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/tests/hk_helpers.rs

@@ -0,0 +1,164 @@
+#![allow(dead_code)]
+use core::mem::size_of;
+use serde::{Deserialize, Serialize};
+use spacepackets::ecss::{PfcReal, PfcUnsigned, Ptc};
+use spacepackets::time::cds::TimeProvider;
+use spacepackets::time::{CcsdsTimeProvider, TimeWriter};
+
+enum NumOfParamsInfo {
+    /// The parameter entry is a scalar field
+    Scalar = 0b00,
+    /// The parameter entry is a vector, and its length field is one byte wide (max. 255 entries)
+    VecLenFieldOneByte = 0b01,
+    /// The parameter entry is a vecotr, and its length field is two bytes wide (max. 65565 entries)
+    VecLenFieldTwoBytes = 0b10,
+    /// The parameter entry is a matrix, and its length field contains a one byte row number
+    /// and a one byte column number.
+    MatrixRowsAndColumns = 0b11,
+}
+
+const HAS_VALIDITY_MASK: u8 = 1 << 7;
+
+struct ParamWithValidity<T> {
+    valid: bool,
+    val: T,
+}
+
+struct TestMgmHk {
+    temp: f32,
+    mgm_vals: [u16; 3],
+}
+
+struct TestMgmHkWithIndividualValidity {
+    temp: ParamWithValidity<f32>,
+    mgm_vals: ParamWithValidity<[u16; 3]>,
+}
+
+#[derive(Serialize, Deserialize)]
+struct TestMgmHkWithGroupValidity {
+    last_valid_stamp: TimeProvider,
+    valid: bool,
+    temp: f32,
+    mgm_vals: [u16; 3],
+}
+
+impl TestMgmHk {
+    pub fn write_to_be_bytes(&self, buf: &mut [u8]) -> Result<usize, ()> {
+        let mut curr_idx = 0;
+        buf[curr_idx..curr_idx + size_of::<f32>()].copy_from_slice(&self.temp.to_be_bytes());
+        curr_idx += size_of::<f32>();
+        for val in self.mgm_vals {
+            buf[curr_idx..curr_idx + size_of::<u16>()].copy_from_slice(&val.to_be_bytes());
+            curr_idx += size_of::<u16>();
+        }
+        Ok(curr_idx)
+    }
+}
+
+/// This could in principle be auto-generated.
+impl TestMgmHkWithIndividualValidity {
+    pub fn write_to_be_bytes_self_describing(&self, buf: &mut [u8]) -> Result<usize, ()> {
+        let mut curr_idx = 0;
+        buf[curr_idx] = 0;
+        buf[curr_idx] |= HAS_VALIDITY_MASK | (self.temp.valid as u8) << 6;
+        curr_idx += 1;
+        buf[curr_idx] = Ptc::Real as u8;
+        curr_idx += 1;
+        buf[curr_idx] = PfcReal::Float as u8;
+        curr_idx += 1;
+        buf[curr_idx..curr_idx + size_of::<f32>()].copy_from_slice(&self.temp.val.to_be_bytes());
+        curr_idx += size_of::<f32>();
+        buf[curr_idx] = 0;
+        buf[curr_idx] |= HAS_VALIDITY_MASK
+            | (self.mgm_vals.valid as u8) << 6
+            | (NumOfParamsInfo::VecLenFieldOneByte as u8) << 4;
+        curr_idx += 1;
+        buf[curr_idx] = Ptc::UnsignedInt as u8;
+        curr_idx += 1;
+        buf[curr_idx] = PfcUnsigned::TwoBytes as u8;
+        curr_idx += 1;
+        buf[curr_idx] = 3;
+        curr_idx += 1;
+        for val in self.mgm_vals.val {
+            buf[curr_idx..curr_idx + size_of::<u16>()].copy_from_slice(&val.to_be_bytes());
+            curr_idx += size_of::<u16>();
+        }
+        Ok(curr_idx)
+    }
+}
+
+impl TestMgmHkWithGroupValidity {
+    pub fn write_to_be_bytes_self_describing(&self, buf: &mut [u8]) -> Result<usize, ()> {
+        let mut curr_idx = 0;
+        buf[curr_idx] = self.valid as u8;
+        curr_idx += 1;
+        self.last_valid_stamp
+            .write_to_bytes(&mut buf[curr_idx..curr_idx + self.last_valid_stamp.len_as_bytes()])
+            .unwrap();
+        curr_idx += self.last_valid_stamp.len_as_bytes();
+        buf[curr_idx] = 0;
+        curr_idx += 1;
+        buf[curr_idx] = Ptc::Real as u8;
+        curr_idx += 1;
