Re-structure sat-rs

- Add new shared subcrate satrs-shared to split off some shared
  components not expected to change very often.
- Renmame `satrs-core` to `satrs`. It is expected that sat-rs will remain
  the primary crate, so the core information is superfluous, and core also
  implies stability, which will not be the case for some time.

satrs/src/hal/mod.rs

@@ -0,0 +1,4 @@
+//! # Hardware Abstraction Layer module
+#[cfg(feature = "std")]
+#[cfg_attr(doc_cfg, doc(cfg(feature = "std")))]
+pub mod std;

satrs/src/hal/std/mod.rs

@@ -0,0 +1,6 @@
+//! Helper modules intended to be used on systems with a full [std] runtime.
+pub mod tcp_server;
+pub mod udp_server;
+
+mod tcp_cobs_server;
+mod tcp_spacepackets_server;

satrs/src/hal/std/tcp_cobs_server.rs

@@ -0,0 +1,379 @@
+use alloc::vec;
+use cobs::encode;
+use delegate::delegate;
+use std::io::Write;
+use std::net::SocketAddr;
+use std::net::TcpListener;
+use std::net::TcpStream;
+use std::vec::Vec;
+
+use crate::encoding::parse_buffer_for_cobs_encoded_packets;
+use crate::tmtc::ReceivesTc;
+use crate::tmtc::TmPacketSource;
+
+use crate::hal::std::tcp_server::{
+    ConnectionResult, ServerConfig, TcpTcParser, TcpTmSender, TcpTmtcError, TcpTmtcGenericServer,
+};
+
+/// Concrete [TcpTcParser] implementation for the [TcpTmtcInCobsServer].
+#[derive(Default)]
+pub struct CobsTcParser {}
+
+impl<TmError, TcError: 'static> TcpTcParser<TmError, TcError> for CobsTcParser {
+    fn handle_tc_parsing(
+        &mut self,
+        tc_buffer: &mut [u8],
+        tc_receiver: &mut (impl ReceivesTc<Error = TcError> + ?Sized),
+        conn_result: &mut ConnectionResult,
+        current_write_idx: usize,
+        next_write_idx: &mut usize,
+    ) -> Result<(), TcpTmtcError<TmError, TcError>> {
+        conn_result.num_received_tcs += parse_buffer_for_cobs_encoded_packets(
+            &mut tc_buffer[..current_write_idx],
+            tc_receiver.upcast_mut(),
+            next_write_idx,
+        )
+        .map_err(|e| TcpTmtcError::TcError(e))?;
+        Ok(())
+    }
+}
+
+/// Concrete [TcpTmSender] implementation for the [TcpTmtcInCobsServer].
+pub struct CobsTmSender {
+    tm_encoding_buffer: Vec<u8>,
+}
+
+impl CobsTmSender {
+    fn new(tm_buffer_size: usize) -> Self {
+        Self {
+            // The buffer should be large enough to hold the maximum expected TM size encoded with
+            // COBS.
+            tm_encoding_buffer: vec![0; cobs::max_encoding_length(tm_buffer_size)],
+        }
+    }
+}
+
+impl<TmError, TcError> TcpTmSender<TmError, TcError> for CobsTmSender {
+    fn handle_tm_sending(
+        &mut self,
+        tm_buffer: &mut [u8],
+        tm_source: &mut (impl TmPacketSource<Error = TmError> + ?Sized),
+        conn_result: &mut ConnectionResult,
+        stream: &mut TcpStream,
+    ) -> Result<bool, TcpTmtcError<TmError, TcError>> {
+        let mut tm_was_sent = false;
+        loop {
+            // Write TM until TM source is exhausted. For now, there is no limit for the amount
+            // of TM written this way.
+            let read_tm_len = tm_source
+                .retrieve_packet(tm_buffer)
+                .map_err(|e| TcpTmtcError::TmError(e))?;
+
+            if read_tm_len == 0 {
+                return Ok(tm_was_sent);
+            }
+            tm_was_sent = true;
+            conn_result.num_sent_tms += 1;
+
+            // Encode into COBS and sent to client.
+            let mut current_idx = 0;
+            self.tm_encoding_buffer[current_idx] = 0;
+            current_idx += 1;
+            current_idx += encode(
+                &tm_buffer[..read_tm_len],
+                &mut self.tm_encoding_buffer[current_idx..],
+            );
+            self.tm_encoding_buffer[current_idx] = 0;
+            current_idx += 1;
+            stream.write_all(&self.tm_encoding_buffer[..current_idx])?;
+        }
+    }
+}
+
+/// TCP TMTC server implementation for exchange of generic TMTC packets which are framed with the
+/// [COBS protocol](https://en.wikipedia.org/wiki/Consistent_Overhead_Byte_Stuffing).
+///
+/// Telemetry will be encoded with the COBS  protocol using [cobs::encode] in addition to being
+/// wrapped with the sentinel value 0 as the packet delimiter as well before being sent back to
+/// the client. Please note that the server will send as much data as it can retrieve from the
+/// [TmPacketSource] in its current implementation.
+///
+/// Using a framing protocol like COBS imposes minimal restrictions on the type of TMTC data
+/// exchanged while also allowing packets with flexible size and a reliable way to reconstruct full
+/// packets even from a data stream which is split up. The server wil use the
+/// [parse_buffer_for_cobs_encoded_packets] function to parse for packets and pass them to a
+/// generic TC receiver. The user can use [crate::encoding::encode_packet_with_cobs] to encode
+/// telecommands sent to the server.
+///
+/// ## Example
+///
+/// The [TCP integration tests](https://egit.irs.uni-stuttgart.de/rust/sat-rs/src/branch/main/satrs-core/tests/tcp_servers.rs)
+/// test also serves as the example application for this module.
+pub struct TcpTmtcInCobsServer<
+    TmError,
+    TcError: 'static,
+    TmSource: TmPacketSource<Error = TmError>,
+    TcReceiver: ReceivesTc<Error = TcError>,
+> {
+    generic_server:
+        TcpTmtcGenericServer<TmError, TcError, TmSource, TcReceiver, CobsTmSender, CobsTcParser>,
+}
+
+impl<
+        TmError: 'static,
+        TcError: 'static,
+        TmSource: TmPacketSource<Error = TmError>,
+        TcReceiver: ReceivesTc<Error = TcError>,
+    > TcpTmtcInCobsServer<TmError, TcError, TmSource, TcReceiver>
+{
+    /// Create a new TCP TMTC server which exchanges TMTC packets encoded with
+    /// [COBS protocol](https://en.wikipedia.org/wiki/Consistent_Overhead_Byte_Stuffing).
+    ///
+    /// ## Parameter
+    ///
+    /// * `cfg` - Configuration of the server.
+    /// * `tm_source` - Generic TM source used by the server to pull telemetry packets which are
+    ///     then sent back to the client.
+    /// * `tc_receiver` - Any received telecommands which were decoded successfully will be
+    ///     forwarded to this TC receiver.
