.borrow_mut();
-            let token = self
+            let tc_size = tc.write_to_bytes(mut_buf.as_mut_slice()).unwrap();
-                .verification_handler
-                .acceptance_success(token, &[0; 7])
-                .unwrap();
-            let tc_size = tc.write_to_bytes(&mut self.pus_buf).unwrap();
             let mut tc_pool = self.tc_pool.write().unwrap();
-            let addr = tc_pool.add(&self.pus_buf[..tc_size]).unwrap();
+            let addr = tc_pool.add(&mut_buf[..tc_size]).unwrap();
             drop(tc_pool);
             // Send accepted TC to test service handler.
             self.tc_sender
-                .send(EcssTcAndToken::new(addr, token))
+                .send(EcssTcAndToken::new(addr, *token))
                 .expect("sending tc failed");
-            token
         }
 
         pub fn read_next_tm(&mut self) -> PusTmReader<'_> {
             let next_msg = self.tm_receiver.try_recv();
             assert!(next_msg.is_ok());
-            let tm_addr = next_msg.unwrap();
+            let tm_in_pool = next_msg.unwrap();
             let tm_pool = self.tm_pool.0.read().unwrap();
-            let tm_raw = tm_pool.read_as_vec(&tm_addr).unwrap();
+            let tm_raw = tm_pool.read_as_vec(&tm_in_pool.store_addr).unwrap();
             self.tm_buf[0..tm_raw.len()].copy_from_slice(&tm_raw);
             PusTmReader::new(&self.tm_buf, 7).unwrap().0
         }
@@ -1616,9 +1588,9 @@ pub mod tests {
         pub fn check_next_verification_tm(&self, subservice: u8, expected_request_id: RequestId) {
             let next_msg = self.tm_receiver.try_recv();
             assert!(next_msg.is_ok());
-            let tm_addr = next_msg.unwrap();
+            let tm_in_pool = next_msg.unwrap();
             let tm_pool = self.tm_pool.0.read().unwrap();
-            let tm_raw = tm_pool.read_as_vec(&tm_addr).unwrap();
+            let tm_raw = tm_pool.read_as_vec(&tm_in_pool.store_addr).unwrap();
             let tm = PusTmReader::new(&tm_raw, 7).unwrap().0;
             assert_eq!(PusPacket::service(&tm), 1);
             assert_eq!(PusPacket::subservice(&tm), subservice);
@@ -1629,56 +1601,49 @@ pub mod tests {
         }
     }
 
-    pub struct PusServiceHandlerWithVecCommon<VerificationReporter: VerificationReportingProvider> {
+    pub struct PusServiceHandlerWithVecCommon {
-        current_tm: Option<alloc::vec::Vec<u8>>,
+        current_tm: Option<Vec<u8>>,
         tc_sender: mpsc::Sender<EcssTcAndToken>,
-        tm_receiver: mpsc::Receiver<alloc::vec::Vec<u8>>,
+        tm_receiver: mpsc::Receiver<PusTmAsVec>,
-        pub verification_handler: VerificationReporter,
     }
     pub type PusServiceHelperDynamic = PusServiceHelper<
         MpscTcReceiver,
-        TmAsVecSenderWithMpsc,
+        MpscTmAsVecSender,
         EcssTcInVecConverter,
-        VerificationReporterWithVecMpscSender,
+        TestVerificationReporter,
     >;
 
-    impl PusServiceHandlerWithVecCommon<VerificationReporterWithVecMpscSender> {
+    impl PusServiceHandlerWithVecCommon {
-        pub fn new_with_standard_verif_reporter() -> (Self, PusServiceHelperDynamic) {
+        pub fn new_with_standard_verif_reporter(
+            id: ComponentId,
+        ) -> (Self, PusServiceHelperDynamic) {
             let (test_srv_tc_tx, test_srv_tc_rx) = mpsc::channel();
             let (tm_tx, tm_rx) = mpsc::channel();
 
-            let verif_sender = TmAsVecSenderWithId::new(0, "verififcatio-sender", tm_tx.clone());
-            let verif_cfg = VerificationReporterCfg::new(TEST_APID, 1, 2, 8).unwrap();
-            let verification_handler =
-                VerificationReporterWithSender::new(&verif_cfg, verif_sender);
-
-            let test_srv_tm_sender = TmAsVecSenderWithId::new(0, "test-sender", tm_tx);
-            let test_srv_tc_receiver = MpscTcReceiver::new(0, "test-receiver", test_srv_tc_rx);
             let in_store_converter = EcssTcInVecConverter::default();
             (
                 Self {
                     current_tm: None,
                     tc_sender: test_srv_tc_tx,
                     tm_receiver: tm_rx,
-                    verification_handler: verification_handler.clone(),
                 },
                 PusServiceHelper::new(
-                    test_srv_tc_receiver,
+                    id,
-                    test_srv_tm_sender,
+                    test_srv_tc_rx,
-                    TEST_APID,
+                    tm_tx,
-                    verification_handler,
+                    TestVerificationReporter::default(),
                     in_store_converter,
                 ),
             )
         }
     }
 
-    impl PusServiceHandlerWithVecCommon<TestVerificationReporter> {
+    impl PusServiceHandlerWithVecCommon {
         pub fn new_with_test_verif_sender() -> (
             Self,
             PusServiceHelper<
                 MpscTcReceiver,
-                TmAsVecSenderWithMpsc,
+                MpscTmAsVecSender,
                 EcssTcInVecConverter,
                 TestVerificationReporter,
             >,
@@ -1686,22 +1651,19 @@ pub mod tests {
             let (test_srv_tc_tx, test_srv_tc_rx) = mpsc::channel();
             let (tm_tx, tm_rx) = mpsc::channel();
 
-            let test_srv_tm_sender = TmAsVecSenderWithId::new(0, "test-sender", tm_tx);
-            let test_srv_tc_receiver = MpscTcReceiver::new(0, "test-receiver", test_srv_tc_rx);
             let in_store_converter = EcssTcInVecConverter::default();
-            let shared_verif_map = SharedVerificationMap::default();
+            let verification_handler = TestVerificationReporter::default();
-            let verification_handler = TestVerificationReporter::new(shared_verif_map);
             (
                 Self {
                     current_tm: None,
                     tc_sender: test_srv_tc_tx,
                     tm_receiver: tm_rx,
-                    verification_handler: verification_handler.clone(),
+                    //verification_handler: verification_handler.clone(),
                 },
                 PusServiceHelper::new(
-                    test_srv_tc_receiver,
+                    TEST_COMPONENT_ID.raw(),
-                    test_srv_tm_sender,
+                    test_srv_tc_rx,
-                    TEST_APID,
+                    tm_tx,
                     verification_handler,
                     in_store_converter,
                 ),
@@ -1709,29 +1671,21 @@ pub mod tests {
         }
     }
 