+        buf[curr_idx] = PfcReal::Float as u8;
+        curr_idx += 1;
+        buf[curr_idx..curr_idx + size_of::<f32>()].copy_from_slice(&self.temp.to_be_bytes());
+        curr_idx += size_of::<f32>();
+        buf[curr_idx] = 0;
+        buf[curr_idx] |= (NumOfParamsInfo::VecLenFieldOneByte as u8) << 4;
+        curr_idx += 1;
+        buf[curr_idx] = Ptc::UnsignedInt as u8;
+        curr_idx += 1;
+        buf[curr_idx] = PfcUnsigned::TwoBytes as u8;
+        curr_idx += 1;
+        buf[curr_idx] = 3;
+        for val in self.mgm_vals {
+            buf[curr_idx..curr_idx + size_of::<u16>()].copy_from_slice(&val.to_be_bytes());
+            curr_idx += size_of::<u16>();
+        }
+        Ok(curr_idx)
+    }
+}
+
+#[test]
+pub fn main() {
+    let mut raw_buf: [u8; 32] = [0; 32];
+    let mgm_hk = TestMgmHk {
+        temp: 20.0,
+        mgm_vals: [0x1f1f, 0x2f2f, 0x3f3f],
+    };
+    // 4 byte float + 3 * 2 bytes MGM values
+    let written = mgm_hk.write_to_be_bytes(&mut raw_buf).unwrap();
+    assert_eq!(written, 10);
+
+    let mgm_hk_individual_validity = TestMgmHkWithIndividualValidity {
+        temp: ParamWithValidity {
+            valid: true,
+            val: 20.0,
+        },
+        mgm_vals: ParamWithValidity {
+            valid: true,
+            val: [0x1f1f, 0x2f2f, 0x3f3f],
+        },
+    };
+    let written = mgm_hk_individual_validity
+        .write_to_be_bytes_self_describing(&mut raw_buf)
+        .unwrap();
+    // 3 byte float description, 4 byte float, 4 byte MGM val description, 3 * 2 bytes MGM values
+    assert_eq!(written, 17);
+
+    // 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(),
+        valid: false,
+        temp: 20.0,
+        mgm_vals: [0x1f1f, 0x2f2f, 0x3f3f],
+    };
+    let mgm_as_json_str = serde_json::to_string(&mgm_hk_group_validity).unwrap();
+    println!(
+        "JSON string with length {}: {}",
+        mgm_as_json_str.len(),
+        mgm_as_json_str
+    );
+}

satrs/tests/pools.rs

@@ -0,0 +1,38 @@
+use satrs::pool::{PoolGuard, PoolProvider, StaticMemoryPool, StaticPoolConfig, StoreAddr};
+use std::ops::DerefMut;
+use std::sync::mpsc;
+use std::sync::mpsc::{Receiver, Sender};
+use std::sync::{Arc, RwLock};
+use std::thread;
+
+const DUMMY_DATA: [u8; 4] = [0, 1, 2, 3];
+
+#[test]
+fn threaded_usage() {
+    let pool_cfg = StaticPoolConfig::new(vec![(16, 6), (32, 3), (8, 12)], false);
+    let shared_pool = Arc::new(RwLock::new(StaticMemoryPool::new(pool_cfg)));
+    let shared_clone = shared_pool.clone();
+    let (tx, rx): (Sender<StoreAddr>, Receiver<StoreAddr>) = mpsc::channel();
+    let jh0 = thread::spawn(move || {
+        let mut dummy = shared_pool.write().unwrap();
+        let addr = dummy.add(&DUMMY_DATA).expect("Writing data failed");
+        tx.send(addr).expect("Sending store address failed");
+    });
+
+    let jh1 = thread::spawn(move || {
+        let addr;
+        {
+            addr = rx.recv().expect("Receiving store address failed");
+            let mut pool_access = shared_clone.write().unwrap();
+            let pg = PoolGuard::new(pool_access.deref_mut(), addr);
+            let mut read_buf: [u8; 4] = [0; 4];
+            let read_bytes = pg.read(&mut read_buf).expect("Reading failed");
+            assert_eq!(read_buf, DUMMY_DATA);
+            assert_eq!(read_bytes, 4);
+        }
+        let pool_access = shared_clone.read().unwrap();
+        assert!(!pool_access.has_element_at(&addr).expect("Invalid address"));
+    });
+    jh0.join().unwrap();
+    jh1.join().unwrap();
+}

satrs/tests/pus_autogen_events.rs

@@ -0,0 +1,94 @@