+    pub fn new(
+        cfg: ServerConfig,
+        tm_source: TmSource,
+        tc_receiver: TcReceiver,
+    ) -> Result<Self, std::io::Error> {
+        Ok(Self {
+            generic_server: TcpTmtcGenericServer::new(
+                cfg,
+                CobsTcParser::default(),
+                CobsTmSender::new(cfg.tm_buffer_size),
+                tm_source,
+                tc_receiver,
+            )?,
+        })
+    }
+
+    delegate! {
+        to self.generic_server {
+            pub fn listener(&mut self) -> &mut TcpListener;
+
+            /// Can be used to retrieve the local assigned address of the TCP server. This is especially
+            /// useful if using the port number 0 for OS auto-assignment.
+            pub fn local_addr(&self) -> std::io::Result<SocketAddr>;
+
+            /// Delegation to the [TcpTmtcGenericServer::handle_next_connection] call.
+            pub fn handle_next_connection(
+                &mut self,
+            ) -> Result<ConnectionResult, TcpTmtcError<TmError, TcError>>;
+        }
+    }
+}
+
+#[cfg(test)]
+mod tests {
+    use core::{
+        sync::atomic::{AtomicBool, Ordering},
+        time::Duration,
+    };
+    use std::{
+        io::{Read, Write},
+        net::{IpAddr, Ipv4Addr, SocketAddr, TcpStream},
+        thread,
+    };
+
+    use crate::{
+        encoding::tests::{INVERTED_PACKET, SIMPLE_PACKET},
+        hal::std::tcp_server::{
+            tests::{SyncTcCacher, SyncTmSource},
+            ServerConfig,
+        },
+    };
+    use alloc::sync::Arc;
+    use cobs::encode;
+
+    use super::TcpTmtcInCobsServer;
+
+    fn encode_simple_packet(encoded_buf: &mut [u8], current_idx: &mut usize) {
+        encode_packet(&SIMPLE_PACKET, encoded_buf, current_idx)
+    }
+
+    fn encode_inverted_packet(encoded_buf: &mut [u8], current_idx: &mut usize) {
+        encode_packet(&INVERTED_PACKET, encoded_buf, current_idx)
+    }
+
+    fn encode_packet(packet: &[u8], encoded_buf: &mut [u8], current_idx: &mut usize) {
+        encoded_buf[*current_idx] = 0;
+        *current_idx += 1;
+        *current_idx += encode(packet, &mut encoded_buf[*current_idx..]);
+        encoded_buf[*current_idx] = 0;
+        *current_idx += 1;
+    }
+
+    fn generic_tmtc_server(
+        addr: &SocketAddr,
+        tc_receiver: SyncTcCacher,
+        tm_source: SyncTmSource,
+    ) -> TcpTmtcInCobsServer<(), (), SyncTmSource, SyncTcCacher> {
+        TcpTmtcInCobsServer::new(
+            ServerConfig::new(*addr, Duration::from_millis(2), 1024, 1024),
+            tm_source,
+            tc_receiver,
+        )
+        .expect("TCP server generation failed")
+    }
+
+    #[test]
+    fn test_server_basic_no_tm() {
+        let auto_port_addr = SocketAddr::new(IpAddr::V4(Ipv4Addr::new(127, 0, 0, 1)), 0);
+        let tc_receiver = SyncTcCacher::default();
+        let tm_source = SyncTmSource::default();
+        let mut tcp_server = generic_tmtc_server(&auto_port_addr, tc_receiver.clone(), tm_source);
+        let dest_addr = tcp_server
+            .local_addr()
+            .expect("retrieving dest addr failed");
+        let conn_handled: Arc<AtomicBool> = Default::default();
+        let set_if_done = conn_handled.clone();
+        // Call the connection handler in separate thread, does block.
+        thread::spawn(move || {
+            let result = tcp_server.handle_next_connection();
+            if result.is_err() {
+                panic!("handling connection failed: {:?}", result.unwrap_err());
+            }
+            let conn_result = result.unwrap();
+            assert_eq!(conn_result.num_received_tcs, 1);
+            assert_eq!(conn_result.num_sent_tms, 0);
+            set_if_done.store(true, Ordering::Relaxed);
+        });
+        // Send TC to server now.
+        let mut encoded_buf: [u8; 16] = [0; 16];
+        let mut current_idx = 0;
+        encode_simple_packet(&mut encoded_buf, &mut current_idx);
+        let mut stream = TcpStream::connect(dest_addr).expect("connecting to TCP server failed");
+        stream
+            .write_all(&encoded_buf[..current_idx])
+            .expect("writing to TCP server failed");
+        drop(stream);
+        // A certain amount of time is allowed for the transaction to complete.
+        for _ in 0..3 {
+            if !conn_handled.load(Ordering::Relaxed) {
+                thread::sleep(Duration::from_millis(5));
+            }
+        }
+        if !conn_handled.load(Ordering::Relaxed) {
+            panic!("connection was not handled properly");
+        }
+        // Check that the packet was received and decoded successfully.
+        let mut tc_queue = tc_receiver
+            .tc_queue
+            .lock()
+            .expect("locking tc queue failed");
+        assert_eq!(tc_queue.len(), 1);
+        assert_eq!(tc_queue.pop_front().unwrap(), &SIMPLE_PACKET);
+        drop(tc_queue);
+    }
+
+    #[test]
+    fn test_server_basic_multi_tm_multi_tc() {
+        let auto_port_addr = SocketAddr::new(IpAddr::V4(Ipv4Addr::new(127, 0, 0, 1)), 0);
+        let tc_receiver = SyncTcCacher::default();
+        let mut tm_source = SyncTmSource::default();
+        tm_source.add_tm(&INVERTED_PACKET);
+        tm_source.add_tm(&SIMPLE_PACKET);
+        let mut tcp_server =
+            generic_tmtc_server(&auto_port_addr, tc_receiver.clone(), tm_source.clone());
+        let dest_addr = tcp_server
+            .local_addr()
+            .expect("retrieving dest addr failed");
+        let conn_handled: Arc<AtomicBool> = Default::default();
+        let set_if_done = conn_handled.clone();
+        // Call the connection handler in separate thread, does block.
+        thread::spawn(move || {
+            let result = tcp_server.handle_next_connection();
+            if result.is_err() {
+                panic!("handling connection failed: {:?}", result.unwrap_err());
+            }
+            let conn_result = result.unwrap();
+            assert_eq!(conn_result.num_received_tcs, 2, "Not enough TCs received");
+            assert_eq!(conn_result.num_sent_tms, 2, "Not enough TMs received");
+            set_if_done.store(true, Ordering::Relaxed);
+        });
+        // Send TC to server now.
+        let mut encoded_buf: [u8; 32] = [0; 32];
+        let mut current_idx = 0;
+        encode_simple_packet(&mut encoded_buf, &mut current_idx);
+        encode_inverted_packet(&mut encoded_buf, &mut current_idx);
+        let mut stream = TcpStream::connect(dest_addr).expect("connecting to TCP server failed");
+        stream
+            .set_read_timeout(Some(Duration::from_millis(10)))
+            .expect("setting reas timeout failed");
+        stream
+            .write_all(&encoded_buf[..current_idx])
+            .expect("writing to TCP server failed");
+        // Done with writing.
