getting there..

satrs-core/Cargo.toml

@@ -64,7 +64,7 @@ optional = true
 # version = "0.6"
 # path = "../spacepackets"
 git = "https://egit.irs.uni-stuttgart.de/rust/spacepackets.git"
-rev = "4969d6c33c6"
+rev = "e3d2d885385"
 default-features = false
 
 [dev-dependencies]

satrs-core/src/pus/event.rs

@@ -1,4 +1,4 @@
-use crate::pus::{source_buffer_large_enough, EcssTmtcErrorWithSend};
+use crate::pus::{source_buffer_large_enough, EcssTmtcError};
 use spacepackets::ecss::{EcssEnumeration, PusError};
 use spacepackets::tm::PusTm;
 use spacepackets::tm::PusTmSecondaryHeader;
@@ -34,7 +34,7 @@ impl EventReporterBase {
         time_stamp: &[u8],
         event_id: impl EcssEnumeration,
         aux_data: Option<&[u8]>,
-    ) -> Result<(), EcssTmtcErrorWithSend> {
+    ) -> Result<(), EcssTmtcError> {
         self.generate_and_send_generic_tm(
             buf,
             Subservice::TmInfoReport,
@@ -52,7 +52,7 @@ impl EventReporterBase {
         time_stamp: &[u8],
         event_id: impl EcssEnumeration,
         aux_data: Option<&[u8]>,
-    ) -> Result<(), EcssTmtcErrorWithSend> {
+    ) -> Result<(), EcssTmtcError> {
         self.generate_and_send_generic_tm(
             buf,
             Subservice::TmLowSeverityReport,
@@ -70,7 +70,7 @@ impl EventReporterBase {
         time_stamp: &[u8],
         event_id: impl EcssEnumeration,
         aux_data: Option<&[u8]>,
-    ) -> Result<(), EcssTmtcErrorWithSend> {
+    ) -> Result<(), EcssTmtcError> {
         self.generate_and_send_generic_tm(
             buf,
             Subservice::TmMediumSeverityReport,
@@ -88,7 +88,7 @@ impl EventReporterBase {
         time_stamp: &[u8],
         event_id: impl EcssEnumeration,
         aux_data: Option<&[u8]>,
-    ) -> Result<(), EcssTmtcErrorWithSend> {
+    ) -> Result<(), EcssTmtcError> {
         self.generate_and_send_generic_tm(
             buf,
             Subservice::TmHighSeverityReport,
@@ -107,7 +107,7 @@ impl EventReporterBase {
         time_stamp: &[u8],
         event_id: impl EcssEnumeration,
         aux_data: Option<&[u8]>,
-    ) -> Result<(), EcssTmtcErrorWithSend> {
+    ) -> Result<(), EcssTmtcError> {
         let tm = self.generate_generic_event_tm(buf, subservice, time_stamp, event_id, aux_data)?;
         sender.send_tm(tm.into())?;
         self.msg_count += 1;
@@ -121,7 +121,7 @@ impl EventReporterBase {
         time_stamp: &'a [u8],
         event_id: impl EcssEnumeration,
         aux_data: Option<&[u8]>,
-    ) -> Result<PusTm, EcssTmtcErrorWithSend> {
+    ) -> Result<PusTm, EcssTmtcError> {
         let mut src_data_len = event_id.size();
         if let Some(aux_data) = aux_data {
             src_data_len += aux_data.len();
@@ -138,7 +138,7 @@ impl EventReporterBase {
         let mut current_idx = 0;
         event_id
             .write_to_be_bytes(&mut buf[0..event_id.size()])
-            .map_err(PusError::ByteConversionError)?;
+            .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);
@@ -178,7 +178,7 @@ mod alloc_mod {
             time_stamp: &[u8],
             event_id: impl EcssEnumeration,
             aux_data: Option<&[u8]>,
-        ) -> Result<(), EcssTmtcErrorWithSend> {
+        ) -> Result<(), EcssTmtcError> {
             self.reporter.event_info(
                 self.source_data_buf.as_mut_slice(),
                 sender,
@@ -194,7 +194,7 @@ mod alloc_mod {
             time_stamp: &[u8],
             event_id: impl EcssEnumeration,
             aux_data: Option<&[u8]>,
-        ) -> Result<(), EcssTmtcErrorWithSend> {
+        ) -> Result<(), EcssTmtcError> {
             self.reporter.event_low_severity(
                 self.source_data_buf.as_mut_slice(),
                 sender,
@@ -210,7 +210,7 @@ mod alloc_mod {
             time_stamp: &[u8],
             event_id: impl EcssEnumeration,
             aux_data: Option<&[u8]>,
-        ) -> Result<(), EcssTmtcErrorWithSend> {
+        ) -> Result<(), EcssTmtcError> {
             self.reporter.event_medium_severity(
                 self.source_data_buf.as_mut_slice(),
                 sender,
@@ -226,7 +226,7 @@ mod alloc_mod {
             time_stamp: &[u8],
             event_id: impl EcssEnumeration,
             aux_data: Option<&[u8]>,
-        ) -> Result<(), EcssTmtcErrorWithSend> {
+        ) -> Result<(), EcssTmtcError> {
             self.reporter.event_high_severity(
                 self.source_data_buf.as_mut_slice(),
                 sender,
@@ -243,7 +243,7 @@ mod tests {
     use super::*;
     use crate::events::{EventU32, Severity};
     use crate::pus::tests::CommonTmInfo;
-    use crate::pus::{EcssSender, PusTmWrapper};
+    use crate::pus::{EcssChannel, PusTmWrapper};
     use crate::SenderId;
     use spacepackets::ByteConversionError;
     use std::cell::RefCell;
@@ -268,14 +268,14 @@ mod tests {
         pub service_queue: RefCell<VecDeque<TmInfo>>,
     }
 
-    impl EcssSender for TestSender {
+    impl EcssChannel for TestSender {
         fn id(&self) -> SenderId {
             0
         }
     }
 
     impl EcssTmSenderCore for TestSender {
-        fn send_tm(&self, tm: PusTmWrapper) -> Result<(), EcssTmtcErrorWithSend> {
+        fn send_tm(&self, tm: PusTmWrapper) -> Result<(), EcssTmtcError> {
             match tm {
                 PusTmWrapper::InStore(_) => {
                     panic!("TestSender: unexpected call with address");
@@ -425,7 +425,7 @@ mod tests {
         let err = reporter.event_info(sender, &time_stamp_empty, event, None);
         assert!(err.is_err());
         let err = err.unwrap_err();
-        if let EcssTmtcErrorWithSend::EcssTmtcError(EcssTmtcErrorWithSend::ByteConversion(
+        if let EcssTmtcError::EcssTmtcError(EcssTmtcError::ByteConversion(
             ByteConversionError::ToSliceTooSmall(missmatch),
         )) = err
         {

satrs-core/src/pus/event_man.rs

@@ -13,7 +13,7 @@ pub use crate::pus::event::EventReporter;
 use crate::pus::verification::TcStateToken;
 #[cfg(feature = "alloc")]
 use crate::pus::EcssTmSenderCore;
-use crate::pus::EcssTmtcErrorWithSend;
+use crate::pus::EcssTmtcError;
 #[cfg(feature = "alloc")]
 #[cfg_attr(doc_cfg, doc(cfg(feature = "alloc")))]
 pub use alloc_mod::*;
@@ -96,12 +96,12 @@ pub struct EventRequestWithToken<Event: GenericEvent = EventU32> {
 