+#![allow(dead_code, unused_imports)]
+
+use satrs::events::{
+    EventU32, EventU32TypedSev, GenericEvent, HasSeverity, LargestEventRaw, LargestGroupIdRaw,
+    Severity, SeverityInfo, SeverityLow, SeverityMedium,
+};
+use std::convert::AsRef;
+
+#[derive(Debug)]
+struct GroupIdIntrospection {
+    name: &'static str,
+    id: LargestGroupIdRaw,
+}
+
+#[derive(Debug)]
+struct EventIntrospection {
+    name: &'static str,
+    group_id: GroupIdIntrospection,
+    event: &'static EventU32,
+    info: &'static str,
+}
+
+//#[event(descr="This is some info event")]
+const INFO_EVENT_0: EventU32TypedSev<SeverityInfo> = EventU32TypedSev::const_new(0, 0);
+const INFO_EVENT_0_ERASED: EventU32 = EventU32::const_from_info(INFO_EVENT_0);
+
+// This is ideally auto-generated
+const INFO_EVENT_0_INTROSPECTION: EventIntrospection = EventIntrospection {
+    name: "INFO_EVENT_0",
+    group_id: GroupIdIntrospection {
+        id: 0,
+        name: "Group ID 0 without name",
+    },
+    event: &INFO_EVENT_0_ERASED,
+    info: "This is some info event",
+};
+
+//#[event(descr="This is some low severity event")]
+const SOME_LOW_SEV_EVENT: EventU32TypedSev<SeverityLow> = EventU32TypedSev::const_new(0, 12);
+
+//const EVENT_LIST: [&'static Event; 2] = [&INFO_EVENT_0, &SOME_LOW_SEV_EVENT];
+
+//#[event_group]
+const TEST_GROUP_NAME: u16 = 1;
+// Auto-generated?
+const TEST_GROUP_NAME_NAME: &str = "TEST_GROUP_NAME";
+
+//#[event(desc="Some medium severity event")]
+const MEDIUM_SEV_EVENT_IN_OTHER_GROUP: EventU32TypedSev<SeverityMedium> =
+    EventU32TypedSev::const_new(TEST_GROUP_NAME, 0);
+const MEDIUM_SEV_EVENT_IN_OTHER_GROUP_REDUCED: EventU32 =
+    EventU32::const_from_medium(MEDIUM_SEV_EVENT_IN_OTHER_GROUP);
+
+// Also auto-generated
+const MEDIUM_SEV_EVENT_IN_OTHER_GROUP_INTROSPECTION: EventIntrospection = EventIntrospection {
+    name: "MEDIUM_SEV_EVENT_IN_OTHER_GROUP",
+    group_id: GroupIdIntrospection {
+        name: TEST_GROUP_NAME_NAME,
+        id: TEST_GROUP_NAME,
+    },
+    event: &MEDIUM_SEV_EVENT_IN_OTHER_GROUP_REDUCED,
+    info: "Some medium severity event",
+};
+
+const CONST_SLICE: &'static [u8] = &[0, 1, 2, 3];
+const INTROSPECTION_FOR_TEST_GROUP_0: [&EventIntrospection; 2] =
+    [&INFO_EVENT_0_INTROSPECTION, &INFO_EVENT_0_INTROSPECTION];
+
+//const INTROSPECTION_FOR_TABLE: &'static [&EventIntrospection] = &INTROSPECTION_FOR_TEST_GROUP_0;
+
+const INTROSPECTION_FOR_TEST_GROUP_NAME: [&EventIntrospection; 1] =
+    [&MEDIUM_SEV_EVENT_IN_OTHER_GROUP_INTROSPECTION];
+//const BLAH: &'static [&EventIntrospection] = &INTROSPECTION_FOR_TEST_GROUP_NAME;
+
+const ALL_EVENTS: [&[&EventIntrospection]; 2] = [
+    &INTROSPECTION_FOR_TEST_GROUP_0,
+    &INTROSPECTION_FOR_TEST_GROUP_NAME,
+];
+
+#[test]
+fn main() {
+    //let test = stringify!(INFO_EVENT);
+    //println!("{:?}", test);
+    //for event in EVENT_LIST {
+    //    println!("{:?}", event);
+    //}
+    //for events in ALL_EVENTS.into_iter().flatten() {
+    //    dbg!("{:?}", events);
+    //}
+    //for introspection_info in INTROSPECTION_FOR_TEST_GROUP {
+    //    dbg!("{:?}", introspection_info);
+    //}
+    //let test_struct =
+}

satrs/tests/pus_events.rs

@@ -0,0 +1,158 @@
+use satrs::event_man::{
+    EventManagerWithMpscQueue, MpscEventU32Receiver, MpscEventU32SendProvider, SendEventProvider,
+};
+use satrs::events::{EventU32, EventU32TypedSev, Severity, SeverityInfo};
+use satrs::params::U32Pair;
+use satrs::params::{Params, ParamsHeapless, WritableToBeBytes};
+use satrs::pus::event_man::{DefaultPusMgmtBackendProvider, EventReporter, PusEventDispatcher};