+        stream
+            .shutdown(std::net::Shutdown::Write)
+            .expect("shutting down write failed");
+        let mut read_buf: [u8; 16] = [0; 16];
+        let mut read_len_total = 0;
+        // Timeout ensures this does not block forever.
+        while read_len_total < 16 {
+            let read_len = stream.read(&mut read_buf).expect("read failed");
+            read_len_total += read_len;
+            // Read until full expected size is available.
+            if read_len == 16 {
+                // Read first TM packet.
+                current_idx = 0;
+                assert_eq!(read_len, 16);
+                assert_eq!(read_buf[0], 0);
+                current_idx += 1;
+                let mut dec_report = cobs::decode_in_place_report(&mut read_buf[current_idx..])
+                    .expect("COBS decoding failed");
+                assert_eq!(dec_report.dst_used, 5);
+                // Skip first sentinel byte.
+                assert_eq!(
+                    &read_buf[current_idx..current_idx + INVERTED_PACKET.len()],
+                    &INVERTED_PACKET
+                );
+                current_idx += dec_report.src_used;
+                // End sentinel.
+                assert_eq!(read_buf[current_idx], 0, "invalid sentinel end byte");
+                current_idx += 1;
+
+                // Read second TM packet.
+                assert_eq!(read_buf[current_idx], 0);
+                current_idx += 1;
+                dec_report = cobs::decode_in_place_report(&mut read_buf[current_idx..])
+                    .expect("COBS decoding failed");
+                assert_eq!(dec_report.dst_used, 5);
+                // Skip first sentinel byte.
+                assert_eq!(
+                    &read_buf[current_idx..current_idx + SIMPLE_PACKET.len()],
+                    &SIMPLE_PACKET
+                );
+                current_idx += dec_report.src_used;
+                // End sentinel.
+                assert_eq!(read_buf[current_idx], 0);
+                break;
+            }
+        }
+        drop(stream);
+
+        // A certain amount of time is allowed for the transaction to complete.
+        for _ in 0..3 {
+            if !conn_handled.load(Ordering::Relaxed) {
+                thread::sleep(Duration::from_millis(5));
+            }
+        }
+        if !conn_handled.load(Ordering::Relaxed) {
+            panic!("connection was not handled properly");
+        }
+        // Check that the packet was received and decoded successfully.
+        let mut tc_queue = tc_receiver
+            .tc_queue
+            .lock()
+            .expect("locking tc queue failed");
+        assert_eq!(tc_queue.len(), 2);
+        assert_eq!(tc_queue.pop_front().unwrap(), &SIMPLE_PACKET);
+        assert_eq!(tc_queue.pop_front().unwrap(), &INVERTED_PACKET);
+        drop(tc_queue);
+    }
+}

satrs/src/hal/std/tcp_server.rs

@@ -0,0 +1,359 @@
+//! Generic TCP TMTC servers with different TMTC format flavours.
+use alloc::vec;
+use alloc::vec::Vec;
+use core::time::Duration;
+use socket2::{Domain, Socket, Type};
+use std::io::Read;
+use std::net::TcpListener;
+use std::net::{SocketAddr, TcpStream};
+use std::thread;
+
+use crate::tmtc::{ReceivesTc, TmPacketSource};
+use thiserror::Error;
+
+// Re-export the TMTC in COBS server.
+pub use crate::hal::std::tcp_cobs_server::{CobsTcParser, CobsTmSender, TcpTmtcInCobsServer};
+pub use crate::hal::std::tcp_spacepackets_server::{
+    SpacepacketsTcParser, SpacepacketsTmSender, TcpSpacepacketsServer,
+};
+
+/// Configuration struct for the generic TCP TMTC server
+///
+/// ## Parameters
+///
+/// * `addr` - Address of the TCP server.
+/// * `inner_loop_delay` - If a client connects for a longer period, but no TC is received or
+///     no TM needs to be sent, the TCP server will delay for the specified amount of time
+///     to reduce CPU load.
+/// * `tm_buffer_size` - Size of the TM buffer used to read TM from the [TmPacketSource] and
+///     encoding of that data. This buffer should at large enough to hold the maximum expected
+///     TM size read from the packet source.
+/// * `tc_buffer_size` - Size of the TC buffer used to read encoded telecommands sent from
+///     the client. It is recommended to make this buffer larger to allow reading multiple
+///     consecutive packets as well, for example by using common buffer sizes like 4096 or 8192
+///     byte. The buffer should at the very least be large enough to hold the maximum expected
+///     telecommand size.
+/// * `reuse_addr` - Can be used to set the `SO_REUSEADDR` option on the raw socket. This is
+///     especially useful if the address and port are static for the server. Set to false by
+///     default.
+/// * `reuse_port` - Can be used to set the `SO_REUSEPORT` option on the raw socket. This is
+///     especially useful if the address and port are static for the server. Set to false by
+///     default.
+#[derive(Debug, Copy, Clone)]
+pub struct ServerConfig {
+    pub addr: SocketAddr,
+    pub inner_loop_delay: Duration,
+    pub tm_buffer_size: usize,
+    pub tc_buffer_size: usize,
+    pub reuse_addr: bool,
+    pub reuse_port: bool,
+}
+
+impl ServerConfig {
+    pub fn new(
+        addr: SocketAddr,
+        inner_loop_delay: Duration,
+        tm_buffer_size: usize,
+        tc_buffer_size: usize,
+    ) -> Self {
+        Self {
+            addr,
+            inner_loop_delay,
+            tm_buffer_size,
+            tc_buffer_size,
+            reuse_addr: false,
+            reuse_port: false,
+        }
+    }
+}
+
+#[derive(Error, Debug)]
+pub enum TcpTmtcError<TmError, TcError> {
+    #[error("TM retrieval error: {0}")]
+    TmError(TmError),
+    #[error("TC retrieval error: {0}")]
+    TcError(TcError),
+    #[error("io error: {0}")]
+    Io(#[from] std::io::Error),
+}
+
+/// Result of one connection attempt. Contains the client address if a connection was established,
+/// in addition to the number of telecommands and telemetry packets exchanged.
+#[derive(Debug, Default)]
+pub struct ConnectionResult {
+    pub addr: Option<SocketAddr>,
+    pub num_received_tcs: u32,
+    pub num_sent_tms: u32,
+}
+
+/// Generic parser abstraction for an object which can parse for telecommands given a raw
+/// bytestream received from a TCP socket and send them to a generic [ReceivesTc] telecommand
+/// receiver. This allows different encoding schemes for telecommands.
+pub trait TcpTcParser<TmError, TcError> {
+    fn handle_tc_parsing(
+        &mut self,
+        tc_buffer: &mut [u8],
+        tc_receiver: &mut (impl ReceivesTc<Error = TcError> + ?Sized),
+        conn_result: &mut ConnectionResult,
+        current_write_idx: usize,
+        next_write_idx: &mut usize,
+    ) -> Result<(), TcpTmtcError<TmError, TcError>>;
+}
+
+/// Generic sender abstraction for an object which can pull telemetry from a given TM source
+/// using a [TmPacketSource] and then send them back to a client using a given [TcpStream].