-    impl<VerificationReporter: VerificationReportingProvider>
+    impl PusServiceHandlerWithVecCommon {
-        PusServiceHandlerWithVecCommon<VerificationReporter>
+        pub fn send_tc(&self, token: &VerificationToken<TcStateAccepted>, tc: &PusTcCreator) {
-    {
-        pub fn send_tc(&mut self, tc: &PusTcCreator) -> VerificationToken<TcStateAccepted> {
-            let token = self.verification_handler.add_tc(tc);
-            let token = self
-                .verification_handler
-                .acceptance_success(token, &[0; 7])
-                .unwrap();
             // Send accepted TC to test service handler.
             self.tc_sender
                 .send(EcssTcAndToken::new(
                     TcInMemory::Vec(tc.to_vec().expect("pus tc conversion to vec failed")),
-                    token,
+                    *token,
                 ))
                 .expect("sending tc failed");
-            token
         }
 
         pub fn read_next_tm(&mut self) -> PusTmReader<'_> {
             let next_msg = self.tm_receiver.try_recv();
             assert!(next_msg.is_ok());
-            self.current_tm = Some(next_msg.unwrap());
+            self.current_tm = Some(next_msg.unwrap().packet);
             PusTmReader::new(self.current_tm.as_ref().unwrap(), 7)
                 .unwrap()
                 .0
@@ -1749,7 +1703,7 @@ pub mod tests {
             let next_msg = self.tm_receiver.try_recv();
             assert!(next_msg.is_ok());
             let next_msg = next_msg.unwrap();
-            let tm = PusTmReader::new(next_msg.as_slice(), 7).unwrap().0;
+            let tm = PusTmReader::new(next_msg.packet.as_slice(), 7).unwrap().0;
             assert_eq!(PusPacket::service(&tm), 1);
             assert_eq!(PusPacket::subservice(&tm), subservice);
             assert_eq!(tm.apid(), TEST_APID);

satrs/src/pus/mode.rs

@@ -31,139 +31,7 @@ pub mod alloc_mod {}
 
 #[cfg(feature = "alloc")]
 #[cfg_attr(doc_cfg, doc(cfg(feature = "alloc")))]
-pub mod std_mod {
+pub mod std_mod {}
-    /*
-    use spacepackets::{
-        ecss::tm::{PusTmCreator, PusTmSecondaryHeader},
-        util::UnsignedEnum,
-        SpHeader,
-    };
-
-    pub trait ModeReplyHook: ReplyHandlerHook<ActivePusRequest, ModeReply> {
-        fn wrong_mode_result_code(&self) -> ResultU16;
-        fn can_not_reach_mode_result_code(&self) -> ResultU16;
-    }
-
-    /// Type definition for a PUS mode servicd reply handler which constrains the
-    /// [PusServiceReplyHandler] active request and reply generics to the [ActiveActionRequest] and
-    /// [ActionReplyPusWithIds] type.
-    pub type PusModeServiceReplyHandler<
-        VerificationReporter,
-        ActiveRequestMap,
-        UserHook,
-        TmSender,
-    > = PusServiceReplyHandler<
-        VerificationReporter,
-        ActiveRequestMap,
-        UserHook,
-        TmSender,
-        ActivePusRequest,
-        ModeReply,
-    >;
-
-    impl<
-            VerificationReporter: VerificationReportingProvider,
-            ActiveRequestMap: ActiveRequestMapProvider<ActivePusRequest>,
-            UserHook: ModeReplyHook,
-            TmSender: EcssTmSenderCore,
-        > PusModeServiceReplyHandler<VerificationReporter, ActiveRequestMap, UserHook, TmSender>
-    {
-        /// Helper method to register a recently routed action request.
-        pub fn add_routed_mode_request(
-            &mut self,
-            request_id: verification::RequestId,
-            target_id: TargetId,
-            token: VerificationToken<TcStateStarted>,
-            timeout: Duration,
-        ) {
-            self.active_request_map.insert(
-                &request_id.into(),
-                ActivePusRequest {
-                    target_id,
-                    token,
-                    start_time: self.current_time,
-                    timeout,
-                },
-            )
-        }
-
-        /// Main handler function to handle all received action replies.
-        pub fn handle_mode_reply(
-            &mut self,
-            mode_reply_with_id: &GenericModeReply,
-            time_stamp: &[u8],
-        ) -> Result<(), EcssTmtcError> {
-            let active_req = self.active_request_map.get(mode_reply_with_id.request_id);
-            if active_req.is_none() {
-                self.user_hook.handle_unexpected_reply(mode_reply_with_id);
-                return Ok(());
-            }
-            let active_req = active_req.unwrap().clone();
-            let remove_entry = match mode_reply_with_id.message {
-                ModeReply::ModeReply(reply) => {
-                    reply.write_to_be_bytes(&mut self.tm_buf)?;
-                    let req_id = verification::RequestId::from(mode_reply_with_id.request_id);
-                    let mut sp_header = SpHeader::tm_unseg(
-                        req_id.packet_id().apid(),
-                        req_id.packet_seq_ctrl().seq_count(),
-                        0,
-                    )
-                    .expect("space packet header creation error");
-                    let sec_header = PusTmSecondaryHeader::new(
-                        MODE_SERVICE_ID,
-                        Subservice::TmModeReply as u8,
-                        0,
-                        0,
-                        Some(time_stamp),
-                    );
-                    let pus_tm = PusTmCreator::new(&mut sp_header, sec_header, &self.tm_buf, true);
-                    self.tm_sender.send_tm(PusTmWrapper::Direct(pus_tm))?;
-                    self.verification_reporter
-                        .completion_success(active_req.token, time_stamp)
-                        .map_err(|e| e.0)?;
-                    true
-                }
-                ModeReply::CantReachMode(reason) => {
-                    let fail_data_len = reason.write_to_be_bytes(&mut self.tm_buf)?;
-                    self.verification_reporter
-                        .completion_failure(
-                            active_req.token,
-                            FailParams::new(
-                                time_stamp,
-                                &self.user_hook.can_not_reach_mode_result_code(),
-                                &self.tm_buf[0..fail_data_len],
-                            ),
-                        )
-                        .map_err(|e| e.0)?;
-                    true
-                }
-                ModeReply::WrongMode { expected, reached } => {
-                    let expected_len = expected.write_to_be_bytes(&mut self.tm_buf)?;
-                    let reached_len =
-                        reached.write_to_be_bytes(&mut self.tm_buf[expected_len..])?;
-                    self.verification_reporter
-                        .completion_failure(
-                            active_req.token,
-                            FailParams::new(
-                                time_stamp,
-                                &self.user_hook.can_not_reach_mode_result_code(),
-                                &self.tm_buf[0..expected_len + reached_len],
-                            ),
-                        )
-                        .map_err(|e| e.0)?;
-                    true
-                }
-                _ => true,
-            };
-            if remove_entry {
-                self.active_request_map
-                    .remove(mode_reply_with_id.request_id);
-            }
-            Ok(())
-        }
-    }
-    */
-}
 