+use satrs::pus::MpscTmAsVecSender;
+use spacepackets::ecss::tm::PusTmReader;
+use spacepackets::ecss::{PusError, PusPacket};
+use std::sync::mpsc::{channel, SendError, TryRecvError};
+use std::thread;
+
+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];
+
+#[derive(Debug, Clone)]
+pub enum CustomTmSenderError {
+    SendError(SendError<Vec<u8>>),
+    PusError(PusError),
+}
+
+#[test]
+fn test_threaded_usage() {
+    let (event_sender, event_man_receiver) = channel();
+    let event_receiver = MpscEventU32Receiver::new(event_man_receiver);
+    let mut event_man = EventManagerWithMpscQueue::new(Box::new(event_receiver));
+
+    let (pus_event_man_tx, pus_event_man_rx) = channel();
+    let pus_event_man_send_provider = MpscEventU32SendProvider::new(1, pus_event_man_tx);
+    event_man.subscribe_all(pus_event_man_send_provider.id());
+    event_man.add_sender(pus_event_man_send_provider);
+    let (event_tx, event_rx) = channel();
+    let reporter = EventReporter::new(0x02, 128).expect("Creating event reporter failed");
+    let backend = DefaultPusMgmtBackendProvider::<EventU32>::default();
+    let mut pus_event_man = PusEventDispatcher::new(reporter, Box::new(backend));
+    // PUS + Generic event manager thread
+    let jh0 = thread::spawn(move || {
+        let mut sender = MpscTmAsVecSender::new(0, "event_sender", event_tx);
+        let mut event_cnt = 0;
+        let mut params_array: [u8; 128] = [0; 128];
+        loop {
+            let res = event_man.try_event_handling();
+            assert!(res.is_ok());
+            match pus_event_man_rx.try_recv() {
+                Ok((event, aux_data)) => {
+                    let mut gen_event = |aux_data| {
+                        pus_event_man.generate_pus_event_tm_generic(
+                            &mut sender,
+                            &EMPTY_STAMP,
+                            event,
+                            aux_data,
+                        )
+                    };
+                    let res = if let Some(aux_data) = aux_data {
+                        match aux_data {
+                            Params::Heapless(heapless) => match heapless {
+                                ParamsHeapless::Raw(raw) => {
+                                    raw.write_to_be_bytes(&mut params_array)
+                                        .expect("Writing raw parameter failed");
+                                    gen_event(Some(&params_array[0..raw.raw_len()]))
+                                }
+                                ParamsHeapless::EcssEnum(e) => {
+                                    e.write_to_be_bytes(&mut params_array)
+                                        .expect("Writing ECSS enum failed");
+                                    gen_event(Some(&params_array[0..e.raw_len()]))
+                                }
+                            },
+                            Params::Vec(vec) => gen_event(Some(vec.as_slice())),
+                            Params::String(str) => gen_event(Some(str.as_bytes())),
+                            Params::Store(_) => gen_event(None),
+                        }
+                    } else {
+                        gen_event(None)
+                    };
+                    event_cnt += 1;
+                    assert!(res.is_ok());
+                    assert!(res.unwrap());
+                    if event_cnt == 2 {
+                        break;
+                    }
+                }
+                Err(e) => {
+                    if let TryRecvError::Disconnected = e {
+                        panic!("Event receiver disconnected!")