+/// The concrete implementation can also perform any encoding steps which are necessary before
+/// sending back the data to a client.
+pub trait TcpTmSender<TmError, TcError> {
+    fn handle_tm_sending(
+        &mut self,
+        tm_buffer: &mut [u8],
+        tm_source: &mut (impl TmPacketSource<Error = TmError> + ?Sized),
+        conn_result: &mut ConnectionResult,
+        stream: &mut TcpStream,
+    ) -> Result<bool, TcpTmtcError<TmError, TcError>>;
+}
+
+/// TCP TMTC server implementation for exchange of generic TMTC packets in a generic way which
+/// stays agnostic to the encoding scheme and format used for both telecommands and telemetry.
+///
+/// This server implements a generic TMTC handling logic and allows modifying its behaviour
+/// through the following 4 core abstractions:
+///
+/// 1. [TcpTcParser] to parse for telecommands from the raw bytestream received from a client.
+/// 2. Parsed telecommands will be sent to the [ReceivesTc] telecommand receiver.
+/// 3. [TcpTmSender] to send telemetry pulled from a TM source back to the client.
+/// 4. [TmPacketSource] as a generic TM source used by the [TcpTmSender].
+///
+/// It is possible to specify custom abstractions to build a dedicated TCP TMTC server without
+/// having to re-implement common logic.
+///
+/// Currently, this framework offers the following concrete implementations:
+///
+/// 1. [TcpTmtcInCobsServer] to exchange TMTC wrapped inside the COBS framing protocol.
+pub struct TcpTmtcGenericServer<
+    TmError,
+    TcError,
+    TmSource: TmPacketSource<Error = TmError>,
+    TcReceiver: ReceivesTc<Error = TcError>,
+    TmSender: TcpTmSender<TmError, TcError>,
+    TcParser: TcpTcParser<TmError, TcError>,
+> {
+    pub(crate) listener: TcpListener,
+    pub(crate) inner_loop_delay: Duration,
+    pub(crate) tm_source: TmSource,
+    pub(crate) tm_buffer: Vec<u8>,
+    pub(crate) tc_receiver: TcReceiver,
+    pub(crate) tc_buffer: Vec<u8>,
+    tc_handler: TcParser,
+    tm_handler: TmSender,
+}
+
+impl<
+        TmError: 'static,
+        TcError: 'static,
+        TmSource: TmPacketSource<Error = TmError>,
+        TcReceiver: ReceivesTc<Error = TcError>,
+        TmSender: TcpTmSender<TmError, TcError>,
+        TcParser: TcpTcParser<TmError, TcError>,
+    > TcpTmtcGenericServer<TmError, TcError, TmSource, TcReceiver, TmSender, TcParser>
+{
+    /// Create a new generic TMTC server instance.
+    ///
+    /// ## Parameter
+    ///
+    /// * `cfg` - Configuration of the server.
+    /// * `tc_parser` - Parser which extracts telecommands from the raw bytestream received from
+    ///    the client.
+    /// * `tm_sender` - Sends back telemetry to the client using the specified TM source.
+    /// * `tm_source` - Generic TM source used by the server to pull telemetry packets which are
+    ///     then sent back to the client.
+    /// * `tc_receiver` - Any received telecommand which was decoded successfully will be forwarded
+    ///     to this TC receiver.
+    pub fn new(
+        cfg: ServerConfig,
+        tc_parser: TcParser,
+        tm_sender: TmSender,
+        tm_source: TmSource,
+        tc_receiver: TcReceiver,
+    ) -> Result<Self, std::io::Error> {
+        // Create a TCP listener bound to two addresses.
+        let socket = Socket::new(Domain::IPV4, Type::STREAM, None)?;
+        socket.set_reuse_address(cfg.reuse_addr)?;
+        #[cfg(unix)]
+        socket.set_reuse_port(cfg.reuse_port)?;
+        let addr = (cfg.addr).into();
+        socket.bind(&addr)?;
+        socket.listen(128)?;
+        Ok(Self {
+            tc_handler: tc_parser,
+            tm_handler: tm_sender,
+            listener: socket.into(),
+            inner_loop_delay: cfg.inner_loop_delay,
+            tm_source,
+            tm_buffer: vec![0; cfg.tm_buffer_size],
+            tc_receiver,
+            tc_buffer: vec![0; cfg.tc_buffer_size],
+        })
+    }
+
+    /// Retrieve the internal [TcpListener] class.
+    pub fn listener(&mut self) -> &mut TcpListener {
+        &mut self.listener
+    }
+
+    /// Can be used to retrieve the local assigned address of the TCP server. This is especially
+    /// useful if using the port number 0 for OS auto-assignment.
+    pub fn local_addr(&self) -> std::io::Result<SocketAddr> {
+        self.listener.local_addr()
+    }
+
+    /// This call is used to handle the next connection to a client. Right now, it performs
+    /// the following steps:
+    ///
+    /// 1. It calls the [std::net::TcpListener::accept] method internally using the blocking API
+    ///    until a client connects.
+    /// 2. It reads all the telecommands from the client and parses all received data using the
+    ///    user specified [TcpTcParser].
+    /// 3. After reading and parsing all telecommands, it sends back all telemetry using the
+    ///    user specified [TcpTmSender].
+    ///
+    /// The server will delay for a user-specified period if the client connects to the server
+    /// for prolonged periods and there is no traffic for the server. This is the case if the
+    /// client does not send any telecommands and no telemetry needs to be sent back to the client.
+    pub fn handle_next_connection(
+        &mut self,
+    ) -> Result<ConnectionResult, TcpTmtcError<TmError, TcError>> {
+        let mut connection_result = ConnectionResult::default();
+        let mut current_write_idx;
+        let mut next_write_idx = 0;
+        let (mut stream, addr) = self.listener.accept()?;
+        stream.set_nonblocking(true)?;
+        connection_result.addr = Some(addr);
+        current_write_idx = next_write_idx;
+        loop {
+            let read_result = stream.read(&mut self.tc_buffer[current_write_idx..]);
+            match read_result {
+                Ok(0) => {
+                    // Connection closed by client. If any TC was read, parse for complete packets.
+                    // After that, break the outer loop.
+                    if current_write_idx > 0 {
+                        self.tc_handler.handle_tc_parsing(
+                            &mut self.tc_buffer,
+                            &mut self.tc_receiver,
+                            &mut connection_result,
+                            current_write_idx,
+                            &mut next_write_idx,
+                        )?;
+                    }
+                    break;
+                }
+                Ok(read_len) => {
+                    current_write_idx += read_len;
+                    // TC buffer is full, we must parse for complete packets now.
+                    if current_write_idx == self.tc_buffer.capacity() {
+                        self.tc_handler.handle_tc_parsing(
+                            &mut self.tc_buffer,
+                            &mut self.tc_receiver,
+                            &mut connection_result,
+                            current_write_idx,
+                            &mut next_write_idx,
+                        )?;
+                        current_write_idx = next_write_idx;
+                    }
+                }
+                Err(e) => match e.kind() {
+                    // As per [TcpStream::set_read_timeout] documentation, this should work for
+                    // both UNIX and Windows.