 #[derive(Debug)]
 pub enum EventManError {
-    EcssTmtcError(EcssTmtcErrorWithSend),
+    EcssTmtcError(EcssTmtcError),
     SeverityMissmatch(Severity, Severity),
 }
 
-impl From<EcssTmtcErrorWithSend> for EventManError {
+impl From<EcssTmtcError> for EventManError {
-    fn from(v: EcssTmtcErrorWithSend) -> Self {
+    fn from(v: EcssTmtcError) -> Self {
         Self::EcssTmtcError(v)
     }
 }

satrs-core/src/pus/event_srv.rs

@@ -5,8 +5,8 @@ use crate::pus::verification::{
     StdVerifReporterWithSender, TcStateAccepted, TcStateToken, VerificationToken,
 };
 use crate::pus::{
-    AcceptedTc, EcssTmSender, PartialPusHandlingError, PusPacketHandlerResult,
+    AcceptedTc, EcssTcReceiver, EcssTmSender, PartialPusHandlingError, PusPacketHandlerResult,
-    PusPacketHandlingError, PusServiceBase, PusServiceHandler,
+    PusPacketHandlingError, PusServiceBase, PusServiceHandler, ReceivedTcWrapper,
 };
 use spacepackets::ecss::event::Subservice;
 use spacepackets::ecss::PusPacket;
@@ -21,15 +21,14 @@ pub struct PusService5EventHandler {
 
 impl PusService5EventHandler {
     pub fn new(
-        receiver: Receiver<AcceptedTc>,
+        tc_receiver: Box<dyn EcssTcReceiver>,
-        tc_pool: SharedPool,
         tm_sender: Box<dyn EcssTmSender>,
         tm_apid: u16,
         verification_handler: StdVerifReporterWithSender,
         event_request_tx: Sender<EventRequestWithToken>,
     ) -> Self {
         Self {
-            psb: PusServiceBase::new(receiver, tc_pool, tm_sender, tm_apid, verification_handler),
+            psb: PusServiceBase::new(tc_receiver, tm_sender, tm_apid, verification_handler),
             event_request_tx,
         }
     }
@@ -45,11 +44,16 @@ impl PusServiceHandler for PusService5EventHandler {
 
     fn handle_one_tc(
         &mut self,
-        addr: StoreAddr,
+        tc_in_store_with_token: ReceivedTcWrapper,
-        token: VerificationToken<TcStateAccepted>,
     ) -> Result<PusPacketHandlerResult, PusPacketHandlingError> {
-        self.copy_tc_to_buf(addr)?;
+        let ReceivedTcWrapper {
-        let (tc, _) = PusTc::from_bytes(&self.psb.pus_buf).unwrap();
+            tc,
+            token,
+            pool_guard,
+        } = tc_in_store_with_token;
+        // TODO: Better token handling..
+        let token = token.expect("invalid token");
+        let accepted_token = VerificationToken::<TcStateAccepted>::try_from(token).unwrap();
         let subservice = tc.subservice();
         let srv = Subservice::try_from(subservice);
         if srv.is_err() {
@@ -70,7 +74,7 @@ impl PusServiceHandler for PusService5EventHandler {
                 .psb
                 .verification_handler
                 .borrow_mut()
-                .start_success(token, Some(&stamp))
+                .start_success(accepted_token, Some(&stamp))
                 .map_err(|_| PartialPusHandlingError::Verification);
             let partial_error = start_token.clone().err();
             let mut token: TcStateToken = token.into();
@@ -91,7 +95,7 @@ impl PusServiceHandler for PusService5EventHandler {
             self.event_request_tx
                 .send(event_req_with_token)
                 .map_err(|_| {
-                    PusPacketHandlingError::SendError("Forwarding event request failed".into())
+                    PusPacketHandlingError::Other("Forwarding event request failed".into())
                 })?;
             if let Some(partial_error) = partial_error {
                 return Ok(PusPacketHandlerResult::RequestHandledPartialSuccess(

satrs-core/src/pus/mod.rs

@@ -28,8 +28,8 @@ pub mod verification;
 #[cfg(feature = "alloc")]
 pub use alloc_mod::*;
 
-use crate::pool::{StoreAddr, StoreError};
+use crate::pool::{PoolGuard, PoolRwGuard, StoreAddr, StoreError};
-use crate::pus::verification::TcStateToken;
+use crate::pus::verification::{TcStateAccepted, TcStateToken, VerificationToken};
 #[cfg(feature = "std")]
 pub use std_mod::*;
 
@@ -51,6 +51,12 @@ impl<'tm> From<PusTm<'tm>> for PusTmWrapper<'tm> {
     }
 }
 
+pub type TcAddrWithToken = (StoreAddr, TcStateToken);
+
+/// Generic abstraction for a telecommand being sent around after is has been accepted.
+/// The actual telecommand is stored inside a pre-allocated pool structure.
+pub type AcceptedTc = (StoreAddr, VerificationToken<TcStateAccepted>);
+
 /// Generic error type for sending something via a message queue.
 #[derive(Debug, Copy, Clone)]
 pub enum GenericSendError {
@@ -74,67 +80,100 @@ impl Display for GenericSendError {
 #[cfg(feature = "std")]
 impl Error for GenericSendError {}
 
+/// Generic error type for sending something via a message queue.
+#[derive(Debug, Copy, Clone)]
+pub enum GenericRecvError {
+    Empty,
+    TxDisconnected,
+}
+
+impl Display for GenericRecvError {
+    fn fmt(&self, f: &mut Formatter<'_>) -> core::fmt::Result {
+        match self {
+            Self::TxDisconnected => {
+                write!(f, "tx side has disconnected")
+            }
+            Self::Empty => {
+                write!(f, "nothing to receive")
+            }
+        }
+    }
+}
+
+#[cfg(feature = "std")]
+impl Error for GenericRecvError {}
+
 #[derive(Debug, Clone)]
-pub enum EcssTmtcErrorWithSend {
+pub enum EcssTmtcError {
     StoreLock,
     Store(StoreError),
     Pus(PusError),
     CantSendAddr(StoreAddr),
     Send(GenericSendError),
+    Recv(GenericRecvError),
 }
 
