Merge pull request 'prep v0.2.0' (#184) from prep_v0.2.0 into main

Reviewed-on: #184

.github/workflows/ci.yml

@@ -0,0 +1,64 @@
+name: ci
+on: [push, pull_request]
+
+jobs:
+  check:
+    name: Check build
+    strategy:
+      matrix:
+        os: [ubuntu-latest, macos-latest, windows-latest]
+    runs-on: ${{ matrix.os }}
+    steps:
+      - uses: actions/checkout@v4
+      - uses: dtolnay/rust-toolchain@stable
+      - run: cargo check --release
+
+  test:
+    name: Run Tests
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+      - uses: dtolnay/rust-toolchain@stable
+      - name: Install nextest
+        uses: taiki-e/install-action@nextest
+      - run: cargo nextest run --all-features
+      - run: cargo test --doc
+
+  cross-check:
+    name: Check Cross-Compilation
+    runs-on: ubuntu-latest
+    strategy:
+      matrix:
+        target:
+          - armv7-unknown-linux-gnueabihf
+          - thumbv7em-none-eabihf
+    steps:
+      - uses: actions/checkout@v4
+      - uses: dtolnay/rust-toolchain@stable
+        with:
+          targets: "armv7-unknown-linux-gnueabihf, thumbv7em-none-eabihf"
+      - run: cargo check -p satrs --release --target=${{matrix.target}} --no-default-features
+
+  fmt:
+    name: Check formatting
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+      - uses: dtolnay/rust-toolchain@stable
+      - run: cargo fmt --all -- --check
+
+  docs:
+    name: Check Documentation Build
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+      - uses: dtolnay/rust-toolchain@nightly
+      - run: cargo +nightly doc --all-features --config 'build.rustdocflags=["--cfg", "docs_rs"]'
+
+  clippy:
+    name: Clippy
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+      - uses: dtolnay/rust-toolchain@stable
+      - run: cargo clippy -- -D warnings

.gitignore

@@ -1,5 +1,9 @@
-/target
+target/
+
+output.log
 /Cargo.lock
 
+output.log
+
 /.idea/*
 !/.idea/runConfigurations

Cargo.toml

@@ -1,9 +1,11 @@
 [workspace]
 resolver = "2"
 members = [
-    "satrs-core",
+    "satrs",
     "satrs-mib",
     "satrs-example",
+    "satrs-minisim",
+    "satrs-shared",
 ]
 
 exclude = [

README.md

@@ -1,13 +1,23 @@
-<p align="center"> <img src="misc/satrs-logo.png" width="40%"> </p>
+<p align="center"> <img src="misc/satrs-logo-v2.png" width="40%"> </p>
+
+[![sat-rs website](https://img.shields.io/badge/sat--rs-website-darkgreen?style=flat)](https://absatsw.irs.uni-stuttgart.de/projects/sat-rs/)
+[![sat-rs book](https://img.shields.io/badge/sat--rs-book-darkgreen?style=flat)](https://absatsw.irs.uni-stuttgart.de/projects/sat-rs/book/)
+[![Crates.io](https://img.shields.io/crates/v/satrs)](https://crates.io/crates/satrs)
+[![docs.rs](https://img.shields.io/docsrs/satrs)](https://docs.rs/satrs)
 
 sat-rs
 =========
 
-This is the repository of the sat-rs framework. Its primary goal is to provide re-usable components
+This is the repository of the sat-rs library. Its primary goal is to provide re-usable components
 to write on-board software for remote systems like rovers or satellites. It is specifically written
 for the special requirements for these systems. You can find an overview of the project and the
 link to the [more high-level sat-rs book](https://absatsw.irs.uni-stuttgart.de/projects/sat-rs/)
-at the [IRS documentation website](https://absatsw.irs.uni-stuttgart.de/sat-rs.html).
+at the [IRS software projects website](https://absatsw.irs.uni-stuttgart.de/projects/sat-rs/).
+
+This is early-stage software. Important features are missing. New releases
+with breaking changes are released regularly, with all changes documented inside respective
+changelog files. You should only use this library if your are willing to work in this
+environment.
 
 A lot of the architecture and general design considerations are based on the
 [FSFW](https://egit.irs.uni-stuttgart.de/fsfw/fsfw) C++ framework which has flight heritage
@@ -22,15 +32,15 @@ This project currently contains following crates:
    Primary information resource in addition to the API documentation, hosted
    [here](https://documentation.irs.uni-stuttgart.de/projects/sat-rs/). It can be useful to read
    this first before delving into the example application and the API documentation.
-* [`satrs-core`](https://egit.irs.uni-stuttgart.de/rust/satrs-launchpad/src/branch/main/satrs-core):
-   Core components of sat-rs.
-* [`satrs-example`](https://egit.irs.uni-stuttgart.de/rust/satrs-launchpad/src/branch/main/satrs-example):
+* [`satrs`](https://egit.irs.uni-stuttgart.de/rust/sat-rs/src/branch/main/satrs):
+   Primary crate.
+* [`satrs-example`](https://egit.irs.uni-stuttgart.de/rust/sat-rs/src/branch/main/satrs-example):
    Example of a simple example on-board software using various sat-rs components which can be run
    on a host computer or on any system with a standard runtime like a Raspberry Pi.
-* [`satrs-mib`](https://egit.irs.uni-stuttgart.de/rust/satrs-launchpad/src/branch/main/satrs-mib):
+* [`satrs-mib`](https://egit.irs.uni-stuttgart.de/rust/sat-rs/src/branch/main/satrs-mib):
    Components to build a mission information base from the on-board software directly.
 * [`satrs-example-stm32f3-disco`](https://egit.irs.uni-stuttgart.de/rust/sat-rs/src/branch/main/satrs-example-stm32f3-disco):
-   Example of a simple example on-board software using sat-rs components on a bare-metal system
+   Example of a simple example using low-level sat-rs components on a bare-metal system
    with constrained resources.
 
 Each project has its own `CHANGELOG.md`.
@@ -41,7 +51,7 @@ Each project has its own `CHANGELOG.md`.
 
  * [`spacepackets`](https://egit.irs.uni-stuttgart.de/rust/spacepackets): Basic ECSS and CCSDS
    packet protocol implementations. This repository is re-exported in the
-   [`satrs-core`](https://egit.irs.uni-stuttgart.de/rust/satrs-launchpad/src/branch/main/satrs-core)
+   [`satrs`](https://egit.irs.uni-stuttgart.de/rust/satrs/src/branch/main/satrs)
    crate.
 
 # Coverage

automation/Dockerfile

@@ -15,7 +15,9 @@ RUN rustup install nightly && \
     rustup component add rustfmt clippy
 
 WORKDIR "/tmp"
-# RUN cargo install mdbook --no-default-features --features search --vers "^0.4" --locked
+# Install cargo-nextest
+RUN curl -LsSf https://get.nexte.st/latest/linux | tar zxf - -C ${CARGO_HOME:-~/.cargo}/bin
+# Install mdbook and mdbook-linkcheck
 RUN curl -sSL https://github.com/rust-lang/mdBook/releases/download/v0.4.37/mdbook-v0.4.37-x86_64-unknown-linux-gnu.tar.gz | tar -xz --directory /usr/local/bin
 RUN curl -sSL https://github.com/Michael-F-Bryan/mdbook-linkcheck/releases/latest/download/mdbook-linkcheck.x86_64-unknown-linux-gnu.zip -o mdbook-linkcheck.zip && \
     unzip mdbook-linkcheck.zip && \

automation/Jenkinsfile

@@ -32,7 +32,8 @@ pipeline {
     }
     stage('Test') {
       steps {
-        sh 'cargo test --all-features'
+        sh 'cargo nextest r --all-features'
+        sh 'cargo test --doc'
       }
     }
     stage('Check with all features') {
@@ -47,7 +48,7 @@ pipeline {
     }
     stage('Check Cross Embedded Bare Metal') {
       steps {
-        sh 'cargo check -p satrs-core --target thumbv7em-none-eabihf --no-default-features'
+        sh 'cargo check -p satrs --target thumbv7em-none-eabihf --no-default-features'
       }
     }
     stage('Check Cross Embedded Linux') {

coverage.py

@@ -18,15 +18,19 @@ def generate_cov_report(open_report: bool, format: str, package: str):
     out_path = "./target/debug/coverage"
     if format == "lcov":
         out_path = "./target/debug/lcov.info"
-    os.system(
+    grcov_cmd = (
         f"grcov . -s . --binary-path ./target/debug/ -t {format} --branch --ignore-not-existing "
         f"-o {out_path}"
     )
+    print(f"Running: {grcov_cmd}")
+    os.system(grcov_cmd)
     if format == "lcov":
-        os.system(
+        lcov_cmd = (
             "genhtml -o ./target/debug/coverage/ --show-details --highlight --ignore-errors source "
             "--legend ./target/debug/lcov.info"
         )
+        print(f"Running: {lcov_cmd}")
+        os.system(lcov_cmd)
     if open_report:
         coverage_report_path = os.path.abspath("./target/debug/coverage/index.html")
         webbrowser.open_new_tab(coverage_report_path)
@@ -43,8 +47,8 @@ def main():
     parser.add_argument(
         "-p",
         "--package",
-        choices=["satrs-core"],
-        default="satrs-core",
+        choices=["satrs", "satrs-minisim", "satrs-example"],
+        default="satrs",
         help="Choose project to generate coverage for",
     )
     parser.add_argument(

images/mode-tree/mode-tree.graphml

@@ -0,0 +1,650 @@
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+&lt;th&gt;RWs&lt;/th&gt;
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+&lt;td&gt;OFF&lt;/td&gt;
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satrs-book/README.md

@@ -5,7 +5,14 @@ High-level documentation of the [sat-rs project](https://absatsw.irs.uni-stuttga
 