 #[cfg(test)]
 mod tests {
@@ -175,7 +43,7 @@ mod tests {
             ModeAndSubmode, ModeReply, ModeReplySender, ModeRequest, ModeRequestSender,
             ModeRequestorAndHandlerMpsc, ModeRequestorMpsc,
         },
-        request::GenericMessage,
+        request::{GenericMessage, MessageMetadata},
     };
 
     const TEST_COMPONENT_ID_0: u64 = 5;
@@ -196,24 +64,23 @@ mod tests {
             .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.request_id(), 2);
-        assert_eq!(request.sender_id, TEST_COMPONENT_ID_0);
+        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(
-                request_id,
+                MessageMetadata::new(request_id, TEST_COMPONENT_ID_1),
-                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.sender_id(), TEST_COMPONENT_ID_1);
-        assert_eq!(reply.request_id, 2);
+        assert_eq!(reply.request_id(), 2);
         assert_eq!(reply.message, mode_reply);
     }
 
@@ -252,8 +119,8 @@ mod tests {
             .expect("send failed");
 
         let request = request_receiver_channel_1.recv().expect("recv failed");
-        assert_eq!(request.request_id, 2);
+        assert_eq!(request.request_id(), 2);
-        assert_eq!(request.sender_id, TEST_COMPONENT_ID_0);
+        assert_eq!(request.sender_id(), TEST_COMPONENT_ID_0);
         assert_eq!(request.message, ModeRequest::ReadMode);
     }
 
@@ -272,13 +139,16 @@ mod tests {
 
         // Send a request and verify it arrives at the receiver.
         let request_id = 2;
-        let sent_reply = ModeReply::ModeInfo(ModeAndSubmode::new(3, 5));
+        let sent_reply = ModeReply::ModeReply(ModeAndSubmode::new(3, 5));
         mode_connector
-            .send_mode_reply(request_id, TEST_COMPONENT_ID_2, sent_reply)
+            .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.request_id(), 2);
-        assert_eq!(reply.sender_id, TEST_COMPONENT_ID_0);
+        assert_eq!(reply.sender_id(), TEST_COMPONENT_ID_0);
         assert_eq!(reply.message, sent_reply);
     }
 

satrs/src/pus/scheduler_srv.rs

@@ -1,19 +1,16 @@
 use super::scheduler::PusSchedulerProvider;
-use super::verification::{
+use super::verification::{VerificationReporter, VerificationReportingProvider};
-    VerificationReporterWithSharedPoolMpscBoundedSender,
-    VerificationReporterWithSharedPoolMpscSender, VerificationReporterWithVecMpscBoundedSender,
-    VerificationReporterWithVecMpscSender, VerificationReportingProvider,
-};
 use super::{
     EcssTcInMemConverter, EcssTcInSharedStoreConverter, EcssTcInVecConverter, EcssTcReceiverCore,
-    EcssTmSenderCore, MpscTcReceiver, PusServiceHelper, TmAsVecSenderWithBoundedMpsc,
+    EcssTmSenderCore, MpscTcReceiver, MpscTmInSharedPoolSender, MpscTmInSharedPoolSenderBounded,
-    TmAsVecSenderWithMpsc, TmInSharedPoolSenderWithBoundedMpsc, TmInSharedPoolSenderWithMpsc,
+    PusServiceHelper, PusTmAsVec,
 };
 use crate::pool::PoolProvider;
 use crate::pus::{PusPacketHandlerResult, PusPacketHandlingError};
 use alloc::string::ToString;
 use spacepackets::ecss::{scheduling, PusPacket};
-use spacepackets::time::cds::TimeProvider;
+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
@@ -23,7 +20,7 @@ use spacepackets::time::cds::TimeProvider;
 /// 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,
@@ -42,13 +39,7 @@ impl<
         VerificationReporter: VerificationReportingProvider,
         Scheduler: PusSchedulerProvider,
     >
-    PusService11SchedHandler<
+    PusSchedServiceHandler<TcReceiver, TmSender, TcInMemConverter, VerificationReporter, Scheduler>
-        TcReceiver,
-        TmSender,
-        TcInMemConverter,
-        VerificationReporter,
-        Scheduler,
-    >
 {
     pub fn new(
         service_helper: PusServiceHelper<
@@ -101,14 +92,24 @@ impl<
                 let start_token = self
                     .service_helper
                     .verif_reporter()
-                    .start_success(ecss_tc_and_token.token, time_stamp)
+                    .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
                         .verif_reporter()
-                        .completion_success(start_token, time_stamp)
+                        .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(
@@ -120,14 +121,24 @@ impl<
                 let start_token = self
                     .service_helper
                     .verif_reporter()
-                    .start_success(ecss_tc_and_token.token, time_stamp)
+                    .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
                         .verif_reporter()
-                        .completion_success(start_token, time_stamp)
+                        .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(
@@ -139,7 +150,12 @@ impl<
                 let start_token = self
                     .service_helper
                     .verif_reporter()
-                    .start_success(ecss_tc_and_token.token, time_stamp)
+                    .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
@@ -148,7 +164,12 @@ impl<
 
                 self.service_helper
                     .verif_reporter()
-                    .completion_success(start_token, time_stamp)
+                    .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 => {
@@ -156,17 +177,27 @@ impl<
                     .service_helper
                     .common
                     .verif_reporter
-                    .start_success(ecss_tc_and_token.token, time_stamp)
+                    .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");
                 self.scheduler
-                    .insert_wrapped_tc::<TimeProvider>(&tc, sched_tc_pool)
+                    .insert_wrapped_tc::<CdsTime>(&tc, sched_tc_pool)
                     .expect("insertion of activity into pool failed");
 
                 self.service_helper
                     .verif_reporter()
-                    .completion_success(start_token, time_stamp)
+                    .completion_success(
+                        self.service_helper.common.id,
+                        &self.service_helper.common.tm_sender,
+                        start_token,
+                        time_stamp,
+                    )
                     .expect("sending completion success failed");
             }
             _ => {
@@ -187,38 +218,38 @@ 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,
 >;
 