-impl Display for EcssTmtcErrorWithSend {
+impl Display for EcssTmtcError {
     fn fmt(&self, f: &mut Formatter<'_>) -> core::fmt::Result {
         match self {
-            EcssTmtcErrorWithSend::StoreLock => {
+            EcssTmtcError::StoreLock => {
                 write!(f, "store lock error")
             }
-            EcssTmtcErrorWithSend::Store(store) => {
+            EcssTmtcError::Store(store) => {
                 write!(f, "store error: {store}")
             }
-            EcssTmtcErrorWithSend::Pus(pus_e) => {
+            EcssTmtcError::Pus(pus_e) => {
                 write!(f, "PUS error: {pus_e}")
             }
-            EcssTmtcErrorWithSend::CantSendAddr(addr) => {
+            EcssTmtcError::CantSendAddr(addr) => {
                 write!(f, "can not send address {addr}")
             }
-            EcssTmtcErrorWithSend::Send(send_e) => {
+            EcssTmtcError::Send(send_e) => {
                 write!(f, "send error {send_e}")
             }
+            EcssTmtcError::Recv(recv_e) => {
+                write!(f, "recv error {recv_e}")
+            }
         }
     }
 }
 
-impl From<StoreError> for EcssTmtcErrorWithSend {
+impl From<StoreError> for EcssTmtcError {
     fn from(value: StoreError) -> Self {
         Self::Store(value)
     }
 }
 
-impl From<PusError> for EcssTmtcErrorWithSend {
+impl From<PusError> for EcssTmtcError {
     fn from(value: PusError) -> Self {
         Self::Pus(value)
     }
 }
 
-impl From<GenericSendError> for EcssTmtcErrorWithSend {
+impl From<GenericSendError> for EcssTmtcError {
     fn from(value: GenericSendError) -> Self {
         Self::Send(value)
     }
 }
 
+impl From<GenericRecvError> for EcssTmtcError {
+    fn from(value: GenericRecvError) -> Self {
+        Self::Recv(value)
+    }
+}
+
 #[cfg(feature = "std")]
-impl Error for EcssTmtcErrorWithSend {
+impl Error for EcssTmtcError {
     fn source(&self) -> Option<&(dyn Error + 'static)> {
         match self {
-            EcssTmtcErrorWithSend::Store(e) => Some(e),
+            EcssTmtcError::Store(e) => Some(e),
-            EcssTmtcErrorWithSend::Pus(e) => Some(e),
+            EcssTmtcError::Pus(e) => Some(e),
-            EcssTmtcErrorWithSend::Send(e) => Some(e),
+            EcssTmtcError::Send(e) => Some(e),
             _ => None,
         }
     }
 }
-pub trait EcssSender: Send {
+pub trait EcssChannel: Send {
     /// Each sender can have an ID associated with it
     fn id(&self) -> SenderId;
     fn name(&self) -> &'static str {
@@ -145,16 +184,35 @@ pub trait EcssSender: Send {
 /// Generic trait for a user supplied sender object.
 ///
 /// This sender object is responsible for sending PUS telemetry to a TM sink.
-pub trait EcssTmSenderCore: EcssSender {
+pub trait EcssTmSenderCore: EcssChannel {
-    fn send_tm(&self, tm: PusTmWrapper) -> Result<(), EcssTmtcErrorWithSend>;
+    fn send_tm(&self, tm: PusTmWrapper) -> Result<(), EcssTmtcError>;
 }
 
 /// Generic trait for a user supplied sender object.
 ///
 /// This sender object is responsible for sending PUS telecommands to a TC recipient. Each
 /// telecommand can optionally have a token which contains its verification state.
-pub trait EcssTcSenderCore: EcssSender {
+pub trait EcssTcSenderCore: EcssChannel {
-    fn send_tc(&self, tc: PusTc, token: Option<TcStateToken>) -> Result<(), EcssTmtcErrorWithSend>;
+    fn send_tc(&self, tc: PusTc, token: Option<TcStateToken>) -> Result<(), EcssTmtcError>;
+}
+
+pub struct ReceivedTcWrapper<'raw_tc> {
+    pub pool_guard: PoolGuard<'raw_tc>,
+    pub tc: PusTc<'raw_tc>,
+    pub token: Option<TcStateToken>,
+}
+
+/// Generic trait for a user supplied receiver object.
+pub trait EcssTcReceiverCore: EcssChannel {
+    fn recv_tc<'buf>(&self, buf: &'buf mut [u8]) -> Result<ReceivedTcWrapper<'buf>, EcssTmtcError>;
+}
+
+/// Generic trait for objects which can receive ECSS PUS telecommands. This trait is
+/// implemented by the [crate::tmtc::pus_distrib::PusDistributor] objects to allow passing PUS TC
+/// packets into it.
+pub trait ReceivesEcssPusTc {
+    type Error;
+    fn pass_pus_tc(&mut self, header: &SpHeader, pus_tc: &PusTc) -> Result<(), Self::Error>;
 }
 
 #[cfg(feature = "alloc")]
@@ -200,50 +258,66 @@ mod alloc_mod {
 
     dyn_clone::clone_trait_object!(EcssTcSender);
     impl_downcast!(EcssTcSender);
-}
 
-/// Generic trait for objects which can receive ECSS PUS telecommands. This trait is
+    /// Extension trait for [EcssTcReceiverCore].
-/// implemented by the [crate::tmtc::pus_distrib::PusDistributor] objects to allow passing PUS TC
+    ///
-/// packets into it.
+    /// It provides additional functionality, for example by implementing the [Downcast] trait
-pub trait ReceivesEcssPusTc {
+    /// and the [DynClone] trait.
-    type Error;
+    ///
-    fn pass_pus_tc(&mut self, header: &SpHeader, pus_tc: &PusTc) -> Result<(), Self::Error>;
+    /// [Downcast] is implemented to allow passing the sender as a boxed trait object and still
+    /// retrieve the concrete type at a later point.
+    ///
+    /// [DynClone] allows cloning the trait object as long as the boxed object implements
+    /// [Clone].
+    #[cfg(feature = "alloc")]
+    #[cfg_attr(doc_cfg, doc(cfg(feature = "alloc")))]
+    pub trait EcssTcReceiver: EcssTcReceiverCore + Downcast + DynClone {}
+
+    /// Blanket implementation for all types which implement [EcssTcReceiverCore] and are clonable.
+    impl<T> EcssTcReceiver for T where T: EcssTcReceiverCore + Clone + 'static {}
+
+    dyn_clone::clone_trait_object!(EcssTcReceiver);
+    impl_downcast!(EcssTcReceiver);
 }
 