+                    std::io::ErrorKind::WouldBlock | std::io::ErrorKind::TimedOut => {
+                        self.tc_handler.handle_tc_parsing(
+                            &mut self.tc_buffer,
+                            &mut self.tc_receiver,
+                            &mut connection_result,
+                            current_write_idx,
+                            &mut next_write_idx,
+                        )?;
+                        current_write_idx = next_write_idx;
+
+                        if !self.tm_handler.handle_tm_sending(
+                            &mut self.tm_buffer,
+                            &mut self.tm_source,
+                            &mut connection_result,
+                            &mut stream,
+                        )? {
+                            // No TC read, no TM was sent, but the client has not disconnected.
+                            // Perform an inner delay to avoid burning CPU time.
+                            thread::sleep(self.inner_loop_delay);
+                        }
+                    }
+                    _ => {
+                        return Err(TcpTmtcError::Io(e));
+                    }
+                },
+            }
+        }
+        self.tm_handler.handle_tm_sending(
+            &mut self.tm_buffer,
+            &mut self.tm_source,
+            &mut connection_result,
+            &mut stream,
+        )?;
+        Ok(connection_result)
+    }
+}
+
+#[cfg(test)]
+pub(crate) mod tests {
+    use std::sync::Mutex;
+
+    use alloc::{collections::VecDeque, sync::Arc, vec::Vec};
+
+    use crate::tmtc::{ReceivesTcCore, TmPacketSourceCore};
+
+    #[derive(Default, Clone)]
+    pub(crate) struct SyncTcCacher {
+        pub(crate) tc_queue: Arc<Mutex<VecDeque<Vec<u8>>>>,
+    }
+    impl ReceivesTcCore for SyncTcCacher {
+        type Error = ();
+
+        fn pass_tc(&mut self, tc_raw: &[u8]) -> Result<(), Self::Error> {
+            let mut tc_queue = self.tc_queue.lock().expect("tc forwarder failed");
+            tc_queue.push_back(tc_raw.to_vec());
+            Ok(())
+        }
+    }
+
+    #[derive(Default, Clone)]
+    pub(crate) struct SyncTmSource {
+        tm_queue: Arc<Mutex<VecDeque<Vec<u8>>>>,
+    }
+
+    impl SyncTmSource {
+        pub(crate) fn add_tm(&mut self, tm: &[u8]) {
+            let mut tm_queue = self.tm_queue.lock().expect("locking tm queue failec");
+            tm_queue.push_back(tm.to_vec());
+        }
+    }
+
+    impl TmPacketSourceCore for SyncTmSource {
+        type Error = ();
+
+        fn retrieve_packet(&mut self, buffer: &mut [u8]) -> Result<usize, Self::Error> {
+            let mut tm_queue = self.tm_queue.lock().expect("locking tm queue failed");
+            if !tm_queue.is_empty() {
+                let next_vec = tm_queue.front().unwrap();
+                if buffer.len() < next_vec.len() {
+                    panic!(
+                        "provided buffer too small, must be at least {} bytes",
+                        next_vec.len()
+                    );
+                }
+                let next_vec = tm_queue.pop_front().unwrap();
+                buffer[0..next_vec.len()].copy_from_slice(&next_vec);
+                return Ok(next_vec.len());
+            }
+            Ok(0)
+        }
+    }
+}

satrs/src/hal/std/tcp_spacepackets_server.rs

@@ -0,0 +1,362 @@
+use delegate::delegate;
+use std::{
+    io::Write,
+    net::{SocketAddr, TcpListener, TcpStream},
+};
+
+use alloc::boxed::Box;
+
+use crate::{
+    encoding::{ccsds::PacketIdLookup, parse_buffer_for_ccsds_space_packets},
+    tmtc::{ReceivesTc, TmPacketSource},
+};
+
+use super::tcp_server::{
+    ConnectionResult, ServerConfig, TcpTcParser, TcpTmSender, TcpTmtcError, TcpTmtcGenericServer,
+};
+
+/// Concrete [TcpTcParser] implementation for the [TcpSpacepacketsServer].
+pub struct SpacepacketsTcParser {
+    packet_id_lookup: Box<dyn PacketIdLookup + Send>,
+}
+
+impl SpacepacketsTcParser {
+    pub fn new(packet_id_lookup: Box<dyn PacketIdLookup + Send>) -> Self {
+        Self { packet_id_lookup }
+    }
+}
+
+impl<TmError, TcError: 'static> TcpTcParser<TmError, TcError> for SpacepacketsTcParser {
+    fn handle_tc_parsing(
+        &mut self,
+        tc_buffer: &mut [u8],
+        tc_receiver: &mut (impl ReceivesTc<Error = TcError> + ?Sized),
+        conn_result: &mut ConnectionResult,
+        current_write_idx: usize,
+        next_write_idx: &mut usize,
+    ) -> Result<(), TcpTmtcError<TmError, TcError>> {
+        // Reader vec full, need to parse for packets.
+        conn_result.num_received_tcs += parse_buffer_for_ccsds_space_packets(
+            &mut tc_buffer[..current_write_idx],
+            self.packet_id_lookup.as_ref(),
+            tc_receiver.upcast_mut(),
+            next_write_idx,
+        )
+        .map_err(|e| TcpTmtcError::TcError(e))?;
+        Ok(())
+    }
+}
+
+/// Concrete [TcpTmSender] implementation for the [TcpSpacepacketsServer].
+#[derive(Default)]
+pub struct SpacepacketsTmSender {}
+
+impl<TmError, TcError> TcpTmSender<TmError, TcError> for SpacepacketsTmSender {
+    fn handle_tm_sending(
+        &mut self,
+        tm_buffer: &mut [u8],
+        tm_source: &mut (impl TmPacketSource<Error = TmError> + ?Sized),
+        conn_result: &mut ConnectionResult,
+        stream: &mut TcpStream,
+    ) -> Result<bool, TcpTmtcError<TmError, TcError>> {
+        let mut tm_was_sent = false;
+        loop {
+            // Write TM until TM source is exhausted. For now, there is no limit for the amount
+            // of TM written this way.
+            let read_tm_len = tm_source
+                .retrieve_packet(tm_buffer)
+                .map_err(|e| TcpTmtcError::TmError(e))?;
+
+            if read_tm_len == 0 {
+                return Ok(tm_was_sent);
+            }
+            tm_was_sent = true;
+            conn_result.num_sent_tms += 1;
+
+            stream.write_all(&tm_buffer[..read_tm_len])?;
+        }
+    }
+}
+
+/// TCP TMTC server implementation for exchange of tightly stuffed
+/// [CCSDS space packets](https://public.ccsds.org/Pubs/133x0b2e1.pdf).
+///
+/// This serves only works if
+/// [CCSDS 133.0-B-2 space packets](https://public.ccsds.org/Pubs/133x0b2e1.pdf) are the only
+/// packet type being exchanged. It uses the CCSDS [spacepackets::PacketId] as the packet delimiter
+/// and start marker when parsing for packets. The user specifies a set of expected
+/// [spacepackets::PacketId]s as part of the server configuration for that purpose.