@@ -226,7 +257,8 @@ pub type PusService11SchedHandlerStaticWithBoundedMpsc<PusScheduler> = PusServic
 mod tests {
     use crate::pool::{StaticMemoryPool, StaticPoolConfig};
     use crate::pus::test_util::{PusTestHarness, TEST_APID};
-    use crate::pus::verification::VerificationReporterWithSharedPoolMpscBoundedSender;
+    use crate::pus::verification::{VerificationReporter, VerificationReportingProvider};
+
     use crate::pus::{
         scheduler::{self, PusSchedulerProvider, TcInfo},
         tests::PusServiceHandlerWithSharedStoreCommon,
@@ -234,8 +266,8 @@ mod tests {
         EcssTcInSharedStoreConverter,
     };
     use crate::pus::{
-        MpscTcReceiver, PusPacketHandlerResult, PusPacketHandlingError,
+        MpscTcReceiver, MpscTmInSharedPoolSenderBounded, PusPacketHandlerResult,
-        TmInSharedPoolSenderWithBoundedMpsc,
+        PusPacketHandlingError,
     };
     use alloc::collections::VecDeque;
     use delegate::delegate;
@@ -249,15 +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,
@@ -268,25 +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::TimeProvider::new_with_u16_days(0, 0).to_vec().unwrap();
+            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);
@@ -304,7 +350,7 @@ mod tests {
     }
 
     impl PusSchedulerProvider for TestScheduler {
-        type TimeProvider = cds::TimeProvider;
+        type TimeProvider = cds::CdsTime;
 
         fn reset(
             &mut self,
@@ -330,7 +376,7 @@ mod tests {
 
         fn insert_unwrapped_and_stored_tc(
             &mut self,
-            _time_stamp: spacepackets::time::UnixTimestamp,
+            _time_stamp: spacepackets::time::UnixTime,
             info: crate::pus::scheduler::TcInfo,
         ) -> Result<(), crate::pus::scheduler::ScheduleError> {
             self.inserted_tcs.push_back(info);
@@ -345,10 +391,11 @@ 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.request_id();
-        let time_stamp = cds::TimeProvider::new_with_u16_days(0, 0).to_vec().unwrap();
+        let time_stamp = cds::CdsTime::new_with_u16_days(0, 0).to_vec().unwrap();
         test_harness
             .handler
             .poll_and_handle_next_tc(&time_stamp, &mut test_harness.sched_tc_pool)
@@ -392,7 +439,7 @@ mod tests {
         let mut sec_header = PusTcSecondaryHeader::new_simple(17, 1);
         let ping_tc = PusTcCreator::new(&mut reply_header, sec_header, &[], true);
         let req_id_ping_tc = scheduler::RequestId::from_tc(&ping_tc);
-        let stamper = cds::TimeProvider::from_now_with_u16_days().expect("time provider failed");
+        let stamper = cds::CdsTime::now_with_u16_days().expect("time provider failed");
         let mut sched_app_data: [u8; 64] = [0; 64];
         let mut written_len = stamper.write_to_bytes(&mut sched_app_data).unwrap();
         let ping_raw = ping_tc.to_vec().expect("generating raw tc failed");
@@ -406,7 +453,8 @@ 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.request_id();
         test_harness.handle_one_tc().unwrap();

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::{
+use super::verification::{VerificationReporter, VerificationReportingProvider};
-    VerificationReporterWithSharedPoolMpscBoundedSender,
-    VerificationReporterWithSharedPoolMpscSender, VerificationReporterWithVecMpscBoundedSender,
-    VerificationReporterWithVecMpscSender, VerificationReportingProvider,
-};
 use super::{
     EcssTcInMemConverter, EcssTcInSharedStoreConverter, EcssTcInVecConverter, EcssTcReceiverCore,
-    EcssTmSenderCore, GenericConversionError, MpscTcReceiver, PusServiceHelper,
+    EcssTmSenderCore, GenericConversionError, MpscTcReceiver, MpscTmInSharedPoolSender,
-    TmAsVecSenderWithBoundedMpsc, TmAsVecSenderWithMpsc, TmInSharedPoolSenderWithBoundedMpsc,
+    MpscTmInSharedPoolSenderBounded, PusServiceHelper,
-    TmInSharedPoolSenderWithMpsc,
 };
 
 /// This is a helper class for [std] environments to handle generic PUS 17 (test service) packets.
@@ -68,7 +65,12 @@ impl<
             let result = self
                 .service_helper
                 .verif_reporter()
-                .start_success(ecss_tc_and_token.token, time_stamp)
+                .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)
@@ -78,14 +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();
+                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);
@@ -95,7 +97,12 @@ impl<
                 if self
                     .service_helper
                     .verif_reporter()
-                    .completion_success(start_token, time_stamp)
+                    .completion_success(
+                        self.service_helper.common.id,
+                        &self.service_helper.common.tm_sender,
+                        start_token,
+                        time_stamp,
+                    )
                     .is_err()
                 {
                     partial_error = Some(PartialPusHandlingError::Verification)
@@ -120,33 +127,33 @@ 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)]
@@ -155,16 +162,17 @@ mod tests {
     use crate::pus::tests::{
         PusServiceHandlerWithSharedStoreCommon, PusServiceHandlerWithVecCommon,
     };
-    use crate::pus::verification::std_mod::{
+    use crate::pus::verification::test_util::TestVerificationReporter;
-        VerificationReporterWithSharedPoolMpscBoundedSender, VerificationReporterWithVecMpscSender,
+    use crate::pus::verification::{
+        RequestId, VerificationReporter, VerificationReportingProvider,
     };
-    use crate::pus::verification::RequestId;
     use crate::pus::verification::{TcStateAccepted, VerificationToken};
     use crate::pus::{
         EcssTcInSharedStoreConverter, EcssTcInVecConverter, GenericConversionError, MpscTcReceiver,
-        PusPacketHandlerResult, PusPacketHandlingError, TmAsVecSenderWithMpsc,
+        MpscTmAsVecSender, MpscTmInSharedPoolSenderBounded, PusPacketHandlerResult,
-        TmInSharedPoolSenderWithBoundedMpsc,
+        PusPacketHandlingError,
     };
+    use crate::ComponentId;
     use delegate::delegate;
     use spacepackets::ecss::tc::{PusTcCreator, PusTcSecondaryHeader};
     use spacepackets::ecss::tm::PusTmReader;
@@ -178,15 +186,15 @@ mod tests {
         common: PusServiceHandlerWithSharedStoreCommon,
         handler: PusService17TestHandler<
             MpscTcReceiver,
-            TmInSharedPoolSenderWithBoundedMpsc,
+            MpscTmInSharedPoolSenderBounded,
             EcssTcInSharedStoreConverter,
-            VerificationReporterWithSharedPoolMpscBoundedSender,
+            VerificationReporter,
         >,
     }
 