 #[cfg(feature = "std")]
 pub mod std_mod {
-    use crate::pool::{ShareablePoolProvider, SharedPool, StoreAddr, StoreError};
+    use crate::pool::{SharedPool, StoreAddr};
     use crate::pus::verification::{
-        StdVerifReporterWithSender, TcStateAccepted, VerificationToken,
+        StdVerifReporterWithSender, TcStateAccepted, TcStateToken, VerificationToken,
     };
     use crate::pus::{
-        EcssSender, EcssTmSender, EcssTmSenderCore, EcssTmtcErrorWithSend, GenericSendError,
+        AcceptedTc, EcssChannel, EcssTcReceiver, EcssTcReceiverCore, EcssTmSender,
-        PusTmWrapper,
+        EcssTmSenderCore, EcssTmtcError, GenericRecvError, GenericSendError, PusTmWrapper,
+        ReceivedTcWrapper, TcAddrWithToken,
     };
+    use crate::tmtc::tm_helper::SharedTmStore;
     use crate::SenderId;
     use alloc::boxed::Box;
     use alloc::vec::Vec;
-    use spacepackets::ecss::{PusError, SerializablePusPacket};
+    use spacepackets::ecss::PusError;
+    use spacepackets::tc::PusTc;
     use spacepackets::time::cds::TimeProvider;
     use spacepackets::time::std_mod::StdTimestampError;
     use spacepackets::time::TimeWriter;
+    use spacepackets::tm::PusTm;
+    use spacepackets::{ByteConversionError, SizeMissmatch};
     use std::cell::RefCell;
-    use std::format;
     use std::string::String;
-    use std::sync::mpsc::SendError;
+    use std::sync::mpsc;
-    use std::sync::{mpsc, RwLockWriteGuard};
+    use std::sync::mpsc::{SendError, TryRecvError};
     use thiserror::Error;
 
     #[derive(Clone)]
     pub struct MpscTmInStoreSender {
         id: SenderId,
         name: &'static str,
-        store_helper: SharedPool,
+        shared_tm_store: SharedTmStore,
         sender: mpsc::Sender<StoreAddr>,
         pub ignore_poison_errors: bool,
     }
 
-    impl EcssSender for MpscTmInStoreSender {
+    impl EcssChannel for MpscTmInStoreSender {
         fn id(&self) -> SenderId {
             self.id
         }
@@ -253,39 +327,22 @@ pub mod std_mod {
         }
     }
 
-    impl From<SendError<StoreAddr>> for EcssTmtcErrorWithSend {
+    impl From<SendError<StoreAddr>> for EcssTmtcError {
         fn from(_: SendError<StoreAddr>) -> Self {
             Self::Send(GenericSendError::RxDisconnected)
         }
     }
     impl MpscTmInStoreSender {
-        pub fn send_direct_tm(
+        pub fn send_direct_tm(&self, tm: PusTm) -> Result<(), EcssTmtcError> {
-            &self,
+            let addr = self.shared_tm_store.add_pus_tm(&tm)?;
-            tmtc: impl SerializablePusPacket,
+            self.sender
-        ) -> Result<(), EcssTmtcErrorWithSend> {
+                .send(addr)
-            let operation = |mut store: RwLockWriteGuard<ShareablePoolProvider>| {
+                .map_err(|_| EcssTmtcError::Send(GenericSendError::RxDisconnected))
-                let (addr, slice) = store.free_element(tmtc.len_packed())?;
-                tmtc.write_to_bytes(slice)?;
-                self.sender.send(addr)?;
-                Ok(())
-            };
-            match self.store_helper.write() {
-                Ok(pool) => operation(pool),
-                Err(e) => {
-                    if self.ignore_poison_errors {
-                        operation(e.into_inner())
-                    } else {
-                        Err(EcssTmtcErrorWithSend::Send(
-                            GenericSendError::RxDisconnected,
-                        ))
-                    }
-                }
-            }
         }
     }
 
     impl EcssTmSenderCore for MpscTmInStoreSender {
-        fn send_tm(&self, tm: PusTmWrapper) -> Result<(), EcssTmtcErrorWithSend> {
+        fn send_tm(&self, tm: PusTmWrapper) -> Result<(), EcssTmtcError> {
             match tm {
                 PusTmWrapper::InStore(addr) => self.sender.send(addr).map_err(|e| e.into()),
                 PusTmWrapper::Direct(tm) => self.send_direct_tm(tm),
@@ -297,19 +354,66 @@ pub mod std_mod {
         pub fn new(
             id: SenderId,
             name: &'static str,
-            store_helper: SharedPool,
+            shared_tm_store: SharedTmStore,
             sender: mpsc::Sender<StoreAddr>,
         ) -> Self {
             Self {
                 id,
                 name,
-                store_helper,
+                shared_tm_store,
                 sender,
                 ignore_poison_errors: false,
             }
         }
     }
 
+    pub struct MpscTcInStoreReceiver {
+        id: SenderId,
+        name: &'static str,
+        shared_tc_pool: SharedPool,
+        receiver: mpsc::Receiver<TcAddrWithToken>,
+        pub ignore_poison_errors: bool,
+    }
+
+    impl EcssChannel for MpscTcInStoreReceiver {
+        fn id(&self) -> SenderId {
+            self.id
+        }
+
+        fn name(&self) -> &'static str {
+            self.name
+        }
+    }
+
+    impl EcssTcReceiverCore for MpscTcInStoreReceiver {
+        fn recv_tc<'buf>(
+            &self,
+            buf: &'buf mut [u8],
+        ) -> Result<ReceivedTcWrapper<'buf>, EcssTmtcError> {
+            let (addr, token) = self.receiver.try_recv().map_err(|e| match e {
+                TryRecvError::Empty => GenericRecvError::Empty,
+                TryRecvError::Disconnected => GenericRecvError::TxDisconnected,
+            })?;
+            let shared_tc_pool = self
+                .shared_tc_pool
+                .read()
+                .map_err(|_| EcssTmtcError::StoreLock)?;
+            let tc_raw = shared_tc_pool.read(&addr)?;
+            if buf.len() < tc_raw.len() {
+                return Err(
+                    PusError::ByteConversion(ByteConversionError::ToSliceTooSmall(SizeMissmatch {
+                        found: buf.len(),
+                        expected: tc_raw.len(),
+                    }))
+                    .into(),
+                );
+            }
+            buf[..tc_raw.len()].copy_from_slice(tc_raw);
+            let (tc, _) = PusTc::from_bytes(buf)?;
+            Ok((tc, token))
+        }
+    }
+
     /// 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
@@ -321,7 +425,7 @@ pub mod std_mod {
         name: &'static str,
     }
 
-    impl From<SendError<Vec<u8>>> for EcssTmtcErrorWithSend {
+    impl From<SendError<Vec<u8>>> for EcssTmtcError {
         fn from(_: SendError<Vec<u8>>) -> Self {
             Self::Send(GenericSendError::RxDisconnected)
         }
@@ -333,7 +437,7 @@ pub mod std_mod {
         }
     }
 
