diff --git a/fsrc-core/src/hal/host/udp_server.rs b/fsrc-core/src/hal/host/udp_server.rs
index e880b5f..f112ea7 100644
--- a/fsrc-core/src/hal/host/udp_server.rs
+++ b/fsrc-core/src/hal/host/udp_server.rs
@@ -16,8 +16,8 @@ use std::vec::Vec;
 ///
 /// # Examples
 ///
-/// The [fsrc-example crate](https://egit.irs.uni-stuttgart.de/rust/fsrc-launchpad/src/branch/obsw-client-example/fsrc-example) server code includes
-/// [example code](https://egit.irs.uni-stuttgart.de/rust/fsrc-launchpad/src/branch/obsw-client-example/fsrc-example/src/bin/obsw/tmtc.rs)
+/// The [fsrc-example crate](https://egit.irs.uni-stuttgart.de/rust/fsrc-launchpad/src/branch/main/fsrc-example) server code includes
+/// [example code](https://egit.irs.uni-stuttgart.de/rust/fsrc-launchpad/src/branch/main/fsrc-example/src/bin/obsw/tmtc.rs)
 /// 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> {
@@ -29,7 +29,7 @@ pub struct UdpTcServer<E> {
 
 #[derive(Debug)]
 pub enum ReceiveResult<E> {
-    WouldBlock,
+    NothingReceived,
     IoError(Error),
     ReceiverError(E),
 }
@@ -40,7 +40,21 @@ impl<E> From<Error> for ReceiveResult<E> {
     }
 }
 
-impl<E> UdpTcServer<E> {
+impl<E: PartialEq + Eq> PartialEq<Self> 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> UdpTcServer<E> {
     pub fn new<A: ToSocketAddrs>(
         addr: A,
         max_recv_size: usize,
@@ -61,7 +75,7 @@ impl<E> UdpTcServer<E> {
             Ok(res) => res,
             Err(e) => {
                 return if e.kind() == ErrorKind::WouldBlock || e.kind() == ErrorKind::TimedOut {
-                    Err(ReceiveResult::WouldBlock)
+                    Err(ReceiveResult::NothingReceived)
                 } else {
                     Err(e.into())
                 }
@@ -79,3 +93,73 @@ impl<E> UdpTcServer<E> {
         self.sender_addr
     }
 }
+
+#[cfg(test)]
+mod tests {
+    use crate::hal::host::udp_server::{ReceiveResult, UdpTcServer};
+    use crate::tmtc::ReceivesTc;
+    use spacepackets::tc::PusTc;
+    use spacepackets::SpHeader;
+    use std::boxed::Box;
+    use std::collections::VecDeque;
+    use std::net::{IpAddr, Ipv4Addr, SocketAddr, UdpSocket};
+    use std::vec::Vec;
+
+    #[derive(Default)]
+    struct PingReceiver {
+        pub sent_cmds: VecDeque<Vec<u8>>,
+    }
+
+    impl ReceivesTc 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();
+        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(0x02, 0, 0).unwrap();
+        let pus_tc = PusTc::new_simple(&mut sph, 17, 1, None, true);
+        let len = pus_tc
+            .write_to(&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);
+    }
+}
diff --git a/fsrc-core/src/hal/mod.rs b/fsrc-core/src/hal/mod.rs
index 0c9616d..ddaf8f3 100644
--- a/fsrc-core/src/hal/mod.rs
+++ b/fsrc-core/src/hal/mod.rs
@@ -1,2 +1,3 @@
+//! # Hardware Abstraction Layer module
 #[cfg(feature = "std")]
 pub mod host;
diff --git a/fsrc-core/src/tmtc/mod.rs b/fsrc-core/src/tmtc/mod.rs
index d9e954a..b1d0b3d 100644
--- a/fsrc-core/src/tmtc/mod.rs
+++ b/fsrc-core/src/tmtc/mod.rs
@@ -6,6 +6,7 @@
 //! Application Process ID (APID) or the ECSS PUS service type. This allows for fast packet
 //! routing without the overhead and complication of using message queues. However, it also requires
 use crate::error::{FsrcErrorRaw, FsrcGroupIds};
+use downcast_rs::{impl_downcast, Downcast};
 use spacepackets::tc::PusTc;
 use spacepackets::SpHeader;
 
@@ -43,11 +44,13 @@ const _FROM_BYTES_ZEROCOPY_ERROR: FsrcErrorRaw = FsrcErrorRaw::new(
 /// This trait is implemented by both the [crate::tmtc::pus_distrib::PusDistributor] and the
 /// [crate::tmtc::ccsds_distrib::CcsdsDistributor]  which allows to pass the respective packets in
 /// raw byte format into them.
-pub trait ReceivesTc {
+pub trait ReceivesTc: Downcast {
     type Error;
     fn pass_tc(&mut self, tc_raw: &[u8]) -> Result<(), Self::Error>;
 }
 
+impl_downcast!(ReceivesTc assoc Error);
+
 /// Generic trait for object which can receive CCSDS space packets, for fsrc-example ECSS PUS packets
 /// for CCSDS File Delivery Protocol (CFDP) packets.
 ///
diff --git a/fsrc-example/src/bin/obsw/tmtc.rs b/fsrc-example/src/bin/obsw/tmtc.rs
index 4ac7237..5a34d1e 100644
--- a/fsrc-example/src/bin/obsw/tmtc.rs
+++ b/fsrc-example/src/bin/obsw/tmtc.rs
@@ -87,7 +87,7 @@ fn core_tc_handling(udp_tmtc_server: &mut UdpTmtcServer) -> bool {
                 println!("IO error {e}");
                 false
             }
-            ReceiveResult::WouldBlock => false,
+            ReceiveResult::NothingReceived => false,
         },
     }
 }