 ## Building
 
-If you have not done so, install `mdbook` using `cargo install mdbook --locked`.
+If you have not done so, install the pre-requisites first:
+
+```sh
+cargo install mdbook --locked
+cargo install mdbook-linkcheck --locked
+```
+
+After that, you can build the book with:
 
 ```sh
 mdbook build

satrs-book/src/actions.md

@@ -15,7 +15,7 @@ action commanding could look like.
 2. Target ID and Action String based. The target ID is the same as in the first proposal, but
    the unique action is identified by a string.
 
-The framework provides an `ActionRequest` abstraction to model both of these cases.
+The library provides an `ActionRequest` abstraction to model both of these cases.
 
 ## Commanding with ECSS PUS 8
 

satrs-book/src/communication.md

@@ -17,14 +17,14 @@ it is still centered around small packets. `sat-rs` provides support for these E
 standards and also attempts to fill the gap to the internet protocol by providing the following
 components.
 
-1. [UDP TMTC Server](https://docs.rs/satrs-core/0.1.0-alpha.0/satrs_core/hal/host/udp_server/index.html).
+1. [UDP TMTC Server](https://docs.rs/satrs/latest/satrs/hal/std/udp_server/index.html).
    UDP is already packet based which makes it an excellent fit for exchanging space packets.
-2. [TCP TMTC Server Components](https://docs.rs/satrs-core/0.1.0-alpha.1/satrs_core/hal/std/tcp_server/index.html).
-   TCP is a stream based protocol, so the framework provides building blocks to parse telemetry
+2. [TCP TMTC Server Components](https://docs.rs/satrs/latest/satrs/hal/std/tcp_server/index.html).
+   TCP is a stream based protocol, so the library provides building blocks to parse telemetry
    from an arbitrary bytestream. Two concrete implementations are provided:
-    - [TCP spacepackets server](https://docs.rs/satrs-core/0.1.0-alpha.1/satrs_core/hal/std/tcp_server/struct.TcpSpacepacketsServer.html)
+    - [TCP spacepackets server](https://docs.rs/satrs/latest/satrs/hal/std/tcp_server/struct.TcpSpacepacketsServer.html)
       to parse tightly packed CCSDS Spacepackets.
-    - [TCP COBS server](https://docs.rs/satrs-core/0.1.0-alpha.1/satrs_core/hal/std/tcp_server/struct.TcpTmtcInCobsServer.html)
+    - [TCP COBS server](https://docs.rs/satrs/latest/satrs/hal/std/tcp_server/struct.TcpTmtcInCobsServer.html)
       to parse generic frames wrapped with the
       [COBS protocol](https://en.wikipedia.org/wiki/Consistent_Overhead_Byte_Stuffing).
 
@@ -39,8 +39,12 @@ task might be to store all arriving telemetry persistently. This is especially i
 space systems which do not have permanent contact like low-earth-orbit (LEO) satellites.
 
 The most important task of a TC source is to deliver the telecommands to the correct recipients.
-For modern component oriented software using message passing, this usually includes staged
-demultiplexing components to determine where a command needs to be sent.
+For component oriented software using message passing, this usually includes staged demultiplexing
+components to determine where a command needs to be sent.
+
+Using a generic concept of a TC source and a TM sink as part of the software design simplifies
+the flexibility of the TMTC infrastructure: Newly added TM generators and TC receiver only have to
+forward their generated or received packets to those handler objects.
 
 # Low-level protocols and the bridge to the communcation subsystem
 

satrs-book/src/constrained-systems.md

@@ -11,7 +11,8 @@ time where the OBSW might be running on Linux based systems with hundreds of MBs
 
 A useful pattern used commonly in space systems is to limit heap allocations to program
 initialization time and avoid frequent run-time allocations. This prevents issues like
-running out of memory (something even Rust can not protect from) or heap fragmentation.
+running out of memory (something even Rust can not protect from) or heap fragmentation on systems
+without a MMU.
 
 # Using pre-allocated pool structures
 
@@ -19,15 +20,47 @@ A huge candidate for heap allocations is the TMTC and  handling. TC, TMs and IPC
 candidates where the data size might vary greatly. The regular solution for host systems
 might be to send around this data as a `Vec<u8>` until it is dropped. `sat-rs` provides
 another solution to avoid run-time allocations by offering pre-allocated static
-pools.
+pools. These pools are split into subpools where each subpool can have different page sizes.
+For example, a very small telecommand (TC) pool might look like this:
 
-These pools are split into subpools where each subpool can have different page sizes.
-For example, a very small TC pool might look like this:
+![Example Pool](images/pools/static-pools.png)
 
-TODO: Add image
+The core of the pool abstractions is the
+[PoolProvider trait](https://docs.rs/satrs/latest/satrs/pool/trait.PoolProvider.html).
+This trait specifies the general API a pool structure should have without making assumption
+of how the data is stored.
 
+This trait is implemented by a static memory pool implementation.
+The code to generate this static pool would look like this:
+
+<!-- Would be nice to test this code sample, but need to wait
+for https://github.com/rust-lang/mdBook/issues/706 to be merged.. -->
+```rust, ignore
+use satrs::pool::{StaticMemoryPool, StaticPoolConfig};
+
+let tc_pool = StaticMemoryPool::new(StaticPoolConfig::new(vec![
+    (6, 16),
+    (4, 32),
+    (2, 64),
+    (1, 128)
+]));
+```
+
+It should be noted that the buckets only show the maximum size of data being stored inside them.
+The store will keep a separate structure to track the actual size of the data being stored.
 A TC entry inside this pool has a store address which can then be sent around without having
-to dynamically allocate memory. The same principle can also be applied to the TM and IPC data.
+to dynamically allocate memory. The same principle can also be applied to the telemetry (TM) and
+inter-process communication (IPC) data.
+
+You can read
+
+- [`StaticPoolConfig` API](https://docs.rs/satrs/latest/satrs/pool/struct.StaticPoolConfig.html)
+- [`StaticMemoryPool` API](https://docs.rs/satrs/latest/satrs/pool/struct.StaticMemoryPool.html)
+
+for more details.
+
+In the future, optimized pool structures which use standard containers or are
+[`Sync`](https://doc.rust-lang.org/std/marker/trait.Sync.html) by default might be added as well.
 
 # Using special crates to prevent smaller allocations
 
@@ -35,7 +68,7 @@ Another common way to use the heap on host systems is using containers like `Str
 to work with data where the size is not known beforehand. The most common solution for embedded
 systems is to determine the maximum expected size and then use a pre-allocated `u8` buffer and a
 size variable. Alternatively, you can use the following crates for more convenience or a smart
-behaviour which at the very least reduce heap allocations:
+behaviour which at the very least reduces heap allocations:
 
 1. [`smallvec`](https://docs.rs/smallvec/latest/smallvec/).
 2. [`arrayvec`](https://docs.rs/arrayvec/latest/arrayvec/index.html) which also contains an

satrs-book/src/design.md

@@ -1,13 +1,14 @@
-# Framework Design
+# Library Design
 
 Satellites and space systems in general are complex systems with a wide range of requirements for
-both the hardware and the software. Consequently, the general design of the framework is centered
+both the hardware and the software. Consequently, the general design of the library is centered
 around many light-weight components which try to impose as few restrictions as possible on how to
-solve certain problems.
+solve certain problems. This is also the reason why sat-rs is explicitely called a library
+instead of a framework.
 
 There are still a lot of common patterns and architectures across these systems where guidance
 of how to solve a problem and a common structure would still be extremely useful to avoid pitfalls
-which were already solved and to avoid boilerplate code. This framework tries to provide this
+which were already solved and to avoid boilerplate code. This library tries to provide this
 structure and guidance the following way:
 
 1. Providing this book which explains the architecture and design patterns in respect to common
@@ -18,7 +19,7 @@ structure and guidance the following way:
 3. Providing a good test suite. This includes both unittests and integration tests. The integration
    tests can also serve as smaller usage examples than the large `satrs-example` application.
 
-This framework has special support for standards used in the space industry. This especially
+This library has special support for standards used in the space industry. This especially
 includes standards provided by Consultative Committee for Space Data Systems (CCSDS) and European
 Cooperation for Space Standardization (ECSS). It does not enforce using any of those standards,
 but it is always recommended to use some sort of standard for interoperability.
@@ -30,10 +31,10 @@ Flying Laptop Project by the University of Stuttgart with Airbus Defence and Spa
 It has flight heritage through the 2 mssions [FLP](https://www.irs.uni-stuttgart.de/en/research/satellitetechnology-and-instruments/smallsatelliteprogram/flying-laptop/)
 and [EIVE](https://www.irs.uni-stuttgart.de/en/research/satellitetechnology-and-instruments/smallsatelliteprogram/EIVE/).
 Therefore, a lot of the design concepts were ported more or less unchanged to the `sat-rs`
-framework.
+library.
 FLP is a medium-size small satellite with a higher budget and longer development time than EIVE,
 which allowed to build a highly reliable system while EIVE is a smaller 6U+ cubesat which had a
-shorter development cycle and was built using cheaper COTS components. This framework also tries
+shorter development cycle and was built using cheaper COTS components. This library also tries
 to accumulate the knowledge of developing the OBSW and operating the satellite for both these
 different systems and provide a solution for a wider range of small satellite systems.
 

satrs-book/src/events.md

@@ -1,14 +1,17 @@
 # Events
 
-Events can be an extremely important mechanism used for remote systems to monitor unexpected
-or expected anomalies and events occuring on these systems. They are oftentimes tied to
+Events are an important mechanism used for remote systems to monitor unexpected
+or expected anomalies and events occuring on these systems. 
+
+One common use case for events on remote systems is to offer a light-weight publish-subscribe
+mechanism and IPC mechanism for software and hardware events which are also packaged as telemetry
+(TM) or can trigger a system response. They can also be tied to
 Fault Detection, Isolation and Recovery (FDIR) operations, which need to happen autonomously.
 
-Events can also be used as a convenient Inter-Process Communication (IPC) mechansism, which is
-also observable for the Ground segment. The PUS Service 5 standardizes how the ground interface
-for events might look like, but does not specify how other software components might react
-to those events. There is the PUS Service 19, which might be used for that purpose, but the
-event components recommended by this framework do not really need this service.
+The PUS Service 5 standardizes how the ground interface for events might look like, but does not
+specify how other software components might react to those events. There is the PUS Service 19,