-    impl EcssSender for MpscTmAsVecSender {
+    impl EcssChannel for MpscTmAsVecSender {
         fn id(&self) -> SenderId {
             self.id
         }
@@ -343,13 +447,12 @@ pub mod std_mod {
     }
 
     impl EcssTmSenderCore for MpscTmAsVecSender {
-        fn send_tm(&self, tm: PusTmWrapper) -> Result<(), EcssTmtcErrorWithSend> {
+        fn send_tm(&self, tm: PusTmWrapper) -> Result<(), EcssTmtcError> {
             match tm {
-                PusTmWrapper::InStore(addr) => Err(EcssTmtcErrorWithSend::CantSendAddr(addr)),
+                PusTmWrapper::InStore(addr) => Err(EcssTmtcError::CantSendAddr(addr)),
                 PusTmWrapper::Direct(tm) => {
                     let mut vec = Vec::new();
-                    tm.append_to_vec(&mut vec)
+                    tm.append_to_vec(&mut vec).map_err(EcssTmtcError::Pus)?;
-                        .map_err(EcssTmtcErrorWithSend::Pus)?;
                     self.sender.send(vec)?;
                     Ok(())
                 }
@@ -359,36 +462,32 @@ pub mod std_mod {
 
     #[derive(Debug, Clone, Error)]
     pub enum PusPacketHandlingError {
-        #[error("Generic PUS error: {0}")]
+        #[error("generic PUS error: {0}")]
-        PusError(#[from] PusError),
+        Pus(#[from] PusError),
-        #[error("Wrong service number {0} for packet handler")]
+        #[error("wrong service number {0} for packet handler")]
         WrongService(u8),
-        #[error("Invalid subservice {0}")]
+        #[error("invalid subservice {0}")]
         InvalidSubservice(u8),
-        #[error("Not enough application data available: {0}")]
+        #[error("not enough application data available: {0}")]
         NotEnoughAppData(String),
-        #[error("Invalid application data")]
+        #[error("invalid application data")]
         InvalidAppData(String),
-        #[error("Generic store error: {0}")]
+        #[error("generic ECSS tmtc error: {0}")]
-        StoreError(#[from] StoreError),
+        EcssTmtc(#[from] EcssTmtcError),
-        #[error("Error with the pool RwGuard: {0}")]
+        #[error("other error {0}")]
-        RwGuardError(String),
+        Other(String),
-        #[error("MQ send error: {0}")]
-        SendError(String),
-        #[error("TX message queue side has disconnected")]
-        QueueDisconnected,
-        #[error("Other error {0}")]
-        OtherError(String),
     }
 
     #[derive(Debug, Clone, Error)]
     pub enum PartialPusHandlingError {
-        #[error("Generic timestamp generation error")]
+        #[error("generic timestamp generation error")]
         Time(#[from] StdTimestampError),
-        #[error("Error sending telemetry: {0}")]
+        #[error("error sending telemetry: {0}")]
-        TmSend(#[from] EcssTmtcErrorWithSend),
+        TmSend(#[from] EcssTmtcError),
-        #[error("Error sending verification message")]
+        #[error("error sending verification message")]
         Verification,
+        #[error("invalid verification token")]
+        NoVerificationToken,
     }
 
     /// Generic result type for handlers which can process PUS packets.
@@ -396,8 +495,8 @@ pub mod std_mod {
     pub enum PusPacketHandlerResult {
         RequestHandled,
         RequestHandledPartialSuccess(PartialPusHandlingError),
-        SubserviceNotImplemented(u8, VerificationToken<TcStateAccepted>),
+        SubserviceNotImplemented(u8, TcStateToken),
-        CustomSubservice(u8, VerificationToken<TcStateAccepted>),
+        CustomSubservice(u8, TcStateToken),
         Empty,
     }
 
@@ -407,16 +506,11 @@ pub mod std_mod {
         }
     }
 
-    /// Generic abstraction for a telecommand being sent around after is has been accepted.
-    /// The actual telecommand is stored inside a pre-allocated pool structure.
-    pub type AcceptedTc = (StoreAddr, VerificationToken<TcStateAccepted>);
-
     /// Base class for handlers which can handle PUS TC packets. Right now, the message queue
     /// backend is constrained to [mpsc::channel]s and the verification reporter
     /// is constrained to the [StdVerifReporterWithSender].
     pub struct PusServiceBase {
-        pub tc_rx: mpsc::Receiver<AcceptedTc>,
+        pub tc_receiver: Box<dyn EcssTcReceiver>,
-        pub tc_store: SharedPool,
         pub tm_sender: Box<dyn EcssTmSender>,
         pub tm_apid: u16,
         /// The verification handler is wrapped in a [RefCell] to allow the interior mutability
@@ -428,15 +522,13 @@ pub mod std_mod {
 
     impl PusServiceBase {
         pub fn new(
-            receiver: mpsc::Receiver<AcceptedTc>,
+            tc_receiver: Box<dyn EcssTcReceiver>,
-            tc_pool: SharedPool,
             tm_sender: Box<dyn EcssTmSender>,
             tm_apid: u16,
             verification_handler: StdVerifReporterWithSender,
         ) -> Self {
             Self {
-                tc_rx: receiver,
+                tc_receiver,
-                tc_store: tc_pool,
                 tm_apid,
                 tm_sender,
                 verification_handler: RefCell::new(verification_handler),
@@ -472,8 +564,7 @@ pub mod std_mod {
         fn psb(&self) -> &PusServiceBase;
         fn handle_one_tc(
             &mut self,
-            addr: StoreAddr,
+            tc_in_store_with_token: ReceivedTcWrapper,
-            token: VerificationToken<TcStateAccepted>,
         ) -> Result<PusPacketHandlerResult, PusPacketHandlingError>;
 
         fn copy_tc_to_buf(&mut self, addr: StoreAddr) -> Result<(), PusPacketHandlingError> {
@@ -482,7 +573,7 @@ pub mod std_mod {
             let mut tc_pool = psb_mut
                 .tc_store
                 .write()
-                .map_err(|e| PusPacketHandlingError::RwGuardError(format!("{e}")))?;
+                .map_err(|_| PusPacketHandlingError::EcssTmtc(EcssTmtcError::StoreLock))?;
             let tc_guard = tc_pool.read_with_guard(addr);
             let tc_raw = tc_guard.read().unwrap();
             psb_mut.pus_buf[0..tc_raw.len()].copy_from_slice(tc_raw);
@@ -490,26 +581,23 @@ pub mod std_mod {
         }
 
         fn handle_next_packet(&mut self) -> Result<PusPacketHandlerResult, PusPacketHandlingError> {
-            return match self.psb().tc_rx.try_recv() {
+            match self.psb().tc_receiver.recv_tc()? {
                 Ok((addr, token)) => self.handle_one_tc(addr, token),
                 Err(e) => match e {
-                    mpsc::TryRecvError::Empty => Ok(PusPacketHandlerResult::Empty),
+                    TryRecvError::Empty => Ok(PusPacketHandlerResult::Empty),
-                    mpsc::TryRecvError::Disconnected => {
+                    TryRecvError::Disconnected => Err(PusPacketHandlingError::EcssTmtc(
-                        Err(PusPacketHandlingError::QueueDisconnected)
+                        EcssTmtcError::Recv(GenericRecvError::TxDisconnected),
-                    }
+                    )),
                 },
-            };
+            }
         }
     }
 }
 