+///
+/// ## Example
+/// The [TCP server integration tests](https://egit.irs.uni-stuttgart.de/rust/sat-rs/src/branch/main/satrs-core/tests/tcp_servers.rs)
+/// also serves as the example application for this module.
+pub struct TcpSpacepacketsServer<
+    TmError,
+    TcError: 'static,
+    TmSource: TmPacketSource<Error = TmError>,
+    TcReceiver: ReceivesTc<Error = TcError>,
+> {
+    generic_server: TcpTmtcGenericServer<
+        TmError,
+        TcError,
+        TmSource,
+        TcReceiver,
+        SpacepacketsTmSender,
+        SpacepacketsTcParser,
+    >,
+}
+
+impl<
+        TmError: 'static,
+        TcError: 'static,
+        TmSource: TmPacketSource<Error = TmError>,
+        TcReceiver: ReceivesTc<Error = TcError>,
+    > TcpSpacepacketsServer<TmError, TcError, TmSource, TcReceiver>
+{
+    ///
+    /// ## Parameter
+    ///
+    /// * `cfg` - Configuration of the server.
+    /// * `tm_source` - Generic TM source used by the server to pull telemetry packets which are
+    ///     then sent back to the client.
+    /// * `tc_receiver` - Any received telecommands which were decoded successfully will be
+    ///     forwarded to this TC receiver.
+    /// * `packet_id_lookup` - This lookup table contains the relevant packets IDs for packet
+    ///     parsing. This mechanism is used to have a start marker for finding CCSDS packets.
+    pub fn new(
+        cfg: ServerConfig,
+        tm_source: TmSource,
+        tc_receiver: TcReceiver,
+        packet_id_lookup: Box<dyn PacketIdLookup + Send>,
+    ) -> Result<Self, std::io::Error> {
+        Ok(Self {
+            generic_server: TcpTmtcGenericServer::new(
+                cfg,
+                SpacepacketsTcParser::new(packet_id_lookup),
+                SpacepacketsTmSender::default(),
+                tm_source,
+                tc_receiver,
+            )?,
+        })
+    }
+
+    delegate! {
+        to self.generic_server {
+            pub fn listener(&mut self) -> &mut TcpListener;
+
+            /// Can be used to retrieve the local assigned address of the TCP server. This is especially
+            /// useful if using the port number 0 for OS auto-assignment.
+            pub fn local_addr(&self) -> std::io::Result<SocketAddr>;
+
+            /// Delegation to the [TcpTmtcGenericServer::handle_next_connection] call.
+            pub fn handle_next_connection(
+                &mut self,
+            ) -> Result<ConnectionResult, TcpTmtcError<TmError, TcError>>;
+        }
+    }
+}
+
+#[cfg(test)]
+mod tests {
+    use core::{
+        sync::atomic::{AtomicBool, Ordering},
+        time::Duration,
+    };
+    #[allow(unused_imports)]
+    use std::println;
+    use std::{
+        io::{Read, Write},
+        net::{IpAddr, Ipv4Addr, SocketAddr, TcpStream},
+        thread,
+    };
+
+    use alloc::{boxed::Box, sync::Arc};
+    use hashbrown::HashSet;
+    use spacepackets::{
+        ecss::{tc::PusTcCreator, WritablePusPacket},
+        PacketId, SpHeader,
+    };
+
+    use crate::hal::std::tcp_server::{
+        tests::{SyncTcCacher, SyncTmSource},
+        ServerConfig,
+    };
+
+    use super::TcpSpacepacketsServer;
+
+    const TEST_APID_0: u16 = 0x02;
+    const TEST_PACKET_ID_0: PacketId = PacketId::const_tc(true, TEST_APID_0);
+    const TEST_APID_1: u16 = 0x10;
+    const TEST_PACKET_ID_1: PacketId = PacketId::const_tc(true, TEST_APID_1);
+
+    fn generic_tmtc_server(
+        addr: &SocketAddr,
+        tc_receiver: SyncTcCacher,
+        tm_source: SyncTmSource,
+        packet_id_lookup: HashSet<PacketId>,
+    ) -> TcpSpacepacketsServer<(), (), SyncTmSource, SyncTcCacher> {
+        TcpSpacepacketsServer::new(
+            ServerConfig::new(*addr, Duration::from_millis(2), 1024, 1024),
+            tm_source,
+            tc_receiver,
+            Box::new(packet_id_lookup),
+        )
+        .expect("TCP server generation failed")
+    }
+
+    #[test]
+    fn test_basic_tc_only() {
+        let auto_port_addr = SocketAddr::new(IpAddr::V4(Ipv4Addr::new(127, 0, 0, 1)), 0);
+        let tc_receiver = SyncTcCacher::default();
+        let tm_source = SyncTmSource::default();
+        let mut packet_id_lookup = HashSet::new();
+        packet_id_lookup.insert(TEST_PACKET_ID_0);
+        let mut tcp_server = generic_tmtc_server(
+            &auto_port_addr,
+            tc_receiver.clone(),
+            tm_source,
+            packet_id_lookup,
+        );
+        let dest_addr = tcp_server
+            .local_addr()
+            .expect("retrieving dest addr failed");
+        let conn_handled: Arc<AtomicBool> = Default::default();
+        let set_if_done = conn_handled.clone();
+        // Call the connection handler in separate thread, does block.
+        thread::spawn(move || {
+            let result = tcp_server.handle_next_connection();
+            if result.is_err() {
+                panic!("handling connection failed: {:?}", result.unwrap_err());
+            }
+            let conn_result = result.unwrap();
+            assert_eq!(conn_result.num_received_tcs, 1);
+            assert_eq!(conn_result.num_sent_tms, 0);
+            set_if_done.store(true, Ordering::Relaxed);
+        });
+        let mut sph = SpHeader::tc_unseg(TEST_APID_0, 0, 0).unwrap();
+        let ping_tc = PusTcCreator::new_simple(&mut sph, 17, 1, None, true);
+        let tc_0 = ping_tc.to_vec().expect("packet generation failed");
+        let mut stream = TcpStream::connect(dest_addr).expect("connecting to TCP server failed");
+        stream
+            .write_all(&tc_0)
+            .expect("writing to TCP server failed");
+        drop(stream);
+
+        // A certain amount of time is allowed for the transaction to complete.
+        for _ in 0..3 {
+            if !conn_handled.load(Ordering::Relaxed) {
+                thread::sleep(Duration::from_millis(5));
+            }
+        }
+        if !conn_handled.load(Ordering::Relaxed) {
+            panic!("connection was not handled properly");
+        }
+        // Check that TC has arrived.