+which might be used for that purpose, but the event components recommended by this framework do not
+rely on the present of this service.
 
 The following images shows how the flow of events could look like in a system where components
 can generate events, and where other system components might be interested in those events:

satrs-book/src/example.md

@@ -1,6 +1,6 @@
 # sat-rs Example Application
 
-The `sat-rs` framework includes a monolithic example application which can be found inside
+The `sat-rs` library includes a monolithic example application which can be found inside
 the [`satrs-example`](https://egit.irs.uni-stuttgart.de/rust/sat-rs/src/branch/main/satrs-example)
 subdirectory of the repository. The primary purpose of this example application is to show how
 the various components of the sat-rs framework could be used as part of a larger on-board
@@ -23,11 +23,11 @@ Some additional explanation is provided for the various components.
 The example includes a UDP and TCP server to receive telecommands and poll telemetry from. This
 might be an optional component for an OBSW which is only used during the development phase on
 ground. The UDP server is strongly based on the
-[UDP TC server](https://docs.rs/satrs-core/0.1.0-alpha.1/satrs_core/hal/std/udp_server/struct.UdpTcServer.html).
+[UDP TC server](https://docs.rs/satrs/latest/satrs/hal/std/udp_server/struct.UdpTcServer.html).
 This server component is wrapped by a TMTC server which handles all telemetry to the last connected
 client.
 
-The TCP server is based on the [TCP Spacepacket Server](https://docs.rs/satrs-core/0.1.0-alpha.1/satrs_core/hal/std/tcp_server/struct.TcpSpacepacketsServer.html)
+The TCP server is based on the [TCP Spacepacket Server](https://docs.rs/satrs/latest/satrs/hal/std/tcp_server/struct.TcpSpacepacketsServer.html)
 class. It parses space packets by using the CCSDS space packet ID as the packet
 start delimiter. All available telemetry will be sent back to a client after having read all
 telecommands from the client.
@@ -51,13 +51,13 @@ services. This currently includes the following services:
 
 - Service 1 for telecommand verification. The verification handling is handled locally: Each
   component which generates verification telemetry in some shape or form receives a
-  [reporter](https://docs.rs/satrs-core/0.1.0-alpha.1/satrs_core/pus/verification/struct.VerificationReporterWithSender.html)
+  [reporter](https://docs.rs/satrs/latest/satrs/pus/verification/struct.VerificationReporterWithSender.html)
   object which can be used to send PUS 1 verification telemetry to the TM funnel.
 - Service 3 for housekeeping telemetry handling.
 - Service 5 for management and downlink of on-board events.
 - Service 8 for handling on-board actions.
 - Service 11 for scheduling telecommands to be released at a specific time. This component
-  uses the [PUS scheduler class](https://docs.rs/satrs-core/0.1.0-alpha.1/satrs_core/pus/scheduler/alloc_mod/struct.PusScheduler.html)
+  uses the [PUS scheduler class](https://docs.rs/satrs/latest/satrs/pus/scheduler/alloc_mod/struct.PusScheduler.html)
   which performs the core logic of scheduling telecommands. All telecommands released by the
   scheduler are sent to the central TC source using a message.
 - Service 17 for test purposes like pings.
@@ -65,10 +65,10 @@ services. This currently includes the following services:
 ### Event Management Component
 
 An event manager based on the sat-rs
-[event manager component](https://docs.rs/satrs-core/0.1.0-alpha.1/satrs_core/event_man/index.html)
+[event manager component](https://docs.rs/satrs/latest/satrs/event_man/index.html)
 is provided to handle the event IPC and FDIR mechanism. The event message are converted to PUS 5
 telemetry by the
-[PUS event dispatcher](https://docs.rs/satrs-core/0.1.0-alpha.1/satrs_core/pus/event_man/alloc_mod/struct.PusEventDispatcher.html).
+[PUS event dispatcher](https://docs.rs/satrs/latest/satrs/pus/event_man/alloc_mod/struct.PusEventDispatcher.html).
 
 You can read the [events](./events.md) chapter for more in-depth information about event management.
 

satrs-book/src/introduction.md

@@ -1,7 +1,7 @@
 The sat-rs book
 ======
 
-This book is the primary information resource for the [sat-rs framework](https://egit.irs.uni-stuttgart.de/rust/sat-rs)
+This book is the primary information resource for the [sat-rs library](https://egit.irs.uni-stuttgart.de/rust/sat-rs)
 in addition to the regular API documentation. It contains the following resources:
 
 1. Architecture informations and consideration which would exceeds the scope of the regular API.
@@ -12,10 +12,15 @@ in addition to the regular API documentation. It contains the following resource
 
 # Introduction
 
-The primary goal of the sat-rs framework is to provide re-usable components
+The primary goal of the sat-rs library is to provide re-usable components
 to write on-board software for remote systems like rovers or satellites. It is specifically written
 for the special requirements for these systems.
 
+It should be noted that sat-rs is early-stage software. Important features are missing. New releases
+with breaking changes are released regularly, with all changes documented inside respective
+changelog files. You should only use this library if your are willing to work in this
+environment.
+
 A lot of the architecture and general design considerations are based on the
 [FSFW](https://egit.irs.uni-stuttgart.de/fsfw/fsfw) C++ framework which has flight heritage
 through the 2 missions [FLP](https://www.irs.uni-stuttgart.de/en/research/satellitetechnology-and-instruments/smallsatelliteprogram/flying-laptop/)

satrs-book/src/modes-and-health.md

@@ -1,11 +1,11 @@
 # Modes
 
-Modes are an extremely useful concept for complex system in general. They also allow simplified
-system reasoning for both system operators and OBSW developers. They model the behaviour of a
-component and also provide observability of a system. A few examples of how to model
-different components of a space system with modes will be given.
+Modes are an extremely useful concept to model complex systems. They allow simplified
+system reasoning for both system operators and OBSW developers. They also provide a way to alter
+the behaviour of a component and also provide observability of a system. A few examples of how to
+model the mode of different components within a space system with modes will be given.
 
-## Modelling a pyhsical devices with modes
+## Pyhsical device component with modes
 
 The following simple mode scheme with the following three mode
 
@@ -13,7 +13,8 @@ The following simple mode scheme with the following three mode
 - `ON`
 - `NORMAL`
 
-can be applied to a large number of simpler devices of a remote system, for example sensors.
+can be applied to a large number of simpler device controllers of a remote system, for example
+sensors.
 
 1. `OFF` means that a device is physically switched off, and the corresponding software component
 does not poll the device regularly.
@@ -31,7 +32,7 @@ for the majority of devices:
 2. `NORMAL` or `ON` to `OFF`: Any important shutdown configuration or handling must be performed
    before powering off the device.
 
-## Modelling a controller with modes
+## Controller components with modes
 
 Controller components are not modelling physical devices, but a mode scheme is still the best
 way to model most of these components.

satrs-core/CHANGELOG.md

@@ -1,9 +0,0 @@
-Change Log
-=======
-
-All notable changes to this project will be documented in this file.
-
-The format is based on [Keep a Changelog](http://keepachangelog.com/)
-and this project adheres to [Semantic Versioning](http://semver.org/).
-
-# [unreleased]

satrs-core/README.md

@@ -1,9 +0,0 @@
-[![Crates.io](https://img.shields.io/crates/v/satrs-core)](https://crates.io/crates/satrs-core)
-[![docs.rs](https://img.shields.io/docsrs/satrs-core)](https://docs.rs/satrs-core)
-
-satrs-core
-======
-
-This crate contains the core components of the sat-rs framework.
-You can find more information on [homepage](https://egit.irs.uni-stuttgart.de/rust/sat-rs).
-

satrs-core/src/encoding/ccsds.rs

@@ -1,281 +0,0 @@
-#[cfg(feature = "alloc")]
-use alloc::vec::Vec;
-#[cfg(feature = "alloc")]
-use hashbrown::HashSet;
-use spacepackets::PacketId;
-
-use crate::tmtc::ReceivesTcCore;
-
-pub trait PacketIdLookup {
-    fn validate(&self, packet_id: u16) -> bool;
-}
-
-#[cfg(feature = "alloc")]
-impl PacketIdLookup for Vec<u16> {
-    fn validate(&self, packet_id: u16) -> bool {
-        self.contains(&packet_id)
-    }
-}
-
-#[cfg(feature = "alloc")]
-impl PacketIdLookup for HashSet<u16> {
-    fn validate(&self, packet_id: u16) -> bool {
-        self.contains(&packet_id)
-    }
-}
-
-impl PacketIdLookup for [u16] {
-    fn validate(&self, packet_id: u16) -> bool {
-        self.binary_search(&packet_id).is_ok()
-    }
-}
-
-impl PacketIdLookup for &[u16] {
-    fn validate(&self, packet_id: u16) -> bool {
-        self.binary_search(&packet_id).is_ok()
-    }
-}
-
-#[cfg(feature = "alloc")]
-impl PacketIdLookup for Vec<PacketId> {
-    fn validate(&self, packet_id: u16) -> bool {
-        self.contains(&PacketId::from(packet_id))
-    }
-}
-#[cfg(feature = "alloc")]
-impl PacketIdLookup for HashSet<PacketId> {
-    fn validate(&self, packet_id: u16) -> bool {
-        self.contains(&PacketId::from(packet_id))
-    }
-}
-
-impl PacketIdLookup for [PacketId] {
-    fn validate(&self, packet_id: u16) -> bool {
-        self.binary_search(&PacketId::from(packet_id)).is_ok()
-    }
-}
-
-impl PacketIdLookup for &[PacketId] {
-    fn validate(&self, packet_id: u16) -> bool {
-        self.binary_search(&PacketId::from(packet_id)).is_ok()
-    }
-}
-
-/// This function parses a given buffer for tightly packed CCSDS space packets. It uses the
-/// [PacketId] field of the CCSDS packets to detect the start of a CCSDS space packet and then
-/// uses the length field of the packet to extract CCSDS packets.
-///
-/// This function is also able to deal with broken tail packets at the end as long a the parser
-/// can read the full 7 bytes which constitue a space packet header plus one byte minimal size.
-/// If broken tail packets are detected, they are moved to the front of the buffer, and the write
-/// index for future write operations will be written to the `next_write_idx` argument.
-///
-/// The parser will write all packets which were decoded successfully to the given `tc_receiver`
-/// and return the number of packets found. If the [ReceivesTcCore::pass_tc] calls fails, the
-/// error will be returned.
-pub fn parse_buffer_for_ccsds_space_packets<E>(
-    buf: &mut [u8],
-    packet_id_lookup: &(impl PacketIdLookup + ?Sized),
-    tc_receiver: &mut (impl ReceivesTcCore<Error = E> + ?Sized),
-    next_write_idx: &mut usize,
-) -> Result<u32, E> {
-    *next_write_idx = 0;
-    let mut packets_found = 0;
-    let mut current_idx = 0;
-    let buf_len = buf.len();
-    loop {
-        if current_idx + 7 >= buf.len() {
-            break;
-        }
-        let packet_id = u16::from_be_bytes(buf[current_idx..current_idx + 2].try_into().unwrap());
-        if packet_id_lookup.validate(packet_id) {
-            let length_field =
-                u16::from_be_bytes(buf[current_idx + 4..current_idx + 6].try_into().unwrap());
-            let packet_size = length_field + 7;
-            if (current_idx + packet_size as usize) <= buf_len {
-                tc_receiver.pass_tc(&buf[current_idx..current_idx + packet_size as usize])?;