-pub(crate) fn source_buffer_large_enough(
+pub(crate) fn source_buffer_large_enough(cap: usize, len: usize) -> Result<(), EcssTmtcError> {
-    cap: usize,
-    len: usize,
-) -> Result<(), EcssTmtcErrorWithSend> {
     if len > cap {
         return Err(
-            PusError::ByteConversionError(ByteConversionError::ToSliceTooSmall(SizeMissmatch {
+            PusError::ByteConversion(ByteConversionError::ToSliceTooSmall(SizeMissmatch {
                 found: cap,
                 expected: len,
             }))

satrs-core/src/pus/scheduler_srv.rs

@@ -2,8 +2,8 @@ use crate::pool::{SharedPool, StoreAddr};
 use crate::pus::scheduler::PusScheduler;
 use crate::pus::verification::{StdVerifReporterWithSender, TcStateAccepted, VerificationToken};
 use crate::pus::{
-    AcceptedTc, EcssTmSender, PusPacketHandlerResult, PusPacketHandlingError, PusServiceBase,
+    AcceptedTc, EcssTcReceiver, EcssTmSender, PusPacketHandlerResult, PusPacketHandlingError,
-    PusServiceHandler,
+    PusServiceBase, PusServiceHandler, ReceivedTcWrapper,
 };
 use spacepackets::ecss::{scheduling, PusPacket};
 use spacepackets::tc::PusTc;
@@ -26,15 +26,14 @@ pub struct PusService11SchedHandler {
 
 impl PusService11SchedHandler {
     pub fn new(
-        receiver: Receiver<AcceptedTc>,
+        tc_receiver: Box<dyn EcssTcReceiver>,
-        tc_pool: SharedPool,
         tm_sender: Box<dyn EcssTmSender>,
         tm_apid: u16,
         verification_handler: StdVerifReporterWithSender,
         scheduler: PusScheduler,
     ) -> Self {
         Self {
-            psb: PusServiceBase::new(receiver, tc_pool, tm_sender, tm_apid, verification_handler),
+            psb: PusServiceBase::new(tc_receiver, tm_sender, tm_apid, verification_handler),
             scheduler,
         }
     }
@@ -58,11 +57,13 @@ impl PusServiceHandler for PusService11SchedHandler {
 
     fn handle_one_tc(
         &mut self,
-        addr: StoreAddr,
+        tc_in_store_with_token: ReceivedTcWrapper,
-        token: VerificationToken<TcStateAccepted>,
     ) -> Result<PusPacketHandlerResult, PusPacketHandlingError> {
-        self.copy_tc_to_buf(addr)?;
+        let ReceivedTcWrapper {
-        let (tc, _) = PusTc::from_bytes(&self.psb.pus_buf).unwrap();
+            tc,
+            pool_guard,
+            token,
+        } = tc_in_store_with_token;
         let std_service = scheduling::Subservice::try_from(tc.subservice());
         if std_service.is_err() {
             return Ok(PusPacketHandlerResult::CustomSubservice(

satrs-core/src/pus/test.rs

@@ -2,7 +2,7 @@ use crate::pool::{SharedPool, StoreAddr};
 use crate::pus::verification::{StdVerifReporterWithSender, TcStateAccepted, VerificationToken};
 use crate::pus::{
     AcceptedTc, EcssTmSender, PartialPusHandlingError, PusPacketHandlerResult,
-    PusPacketHandlingError, PusServiceBase, PusServiceHandler, PusTmWrapper,
+    PusPacketHandlingError, PusServiceBase, PusServiceHandler, PusTmWrapper, ReceivedTcWrapper,
 };
 use spacepackets::ecss::PusPacket;
 use spacepackets::tc::PusTc;
@@ -41,11 +41,13 @@ impl PusServiceHandler for PusService17TestHandler {
 
     fn handle_one_tc(
         &mut self,
-        addr: StoreAddr,
+        tc_in_store_with_token: ReceivedTcWrapper,
-        token: VerificationToken<TcStateAccepted>,
     ) -> Result<PusPacketHandlerResult, PusPacketHandlingError> {
-        self.copy_tc_to_buf(addr)?;
+        let ReceivedTcWrapper {
-        let (tc, _) = PusTc::from_bytes(&self.psb.pus_buf)?;
+            tc,
+            pool_guard,
+            token,
+        } = tc_in_store_with_token;
         if tc.service() != 17 {
             return Err(PusPacketHandlingError::WrongService(tc.service()));
         }

satrs-core/src/pus/verification.rs

@@ -73,7 +73,7 @@
 //! The [integration test](https://egit.irs.uni-stuttgart.de/rust/fsrc-launchpad/src/branch/main/fsrc-core/tests/verification_test.rs)
 //! for the verification module contains examples how this module could be used in a more complex
 //! context involving multiple threads
-use crate::pus::{source_buffer_large_enough, EcssTmSenderCore, EcssTmtcErrorWithSend};
+use crate::pus::{source_buffer_large_enough, EcssTmSenderCore, EcssTmtcError};
 use core::fmt::{Debug, Display, Formatter};
 use core::hash::{Hash, Hasher};
 use core::marker::PhantomData;
@@ -172,10 +172,10 @@ impl RequestId {
 /// If a verification operation fails, the passed token will be returned as well. This allows
 /// re-trying the operation at a later point.
 #[derive(Debug, Clone)]
-pub struct VerificationOrSendErrorWithToken<T>(pub EcssTmtcErrorWithSend, pub VerificationToken<T>);
+pub struct VerificationOrSendErrorWithToken<T>(pub EcssTmtcError, pub VerificationToken<T>);
 
 #[derive(Debug, Clone)]
-pub struct VerificationErrorWithToken<T>(pub EcssTmtcErrorWithSend, pub VerificationToken<T>);
+pub struct VerificationErrorWithToken<T>(pub EcssTmtcError, pub VerificationToken<T>);
 
 impl<T> From<VerificationErrorWithToken<T>> for VerificationOrSendErrorWithToken<T> {
     fn from(value: VerificationErrorWithToken<T>) -> Self {
@@ -205,7 +205,7 @@ impl WasAtLeastAccepted for TcStateAccepted {}
 impl WasAtLeastAccepted for TcStateStarted {}
 impl WasAtLeastAccepted for TcStateCompleted {}
 