+                    }
+                }
+            }
+        }
+    });
+
+    // Event sender and TM checker thread
+    let jh1 = thread::spawn(move || {
+        event_sender
+            .send((INFO_EVENT.into(), None))
+            .expect("Sending info event failed");
+        loop {
+            match event_rx.try_recv() {
+                // Event TM received successfully
+                Ok(event_tm) => {
+                    let tm =
+                        PusTmReader::new(event_tm.as_slice(), 7).expect("Deserializing TM failed");
+                    assert_eq!(tm.0.service(), 5);
+                    assert_eq!(tm.0.subservice(), 1);
+                    let src_data = tm.0.source_data();
+                    assert!(!src_data.is_empty());
+                    assert_eq!(src_data.len(), 4);
+                    let event =
+                        EventU32::from(u32::from_be_bytes(src_data[0..4].try_into().unwrap()));
+                    assert_eq!(event, INFO_EVENT);
+                    break;
+                }
+                Err(e) => {
+                    if let TryRecvError::Disconnected = e {
+                        panic!("Event sender disconnected!")
+                    }
+                }
+            }
+        }
+        event_sender
+            .send((
+                LOW_SEV_EVENT.into(),
+                Some(Params::Heapless((2_u32, 3_u32).into())),
+            ))
+            .expect("Sending low severity event failed");
+        loop {
+            match event_rx.try_recv() {
+                // Event TM received successfully
+                Ok(event_tm) => {
+                    let tm =
+                        PusTmReader::new(event_tm.as_slice(), 7).expect("Deserializing TM failed");
+                    assert_eq!(tm.0.service(), 5);
+                    assert_eq!(tm.0.subservice(), 2);
+                    let src_data = tm.0.source_data();
+                    assert!(!src_data.is_empty());
+                    assert_eq!(src_data.len(), 12);
+                    let event =
+                        EventU32::from(u32::from_be_bytes(src_data[0..4].try_into().unwrap()));
+                    assert_eq!(event, LOW_SEV_EVENT);
+                    let u32_pair: U32Pair =
+                        src_data[4..].try_into().expect("Creating U32Pair failed");
+                    assert_eq!(u32_pair.0, 2);
+                    assert_eq!(u32_pair.1, 3);
+                    break;
+                }
+                Err(e) => {
+                    if let TryRecvError::Disconnected = e {
+                        panic!("Event sender disconnected!")
+                    }
+                }
+            }
+        }
+    });
+    jh0.join().expect("Joining manager thread failed");
+    jh1.join().expect("Joining creator thread failed");
+}

satrs/tests/pus_verification.rs

@@ -0,0 +1,190 @@
+//#[cfg(feature = "crossbeam")]
+pub mod crossbeam_test {
+    use hashbrown::HashMap;
+    use satrs::pool::{PoolProvider, PoolProviderWithGuards, StaticMemoryPool, StaticPoolConfig};
+    use satrs::pus::verification::{
+        FailParams, RequestId, VerificationReporterCfg, VerificationReporterWithSender,
+    };
+    use satrs::pus::CrossbeamTmInStoreSender;
+    use satrs::tmtc::tm_helper::SharedTmPool;
+    use spacepackets::ecss::tc::{PusTcCreator, PusTcReader, PusTcSecondaryHeader};
+    use spacepackets::ecss::tm::PusTmReader;
+    use spacepackets::ecss::{EcssEnumU16, EcssEnumU8, PusPacket, WritablePusPacket};
+    use spacepackets::SpHeader;
+    use std::sync::{Arc, RwLock};
+    use std::thread;
+    use std::time::Duration;
+
+    const TEST_APID: u16 = 0x03;
+    const FIXED_STAMP: [u8; 7] = [0; 7];
+    const PACKETS_SENT: u8 = 8;
+
+    /// This test also shows how the verification report could be used in a multi-threaded context,
+    /// wrapping it into an [Arc] and [Mutex] and then passing it to two threads.