-                packets_found += 1;
-            } else {
-                // Move packet to start of buffer if applicable.
-                if current_idx > 0 {
-                    buf.copy_within(current_idx.., 0);
-                    *next_write_idx = buf.len() - current_idx;
-                }
-            }
-            current_idx += packet_size as usize;
-            continue;
-        }
-        current_idx += 1;
-    }
-    Ok(packets_found)
-}
-
-#[cfg(test)]
-mod tests {
-    use spacepackets::{
-        ecss::{tc::PusTcCreator, WritablePusPacket},
-        PacketId, SpHeader,
-    };
-
-    use crate::encoding::tests::TcCacher;
-
-    use super::parse_buffer_for_ccsds_space_packets;
-
-    const TEST_APID_0: u16 = 0x02;
-    const TEST_APID_1: u16 = 0x10;
-    const TEST_PACKET_ID_0: PacketId = PacketId::const_tc(true, TEST_APID_0);
-    const TEST_PACKET_ID_1: PacketId = PacketId::const_tc(true, TEST_APID_1);
-
-    #[test]
-    fn test_basic() {
-        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 mut buffer: [u8; 32] = [0; 32];
-        let packet_len = ping_tc
-            .write_to_bytes(&mut buffer)
-            .expect("writing packet failed");
-        let valid_packet_ids = [TEST_PACKET_ID_0];
-        let mut tc_cacher = TcCacher::default();
-        let mut next_write_idx = 0;
-        let parse_result = parse_buffer_for_ccsds_space_packets(
-            &mut buffer,
-            valid_packet_ids.as_slice(),
-            &mut tc_cacher,
-            &mut next_write_idx,
-        );
-        assert!(parse_result.is_ok());
-        let parsed_packets = parse_result.unwrap();
-        assert_eq!(parsed_packets, 1);
-        assert_eq!(tc_cacher.tc_queue.len(), 1);
-        assert_eq!(
-            tc_cacher.tc_queue.pop_front().unwrap(),
-            buffer[..packet_len]
-        );
-    }
-
-    #[test]
-    fn test_multi_packet() {
-        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 action_tc = PusTcCreator::new_simple(&mut sph, 8, 0, None, true);
-        let mut buffer: [u8; 32] = [0; 32];
-        let packet_len_ping = ping_tc
-            .write_to_bytes(&mut buffer)
-            .expect("writing packet failed");
-        let packet_len_action = action_tc
-            .write_to_bytes(&mut buffer[packet_len_ping..])
-            .expect("writing packet failed");
-        let valid_packet_ids = [TEST_PACKET_ID_0];
-        let mut tc_cacher = TcCacher::default();
-        let mut next_write_idx = 0;
-        let parse_result = parse_buffer_for_ccsds_space_packets(
-            &mut buffer,
-            valid_packet_ids.as_slice(),
-            &mut tc_cacher,
-            &mut next_write_idx,
-        );
-        assert!(parse_result.is_ok());
-        let parsed_packets = parse_result.unwrap();
-        assert_eq!(parsed_packets, 2);
-        assert_eq!(tc_cacher.tc_queue.len(), 2);
-        assert_eq!(
-            tc_cacher.tc_queue.pop_front().unwrap(),
-            buffer[..packet_len_ping]
-        );
-        assert_eq!(
-            tc_cacher.tc_queue.pop_front().unwrap(),
-            buffer[packet_len_ping..packet_len_ping + packet_len_action]
-        );
-    }
-
-    #[test]
-    fn test_multi_apid() {
-        let mut sph = SpHeader::tc_unseg(TEST_APID_0, 0, 0).unwrap();
-        let ping_tc = PusTcCreator::new_simple(&mut sph, 17, 1, None, true);
-        sph = SpHeader::tc_unseg(TEST_APID_1, 0, 0).unwrap();
-        let action_tc = PusTcCreator::new_simple(&mut sph, 8, 0, None, true);
-        let mut buffer: [u8; 32] = [0; 32];
-        let packet_len_ping = ping_tc
-            .write_to_bytes(&mut buffer)
-            .expect("writing packet failed");
-        let packet_len_action = action_tc
-            .write_to_bytes(&mut buffer[packet_len_ping..])
-            .expect("writing packet failed");
-        let valid_packet_ids = [TEST_PACKET_ID_0, TEST_PACKET_ID_1];
-        let mut tc_cacher = TcCacher::default();
-        let mut next_write_idx = 0;
-        let parse_result = parse_buffer_for_ccsds_space_packets(
-            &mut buffer,
-            valid_packet_ids.as_slice(),
-            &mut tc_cacher,
-            &mut next_write_idx,
-        );
-        assert!(parse_result.is_ok());
-        let parsed_packets = parse_result.unwrap();
-        assert_eq!(parsed_packets, 2);
-        assert_eq!(tc_cacher.tc_queue.len(), 2);
-        assert_eq!(
-            tc_cacher.tc_queue.pop_front().unwrap(),
-            buffer[..packet_len_ping]
-        );
-        assert_eq!(
-            tc_cacher.tc_queue.pop_front().unwrap(),
-            buffer[packet_len_ping..packet_len_ping + packet_len_action]
-        );
-    }
-
-    #[test]
-    fn test_split_packet_multi() {
-        let mut sph = SpHeader::tc_unseg(TEST_APID_0, 0, 0).unwrap();
-        let ping_tc = PusTcCreator::new_simple(&mut sph, 17, 1, None, true);
-        sph = SpHeader::tc_unseg(TEST_APID_1, 0, 0).unwrap();
-        let action_tc = PusTcCreator::new_simple(&mut sph, 8, 0, None, true);
-        let mut buffer: [u8; 32] = [0; 32];
-        let packet_len_ping = ping_tc
-            .write_to_bytes(&mut buffer)
-            .expect("writing packet failed");
-        let packet_len_action = action_tc
-            .write_to_bytes(&mut buffer[packet_len_ping..])
-            .expect("writing packet failed");
-        let valid_packet_ids = [TEST_PACKET_ID_0, TEST_PACKET_ID_1];
-        let mut tc_cacher = TcCacher::default();
-        let mut next_write_idx = 0;
-        let parse_result = parse_buffer_for_ccsds_space_packets(
-            &mut buffer[..packet_len_ping + packet_len_action - 4],
-            valid_packet_ids.as_slice(),
-            &mut tc_cacher,
-            &mut next_write_idx,
-        );
-        assert!(parse_result.is_ok());
-        let parsed_packets = parse_result.unwrap();
-        assert_eq!(parsed_packets, 1);
-        assert_eq!(tc_cacher.tc_queue.len(), 1);
-        // The broken packet was moved to the start, so the next write index should be after the
-        // last segment missing 4 bytes.
-        assert_eq!(next_write_idx, packet_len_action - 4);
-    }
-
-    #[test]
-    fn test_one_split_packet() {
-        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 mut buffer: [u8; 32] = [0; 32];
-        let packet_len_ping = ping_tc
-            .write_to_bytes(&mut buffer)
-            .expect("writing packet failed");
-        let valid_packet_ids = [TEST_PACKET_ID_0, TEST_PACKET_ID_1];
-        let mut tc_cacher = TcCacher::default();
-        let mut next_write_idx = 0;
-        let parse_result = parse_buffer_for_ccsds_space_packets(
-            &mut buffer[..packet_len_ping - 4],
-            valid_packet_ids.as_slice(),
-            &mut tc_cacher,
-            &mut next_write_idx,
-        );
-        assert_eq!(next_write_idx, 0);
-        assert!(parse_result.is_ok());
-        let parsed_packets = parse_result.unwrap();
-        assert_eq!(parsed_packets, 0);
-        assert_eq!(tc_cacher.tc_queue.len(), 0);
-    }
-}

satrs-core/src/event_man.rs

@@ -1,710 +0,0 @@
-//! Event management and forwarding
-//!
-//! This module provides components to perform event routing. The most important component for this
-//! task is the [EventManager]. It receives all events and then routes them to event subscribers
-//! where appropriate. One common use case for satellite systems is to offer a light-weight
-//! publish-subscribe mechanism and IPC mechanism for software and hardware events which are also
-//! packaged as telemetry (TM) or can trigger a system response.
-//!
-//! It is recommended to read the
-//! [sat-rs book chapter](https://absatsw.irs.uni-stuttgart.de/projects/sat-rs/book/events.html)
-//! about events first:
-//!
-//! The event manager has a listener table abstracted by the [ListenerTable], which maps
-//! listener groups identified by [ListenerKey]s to a [sender ID][ChannelId].
-//! It also contains a sender table abstracted by the [SenderTable] which maps these sender IDs
-//! to a concrete [SendEventProvider]s. A simple approach would be to use one send event provider
-//! for each OBSW thread and then subscribe for all interesting events for a particular thread
-//! using the send event provider ID.
-//!
-//! This can be done with the [EventManager] like this:
-//!
-//!  1. Provide a concrete [EventReceiver] implementation. This abstraction allow to use different
-//!     message queue backends. A straightforward implementation where dynamic memory allocation is
-//!     not a big concern could use [std::sync::mpsc::channel] to do this and is provided in
-//!     form of the [MpscEventReceiver].
-//!  2. To set up event creators, create channel pairs using some message queue implementation.
-//!     Each event creator gets a (cloned) sender component which allows it to send events to the
-//!     manager.
-//!  3. The event manager receives the receiver component as part of a [EventReceiver]
-//!     implementation so all events are routed to the manager.
-//!  4. Create the [send event providers][SendEventProvider]s which allow routing events to
-//!     subscribers. You can now use their [sender IDs][SendEventProvider::id] to subscribe for
-//!     event groups, for example by using the [EventManager::subscribe_single] method.
-//!  5. Add the send provider as well using the [EventManager::add_sender] call so the event
-//!     manager can route listener groups to a the send provider.
-//!
-//! Some components like a PUS Event Service or PUS Event Action Service might require all
-//! events to package them as telemetry or start actions where applicable.
-//! Other components might only be interested in certain events. For example, a thermal system
-//! handler might only be interested in temperature events generated by a thermal sensor component.
-//!
-//! # Examples
-//!
-//! You can check [integration test](https://egit.irs.uni-stuttgart.de/rust/sat-rs/src/branch/main/satrs-core/tests/pus_events.rs)
-//! for a concrete example using multi-threading where events are routed to
-//! different threads.
-use crate::events::{EventU16, EventU32, GenericEvent, LargestEventRaw, LargestGroupIdRaw};
-use crate::params::{Params, ParamsHeapless};
-#[cfg(feature = "alloc")]
-use alloc::boxed::Box;
-#[cfg(feature = "alloc")]
-use alloc::vec;
-#[cfg(feature = "alloc")]
-use alloc::vec::Vec;
-use core::slice::Iter;
-#[cfg(feature = "alloc")]
-use hashbrown::HashMap;
-
-use crate::ChannelId;
-#[cfg(feature = "std")]
-pub use stdmod::*;
-
-#[derive(PartialEq, Eq, Hash, Copy, Clone, Debug)]
-pub enum ListenerKey {
-    Single(LargestEventRaw),
-    Group(LargestGroupIdRaw),
-    All,
-}
-
-pub type EventWithHeaplessAuxData<Event> = (Event, Option<ParamsHeapless>);
-pub type EventU32WithHeaplessAuxData = EventWithHeaplessAuxData<EventU32>;
-pub type EventU16WithHeaplessAuxData = EventWithHeaplessAuxData<EventU16>;
-
-pub type EventWithAuxData<Event> = (Event, Option<Params>);
-pub type EventU32WithAuxData = EventWithAuxData<EventU32>;
-pub type EventU16WithAuxData = EventWithAuxData<EventU16>;
-
-pub trait SendEventProvider<Provider: GenericEvent, AuxDataProvider = Params> {
-    type Error;
-
-    fn id(&self) -> ChannelId;
-    fn send_no_data(&self, event: Provider) -> Result<(), Self::Error> {
-        self.send(event, None)
-    }
-    fn send(&self, event: Provider, aux_data: Option<AuxDataProvider>) -> Result<(), Self::Error>;
-}
-