-#[derive(Debug, Eq, PartialEq)]
+#[derive(Debug, Copy, Clone, Eq, PartialEq)]
 pub enum TcStateToken {
     None(VerificationToken<TcStateNone>),
     Accepted(VerificationToken<TcStateAccepted>),
@@ -230,6 +230,19 @@ impl TryFrom<TcStateToken> for VerificationToken<TcStateAccepted> {
         }
     }
 }
+
+impl TryFrom<TcStateToken> for VerificationToken<TcStateStarted> {
+    type Error = ();
+
+    fn try_from(value: TcStateToken) -> Result<Self, Self::Error> {
+        if let TcStateToken::Started(token) = value {
+            Ok(token)
+        } else {
+            Err(())
+        }
+    }
+}
+
 impl From<VerificationToken<TcStateAccepted>> for TcStateToken {
     fn from(t: VerificationToken<TcStateAccepted>) -> Self {
         TcStateToken::Accepted(t)
@@ -641,8 +654,7 @@ impl VerificationReporterCore {
         msg_count: u16,
         time_stamp: Option<&'src_data [u8]>,
         step: impl EcssEnumeration,
-    ) -> Result<VerificationSendable<'src_data, TcStateStarted, VerifSuccess>, EcssTmtcErrorWithSend>
+    ) -> Result<VerificationSendable<'src_data, TcStateStarted, VerifSuccess>, EcssTmtcError> {
-    {
         Ok(VerificationSendable::new_no_token(
             self.create_pus_verif_success_tm(
                 src_data_buf,
@@ -772,7 +784,7 @@ impl VerificationReporterCore {
         req_id: &RequestId,
         time_stamp: Option<&'src_data [u8]>,
         step: Option<&(impl EcssEnumeration + ?Sized)>,
-    ) -> Result<PusTm<'src_data>, EcssTmtcErrorWithSend> {
+    ) -> Result<PusTm<'src_data>, EcssTmtcError> {
         let mut source_data_len = size_of::<u32>();
         if let Some(step) = step {
             source_data_len += step.size();
@@ -808,7 +820,7 @@ impl VerificationReporterCore {
         req_id: &RequestId,
         step: Option<&(impl EcssEnumeration + ?Sized)>,
         params: &FailParams<'src_data, '_>,
-    ) -> Result<PusTm<'src_data>, EcssTmtcErrorWithSend> {
+    ) -> Result<PusTm<'src_data>, EcssTmtcError> {
         let mut idx = 0;
         let mut source_data_len = RequestId::SIZE_AS_BYTES + params.failure_code.size();
         if let Some(step) = step {
@@ -829,7 +841,7 @@ impl VerificationReporterCore {
         params
             .failure_code
             .write_to_be_bytes(&mut src_data_buf[idx..idx + params.failure_code.size()])
-            .map_err(PusError::ByteConversionError)?;
+            .map_err(PusError::ByteConversion)?;
         idx += params.failure_code.size();
         if let Some(failure_data) = params.failure_data {
             src_data_buf[idx..idx + failure_data.len()].copy_from_slice(failure_data);
@@ -1063,7 +1075,7 @@ mod alloc_mod {
             sender: &mut (impl EcssTmSenderCore + ?Sized),
             time_stamp: Option<&[u8]>,
             step: impl EcssEnumeration,
-        ) -> Result<(), EcssTmtcErrorWithSend> {
+        ) -> Result<(), EcssTmtcError> {
             let seq_count = self
                 .seq_count_provider
                 .as_ref()
@@ -1250,7 +1262,7 @@ mod alloc_mod {
             token: &VerificationToken<TcStateStarted>,
             time_stamp: Option<&[u8]>,
             step: impl EcssEnumeration,
-        ) -> Result<(), EcssTmtcErrorWithSend> {
+        ) -> Result<(), EcssTmtcError> {
             self.reporter
                 .step_success(token, self.sender.as_mut(), time_stamp, step)
         }
@@ -1482,11 +1494,11 @@ mod tests {
     use crate::pool::{LocalPool, PoolCfg, SharedPool};
     use crate::pus::tests::CommonTmInfo;
     use crate::pus::verification::{
-        EcssTmSenderCore, EcssTmtcErrorWithSend, FailParams, FailParamsWithStep, RequestId,
+        EcssTmSenderCore, EcssTmtcError, FailParams, FailParamsWithStep, RequestId, TcStateNone,
-        TcStateNone, VerificationReporter, VerificationReporterCfg, VerificationReporterWithSender,
+        VerificationReporter, VerificationReporterCfg, VerificationReporterWithSender,
         VerificationToken,
     };
-    use crate::pus::{EcssSender, EcssTmtcErrorWithSend, MpscTmInStoreSender, PusTmWrapper};
+    use crate::pus::{EcssChannel, EcssTmtcError, MpscTmInStoreSender, PusTmWrapper};
     use crate::SenderId;
     use alloc::boxed::Box;
     use alloc::format;
@@ -1521,7 +1533,7 @@ mod tests {
         pub service_queue: RefCell<VecDeque<TmInfo>>,
     }
 
-    impl EcssSender for TestSender {
+    impl EcssChannel for TestSender {
         fn id(&self) -> SenderId {
             0
         }
@@ -1569,7 +1581,7 @@ mod tests {
     #[derive(Default, Clone)]
     struct FallibleSender {}
 
-    impl EcssSender for FallibleSender {
+    impl EcssChannel for FallibleSender {
         fn id(&self) -> SenderId {
             0
         }
@@ -1705,7 +1717,7 @@ mod tests {
         let err = res.unwrap_err();
         assert_eq!(err.1, tok);
         match err.0 {
-            EcssTmtcErrorWithSend::SendError(e) => {
+            EcssTmtcError::SendError(e) => {
                 assert_eq!(e, DummyError {})
             }
             _ => panic!("{}", format!("Unexpected error {:?}", err.0)),
@@ -1776,8 +1788,7 @@ mod tests {
         let err_with_token = res.unwrap_err();
         assert_eq!(err_with_token.1, tok);
         match err_with_token.0 {
-            EcssTmtcErrorWithSend::EcssTmtcError(EcssTmtcErrorWithSend::ByteConversion(e)) => {
+            EcssTmtcError::EcssTmtcError(EcssTmtcError::ByteConversion(e)) => match e {
-                match e {
                 ByteConversionError::ToSliceTooSmall(missmatch) => {
                     assert_eq!(
                         missmatch.expected,
@@ -1788,8 +1799,7 @@ mod tests {
                 _ => {
                     panic!("{}", format!("Unexpected error {:?}", e))
                 }
-                }
+            },
-            }
             _ => {
                 panic!("{}", format!("Unexpected error {:?}", err_with_token.0))
             }

satrs-core/src/tmtc/pus_distrib.rs

@@ -133,7 +133,7 @@ impl<E: 'static> ReceivesTcCore for PusDistributor<E> {
     fn pass_tc(&mut self, tm_raw: &[u8]) -> Result<(), Self::Error> {
         // Convert to ccsds and call pass_ccsds
         let (sp_header, _) = SpHeader::from_be_bytes(tm_raw)
-            .map_err(|e| PusDistribError::PusError(PusError::ByteConversionError(e)))?;
+            .map_err(|e| PusDistribError::PusError(PusError::ByteConversion(e)))?;
         self.pass_ccsds(&sp_header, tm_raw)
     }
 }

satrs-core/src/tmtc/tm_helper.rs

@@ -8,9 +8,11 @@ pub use std_mod::*;
 
 #[cfg(feature = "std")]
 pub mod std_mod {
-    use crate::pool::{SharedPool, StoreAddr};
+    use crate::pool::{ShareablePoolProvider, SharedPool, StoreAddr};
+    use crate::pus::EcssTmtcError;
     use spacepackets::ecss::SerializablePusPacket;
     use spacepackets::tm::PusTm;
+    use std::sync::{Arc, RwLock};
 