     impl Pus17HandlerWithStoreTester {
-        pub fn new() -> Self {
+        pub fn new(id: ComponentId) -> Self {
-            let (common, srv_handler) = PusServiceHandlerWithSharedStoreCommon::new();
+            let (common, srv_handler) = PusServiceHandlerWithSharedStoreCommon::new(id);
             let pus_17_handler = PusService17TestHandler::new(srv_handler);
             Self {
                 common,
@@ -196,10 +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,
@@ -211,25 +233,25 @@ mod tests {
     }
     impl SimplePusPacketHandler for Pus17HandlerWithStoreTester {
         fn handle_one_tc(&mut self) -> Result<PusPacketHandlerResult, PusPacketHandlingError> {
-            let time_stamp = cds::TimeProvider::new_with_u16_days(0, 0).to_vec().unwrap();
+            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),
@@ -238,9 +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(
@@ -253,7 +289,7 @@ mod tests {
     }
     impl SimplePusPacketHandler for Pus17HandlerWithVecTester {
         fn handle_one_tc(&mut self) -> Result<PusPacketHandlerResult, PusPacketHandlingError> {
-            let time_stamp = cds::TimeProvider::new_with_u16_days(0, 0).to_vec().unwrap();
+            let time_stamp = cds::CdsTime::new_with_u16_days(0, 0).to_vec().unwrap();
             self.handler.poll_and_handle_next_tc(&time_stamp)
         }
     }
@@ -263,7 +299,8 @@ 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 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());
@@ -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();
@@ -312,11 +349,12 @@ 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();
@@ -332,11 +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/request.rs

@@ -25,21 +25,24 @@ pub type RequestId = u32;
 pub type Apid = u16;
 
 #[derive(Copy, Clone, PartialEq, Eq, Hash, Debug)]
-pub struct TargetAndApidId {
+pub struct UniqueApidTargetId {
     pub apid: Apid,
-    pub target: u32,
+    pub unique_id: u32,
 }
 
-impl TargetAndApidId {
+impl UniqueApidTargetId {
     pub const fn new(apid: Apid, target: u32) -> Self {
-        Self { apid, target }
+        Self {
+            apid,
+            unique_id: target,
+        }
     }
 
     pub fn raw(&self) -> ComponentId {
-        ((self.apid as u64) << 32) | (self.target as u64)
+        ((self.apid as u64) << 32) | (self.unique_id as u64)
     }
 
-    pub fn full_target_id(&self) -> ComponentId {
+    pub fn id(&self) -> ComponentId {
         self.raw()
     }
 
@@ -61,49 +64,78 @@ impl TargetAndApidId {
     }
 }
 
-impl From<u64> for TargetAndApidId {
+impl From<u64> for UniqueApidTargetId {
     fn from(raw: u64) -> Self {
         Self {
             apid: (raw >> 32) as u16,
-            target: raw as u32,
+            unique_id: raw as u32,
         }
     }
 }
 
-impl From<TargetAndApidId> for u64 {
+impl From<UniqueApidTargetId> for u64 {
-    fn from(target_and_apid_id: TargetAndApidId) -> Self {
+    fn from(target_and_apid_id: UniqueApidTargetId) -> Self {
         target_and_apid_id.raw()
     }
 }
 
-impl fmt::Display for TargetAndApidId {
+impl fmt::Display for UniqueApidTargetId {
     fn fmt(&self, f: &mut fmt::Formatter) -> fmt::Result {
         write!(
             f,
             "Target and APID ID with  APID {:#03x} and target {}",
-            self.apid, self.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 request_id: RequestId,
+    pub requestor_info: MessageMetadata,
-    pub sender_id: ComponentId,
     pub message: MSG,
 }
 
 impl<MSG> GenericMessage<MSG> {
-    pub fn new(request_id: RequestId, sender_id: ComponentId, message: MSG) -> Self {
+    pub fn new(requestor_info: MessageMetadata, message: MSG) -> Self {
         Self {
-            request_id,
+            requestor_info,
-            sender_id,
             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.
@@ -186,8 +218,7 @@ pub mod alloc_mod {
 
         pub fn send_message(
             &self,
-            request_id: RequestId,
+            requestor_info: MessageMetadata,
-            local_channel_id: ComponentId,
             target_channel_id: ComponentId,
             message: MSG,
         ) -> Result<(), GenericTargetedMessagingError> {
@@ -196,45 +227,12 @@ pub mod alloc_mod {
                     .0
                     .get(&target_channel_id)
                     .unwrap()
-                    .send(GenericMessage::new(request_id, local_channel_id, message));
+                    .send(GenericMessage::new(requestor_info, message));
             }
             Err(GenericSendError::TargetDoesNotExist(target_channel_id).into())
         }
     }
 