-/// Generic abstraction for an event receiver.
-pub trait EventReceiver<Event: GenericEvent, AuxDataProvider = Params> {
-    /// This function has to be provided by any event receiver. A receive call may or may not return
-    /// an event.
-    ///
-    /// To allow returning arbitrary additional auxiliary data, a mutable slice is passed to the
-    /// [Self::receive] call as well. Receivers can write data to this slice, but care must be taken
-    /// to avoid panics due to size missmatches or out of bound writes.
-    fn receive(&self) -> Option<(Event, Option<AuxDataProvider>)>;
-}
-
-pub trait ListenerTable {
-    fn get_listeners(&self) -> Vec<ListenerKey>;
-    fn contains_listener(&self, key: &ListenerKey) -> bool;
-    fn get_listener_ids(&self, key: &ListenerKey) -> Option<Iter<ChannelId>>;
-    fn add_listener(&mut self, key: ListenerKey, sender_id: ChannelId) -> bool;
-    fn remove_duplicates(&mut self, key: &ListenerKey);
-}
-
-pub trait SenderTable<SendProviderError, Event: GenericEvent = EventU32, AuxDataProvider = Params> {
-    fn contains_send_event_provider(&self, id: &ChannelId) -> bool;
-    fn get_send_event_provider(
-        &self,
-        id: &ChannelId,
-    ) -> Option<&dyn SendEventProvider<Event, AuxDataProvider, Error = SendProviderError>>;
-    fn add_send_event_provider(
-        &mut self,
-        send_provider: Box<
-            dyn SendEventProvider<Event, AuxDataProvider, Error = SendProviderError>,
-        >,
-    ) -> bool;
-}
-
-/// Generic event manager implementation.
-///
-/// # Generics
-///
-///  * `SendProviderError`: [SendEventProvider] error type
-///  * `Event`: Concrete event provider, currently either [EventU32] or [EventU16]
-///  * `AuxDataProvider`: Concrete auxiliary data provider, currently either [Params] or
-///     [ParamsHeapless]
-pub struct EventManager<SendProviderError, Event: GenericEvent = EventU32, AuxDataProvider = Params>
-{
-    listener_table: Box<dyn ListenerTable>,
-    sender_table: Box<dyn SenderTable<SendProviderError, Event, AuxDataProvider>>,
-    event_receiver: Box<dyn EventReceiver<Event, AuxDataProvider>>,
-}
-
-/// Safety: It is safe to implement [Send] because all fields in the [EventManager] are [Send]
-/// as well
-#[cfg(feature = "std")]
-unsafe impl<E, Event: GenericEvent + Send, AuxDataProvider: Send> Send
-    for EventManager<E, Event, AuxDataProvider>
-{
-}
-
-#[cfg(feature = "std")]
-pub type EventManagerWithMpscQueue<Event, AuxDataProvider> = EventManager<
-    std::sync::mpsc::SendError<(Event, Option<AuxDataProvider>)>,
-    Event,
-    AuxDataProvider,
->;
-
-#[derive(Debug)]
-pub enum EventRoutingResult<Event: GenericEvent, AuxDataProvider> {
-    /// No event was received
-    Empty,
-    /// An event was received and routed.
-    /// The first tuple entry will contain the number of recipients.
-    Handled(u32, Event, Option<AuxDataProvider>),
-}
-
-#[derive(Debug)]
-pub enum EventRoutingError<E> {
-    SendError(E),
-    NoSendersForKey(ListenerKey),
-    NoSenderForId(ChannelId),
-}
-
-#[derive(Debug)]
-pub struct EventRoutingErrorsWithResult<Event: GenericEvent, AuxDataProvider, E> {
-    pub result: EventRoutingResult<Event, AuxDataProvider>,
-    pub errors: [Option<EventRoutingError<E>>; 3],
-}
-
-impl<E, Event: GenericEvent + Copy> EventManager<E, Event> {
-    pub fn remove_duplicates(&mut self, key: &ListenerKey) {
-        self.listener_table.remove_duplicates(key)
-    }
-
-    /// Subscribe for a unique event.
-    pub fn subscribe_single(&mut self, event: &Event, sender_id: ChannelId) {
-        self.update_listeners(ListenerKey::Single(event.raw_as_largest_type()), sender_id);
-    }
-
-    /// Subscribe for an event group.
-    pub fn subscribe_group(&mut self, group_id: LargestGroupIdRaw, sender_id: ChannelId) {
-        self.update_listeners(ListenerKey::Group(group_id), sender_id);
-    }
-
-    /// Subscribe for all events received by the manager.
-    ///
-    /// For example, this can be useful for a handler component which sends every event as
-    /// a telemetry packet.
-    pub fn subscribe_all(&mut self, sender_id: ChannelId) {
-        self.update_listeners(ListenerKey::All, sender_id);
-    }
-}
-
-impl<E: 'static, Event: GenericEvent + Copy + 'static, AuxDataProvider: Clone + 'static>
-    EventManager<E, Event, AuxDataProvider>
-{
-    /// Create an event manager where the sender table will be the [DefaultSenderTableProvider]
-    /// and the listener table will be the [DefaultListenerTableProvider].
-    pub fn new(event_receiver: Box<dyn EventReceiver<Event, AuxDataProvider>>) -> Self {
-        let listener_table: Box<DefaultListenerTableProvider> = Box::default();
-        let sender_table: Box<DefaultSenderTableProvider<E, Event, AuxDataProvider>> =
-            Box::default();
-        Self::new_custom_tables(listener_table, sender_table, event_receiver)
-    }
-}
-
-impl<E, Event: GenericEvent + Copy, AuxDataProvider: Clone>
-    EventManager<E, Event, AuxDataProvider>
-{
-    pub fn new_custom_tables(
-        listener_table: Box<dyn ListenerTable>,
-        sender_table: Box<dyn SenderTable<E, Event, AuxDataProvider>>,
-        event_receiver: Box<dyn EventReceiver<Event, AuxDataProvider>>,
-    ) -> Self {
-        EventManager {
-            listener_table,
-            sender_table,
-            event_receiver,
-        }
-    }
-
-    pub fn add_sender(
-        &mut self,
-        send_provider: impl SendEventProvider<Event, AuxDataProvider, Error = E> + 'static,
-    ) {
-        if !self
-            .sender_table
-            .contains_send_event_provider(&send_provider.id())
-        {
-            self.sender_table
-                .add_send_event_provider(Box::new(send_provider));
-        }
-    }
-
-    fn update_listeners(&mut self, key: ListenerKey, sender_id: ChannelId) {
-        self.listener_table.add_listener(key, sender_id);
-    }
-
-    /// This function will use the cached event receiver and try to receive one event.
-    /// If an event was received, it will try to route that event to all subscribed event listeners.
-    /// If this works without any issues, the [EventRoutingResult] will contain context information
-    /// about the routed event.
-    ///
-    /// This function will track up to 3 errors returned as part of the
-    /// [EventRoutingErrorsWithResult] error struct.
-    pub fn try_event_handling(
-        &self,
-    ) -> Result<
-        EventRoutingResult<Event, AuxDataProvider>,
-        EventRoutingErrorsWithResult<Event, AuxDataProvider, E>,
-    > {
-        let mut err_idx = 0;
-        let mut err_slice = [None, None, None];
-        let mut num_recipients = 0;
-        let mut add_error = |error: EventRoutingError<E>| {
-            if err_idx < 3 {
-                err_slice[err_idx] = Some(error);
-                err_idx += 1;
-            }
-        };
-        let mut send_handler =
-            |key: &ListenerKey, event: Event, aux_data: &Option<AuxDataProvider>| {
-                if self.listener_table.contains_listener(key) {
-                    if let Some(ids) = self.listener_table.get_listener_ids(key) {
-                        for id in ids {
-                            if let Some(sender) = self.sender_table.get_send_event_provider(id) {
-                                if let Err(e) = sender.send(event, aux_data.clone()) {
-                                    add_error(EventRoutingError::SendError(e));
-                                } else {
-                                    num_recipients += 1;
-                                }
-                            } else {
-                                add_error(EventRoutingError::NoSenderForId(*id));
-                            }
-                        }
-                    } else {
-                        add_error(EventRoutingError::NoSendersForKey(*key));
-                    }
-                }
-            };
-        if let Some((event, aux_data)) = self.event_receiver.receive() {
-            let single_key = ListenerKey::Single(event.raw_as_largest_type());
-            send_handler(&single_key, event, &aux_data);
-            let group_key = ListenerKey::Group(event.group_id_as_largest_type());
-            send_handler(&group_key, event, &aux_data);
-            send_handler(&ListenerKey::All, event, &aux_data);
-            if err_idx > 0 {
-                return Err(EventRoutingErrorsWithResult {
-                    result: EventRoutingResult::Handled(num_recipients, event, aux_data),
-                    errors: err_slice,
-                });
-            }
-            return Ok(EventRoutingResult::Handled(num_recipients, event, aux_data));
-        }
-        Ok(EventRoutingResult::Empty)
-    }
-}
-
-#[derive(Default)]
-pub struct DefaultListenerTableProvider {
-    listeners: HashMap<ListenerKey, Vec<ChannelId>>,
-}
-
-pub struct DefaultSenderTableProvider<
-    SendProviderError,
-    Event: GenericEvent = EventU32,
-    AuxDataProvider = Params,
-> {
-    senders: HashMap<
-        ChannelId,
-        Box<dyn SendEventProvider<Event, AuxDataProvider, Error = SendProviderError>>,
-    >,
-}
-
-impl<SendProviderError, Event: GenericEvent, AuxDataProvider> Default
-    for DefaultSenderTableProvider<SendProviderError, Event, AuxDataProvider>
-{
-    fn default() -> Self {
-        Self {
-            senders: HashMap::new(),
-        }
-    }
-}
-
-impl ListenerTable for DefaultListenerTableProvider {
-    fn get_listeners(&self) -> Vec<ListenerKey> {
-        let mut key_list = Vec::new();
-        for key in self.listeners.keys() {
-            key_list.push(*key);
-        }
-        key_list
-    }
-
-    fn contains_listener(&self, key: &ListenerKey) -> bool {
-        self.listeners.contains_key(key)
-    }
-
-    fn get_listener_ids(&self, key: &ListenerKey) -> Option<Iter<ChannelId>> {
-        self.listeners.get(key).map(|vec| vec.iter())
-    }
-
-    fn add_listener(&mut self, key: ListenerKey, sender_id: ChannelId) -> bool {
-        if let Some(existing_list) = self.listeners.get_mut(&key) {
-            existing_list.push(sender_id);
-        } else {
-            let new_list = vec![sender_id];
-            self.listeners.insert(key, new_list);
-        }
-        true
-    }
-
-    fn remove_duplicates(&mut self, key: &ListenerKey) {
-        if let Some(list) = self.listeners.get_mut(key) {
-            list.sort_unstable();
-            list.dedup();
-        }
-    }
-}
-
-impl<SendProviderError, Event: GenericEvent, AuxDataProvider>
-    SenderTable<SendProviderError, Event, AuxDataProvider>
-    for DefaultSenderTableProvider<SendProviderError, Event, AuxDataProvider>
-{
-    fn contains_send_event_provider(&self, id: &ChannelId) -> bool {
-        self.senders.contains_key(id)
-    }
-
-    fn get_send_event_provider(
-        &self,
-        id: &ChannelId,
-    ) -> Option<&dyn SendEventProvider<Event, AuxDataProvider, Error = SendProviderError>> {
-        self.senders
-            .get(id)
-            .filter(|sender| sender.id() == *id)
-            .map(|v| v.as_ref())
-    }
-
-    fn add_send_event_provider(
-        &mut self,
-        send_provider: Box<
-            dyn SendEventProvider<Event, AuxDataProvider, Error = SendProviderError>,
-        >,
-    ) -> bool {
-        let id = send_provider.id();
-        if self.senders.contains_key(&id) {
-            return false;
-        }
-        self.senders.insert(id, send_provider).is_none()
-    }
-}
-