+    ///
+    ///  - The first thread generates a acceptance, a start, two steps and one completion report
+    ///  - The second generates an acceptance and start success report and a completion failure
+    ///  - The third thread is the verification receiver. In the test case, it verifies the other two
+    ///    threads have sent the correct expected verification reports
+    #[test]
+    fn test_shared_reporter() {
+        // We use a synced sequence count provider here because both verification reporters have the
+        // the same APID. If they had distinct APIDs, the more correct approach would be to have
+        // each reporter have an own sequence count provider.
+        let cfg = VerificationReporterCfg::new(TEST_APID, 1, 2, 8).unwrap();
+        // Shared pool object to store the verification PUS telemetry
+        let pool_cfg =
+            StaticPoolConfig::new(vec![(10, 32), (10, 64), (10, 128), (10, 1024)], false);
+        let shared_tm_pool = SharedTmPool::new(StaticMemoryPool::new(pool_cfg.clone()));
+        let shared_tc_pool_0 = Arc::new(RwLock::new(StaticMemoryPool::new(pool_cfg)));
+        let shared_tc_pool_1 = shared_tc_pool_0.clone();
+        let (tx, rx) = crossbeam_channel::bounded(10);
+        let sender =
+            CrossbeamTmInStoreSender::new(0, "verif_sender", shared_tm_pool.clone(), tx.clone());
+        let mut reporter_with_sender_0 =
+            VerificationReporterWithSender::new(&cfg, Box::new(sender));
+        let 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.
+        let req_id_0;
+        let req_id_1;
+
+        let (tx_tc_0, rx_tc_0) = crossbeam_channel::bounded(3);
+        let (tx_tc_1, rx_tc_1) = crossbeam_channel::bounded(3);
+        {
+            let mut tc_guard = shared_tc_pool_0.write().unwrap();
+            let mut sph = SpHeader::tc_unseg(TEST_APID, 0, 0).unwrap();
+            let tc_header = PusTcSecondaryHeader::new_simple(17, 1);
+            let pus_tc_0 = PusTcCreator::new_no_app_data(&mut sph, tc_header, true);
+            req_id_0 = RequestId::new(&pus_tc_0);
+            let addr = tc_guard
+                .free_element(pus_tc_0.len_written(), |buf| {
+                    pus_tc_0.write_to_bytes(buf).unwrap();
+                })
+                .unwrap();
+            tx_tc_0.send(addr).unwrap();
+            let mut sph = SpHeader::tc_unseg(TEST_APID, 1, 0).unwrap();
+            let tc_header = PusTcSecondaryHeader::new_simple(5, 1);
+            let pus_tc_1 = PusTcCreator::new_no_app_data(&mut sph, tc_header, true);
+            req_id_1 = RequestId::new(&pus_tc_1);
+            let addr = tc_guard
+                .free_element(pus_tc_0.len_written(), |buf| {
+                    pus_tc_1.write_to_bytes(buf).unwrap();
+                })
+                .unwrap();
+            tx_tc_1.send(addr).unwrap();
+        }
+        let verif_sender_0 = thread::spawn(move || {
+            let mut tc_buf: [u8; 1024] = [0; 1024];
+            let tc_addr = rx_tc_0
+                .recv_timeout(Duration::from_millis(20))
+                .expect("Receive timeout");
+            let tc_len;
+            {
+                let mut tc_guard = shared_tc_pool_0.write().unwrap();
+                let pg = tc_guard.read_with_guard(tc_addr);
+                tc_len = pg.read(&mut tc_buf).unwrap();
+            }
+            let (_tc, _) = PusTcReader::new(&tc_buf[0..tc_len]).unwrap();
+
+            let token = reporter_with_sender_0.add_tc_with_req_id(req_id_0);
+            let accepted_token = reporter_with_sender_0
+                .acceptance_success(token, Some(&FIXED_STAMP))
+                .expect("Acceptance success failed");
+
+            // Do some start handling here
+            let started_token = reporter_with_sender_0
+                .start_success(accepted_token, Some(&FIXED_STAMP))
+                .expect("Start success failed");
+            // Do some step handling here
+            reporter_with_sender_0
+                .step_success(&started_token, Some(&FIXED_STAMP), EcssEnumU8::new(0))
+                .expect("Start success failed");
+
+            // Finish up
+            reporter_with_sender_0
+                .step_success(&started_token, Some(&FIXED_STAMP), EcssEnumU8::new(1))
+                .expect("Start success failed");