+        let mut tc_queue = tc_receiver.tc_queue.lock().unwrap();
+        assert_eq!(tc_queue.len(), 1);
+        assert_eq!(tc_queue.pop_front().unwrap(), tc_0);
+    }
+
+    #[test]
+    fn test_multi_tc_multi_tm() {
+        let auto_port_addr = SocketAddr::new(IpAddr::V4(Ipv4Addr::new(127, 0, 0, 1)), 0);
+        let tc_receiver = SyncTcCacher::default();
+        let mut tm_source = SyncTmSource::default();
+
+        // Add telemetry
+        let mut total_tm_len = 0;
+        let mut sph = SpHeader::tc_unseg(TEST_APID_0, 0, 0).unwrap();
+        let verif_tm = PusTcCreator::new_simple(&mut sph, 1, 1, None, true);
+        let tm_0 = verif_tm.to_vec().expect("writing packet failed");
+        total_tm_len += tm_0.len();
+        tm_source.add_tm(&tm_0);
+        let mut sph = SpHeader::tc_unseg(TEST_APID_1, 0, 0).unwrap();
+        let verif_tm = PusTcCreator::new_simple(&mut sph, 1, 3, None, true);
+        let tm_1 = verif_tm.to_vec().expect("writing packet failed");
+        total_tm_len += tm_1.len();
+        tm_source.add_tm(&tm_1);
+
+        // Set up server
+        let mut packet_id_lookup = HashSet::new();
+        packet_id_lookup.insert(TEST_PACKET_ID_0);
+        packet_id_lookup.insert(TEST_PACKET_ID_1);
+        let mut tcp_server = generic_tmtc_server(
+            &auto_port_addr,
+            tc_receiver.clone(),
+            tm_source,
+            packet_id_lookup,
+        );
+        let dest_addr = tcp_server
+            .local_addr()
+            .expect("retrieving dest addr failed");
+        let conn_handled: Arc<AtomicBool> = Default::default();
+        let set_if_done = conn_handled.clone();
+
+        // Call the connection handler in separate thread, does block.
+        thread::spawn(move || {
+            let result = tcp_server.handle_next_connection();
+            if result.is_err() {
+                panic!("handling connection failed: {:?}", result.unwrap_err());
+            }
+            let conn_result = result.unwrap();
+            assert_eq!(
+                conn_result.num_received_tcs, 2,
+                "wrong number of received TCs"
+            );
+            assert_eq!(conn_result.num_sent_tms, 2, "wrong number of sent TMs");
+            set_if_done.store(true, Ordering::Relaxed);
+        });
+        let mut stream = TcpStream::connect(dest_addr).expect("connecting to TCP server failed");
+        stream
+            .set_read_timeout(Some(Duration::from_millis(10)))
+            .expect("setting reas timeout failed");
+
+        // Send telecommands
+        let mut sph = SpHeader::tc_unseg(TEST_APID_0, 0, 0).unwrap();
+        let ping_tc = PusTcCreator::new_simple(&mut sph, 17, 1, None, true);
+        let tc_0 = ping_tc.to_vec().expect("ping tc creation failed");
+        stream
+            .write_all(&tc_0)
+            .expect("writing to TCP server failed");
+        let mut sph = SpHeader::tc_unseg(TEST_APID_1, 0, 0).unwrap();
+        let action_tc = PusTcCreator::new_simple(&mut sph, 8, 0, None, true);
+        let tc_1 = action_tc.to_vec().expect("action tc creation failed");
+        stream
+            .write_all(&tc_1)
+            .expect("writing to TCP server failed");
+
+        // Done with writing.
+        stream
+            .shutdown(std::net::Shutdown::Write)
+            .expect("shutting down write failed");
+        let mut read_buf: [u8; 32] = [0; 32];
+        let mut current_idx = 0;
+        let mut read_len_total = 0;
+        // Timeout ensures this does not block forever.
+        while read_len_total < total_tm_len {
+            let read_len = stream
+                .read(&mut read_buf[current_idx..])
+                .expect("read failed");
+            current_idx += read_len;
+            read_len_total += read_len;
+        }
+        drop(stream);
+        assert_eq!(read_buf[..tm_0.len()], tm_0);
+        assert_eq!(read_buf[tm_0.len()..tm_0.len() + tm_1.len()], tm_1);
+
+        // A certain amount of time is allowed for the transaction to complete.
+        for _ in 0..3 {
+            if !conn_handled.load(Ordering::Relaxed) {
+                thread::sleep(Duration::from_millis(5));
+            }
+        }
+        if !conn_handled.load(Ordering::Relaxed) {
+            panic!("connection was not handled properly");
+        }
+        // Check that TC has arrived.
+        let mut tc_queue = tc_receiver.tc_queue.lock().unwrap();
+        assert_eq!(tc_queue.len(), 2);
+        assert_eq!(tc_queue.pop_front().unwrap(), tc_0);
+        assert_eq!(tc_queue.pop_front().unwrap(), tc_1);
+    }
+}

satrs/src/hal/std/udp_server.rs

@@ -0,0 +1,215 @@
+//! Generic UDP TC server.
+use crate::tmtc::{ReceivesTc, ReceivesTcCore};
+use std::boxed::Box;
+use std::io::{Error, ErrorKind};
+use std::net::{SocketAddr, ToSocketAddrs, UdpSocket};
+use std::vec;
+use std::vec::Vec;
+
+/// This UDP server can be used to receive CCSDS space packet telecommands or any other telecommand
+/// format.
+///
+/// It caches all received telecomands into a vector. The maximum expected telecommand size should
+/// be declared upfront. This avoids dynamic allocation during run-time. The user can specify a TC
+/// receiver in form of a special trait object which implements [ReceivesTc]. Please note that the
+/// receiver should copy out the received data if it the data is required past the
+/// [ReceivesTcCore::pass_tc] call.
+///
+/// # Examples
+///
+/// ```
+/// use std::net::{IpAddr, Ipv4Addr, SocketAddr, UdpSocket};
+/// use spacepackets::ecss::WritablePusPacket;
+/// use satrs::hal::std::udp_server::UdpTcServer;
+/// use satrs::tmtc::{ReceivesTc, ReceivesTcCore};
+/// use spacepackets::SpHeader;
+/// use spacepackets::ecss::tc::PusTcCreator;
+///
+/// #[derive (Default)]
+/// struct PingReceiver {}
+/// impl ReceivesTcCore for PingReceiver {
+///    type Error = ();
+///    fn pass_tc(&mut self, tc_raw: &[u8]) -> Result<(), Self::Error> {
+///         assert_eq!(tc_raw.len(), 13);
+///         Ok(())
+///     }
+/// }
+///
+/// let mut buf = [0; 32];
+/// let dest_addr = SocketAddr::new(IpAddr::V4(Ipv4Addr::new(127, 0, 0, 1)), 7777);
+/// let ping_receiver = PingReceiver::default();
+/// let mut udp_tc_server = UdpTcServer::new(dest_addr, 2048, Box::new(ping_receiver))
+///       .expect("Creating UDP TMTC server failed");
+/// let mut sph = SpHeader::tc_unseg(0x02, 0, 0).unwrap();
+/// let pus_tc = PusTcCreator::new_simple(&mut sph, 17, 1, None, true);
+/// let len = pus_tc
+///     .write_to_bytes(&mut buf)
+///     .expect("Error writing PUS TC packet");
+/// assert_eq!(len, 13);
+/// let client = UdpSocket::bind("127.0.0.1:7778").expect("Connecting to UDP server failed");
+/// client
+///     .send_to(&buf[0..len], dest_addr)
+///     .expect("Error sending PUS TC via UDP");
+/// ```
+///
+/// The [satrs-example crate](https://egit.irs.uni-stuttgart.de/rust/fsrc-launchpad/src/branch/main/satrs-example)
+/// server code also includes
+/// [example code](https://egit.irs.uni-stuttgart.de/rust/sat-rs/src/branch/main/satrs-example/src/tmtc.rs#L67)
+/// on how to use this TC server. It uses the server to receive PUS telecommands on a specific port
+/// and then forwards them to a generic CCSDS packet receiver.