-#[cfg(feature = "std")]
-pub mod stdmod {
-    use super::*;
-    use crate::event_man::{EventReceiver, EventWithAuxData};
-    use crate::events::{EventU16, EventU32, GenericEvent};
-    use crate::params::Params;
-    use std::sync::mpsc::{Receiver, SendError, Sender};
-
-    pub struct MpscEventReceiver<Event: GenericEvent + Send = EventU32> {
-        mpsc_receiver: Receiver<(Event, Option<Params>)>,
-    }
-
-    impl<Event: GenericEvent + Send> MpscEventReceiver<Event> {
-        pub fn new(receiver: Receiver<(Event, Option<Params>)>) -> Self {
-            Self {
-                mpsc_receiver: receiver,
-            }
-        }
-    }
-    impl<Event: GenericEvent + Send> EventReceiver<Event> for MpscEventReceiver<Event> {
-        fn receive(&self) -> Option<EventWithAuxData<Event>> {
-            if let Ok(event_and_data) = self.mpsc_receiver.try_recv() {
-                return Some(event_and_data);
-            }
-            None
-        }
-    }
-
-    pub type MpscEventU32Receiver = MpscEventReceiver<EventU32>;
-    pub type MpscEventU16Receiver = MpscEventReceiver<EventU16>;
-
-    #[derive(Clone)]
-    pub struct MpscEventSendProvider<Event: GenericEvent + Send> {
-        id: u32,
-        sender: Sender<(Event, Option<Params>)>,
-    }
-
-    impl<Event: GenericEvent + Send> MpscEventSendProvider<Event> {
-        pub fn new(id: u32, sender: Sender<(Event, Option<Params>)>) -> Self {
-            Self { id, sender }
-        }
-    }
-
-    impl<Event: GenericEvent + Send> SendEventProvider<Event> for MpscEventSendProvider<Event> {
-        type Error = SendError<(Event, Option<Params>)>;
-
-        fn id(&self) -> u32 {
-            self.id
-        }
-        fn send(&self, event: Event, aux_data: Option<Params>) -> Result<(), Self::Error> {
-            self.sender.send((event, aux_data))
-        }
-    }
-
-    pub type MpscEventU32SendProvider = MpscEventSendProvider<EventU32>;
-    pub type MpscEventU16SendProvider = MpscEventSendProvider<EventU16>;
-}
-
-#[cfg(test)]
-mod tests {
-    use super::*;
-    use crate::event_man::EventManager;
-    use crate::events::{EventU32, GenericEvent, Severity};
-    use crate::params::ParamsRaw;
-    use alloc::boxed::Box;
-    use std::format;
-    use std::sync::mpsc::{channel, Receiver, SendError, Sender};
-
-    #[derive(Clone)]
-    struct MpscEventSenderQueue {
-        id: u32,
-        mpsc_sender: Sender<EventU32WithAuxData>,
-    }
-
-    impl MpscEventSenderQueue {
-        fn new(id: u32, mpsc_sender: Sender<EventU32WithAuxData>) -> Self {
-            Self { id, mpsc_sender }
-        }
-    }
-
-    impl SendEventProvider<EventU32> for MpscEventSenderQueue {
-        type Error = SendError<EventU32WithAuxData>;
-
-        fn id(&self) -> u32 {
-            self.id
-        }
-        fn send(&self, event: EventU32, aux_data: Option<Params>) -> Result<(), Self::Error> {
-            self.mpsc_sender.send((event, aux_data))
-        }
-    }
-
-    fn check_next_event(
-        expected: EventU32,
-        receiver: &Receiver<EventU32WithAuxData>,
-    ) -> Option<Params> {
-        if let Ok(event) = receiver.try_recv() {
-            assert_eq!(event.0, expected);
-            return event.1;
-        }
-        None
-    }
-
-    fn check_handled_event(
-        res: EventRoutingResult<EventU32, Params>,
-        expected: EventU32,
-        expected_num_sent: u32,
-    ) {
-        assert!(matches!(res, EventRoutingResult::Handled { .. }));
-        if let EventRoutingResult::Handled(num_recipients, event, _aux_data) = res {
-            assert_eq!(event, expected);
-            assert_eq!(num_recipients, expected_num_sent);
-        }
-    }
-
-    fn generic_event_man() -> (
-        Sender<EventU32WithAuxData>,
-        EventManager<SendError<EventU32WithAuxData>>,
-    ) {
-        let (event_sender, manager_queue) = channel();
-        let event_man_receiver = MpscEventReceiver::new(manager_queue);
-        (
-            event_sender,
-            EventManager::new(Box::new(event_man_receiver)),
-        )
-    }
-
-    #[test]
-    fn test_basic() {
-        let (event_sender, mut event_man) = generic_event_man();
-        let event_grp_0 = EventU32::new(Severity::INFO, 0, 0).unwrap();
-        let event_grp_1_0 = EventU32::new(Severity::HIGH, 1, 0).unwrap();
-        let (single_event_sender, single_event_receiver) = channel();
-        let single_event_listener = MpscEventSenderQueue::new(0, single_event_sender);
-        event_man.subscribe_single(&event_grp_0, single_event_listener.id());
-        event_man.add_sender(single_event_listener);
-        let (group_event_sender_0, group_event_receiver_0) = channel();
-        let group_event_listener = MpscEventSenderQueue {
-            id: 1,
-            mpsc_sender: group_event_sender_0,
-        };
-        event_man.subscribe_group(event_grp_1_0.group_id(), group_event_listener.id());
-        event_man.add_sender(group_event_listener);
-
-        // Test event with one listener
-        event_sender
-            .send((event_grp_0, None))
-            .expect("Sending single error failed");
-        let res = event_man.try_event_handling();
-        assert!(res.is_ok());
-        check_handled_event(res.unwrap(), event_grp_0, 1);
-        check_next_event(event_grp_0, &single_event_receiver);
-
-        // Test event which is sent to all group listeners
-        event_sender
-            .send((event_grp_1_0, None))
-            .expect("Sending group error failed");
-        let res = event_man.try_event_handling();
-        assert!(res.is_ok());
-        check_handled_event(res.unwrap(), event_grp_1_0, 1);
-        check_next_event(event_grp_1_0, &group_event_receiver_0);
-    }
-
-    #[test]
-    fn test_with_basic_aux_data() {
-        let (event_sender, mut event_man) = generic_event_man();
-        let event_grp_0 = EventU32::new(Severity::INFO, 0, 0).unwrap();
-        let (single_event_sender, single_event_receiver) = channel();
-        let single_event_listener = MpscEventSenderQueue::new(0, single_event_sender);
-        event_man.subscribe_single(&event_grp_0, single_event_listener.id());
-        event_man.add_sender(single_event_listener);
-        event_sender
-            .send((event_grp_0, Some(Params::Heapless((2_u32, 3_u32).into()))))
-            .expect("Sending group error failed");
-        let res = event_man.try_event_handling();
-        assert!(res.is_ok());
-        check_handled_event(res.unwrap(), event_grp_0, 1);
-        let aux = check_next_event(event_grp_0, &single_event_receiver);
-        assert!(aux.is_some());
-        let aux = aux.unwrap();
-        if let Params::Heapless(ParamsHeapless::Raw(ParamsRaw::U32Pair(pair))) = aux {
-            assert_eq!(pair.0, 2);
-            assert_eq!(pair.1, 3);
-        } else {
-            panic!("{}", format!("Unexpected auxiliary value type {:?}", aux));
-        }
-    }
-
-    /// Test listening for multiple groups
-    #[test]
-    fn test_multi_group() {
-        let (event_sender, mut event_man) = generic_event_man();
-        let res = event_man.try_event_handling();
-        assert!(res.is_ok());
-        let hres = res.unwrap();
-        assert!(matches!(hres, EventRoutingResult::Empty));
-
-        let event_grp_0 = EventU32::new(Severity::INFO, 0, 0).unwrap();
-        let event_grp_1_0 = EventU32::new(Severity::HIGH, 1, 0).unwrap();
-        let (event_grp_0_sender, event_grp_0_receiver) = channel();
-        let event_grp_0_and_1_listener = MpscEventSenderQueue {
-            id: 0,
-            mpsc_sender: event_grp_0_sender,
-        };
-        event_man.subscribe_group(event_grp_0.group_id(), event_grp_0_and_1_listener.id());
-        event_man.subscribe_group(event_grp_1_0.group_id(), event_grp_0_and_1_listener.id());
-        event_man.add_sender(event_grp_0_and_1_listener);
-
-        event_sender
-            .send((event_grp_0, None))
-            .expect("Sending Event Group 0 failed");
-        event_sender
-            .send((event_grp_1_0, None))
-            .expect("Sendign Event Group 1 failed");
-        let res = event_man.try_event_handling();
-        assert!(res.is_ok());
-        check_handled_event(res.unwrap(), event_grp_0, 1);
-        let res = event_man.try_event_handling();
-        assert!(res.is_ok());
-        check_handled_event(res.unwrap(), event_grp_1_0, 1);
-
-        check_next_event(event_grp_0, &event_grp_0_receiver);
-        check_next_event(event_grp_1_0, &event_grp_0_receiver);
-    }
-
-    /// Test listening to the same event from multiple listeners. Also test listening
-    /// to both group and single events from one listener
-    #[test]
-    fn test_listening_to_same_event_and_multi_type() {
-        let (event_sender, mut event_man) = generic_event_man();
-        let event_0 = EventU32::new(Severity::INFO, 0, 5).unwrap();
-        let event_1 = EventU32::new(Severity::HIGH, 1, 0).unwrap();
-        let (event_0_tx_0, event_0_rx_0) = channel();
-        let (event_0_tx_1, event_0_rx_1) = channel();
-        let event_listener_0 = MpscEventSenderQueue {
-            id: 0,
-            mpsc_sender: event_0_tx_0,
-        };
-        let event_listener_1 = MpscEventSenderQueue {
-            id: 1,
-            mpsc_sender: event_0_tx_1,
-        };
-        let event_listener_0_sender_id = event_listener_0.id();
-        event_man.subscribe_single(&event_0, event_listener_0_sender_id);
-        event_man.add_sender(event_listener_0);
-        let event_listener_1_sender_id = event_listener_1.id();
-        event_man.subscribe_single(&event_0, event_listener_1_sender_id);
-        event_man.add_sender(event_listener_1);
-        event_sender
-            .send((event_0, None))
-            .expect("Triggering Event 0 failed");
-        let res = event_man.try_event_handling();
-        assert!(res.is_ok());
-        check_handled_event(res.unwrap(), event_0, 2);
-        check_next_event(event_0, &event_0_rx_0);
-        check_next_event(event_0, &event_0_rx_1);
-        event_man.subscribe_group(event_1.group_id(), event_listener_0_sender_id);
-        event_sender
-            .send((event_0, None))
-            .expect("Triggering Event 0 failed");
-        event_sender
-            .send((event_1, None))
-            .expect("Triggering Event 1 failed");
-
-        // 3 Events messages will be sent now
-        let res = event_man.try_event_handling();
-        assert!(res.is_ok());
-        check_handled_event(res.unwrap(), event_0, 2);
-        let res = event_man.try_event_handling();
-        assert!(res.is_ok());
-        check_handled_event(res.unwrap(), event_1, 1);
-        // Both the single event and the group event should arrive now
-        check_next_event(event_0, &event_0_rx_0);
-        check_next_event(event_1, &event_0_rx_0);
-
-        // Do double insertion and then remove duplicates
-        event_man.subscribe_group(event_1.group_id(), event_listener_0_sender_id);
-        event_man.remove_duplicates(&ListenerKey::Group(event_1.group_id()));
-        event_sender
-            .send((event_1, None))
-            .expect("Triggering Event 1 failed");
-        let res = event_man.try_event_handling();
-        assert!(res.is_ok());
-        check_handled_event(res.unwrap(), event_1, 1);
-    }
-
-    #[test]
-    fn test_all_events_listener() {
-        let (event_sender, manager_queue) = channel();
-        let event_man_receiver = MpscEventReceiver::new(manager_queue);