+            reporter_with_sender_0
+                .completion_success(started_token, Some(&FIXED_STAMP))
+                .expect("Completion success failed");
+        });
+
+        let verif_sender_1 = thread::spawn(move || {
+            let mut tc_buf: [u8; 1024] = [0; 1024];
+            let tc_addr = rx_tc_1
+                .recv_timeout(Duration::from_millis(20))
+                .expect("Receive timeout");
+            let tc_len;
+            {
+                let mut tc_guard = shared_tc_pool_1.write().unwrap();
+                let pg = tc_guard.read_with_guard(tc_addr);
+                tc_len = pg.read(&mut tc_buf).unwrap();
+            }
+            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, Some(&FIXED_STAMP))
+                .expect("Acceptance success failed");
+            let started_token = reporter_with_sender_1
+                .start_success(accepted_token, Some(&FIXED_STAMP))
+                .expect("Start success failed");
+            let fail_code = EcssEnumU16::new(2);
+            let params = FailParams::new(Some(&FIXED_STAMP), &fail_code, None);
+            reporter_with_sender_1
+                .completion_failure(started_token, params)
+                .expect("Completion success failed");
+        });
+
+        let verif_receiver = thread::spawn(move || {
+            let mut packet_counter = 0;
+            let mut tm_buf: [u8; 1024] = [0; 1024];
+            let mut verif_map = HashMap::new();
+            while packet_counter < PACKETS_SENT {
+                let verif_addr = 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);
+                    tm_len = store_guard
+                        .read(&mut tm_buf)
+                        .expect("Error reading TM slice");
+                }
+                let (pus_tm, _) =
+                    PusTmReader::new(&tm_buf[0..tm_len], 7).expect("Error reading verification TM");
+                let req_id =
+                    RequestId::from_bytes(&pus_tm.source_data()[0..RequestId::SIZE_AS_BYTES])
+                        .expect("reading request ID from PUS TM source data failed");
+                if !verif_map.contains_key(&req_id) {
+                    let content = vec![pus_tm.subservice()];
+                    verif_map.insert(req_id, content);
+                } else {
+                    let content = verif_map.get_mut(&req_id).unwrap();
+                    content.push(pus_tm.subservice())
+                }
+                packet_counter += 1;
+            }
+            for (req_id, content) in verif_map {
+                if req_id == req_id_1 {
+                    assert_eq!(content[0], 1);
+                    assert_eq!(content[1], 3);
+                    assert_eq!(content[2], 8);
+                } else if req_id == req_id_0 {
+                    assert_eq!(content[0], 1);
+                    assert_eq!(content[1], 3);
+                    assert_eq!(content[2], 5);
+                    assert_eq!(content[3], 5);
+                    assert_eq!(content[4], 7);
+                } else {
+                    panic!("Unexpected request ID {:?}", req_id);
+                }
+            }
+        });
+        verif_sender_0.join().expect("Joining thread 0 failed");
+        verif_sender_1.join().expect("Joining thread 1 failed");
+        verif_receiver.join().expect("Joining thread 2 failed");
+    }
+}

satrs/tests/tcp_servers.rs

@@ -0,0 +1,241 @@
+//! This serves as both an integration test and an example application showcasing all major
+//! features of the TCP COBS server by performing following steps:
+//!
+//! 1. It defines both a TC receiver and a TM source which are [Sync].
+//! 2. A telemetry packet is inserted into the TM source. The packet will be handled by the
+//!    TCP server after handling all TCs.
+//! 3. It instantiates the TCP server on localhost with automatic port assignment and assigns
+//!    the TC receiver and TM source created previously.
+//! 4. It moves the TCP server to a different thread and calls the
+//!    [TcpTmtcInCobsServer::handle_next_connection] call inside that thread
+//! 5. The main threads connects to the server, sends a test telecommand and then reads back
+//!    the test telemetry insertd in to the TM source previously.