     #[derive(Clone)]
     pub struct SharedTmStore {
@@ -18,21 +20,23 @@ pub mod std_mod {
     }
 
     impl SharedTmStore {
-        pub fn new(backing_pool: SharedPool) -> Self {
+        pub fn new(backing_pool: ShareablePoolProvider) -> Self {
-            Self { pool: backing_pool }
+            Self {
+                pool: Arc::new(RwLock::new(backing_pool)),
+            }
         }
 
         pub fn backing_pool(&self) -> SharedPool {
             self.pool.clone()
         }
 
-        pub fn add_pus_tm(&mut self, pus_tm: &PusTm) -> StoreAddr {
+        pub fn add_pus_tm(&self, pus_tm: &PusTm) -> Result<StoreAddr, EcssTmtcError> {
-            let mut pg = self.pool.write().expect("error locking TM store");
+            let mut pg = self.pool.write().map_err(|_| EcssTmtcError::StoreLock)?;
-            let (addr, buf) = pg.free_element(pus_tm.len_packed()).expect("Store error");
+            let (addr, buf) = pg.free_element(pus_tm.len_packed())?;
             pus_tm
                 .write_to_bytes(buf)
                 .expect("writing PUS TM to store failed");
-            addr
+            Ok(addr)
         }
     }
 }

satrs-example/src/main.rs

@@ -64,8 +64,8 @@ fn main() {
         (15, 1024),
         (15, 2048),
     ]));
-    let tm_store = SharedTmStore::new(Arc::new(RwLock::new(Box::new(tm_pool))));
+    let shared_tm_store = SharedTmStore::new(Box::new(tm_pool));
-    let tm_store_event = tm_store.clone();
+    let tm_store_event = shared_tm_store.clone();
     let tc_pool = LocalPool::new(PoolCfg::new(vec![
         (30, 32),
         (15, 64),
@@ -87,7 +87,7 @@ fn main() {
     let verif_sender = MpscTmInStoreSender::new(
         TmSenderId::PusVerification as SenderId,
         "verif_sender",
-        tm_store.backing_pool(),
+        shared_tm_store.clone(),
         tm_funnel_tx.clone(),
     );
     let verif_cfg = VerificationReporterCfg::new(PUS_APID, 1, 2, 8).unwrap();
@@ -135,13 +135,13 @@ fn main() {
         tc_receiver: tc_source_rx,
     };
     let tm_args = TmArgs {
-        tm_store: tm_store.clone(),
+        tm_store: shared_tm_store.clone(),
         tm_sink_sender: tm_funnel_tx.clone(),
         tm_server_rx,
     };
 
     let aocs_tm_funnel = tm_funnel_tx.clone();
-    let mut aocs_tm_store = tm_store.clone();
+    let aocs_tm_store = shared_tm_store.clone();
 
     let (pus_test_tx, pus_test_rx) = channel();
     let (pus_event_tx, pus_event_rx) = channel();
@@ -158,7 +158,7 @@ fn main() {
     let test_srv_tm_sender = MpscTmInStoreSender::new(
         TmSenderId::PusTest as SenderId,
         "PUS_17_TM_SENDER",
-        tm_store.backing_pool().clone(),
+        shared_tm_store.clone(),
         tm_funnel_tx.clone(),
     );
     let pus17_handler = PusService17TestHandler::new(
@@ -176,7 +176,7 @@ fn main() {
     let sched_srv_tm_sender = MpscTmInStoreSender::new(
         TmSenderId::PusSched as SenderId,
         "PUS_11_TM_SENDER",
-        tm_store.backing_pool().clone(),
+        shared_tm_store.clone(),
         tm_funnel_tx.clone(),
     );
     let scheduler = PusScheduler::new_with_current_init_time(Duration::from_secs(5))
@@ -197,7 +197,7 @@ fn main() {
     let event_srv_tm_sender = MpscTmInStoreSender::new(
         TmSenderId::PusEvent as SenderId,
         "PUS_5_TM_SENDER",
-        tm_store.backing_pool().clone(),
+        shared_tm_store.clone(),
         tm_funnel_tx.clone(),
     );
     let pus_5_handler = PusService5EventHandler::new(
@@ -213,7 +213,7 @@ fn main() {
     let action_srv_tm_sender = MpscTmInStoreSender::new(
         TmSenderId::PusAction as SenderId,
         "PUS_8_TM_SENDER",
-        tm_store.backing_pool().clone(),
+        shared_tm_store.clone(),
         tm_funnel_tx.clone(),
     );
     let pus_8_handler = PusService8ActionHandler::new(
@@ -229,7 +229,7 @@ fn main() {
     let hk_srv_tm_sender = MpscTmInStoreSender::new(
         TmSenderId::PusHk as SenderId,
         "PUS_3_TM_SENDER",
-        tm_store.backing_pool().clone(),
+        shared_tm_store.clone(),
         tm_funnel_tx.clone(),
     );
     let pus_3_handler = PusService3HkHandler::new(
@@ -262,7 +262,7 @@ fn main() {
                 if let Ok(addr) = tm_funnel.tm_funnel_rx.recv() {
                     // Read the TM, set sequence counter and message counter, and finally update
                     // the CRC.
-                    let shared_pool = tm_store.backing_pool();
+                    let shared_pool = shared_tm_store.backing_pool();
                     let mut pool_guard = shared_pool.write().expect("Locking TM pool failed");
                     let tm_raw = pool_guard
                         .modify(&addr)
@@ -297,12 +297,8 @@ fn main() {
         .name("Event".to_string())
         .spawn(move || {
             let mut timestamp: [u8; 7] = [0; 7];
-            let mut sender = MpscTmInStoreSender::new(
+            let mut sender =
-                1,
+                MpscTmInStoreSender::new(1, "event_sender", tm_store_event.clone(), tm_funnel_tx);
-                "event_sender",
-                tm_store_event.backing_pool(),
-                tm_funnel_tx,
-            );
             let mut time_provider = TimeProvider::new_with_u16_days(0, 0);
             let mut report_completion = |event_req: EventRequestWithToken, timestamp: &[u8]| {
                 reporter_event_handler
@@ -393,7 +389,9 @@ fn main() {
                                             Some(&buf),
                                             true,
                                         );
-                                        let addr = aocs_tm_store.add_pus_tm(&pus_tm);
+                                        let addr = aocs_tm_store
+                                            .add_pus_tm(&pus_tm)
+                                            .expect("Adding PUS TM failed");
                                         aocs_tm_funnel.send(addr).expect("Sending HK TM failed");
                                     }
                                 }

satrs-example/src/pus/action.rs

@@ -86,7 +86,7 @@ impl PusService8ActionHandler {
                     ),
                 )
                 .expect("Sending start failure failed");
-            return Err(PusPacketHandlingError::OtherError(format!(
+            return Err(PusPacketHandlingError::Other(format!(
                 "Unknown target ID {target_id}"
             )));
         }