-    pub struct MessageSenderMapWithId<MSG, S: MessageSender<MSG>> {
-        pub local_channel_id: ComponentId,
-        pub message_sender_map: MessageSenderMap<MSG, S>,
-    }
-
-    impl<MSG, S: MessageSender<MSG>> MessageSenderMapWithId<MSG, S> {
-        pub fn new(local_channel_id: ComponentId) -> Self {
-            Self {
-                local_channel_id,
-                message_sender_map: Default::default(),
-            }
-        }
-
-        pub fn send_message(
-            &self,
-            request_id: RequestId,
-            target_channel_id: ComponentId,
-            message: MSG,
-        ) -> Result<(), GenericTargetedMessagingError> {
-            self.message_sender_map.send_message(
-                request_id,
-                self.local_channel_id,
-                target_channel_id,
-                message,
-            )
-        }
-
-        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 struct MessageSenderAndReceiver<TO, FROM, S: MessageSender<TO>, R: MessageReceiver<FROM>> {
         pub local_channel_id: ComponentId,
         pub message_sender_map: MessageSenderMap<TO, S>,
@@ -265,13 +263,12 @@ pub mod alloc_mod {
         pub fn send_message(
             &self,
             request_id: RequestId,
-            target_channel_id: ComponentId,
+            target_id: ComponentId,
             message: TO,
         ) -> Result<(), GenericTargetedMessagingError> {
             self.message_sender_map.send_message(
-                request_id,
+                MessageMetadata::new(request_id, self.local_channel_id_generic()),
-                self.local_channel_id_generic(),
+                target_id,
-                target_channel_id,
                 message,
             )
         }
@@ -390,9 +387,12 @@ mod tests {
         ByteConversionError, SpHeader,
     };
 
-    use crate::queue::{GenericReceiveError, GenericSendError, GenericTargetedMessagingError};
+    use crate::{
+        queue::{GenericReceiveError, GenericSendError, GenericTargetedMessagingError},
+        request::{MessageMetadata, MessageSenderMap},
+    };
 
-    use super::{GenericMessage, MessageReceiverWithId, MessageSenderMapWithId, TargetAndApidId};
+    use super::{GenericMessage, MessageReceiverWithId, UniqueApidTargetId};
 
     const TEST_CHANNEL_ID_0: u64 = 1;
     const TEST_CHANNEL_ID_1: u64 = 2;
@@ -400,15 +400,15 @@ mod tests {
 
     #[test]
     fn test_basic_target_id_with_apid() {
-        let id = TargetAndApidId::new(0x111, 0x01);
+        let id = UniqueApidTargetId::new(0x111, 0x01);
         assert_eq!(id.apid, 0x111);
-        assert_eq!(id.target, 0x01);
+        assert_eq!(id.unique_id, 0x01);
-        assert_eq!(id.full_target_id(), id.raw());
+        assert_eq!(id.id(), id.raw());
         assert_eq!(u64::from(id), id.raw());
         let id_raw = id.raw();
-        let id_from_raw = TargetAndApidId::from(id_raw);
+        let id_from_raw = UniqueApidTargetId::from(id_raw);
         assert_eq!(id_from_raw, id);
-        assert_eq!(id.full_target_id(), (0x111 << 32) | 0x01);
+        assert_eq!(id.id(), (0x111 << 32) | 0x01);
         let string = id.to_string();
         assert_eq!(
             string,
@@ -421,9 +421,9 @@ mod tests {
         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 = TargetAndApidId::from_pus_tc(&pus_tc).unwrap();
+        let id = UniqueApidTargetId::from_pus_tc(&pus_tc).unwrap();
         assert_eq!(id.apid, 0x111);
-        assert_eq!(id.target, 1);
+        assert_eq!(id.unique_id, 1);
     }
 
     #[test]
@@ -431,7 +431,7 @@ mod tests {
         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 = TargetAndApidId::from_pus_tc(&pus_tc);
+        let error = UniqueApidTargetId::from_pus_tc(&pus_tc);
         assert!(error.is_err());
         let error = error.unwrap_err();
         if let ByteConversionError::FromSliceTooSmall { found, expected } = error {
@@ -449,14 +449,17 @@ mod tests {
         let receiver = MessageReceiverWithId::new(TEST_CHANNEL_ID_0, receiver);
         let request_id = 5;
         sender
-            .send(GenericMessage::new(request_id, TEST_CHANNEL_ID_1, 5))
+            .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.request_id, request_id);
+        assert_eq!(reply.requestor_info.request_id, request_id);
-        assert_eq!(reply.sender_id, TEST_CHANNEL_ID_1);
+        assert_eq!(reply.requestor_info.sender_id, TEST_CHANNEL_ID_1);
         assert_eq!(reply.message, 5);
     }
 
@@ -490,31 +493,43 @@ mod tests {
     fn test_sender_map() {
         let (sender0, receiver0) = mpsc::channel();
         let (sender1, receiver1) = mpsc::channel();
-        let mut sender_map_with_id = MessageSenderMapWithId::new(TEST_CHANNEL_ID_0);
+        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(1, TEST_CHANNEL_ID_1, 5)
+            .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.request_id(), 1);
-        assert_eq!(reply.sender_id, TEST_CHANNEL_ID_0);
+        assert_eq!(reply.sender_id(), TEST_CHANNEL_ID_0);
         assert_eq!(reply.message, 5);
         sender_map_with_id
-            .send_message(2, TEST_CHANNEL_ID_2, 10)
+            .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.request_id(), 2);
-        assert_eq!(reply.sender_id, TEST_CHANNEL_ID_0);
+        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 = MessageSenderMapWithId::new(TEST_CHANNEL_ID_0);
+        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(1, TEST_CHANNEL_ID_2, 5);
+        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)) =
@@ -528,12 +543,20 @@ mod tests {
     #[test]
     fn test_sender_map_queue_full() {
         let (sender0, _receiver0) = mpsc::sync_channel(1);
-        let mut sender_map_with_id = MessageSenderMapWithId::new(TEST_CHANNEL_ID_0);
+        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(1, TEST_CHANNEL_ID_1, 5)
+            .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(1, TEST_CHANNEL_ID_1, 5);
+        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 {
@@ -546,10 +569,14 @@ mod tests {
     #[test]
     fn test_sender_map_queue_receiver_disconnected() {
         let (sender0, receiver0) = mpsc::sync_channel(1);
-        let mut sender_map_with_id = MessageSenderMapWithId::new(TEST_CHANNEL_ID_0);
+        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(1, TEST_CHANNEL_ID_1, 5);
+        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 {

satrs/src/tmtc/ccsds_distrib.rs

@@ -22,7 +22,7 @@
 //! use satrs::tmtc::{ReceivesTc, ReceivesTcCore};
 //! use spacepackets::{CcsdsPacket, SpHeader};
 //! use spacepackets::ecss::WritablePusPacket;
-//! use spacepackets::ecss::tc::{PusTc, PusTcCreator};
+//! use spacepackets::ecss::tc::PusTcCreator;
 //!
 //! #[derive (Default)]
 //! struct ConcreteApidHandler {
@@ -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

@@ -1,5 +1,5 @@
 use spacepackets::ecss::tm::{PusTmCreator, PusTmSecondaryHeader};
-use spacepackets::time::cds::TimeProvider;
+use spacepackets::time::cds::CdsTime;
 use spacepackets::time::TimeWriter;
 use spacepackets::SpHeader;
 