-        let mut event_man: EventManager<SendError<EventU32WithAuxData>> =
-            EventManager::new(Box::new(event_man_receiver));
-        let event_0 = EventU32::new(Severity::INFO, 0, 5).unwrap();
-        let event_1 = EventU32::new(Severity::HIGH, 1, 0).unwrap();
-        let (event_0_tx_0, all_events_rx) = channel();
-        let all_events_listener = MpscEventSenderQueue {
-            id: 0,
-            mpsc_sender: event_0_tx_0,
-        };
-        event_man.subscribe_all(all_events_listener.id());
-        event_man.add_sender(all_events_listener);
-        event_sender
-            .send((event_0, None))
-            .expect("Triggering event 0 failed");
-        event_sender
-            .send((event_1, None))
-            .expect("Triggering event 1 failed");
-        let res = event_man.try_event_handling();
-        assert!(res.is_ok());
-        check_handled_event(res.unwrap(), event_0, 1);
-        let res = event_man.try_event_handling();
-        assert!(res.is_ok());
-        check_handled_event(res.unwrap(), event_1, 1);
-        check_next_event(event_0, &all_events_rx);
-        check_next_event(event_1, &all_events_rx);
-    }
-}

satrs-core/src/hk.rs

@@ -1,16 +0,0 @@
-pub type CollectionIntervalFactor = u32;
-pub type UniqueId = u32;
-
-#[derive(Debug, Copy, Clone, PartialEq, Eq)]
-pub enum HkRequest {
-    OneShot(UniqueId),
-    Enable(UniqueId),
-    Disable(UniqueId),
-    ModifyCollectionInterval(UniqueId, CollectionIntervalFactor),
-}
-
-#[derive(Debug, Copy, Clone, PartialEq, Eq)]
-pub struct TargetedHkRequest {
-    target: u32,
-    hk_request: HkRequest,
-}

satrs-core/src/lib.rs

@@ -1,50 +0,0 @@
-//! # Core components of the sat-rs framework
-//!
-//! You can find more information about the sat-rs framework on the
-//! [homepage](https://egit.irs.uni-stuttgart.de/rust/sat-rs).
-//!
-//! ## Overview
-//!
-//! The core modules of this crate include
-//!
-//!  - The [event manager][event_man] module which provides a publish and
-//!    and subscribe to route events.
-//!  - The [pus] module which provides special support for projects using
-//!    the [ECSS PUS C standard](https://ecss.nl/standard/ecss-e-st-70-41c-space-engineering-telemetry-and-telecommand-packet-utilization-15-april-2016/).
-#![no_std]
-#![cfg_attr(doc_cfg, feature(doc_cfg))]
-#[cfg(feature = "alloc")]
-extern crate alloc;
-#[cfg(feature = "alloc")]
-extern crate downcast_rs;
-#[cfg(any(feature = "std", test))]
-extern crate std;
-
-#[cfg(feature = "alloc")]
-#[cfg_attr(doc_cfg, doc(cfg(feature = "alloc")))]
-pub mod cfdp;
-pub mod encoding;
-#[cfg(feature = "alloc")]
-#[cfg_attr(doc_cfg, doc(cfg(feature = "alloc")))]
-pub mod event_man;
-pub mod events;
-#[cfg(feature = "std")]
-#[cfg_attr(doc_cfg, doc(cfg(feature = "std")))]
-pub mod executable;
-pub mod hal;
-pub mod hk;
-pub mod mode;
-pub mod objects;
-pub mod params;
-pub mod pool;
-pub mod power;
-pub mod pus;
-pub mod request;
-pub mod res_code;
-pub mod seq_count;
-pub mod tmtc;
-
-pub use spacepackets;
-
-// Generic channel ID type.
-pub type ChannelId = u32;

satrs-core/src/mode.rs

@@ -1,94 +0,0 @@
-use crate::tmtc::TargetId;
-use core::mem::size_of;
-#[cfg(feature = "serde")]
-use serde::{Deserialize, Serialize};
-use spacepackets::ByteConversionError;
-
-#[derive(Debug, Copy, Clone, PartialEq, Eq)]
-#[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
-pub struct ModeAndSubmode {
-    mode: u32,
-    submode: u16,
-}
-
-impl ModeAndSubmode {
-    pub const fn new_mode_only(mode: u32) -> Self {
-        Self { mode, submode: 0 }
-    }
-
-    pub const fn new(mode: u32, submode: u16) -> Self {
-        Self { mode, submode }
-    }
-
-    pub fn raw_len() -> usize {
-        size_of::<u32>() + size_of::<u16>()
-    }
-
-    pub fn from_be_bytes(buf: &[u8]) -> Result<Self, ByteConversionError> {
-        if buf.len() < 6 {
-            return Err(ByteConversionError::FromSliceTooSmall {
-                expected: 6,
-                found: buf.len(),
-            });
-        }
-        Ok(Self {
-            mode: u32::from_be_bytes(buf[0..4].try_into().unwrap()),
-            submode: u16::from_be_bytes(buf[4..6].try_into().unwrap()),
-        })
-    }
-
-    pub fn mode(&self) -> u32 {
-        self.mode
-    }
-
-    pub fn submode(&self) -> u16 {
-        self.submode
-    }
-}
-#[derive(Debug, Copy, Clone, PartialEq, Eq)]
-#[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
-pub struct ModeCommand {
-    pub address: TargetId,
-    pub mode_submode: ModeAndSubmode,
-}
-
-impl ModeCommand {
-    pub const fn new(address: TargetId, mode_submode: ModeAndSubmode) -> Self {
-        Self {
-            address,
-            mode_submode,
-        }
-    }
-
-    pub fn address(&self) -> TargetId {
-        self.address
-    }
-
-    pub fn mode_submode(&self) -> ModeAndSubmode {
-        self.mode_submode
-    }
-
-    pub fn mode(&self) -> u32 {
-        self.mode_submode.mode
-    }
-
-    pub fn submode(&self) -> u16 {
-        self.mode_submode.submode
-    }
-}
-
-#[derive(Debug, Copy, Clone, PartialEq, Eq)]
-#[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
-pub enum ModeRequest {
-    SetMode(ModeAndSubmode),
-    ReadMode,
-    AnnounceMode,
-    AnnounceModeRecursive,
-}
-
-#[derive(Debug, Copy, Clone, PartialEq, Eq)]
-#[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
-pub struct TargetedModeRequest {
-    target_id: TargetId,
-    mode_request: ModeRequest,
-}

satrs-core/src/objects.rs

@@ -1,307 +0,0 @@
-//! # Module providing addressable object support and a manager for them
-//!
-//! Each addressable object can be identified using an [object ID][ObjectId].
-//! The [system object][ManagedSystemObject] trait also allows storing these objects into the
-//! [object manager][ObjectManager]. They can then be retrieved and casted back to a known type
-//! using the object ID.
-//!
-//! # Examples
-//!
-//! ```rust
-//! use std::any::Any;
-//! use std::error::Error;
-//! use satrs_core::objects::{ManagedSystemObject, ObjectId, ObjectManager, SystemObject};
-//!
-//! struct ExampleSysObj {
-//!     id: ObjectId,
-//!     dummy: u32,
-//!     was_initialized: bool,
-//! }
-//!
-//! impl ExampleSysObj {
-//!     fn new(id: ObjectId, dummy: u32) -> ExampleSysObj {
-//!         ExampleSysObj {
-//!             id,
-//!             dummy,
-//!             was_initialized: false,
-//!         }
-//!     }
-//! }
-//!
-//! impl SystemObject for ExampleSysObj {
-//!     type Error = ();
-//!     fn get_object_id(&self) -> &ObjectId {
-//!         &self.id
-//!     }
-//!
-//!     fn initialize(&mut self) -> Result<(), Self::Error> {
-//!         self.was_initialized = true;
-//!         Ok(())
-//!     }
-//! }
-//!
-//! impl ManagedSystemObject for ExampleSysObj {}
-//!
-//!  let mut obj_manager = ObjectManager::default();
-//!  let obj_id = ObjectId { id: 0, name: "Example 0"};
-//!  let example_obj = ExampleSysObj::new(obj_id, 42);
-//!  obj_manager.insert(Box::new(example_obj));
-//!  let obj_back_casted: Option<&ExampleSysObj> = obj_manager.get_ref(&obj_id);
-//!  let example_obj = obj_back_casted.unwrap();
-//!  assert_eq!(example_obj.id, obj_id);
-//!  assert_eq!(example_obj.dummy, 42);
-//! ```
-use crate::tmtc::TargetId;
-#[cfg(feature = "alloc")]
-use alloc::boxed::Box;
-#[cfg(feature = "alloc")]
-pub use alloc_mod::*;
-#[cfg(feature = "alloc")]
-use downcast_rs::Downcast;
-#[cfg(feature = "alloc")]
-use hashbrown::HashMap;
-#[cfg(feature = "std")]
-use std::error::Error;
-
-#[derive(PartialEq, Eq, Hash, Copy, Clone, Debug)]
-pub struct ObjectId {
-    pub id: TargetId,
-    pub name: &'static str,
-}
-
-#[cfg(feature = "alloc")]
-pub mod alloc_mod {
-    use super::*;
-
-    /// Each object which is stored inside the [object manager][ObjectManager] needs to implemented
-    /// this trait
-    pub trait SystemObject: Downcast {
-        type Error;
-        fn get_object_id(&self) -> &ObjectId;
-        fn initialize(&mut self) -> Result<(), Self::Error>;
-    }
-    downcast_rs::impl_downcast!(SystemObject assoc Error);
-
-    pub trait ManagedSystemObject: SystemObject + Send {}
-    downcast_rs::impl_downcast!(ManagedSystemObject assoc Error);
-
-    /// Helper module to manage multiple [ManagedSystemObjects][ManagedSystemObject] by mapping them
-    /// using an [object ID][ObjectId]
-    #[cfg(feature = "alloc")]
-    pub struct ObjectManager<E> {
-        obj_map: HashMap<ObjectId, Box<dyn ManagedSystemObject<Error = E>>>,
-    }
-
-    #[cfg(feature = "alloc")]
-    impl<E: 'static> Default for ObjectManager<E> {
-        fn default() -> Self {
-            Self::new()
-        }
-    }
-
-    #[cfg(feature = "alloc")]
-    impl<E: 'static> ObjectManager<E> {
-        pub fn new() -> Self {
-            ObjectManager {
-                obj_map: HashMap::new(),
-            }
-        }
-        pub fn insert(&mut self, sys_obj: Box<dyn ManagedSystemObject<Error = E>>) -> bool {
-            let obj_id = sys_obj.get_object_id();
-            if self.obj_map.contains_key(obj_id) {
-                return false;
-            }
-            self.obj_map.insert(*obj_id, sys_obj).is_none()
-        }
-
-        /// Initializes all System Objects in the hash map and returns the number of successful
-        /// initializations
-        pub fn initialize(&mut self) -> Result<u32, Box<dyn Error>> {
-            let mut init_success = 0;
-            for val in self.obj_map.values_mut() {
-                if val.initialize().is_ok() {
-                    init_success += 1
-                }
-            }
-            Ok(init_success)
-        }
-
-        /// Retrieve a reference to an object stored inside the manager. The type to retrieve needs to
-        /// be explicitly passed as a generic parameter or specified on the left hand side of the
-        /// expression.
-        pub fn get_ref<T: ManagedSystemObject<Error = E>>(&self, key: &ObjectId) -> Option<&T> {
-            self.obj_map.get(key).and_then(|o| o.downcast_ref::<T>())
-        }
-
-        /// Retrieve a mutable reference to an object stored inside the manager. The type to retrieve
-        /// needs to be explicitly passed as a generic parameter or specified on the left hand side
-        /// of the expression.
-        pub fn get_mut<T: ManagedSystemObject<Error = E>>(
-            &mut self,
-            key: &ObjectId,
-        ) -> Option<&mut T> {
-            self.obj_map
-                .get_mut(key)
-                .and_then(|o| o.downcast_mut::<T>())
-        }
-    }
-}
-
-#[cfg(test)]
-mod tests {
-    use crate::objects::{ManagedSystemObject, ObjectId, ObjectManager, SystemObject};
-    use std::boxed::Box;
-    use std::string::String;
-    use std::sync::{Arc, Mutex};
-    use std::thread;
-
-    struct ExampleSysObj {
-        id: ObjectId,
-        dummy: u32,
-        was_initialized: bool,
-    }
-
-    impl ExampleSysObj {
-        fn new(id: ObjectId, dummy: u32) -> ExampleSysObj {
-            ExampleSysObj {
-                id,
-                dummy,
-                was_initialized: false,
-            }
-        }
-    }
-
-    impl SystemObject for ExampleSysObj {
-        type Error = ();
-        fn get_object_id(&self) -> &ObjectId {
-            &self.id
-        }
-
-        fn initialize(&mut self) -> Result<(), Self::Error> {
-            self.was_initialized = true;
-            Ok(())
-        }
-    }
-
-    impl ManagedSystemObject for ExampleSysObj {}
-