+pub struct UdpTcServer<E> {
+    pub socket: UdpSocket,
+    recv_buf: Vec<u8>,
+    sender_addr: Option<SocketAddr>,
+    tc_receiver: Box<dyn ReceivesTc<Error = E>>,
+}
+
+#[derive(Debug)]
+pub enum ReceiveResult<E> {
+    NothingReceived,
+    IoError(Error),
+    ReceiverError(E),
+}
+
+impl<E> From<Error> for ReceiveResult<E> {
+    fn from(e: Error) -> Self {
+        ReceiveResult::IoError(e)
+    }
+}
+
+impl<E: PartialEq> PartialEq for ReceiveResult<E> {
+    fn eq(&self, other: &Self) -> bool {
+        use ReceiveResult::*;
+        match (self, other) {
+            (IoError(ref e), IoError(ref other_e)) => e.kind() == other_e.kind(),
+            (NothingReceived, NothingReceived) => true,
+            (ReceiverError(e), ReceiverError(other_e)) => e == other_e,
+            _ => false,
+        }
+    }
+}
+
+impl<E: Eq + PartialEq> Eq for ReceiveResult<E> {}
+
+impl<E: 'static> ReceivesTcCore for UdpTcServer<E> {
+    type Error = E;
+
+    fn pass_tc(&mut self, tc_raw: &[u8]) -> Result<(), Self::Error> {
+        self.tc_receiver.pass_tc(tc_raw)
+    }
+}
+
+impl<E: 'static> UdpTcServer<E> {
+    pub fn new<A: ToSocketAddrs>(
+        addr: A,
+        max_recv_size: usize,
+        tc_receiver: Box<dyn ReceivesTc<Error = E>>,
+    ) -> Result<Self, Error> {
+        let server = Self {
+            socket: UdpSocket::bind(addr)?,
+            recv_buf: vec![0; max_recv_size],
+            sender_addr: None,
+            tc_receiver,
+        };
+        server.socket.set_nonblocking(true)?;
+        Ok(server)
+    }
+
+    pub fn try_recv_tc(&mut self) -> Result<(usize, SocketAddr), ReceiveResult<E>> {
+        let res = match self.socket.recv_from(&mut self.recv_buf) {
+            Ok(res) => res,
+            Err(e) => {
+                return if e.kind() == ErrorKind::WouldBlock || e.kind() == ErrorKind::TimedOut {
+                    Err(ReceiveResult::NothingReceived)
+                } else {
+                    Err(e.into())
+                }
+            }
+        };
+        let (num_bytes, from) = res;
+        self.sender_addr = Some(from);
+        self.tc_receiver
+            .pass_tc(&self.recv_buf[0..num_bytes])
+            .map_err(|e| ReceiveResult::ReceiverError(e))?;
+        Ok(res)
+    }
+
+    pub fn last_sender(&self) -> Option<SocketAddr> {
+        self.sender_addr
+    }
+}
+
+#[cfg(test)]
+mod tests {
+    use crate::hal::std::udp_server::{ReceiveResult, UdpTcServer};
+    use crate::tmtc::ReceivesTcCore;
+    use spacepackets::ecss::tc::PusTcCreator;
+    use spacepackets::ecss::WritablePusPacket;
+    use spacepackets::SpHeader;
+    use std::boxed::Box;
+    use std::collections::VecDeque;
+    use std::net::{IpAddr, Ipv4Addr, SocketAddr, UdpSocket};
+    use std::vec::Vec;
+
+    fn is_send<T: Send>(_: &T) {}
+
+    #[derive(Default)]
+    struct PingReceiver {
+        pub sent_cmds: VecDeque<Vec<u8>>,
+    }
+
+    impl ReceivesTcCore for PingReceiver {
+        type Error = ();
+
+        fn pass_tc(&mut self, tc_raw: &[u8]) -> Result<(), Self::Error> {
+            let mut sent_data = Vec::new();
+            sent_data.extend_from_slice(tc_raw);
+            self.sent_cmds.push_back(sent_data);
+            Ok(())
+        }
+    }
+
+    #[test]
+    fn basic_test() {
+        let mut buf = [0; 32];
+        let dest_addr = SocketAddr::new(IpAddr::V4(Ipv4Addr::new(127, 0, 0, 1)), 7777);
+        let ping_receiver = PingReceiver::default();
+        is_send(&ping_receiver);
+        let mut udp_tc_server = UdpTcServer::new(dest_addr, 2048, Box::new(ping_receiver))
+            .expect("Creating UDP TMTC server failed");
+        is_send(&udp_tc_server);
+        let mut sph = SpHeader::tc_unseg(0x02, 0, 0).unwrap();
+        let pus_tc = PusTcCreator::new_simple(&mut sph, 17, 1, None, true);
+        let len = pus_tc
+            .write_to_bytes(&mut buf)
+            .expect("Error writing PUS TC packet");
+        let client = UdpSocket::bind("127.0.0.1:7778").expect("Connecting to UDP server failed");
+        client
+            .send_to(&buf[0..len], dest_addr)
+            .expect("Error sending PUS TC via UDP");
+        let local_addr = client.local_addr().unwrap();
+        udp_tc_server
+            .try_recv_tc()
+            .expect("Error receiving sent telecommand");
+        assert_eq!(
+            udp_tc_server.last_sender().expect("No sender set"),
+            local_addr
+        );
+        let ping_receiver: &mut PingReceiver = udp_tc_server.tc_receiver.downcast_mut().unwrap();
+        assert_eq!(ping_receiver.sent_cmds.len(), 1);
+        let sent_cmd = ping_receiver.sent_cmds.pop_front().unwrap();
+        assert_eq!(sent_cmd, buf[0..len]);
+    }
+
+    #[test]
+    fn test_nothing_received() {
+        let dest_addr = SocketAddr::new(IpAddr::V4(Ipv4Addr::new(127, 0, 0, 1)), 7779);
+        let ping_receiver = PingReceiver::default();
+        let mut udp_tc_server = UdpTcServer::new(dest_addr, 2048, Box::new(ping_receiver))
+            .expect("Creating UDP TMTC server failed");
+        let res = udp_tc_server.try_recv_tc();
+        assert!(res.is_err());
+        let err = res.unwrap_err();
+        assert_eq!(err, ReceiveResult::NothingReceived);
+    }
+}