+use core::{
+    sync::atomic::{AtomicBool, Ordering},
+    time::Duration,
+};
+use std::{
+    io::{Read, Write},
+    net::{IpAddr, Ipv4Addr, SocketAddr, TcpStream},
+    sync::Mutex,
+    thread,
+};
+
+use hashbrown::HashSet;
+use satrs::{
+    encoding::cobs::encode_packet_with_cobs,
+    hal::std::tcp_server::{ServerConfig, TcpSpacepacketsServer, TcpTmtcInCobsServer},
+    tmtc::{ReceivesTcCore, TmPacketSourceCore},
+};
+use spacepackets::{
+    ecss::{tc::PusTcCreator, WritablePusPacket},
+    PacketId, SpHeader,
+};
+use std::{boxed::Box, collections::VecDeque, sync::Arc, vec::Vec};
+
+#[derive(Default, Clone)]
+struct SyncTcCacher {
+    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");
+        println!("Received TC: {:x?}", tc_raw);
+        tc_queue.push_back(tc_raw.to_vec());
+        Ok(())
+    }
+}
+
+#[derive(Default, Clone)]
+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()
+                );
+            }
+            println!("Sending and encoding TM: {:x?}", next_vec);
+            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)
+    }
+}
+
+const SIMPLE_PACKET: [u8; 5] = [1, 2, 3, 4, 5];
+const INVERTED_PACKET: [u8; 5] = [5, 4, 3, 4, 1];
+const AUTO_PORT_ADDR: SocketAddr = SocketAddr::new(IpAddr::V4(Ipv4Addr::new(127, 0, 0, 1)), 0);
+
+#[test]
+fn test_cobs_server() {
+    let tc_receiver = SyncTcCacher::default();
+    let mut tm_source = SyncTmSource::default();
+    // Insert a telemetry packet which will be read back by the client at a later stage.
+    tm_source.add_tm(&INVERTED_PACKET);
+    let mut tcp_server = TcpTmtcInCobsServer::new(
+        ServerConfig::new(AUTO_PORT_ADDR, Duration::from_millis(2), 1024, 1024),
+        tm_source,
+        tc_receiver.clone(),
+    )
+    .expect("TCP server generation failed");
+    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, "No TC received");
+        assert_eq!(conn_result.num_sent_tms, 1, "No TM received");
+        // Signal the main thread we are done.
+        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_packet_with_cobs(&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");
+    // Done with writing.
+    stream
+        .shutdown(std::net::Shutdown::Write)
+        .expect("shutting down write failed");
+    let mut read_buf: [u8; 16] = [0; 16];
+    let read_len = stream.read(&mut read_buf).expect("read failed");
+    drop(stream);
+
+    // 1 byte encoding overhead, 2 sentinel bytes.
+    assert_eq!(read_len, 8);
+    assert_eq!(read_buf[0], 0);
+    assert_eq!(read_buf[read_len - 1], 0);
+    let decoded_len =
+        cobs::decode_in_place(&mut read_buf[1..read_len]).expect("COBS decoding failed");
+    assert_eq!(decoded_len, 5);
+    // Skip first sentinel byte.
+    assert_eq!(&read_buf[1..1 + INVERTED_PACKET.len()], &INVERTED_PACKET);
+    // 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);
+}
+
+const TEST_APID_0: u16 = 0x02;
+const TEST_PACKET_ID_0: PacketId = PacketId::const_tc(true, TEST_APID_0);
+
+#[test]
+fn test_ccsds_server() {
+    let tc_receiver = SyncTcCacher::default();
+    let mut tm_source = SyncTmSource::default();
+    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("tm generation failed");
+    tm_source.add_tm(&tm_0);
+    let mut packet_id_lookup = HashSet::new();
+    packet_id_lookup.insert(TEST_PACKET_ID_0);
+    let mut tcp_server = TcpSpacepacketsServer::new(
+        ServerConfig::new(AUTO_PORT_ADDR, Duration::from_millis(2), 1024, 1024),
+        tm_source,
+        tc_receiver.clone(),
+        Box::new(packet_id_lookup),
+    )
+    .expect("TCP server generation failed");
+    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, 1);
+        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 ping telecommand.
+    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 creation failed");
+    stream
+        .write_all(&tc_0)
+        .expect("writing to TCP server failed");
+    // Done with writing.
+    stream
+        .shutdown(std::net::Shutdown::Write)
+        .expect("shutting down write failed");
+
+    // Now read all the telemetry from the server.
+    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 < tm_0.len() {
+        let read_len = stream.read(&mut read_buf).expect("read failed");
+        read_len_total += read_len;
+        assert_eq!(read_buf[..read_len], tm_0);
+    }
+    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);
+}