@@ -68,7 +68,7 @@ impl PusTmWithCdsShortHelper {
         source_data: &'a [u8],
         seq_count: u16,
     ) -> PusTmCreator {
-        let time_stamp = TimeProvider::from_now_with_u16_days().unwrap();
+        let time_stamp = CdsTime::now_with_u16_days().unwrap();
         time_stamp.write_to_bytes(&mut self.cds_short_buf).unwrap();
         self.create_pus_tm_common(service, subservice, source_data, seq_count)
     }
@@ -78,7 +78,7 @@ impl PusTmWithCdsShortHelper {
         service: u8,
         subservice: u8,
         source_data: &'a [u8],
-        stamper: &TimeProvider,
+        stamper: &CdsTime,
         seq_count: u16,
     ) -> PusTmCreator {
         stamper.write_to_bytes(&mut self.cds_short_buf).unwrap();
@@ -100,14 +100,14 @@ impl PusTmWithCdsShortHelper {
 
 #[cfg(test)]
 mod tests {
-    use spacepackets::{ecss::PusPacket, time::cds::TimeProvider, CcsdsPacket};
+    use spacepackets::{ecss::PusPacket, time::cds::CdsTime, CcsdsPacket};
 
     use super::PusTmWithCdsShortHelper;
 
     #[test]
     fn test_helper_with_stamper() {
         let mut pus_tm_helper = PusTmWithCdsShortHelper::new(0x123);
-        let stamper = TimeProvider::new_with_u16_days(0, 0);
+        let stamper = CdsTime::new_with_u16_days(0, 0);
         let tm = pus_tm_helper.create_pus_tm_with_stamper(17, 1, &[1, 2, 3, 4], &stamper, 25);
         assert_eq!(tm.service(), 17);
         assert_eq!(tm.subservice(), 1);

satrs/tests/hk_helpers.rs

@@ -2,7 +2,7 @@
 use core::mem::size_of;
 use serde::{Deserialize, Serialize};
 use spacepackets::ecss::{PfcReal, PfcUnsigned, Ptc};
-use spacepackets::time::cds::TimeProvider;
+use spacepackets::time::cds::CdsTime;
 use spacepackets::time::{CcsdsTimeProvider, TimeWriter};
 
 enum NumOfParamsInfo {
@@ -36,7 +36,7 @@ struct TestMgmHkWithIndividualValidity {
 
 #[derive(Serialize, Deserialize)]
 struct TestMgmHkWithGroupValidity {
-    last_valid_stamp: TimeProvider,
+    last_valid_stamp: CdsTime,
     valid: bool,
     temp: f32,
     mgm_vals: [u16; 3],
@@ -150,7 +150,7 @@ pub fn main() {
     // The easiest and probably best approach, trading off big advantages for TM downlink capacity:
     // Use a JSON format
     let mgm_hk_group_validity = TestMgmHkWithGroupValidity {
-        last_valid_stamp: TimeProvider::from_now_with_u16_days().unwrap(),
+        last_valid_stamp: CdsTime::now_with_u16_days().unwrap(),
         valid: false,
         temp: 20.0,
         mgm_vals: [0x1f1f, 0x2f2f, 0x3f3f],

satrs/tests/mode_tree.rs

@@ -1,13 +1,12 @@
 use core::cell::Cell;
 use std::{println, sync::mpsc};
 
-use satrs::action::ActionRequest;
 use satrs::mode::{
     ModeError, ModeProvider, ModeReplyReceiver, ModeReplySender, ModeRequestHandler,
     ModeRequestHandlerMpscBounded, ModeRequestReceiver, ModeRequestorAndHandlerMpscBounded,
     ModeRequestorBoundedMpsc,
 };
-use satrs::request::RequestId;
+use satrs::request::{MessageMetadata, RequestId};
 use satrs::{
     mode::{ModeAndSubmode, ModeReply, ModeRequest},
     queue::GenericTargetedMessagingError,
@@ -46,11 +45,30 @@ struct TestDevice {
     pub name: String,
     pub mode_node: ModeRequestHandlerMpscBounded,
     pub mode_and_submode: ModeAndSubmode,
-    pub mode_requestor_info: Option<(RequestId, ComponentId)>,
+    pub mode_requestor_info: Option<MessageMetadata>,
-    // pub action_queue: mpsc::Receiver<GenericMessage<ActionRequest>>,
 }
 
-pub struct ModeLeafDeviceHelper {}
+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) {
@@ -61,24 +79,22 @@ impl TestDevice {
         if let Some(request) = self.mode_node.try_recv_mode_request()? {
             match request.message {
                 ModeRequest::SetMode(mode_and_submode) => {
-                    self.start_transition(request.request_id, request.sender_id, mode_and_submode)
+                    self.start_transition(request.requestor_info, mode_and_submode)
                         .unwrap();
-                    self.mode_requestor_info = Some((request.request_id, request.sender_id));
+                    self.mode_requestor_info = Some(request.requestor_info);
                 }
                 ModeRequest::ReadMode => self
                     .mode_node
                     .send_mode_reply(
-                        request.request_id,
+                        request.requestor_info,
-                        request.sender_id,
                         ModeReply::ModeReply(self.mode_and_submode),
                     )
                     .unwrap(),
-                ModeRequest::AnnounceMode => {
+                ModeRequest::AnnounceMode => self.announce_mode(request.requestor_info, false),
-                    self.announce_mode(request.request_id, request.sender_id, false)
-                }
                 ModeRequest::AnnounceModeRecursive => {
-                    self.announce_mode(request.request_id, request.sender_id, true)
+                    self.announce_mode(request.requestor_info, true)
                 }
+                ModeRequest::ModeInfo(_) => todo!(),
             }
         }
         Ok(())
@@ -90,39 +106,49 @@ impl ModeProvider for TestDevice {
         self.mode_and_submode
     }
 }
+
 impl ModeRequestHandler for TestDevice {
     fn start_transition(
         &mut self,
-        _request_id: RequestId,
+        requestor: MessageMetadata,
-        _sender_id: ComponentId,
         mode_and_submode: ModeAndSubmode,
     ) -> Result<(), ModeError> {
         self.mode_and_submode = mode_and_submode;
-        self.handle_mode_reached()?;
+        self.handle_mode_reached(Some(requestor))?;
         Ok(())
     }
 
-    fn announce_mode(&self, _request_id: RequestId, _sender_id: ComponentId, _recursive: bool) {
+    fn announce_mode(&self, requestor_info: MessageMetadata, _recursive: bool) {
         println!(
             "{}: announcing mode: {:?}",
             self.name, self.mode_and_submode
         );
     }
 
-    fn handle_mode_reached(&mut self) -> Result<(), GenericTargetedMessagingError> {
+    fn handle_mode_reached(
-        let (req_id, sender_id) = self.mode_requestor_info.unwrap();
+        &mut self,
-        self.mode_node.send_mode_reply(
+
-            req_id,
+        requestor: Option<MessageMetadata>,
-            sender_id,
+    ) -> Result<(), GenericTargetedMessagingError> {
-            ModeReply::ModeReply(self.mode_and_submode),
+        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<(RequestId, ComponentId)>,
+    pub mode_requestor_info: Option<MessageMetadata>,
     pub mode_and_submode: ModeAndSubmode,
     pub target_mode_and_submode: Option<ModeAndSubmode>,
 }
@@ -143,23 +169,21 @@ impl TestAssembly {
         if let Some(request) = self.mode_node.try_recv_mode_request()? {
             match request.message {
                 ModeRequest::SetMode(mode_and_submode) => {
-                    self.start_transition(request.request_id, request.sender_id, mode_and_submode)
+                    self.start_transition(request.requestor_info, mode_and_submode)
                         .unwrap();
                 }
                 ModeRequest::ReadMode => self
                     .mode_node
                     .send_mode_reply(
-                        request.request_id,
+                        request.requestor_info,
-                        request.sender_id,
                         ModeReply::ModeReply(self.mode_and_submode),
                     )
                     .unwrap(),
-                ModeRequest::AnnounceMode => {
+                ModeRequest::AnnounceMode => self.announce_mode(request.requestor_info, false),
-                    self.announce_mode(request.request_id, request.sender_id, false)
-                }
                 ModeRequest::AnnounceModeRecursive => {
-                    self.announce_mode(request.request_id, request.sender_id, true)
+                    self.announce_mode(request.requestor_info, true)
                 }
+                ModeRequest::ModeInfo(_) => todo!(),
             }
         }
         Ok(())
@@ -168,18 +192,20 @@ impl TestAssembly {
     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::ModeInfo(_) => todo!(),
                 ModeReply::ModeReply(reply) => {
                     println!(
                         "TestAssembly: Received mode reply from {:?}, reached: {:?}",
-                        reply_and_id.sender_id, reply
+                        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
+                        reply_and_id.sender_id(),
+                        reached,
+                        expected
                     );
                 }
             }
@@ -191,16 +217,15 @@ impl TestAssembly {
 impl ModeRequestHandler for TestAssembly {
     fn start_transition(
         &mut self,
-        request_id: RequestId,
+        requestor: MessageMetadata,
-        sender_id: ComponentId,
         mode_and_submode: ModeAndSubmode,
     ) -> Result<(), ModeError> {
-        self.mode_requestor_info = Some((request_id, sender_id));
+        self.mode_requestor_info = Some(requestor);
         self.target_mode_and_submode = Some(mode_and_submode);
         Ok(())
     }
 
-    fn announce_mode(&self, request_id: RequestId, _sender_id: ComponentId, recursive: bool) {
+    fn announce_mode(&self, requestor_info: MessageMetadata, recursive: bool) {
         println!(
             "TestAssembly: Announcing mode (recursively: {}): {:?}",
             recursive, self.mode_and_submode
@@ -217,21 +242,33 @@ impl ModeRequestHandler for TestAssembly {
             .for_each(|(_, sender)| {
                 sender
                     .send(GenericMessage::new(
-                        request_id,
+                        MessageMetadata::new(
-                        self.mode_node.local_channel_id_generic(),
+                            requestor_info.request_id(),
+                            self.mode_node.local_channel_id_generic(),
+                        ),
                         mode_request,
                     ))
                     .expect("sending mode request failed");
             });
     }
 
-    fn handle_mode_reached(&mut self) -> Result<(), GenericTargetedMessagingError> {
+    fn handle_mode_reached(
-        let (req_id, sender_id) = self.mode_requestor_info.unwrap();
+        &mut self,
-        self.mode_node.send_mode_reply(
+        mode_requestor: Option<MessageMetadata>,
-            req_id,
+    ) -> Result<(), GenericTargetedMessagingError> {
-            sender_id,
+        if let Some(requestor) = mode_requestor {
-            ModeReply::ModeReply(self.mode_and_submode),
+            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(())
     }
 }

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 {
@@ -32,13 +35,12 @@ fn test_threaded_usage() {
     let pus_event_man_send_provider = EventU32SenderMpsc::new(1, pus_event_man_tx);
     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 (event_tx, event_rx) = mpsc::channel::<PusTmAsVec>();
-    let reporter = EventReporter::new(0x02, 128).expect("Creating event reporter failed");
+    let reporter =
-    let mut pus_event_man =
+        EventReporter::new(TEST_ID.raw(), 0x02, 128).expect("Creating event reporter failed");
-        PusEventDispatcher::new(reporter, DefaultPusEventMgmtBackend::default());
+    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,
@@ -101,8 +103,8 @@ fn test_threaded_usage() {
             match event_rx.try_recv() {
                 // Event TM received successfully
                 Ok(event_tm) => {
-                    let tm =
+                    let tm = PusTmReader::new(event_tm.packet.as_slice(), 7)
-                        PusTmReader::new(event_tm.as_slice(), 7).expect("Deserializing TM failed");
+                        .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 =
+                    let tm = PusTmReader::new(event_tm.packet.as_slice(), 7)
-                        PusTmReader::new(event_tm.as_slice(), 7).expect("Deserializing TM failed");
+                        .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(
+        let sender_0 = TmInSharedPoolSenderWithCrossbeam::new(shared_tm_pool.clone(), tx.clone());
-            0,
+        let sender_1 = sender_0.clone();
-            "verif_sender",
+        let mut reporter_with_sender_0 = VerificationReporter::new(&cfg);
-            shared_tm_pool.clone(),
-            tx.clone(),
-        );
-        let mut reporter_with_sender_0 = VerificationReporterWithSender::new(&cfg, sender);
         let mut reporter_with_sender_1 = reporter_with_sender_0.clone();
         // For test purposes, we retrieve the request ID from the TCs and pass them to the receiver
         // tread.
@@ -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");