-    struct OtherExampleObject {
-        id: ObjectId,
-        string: String,
-        was_initialized: bool,
-    }
-
-    impl SystemObject for OtherExampleObject {
-        type Error = ();
-        fn get_object_id(&self) -> &ObjectId {
-            &self.id
-        }
-
-        fn initialize(&mut self) -> Result<(), Self::Error> {
-            self.was_initialized = true;
-            Ok(())
-        }
-    }
-
-    impl ManagedSystemObject for OtherExampleObject {}
-
-    #[test]
-    fn test_obj_manager_simple() {
-        let mut obj_manager = ObjectManager::default();
-        let expl_obj_id = ObjectId {
-            id: 0,
-            name: "Example 0",
-        };
-        let example_obj = ExampleSysObj::new(expl_obj_id, 42);
-        assert!(obj_manager.insert(Box::new(example_obj)));
-        let res = obj_manager.initialize();
-        assert!(res.is_ok());
-        assert_eq!(res.unwrap(), 1);
-        let obj_back_casted: Option<&ExampleSysObj> = obj_manager.get_ref(&expl_obj_id);
-        assert!(obj_back_casted.is_some());
-        let expl_obj_back_casted = obj_back_casted.unwrap();
-        assert_eq!(expl_obj_back_casted.dummy, 42);
-        assert!(expl_obj_back_casted.was_initialized);
-
-        let second_obj_id = ObjectId {
-            id: 12,
-            name: "Example 1",
-        };
-        let second_example_obj = OtherExampleObject {
-            id: second_obj_id,
-            string: String::from("Hello Test"),
-            was_initialized: false,
-        };
-
-        assert!(obj_manager.insert(Box::new(second_example_obj)));
-        let res = obj_manager.initialize();
-        assert!(res.is_ok());
-        assert_eq!(res.unwrap(), 2);
-        let obj_back_casted: Option<&OtherExampleObject> = obj_manager.get_ref(&second_obj_id);
-        assert!(obj_back_casted.is_some());
-        let expl_obj_back_casted = obj_back_casted.unwrap();
-        assert_eq!(expl_obj_back_casted.string, String::from("Hello Test"));
-        assert!(expl_obj_back_casted.was_initialized);
-
-        let existing_obj_id = ObjectId {
-            id: 12,
-            name: "Example 1",
-        };
-        let invalid_obj = OtherExampleObject {
-            id: existing_obj_id,
-            string: String::from("Hello Test"),
-            was_initialized: false,
-        };
-
-        assert!(!obj_manager.insert(Box::new(invalid_obj)));
-    }
-
-    #[test]
-    fn object_man_threaded() {
-        let obj_manager = Arc::new(Mutex::new(ObjectManager::new()));
-        let expl_obj_id = ObjectId {
-            id: 0,
-            name: "Example 0",
-        };
-        let example_obj = ExampleSysObj::new(expl_obj_id, 42);
-        let second_obj_id = ObjectId {
-            id: 12,
-            name: "Example 1",
-        };
-        let second_example_obj = OtherExampleObject {
-            id: second_obj_id,
-            string: String::from("Hello Test"),
-            was_initialized: false,
-        };
-
-        let mut obj_man_handle = obj_manager.lock().expect("Mutex lock failed");
-        assert!(obj_man_handle.insert(Box::new(example_obj)));
-        assert!(obj_man_handle.insert(Box::new(second_example_obj)));
-        let res = obj_man_handle.initialize();
-        std::mem::drop(obj_man_handle);
-        assert!(res.is_ok());
-        assert_eq!(res.unwrap(), 2);
-        let obj_man_0 = obj_manager.clone();
-        let jh0 = thread::spawn(move || {
-            let locked_man = obj_man_0.lock().expect("Mutex lock failed");
-            let obj_back_casted: Option<&ExampleSysObj> = locked_man.get_ref(&expl_obj_id);
-            assert!(obj_back_casted.is_some());
-            let expl_obj_back_casted = obj_back_casted.unwrap();
-            assert_eq!(expl_obj_back_casted.dummy, 42);
-            assert!(expl_obj_back_casted.was_initialized);
-            std::mem::drop(locked_man)
-        });
-
-        let jh1 = thread::spawn(move || {
-            let locked_man = obj_manager.lock().expect("Mutex lock failed");
-            let obj_back_casted: Option<&OtherExampleObject> = locked_man.get_ref(&second_obj_id);
-            assert!(obj_back_casted.is_some());
-            let expl_obj_back_casted = obj_back_casted.unwrap();
-            assert_eq!(expl_obj_back_casted.string, String::from("Hello Test"));
-            assert!(expl_obj_back_casted.was_initialized);
-            std::mem::drop(locked_man)
-        });
-        jh0.join().expect("Joining thread 0 failed");
-        jh1.join().expect("Joining thread 1 failed");
-    }
-}

satrs-core/src/params.rs

@@ -1,679 +0,0 @@
-//! Parameter types and enums.
-//!
-//! This module contains various helper types.
-//!
-//! # Primtive Parameter Wrappers and Enumeration
-//!
-//! This module includes wrapper for primitive rust types using the newtype pattern.
-//! This was also done for pairs and triplets of these primitive types.
-//! The [WritableToBeBytes] was implemented for all those types as well, which allows to easily
-//! convert them into a network friendly raw byte format. The [ParamsRaw] enumeration groups
-//! all newtypes and implements the [WritableToBeBytes] trait itself.
-//!
-//! ## Example for primitive type wrapper
-//!
-//! ```
-//! use satrs_core::params::{ParamsRaw, ToBeBytes, U32Pair, WritableToBeBytes};
-//!
-//! let u32_pair = U32Pair(0x1010, 25);
-//! assert_eq!(u32_pair.0, 0x1010);
-//! assert_eq!(u32_pair.1, 25);
-//! // Convert to raw stream
-//! let raw_buf = u32_pair.to_be_bytes();
-//! assert_eq!(raw_buf, [0, 0, 0x10, 0x10, 0, 0, 0, 25]);
-//!
-//! // Convert to enum variant
-//! let params_raw: ParamsRaw = u32_pair.into();
-//! assert_eq!(params_raw, (0x1010_u32, 25_u32).into());
-//!
-//! // Convert to stream using the enum variant
-//! let mut other_raw_buf: [u8; 8] = [0; 8];
-//! params_raw.write_to_be_bytes(&mut other_raw_buf).expect("Writing parameter to buffer failed");
-//! assert_eq!(other_raw_buf, [0, 0, 0x10, 0x10, 0, 0, 0, 25]);
-//!
-//! // Create a pair from a raw stream
-//! let u32_pair_from_stream: U32Pair = raw_buf.as_slice().try_into().unwrap();
-//! assert_eq!(u32_pair_from_stream.0, 0x1010);
-//! assert_eq!(u32_pair_from_stream.1, 25);
-//! ```
-//!
-//! # Generic Parameter Enumeration
-//!
-//! The module also contains generic parameter enumerations.
-//! This includes the [ParamsHeapless] enumeration for contained values which do not require heap
-//! allocation, and the [Params] which enumerates [ParamsHeapless] and some additional types which
-//! require [alloc] support but allow for more flexbility.
-#[cfg(feature = "alloc")]
-use crate::pool::StoreAddr;
-#[cfg(feature = "alloc")]
-use alloc::string::{String, ToString};
-#[cfg(feature = "alloc")]
-use alloc::vec::Vec;
-use core::fmt::Debug;
-use core::mem::size_of;
-use paste::paste;
-use spacepackets::ecss::{EcssEnumU16, EcssEnumU32, EcssEnumU64, EcssEnumU8};
-use spacepackets::util::UnsignedEnum;
-use spacepackets::ByteConversionError;
-
-#[cfg(feature = "alloc")]
-pub use alloc_mod::*;
-pub use spacepackets::util::ToBeBytes;
-
-/// Generic trait which is used for objects which can be converted into a raw network (big) endian
-/// byte format.
-pub trait WritableToBeBytes {
-    fn raw_len(&self) -> usize;
-    /// Writes the object to a raw buffer in network endianness (big)
-    fn write_to_be_bytes(&self, buf: &mut [u8]) -> Result<usize, ByteConversionError>;
-}
-
-macro_rules! param_to_be_bytes_impl {
-    ($Newtype: ident) => {
-        impl WritableToBeBytes for $Newtype {
-            #[inline]
-            fn raw_len(&self) -> usize {
-                size_of::<<Self as ToBeBytes>::ByteArray>()
-            }
-
-            fn write_to_be_bytes(&self, buf: &mut [u8]) -> Result<usize, ByteConversionError> {
-                let raw_len = self.raw_len();
-                if buf.len() < raw_len {
-                    return Err(ByteConversionError::ToSliceTooSmall {
-                        found: buf.len(),
-                        expected: raw_len,
-                    });
-                }
-                buf[0..raw_len].copy_from_slice(&self.to_be_bytes());
-                Ok(raw_len)
-            }
-        }
-    };
-}
-
-macro_rules! primitive_newtypes_with_eq {
-    ($($ty: ty,)+) => {
-        $(
-            paste! {
-                #[derive(Debug, Copy, Clone, PartialEq, Eq)]
-                pub struct [<$ty:upper>](pub $ty);
-                #[derive(Debug, Copy, Clone, PartialEq, Eq)]
-                pub struct [<$ty:upper Pair>](pub $ty, pub $ty);
-                #[derive(Debug, Copy, Clone, PartialEq, Eq)]
-                pub struct [<$ty:upper Triplet>](pub $ty, pub $ty, pub $ty);
-
-                param_to_be_bytes_impl!([<$ty:upper>]);
-                param_to_be_bytes_impl!([<$ty:upper Pair>]);
-                param_to_be_bytes_impl!([<$ty:upper Triplet>]);
-
-                impl From<$ty> for [<$ty:upper>] {
-                    fn from(v: $ty) -> Self {
-                        Self(v)
-                    }
-                }
-                impl From<($ty, $ty)> for [<$ty:upper Pair>] {
-                    fn from(v: ($ty, $ty)) -> Self {
-                        Self(v.0, v.1)
-                    }
-                }
-                impl From<($ty, $ty, $ty)> for [<$ty:upper Triplet>] {
-                    fn from(v: ($ty, $ty, $ty)) -> Self {
-                        Self(v.0, v.1, v.2)
-                    }
-                }
-            }
-        )+
-    }
-}
-
-macro_rules! primitive_newtypes {
-    ($($ty: ty,)+) => {
-        $(
-            paste! {
-                #[derive(Debug, Copy, Clone, PartialEq)]
-                pub struct [<$ty:upper>](pub $ty);
-                #[derive(Debug, Copy, Clone, PartialEq)]
-                pub struct [<$ty:upper Pair>](pub $ty, pub $ty);
-                #[derive(Debug, Copy, Clone, PartialEq)]
-                pub struct [<$ty:upper Triplet>](pub $ty, pub $ty, pub $ty);
-
-                param_to_be_bytes_impl!([<$ty:upper>]);
-                param_to_be_bytes_impl!([<$ty:upper Pair>]);
-                param_to_be_bytes_impl!([<$ty:upper Triplet>]);
-
-                impl From<$ty> for [<$ty:upper>] {
-                    fn from(v: $ty) -> Self {
-                        Self(v)
-                    }
-                }
-                impl From<($ty, $ty)> for [<$ty:upper Pair>] {
-                    fn from(v: ($ty, $ty)) -> Self {
-                        Self(v.0, v.1)
-                    }
-                }
-                impl From<($ty, $ty, $ty)> for [<$ty:upper Triplet>] {
-                    fn from(v: ($ty, $ty, $ty)) -> Self {
-                        Self(v.0, v.1, v.2)
-                    }
-                }
-            }
-        )+
-    }
-}
-
-primitive_newtypes_with_eq!(u8, u16, u32, u64, i8, i16, i32, i64,);
-primitive_newtypes!(f32, f64,);
-
-macro_rules! scalar_byte_conversions_impl {
-    ($($ty: ty,)+) => {
-        $(
-            paste! {
-                impl ToBeBytes for [<$ty:upper>] {
-                    type ByteArray = [u8; size_of::<$ty>()];
-
-                    fn written_len(&self) -> usize {
-                        size_of::<Self::ByteArray>()
-                    }
-
-                    fn to_be_bytes(&self) -> Self::ByteArray {
-                        self.0.to_be_bytes()
-                    }
-                }
-
-                impl TryFrom<&[u8]> for [<$ty:upper>] {
-                    type Error = ByteConversionError;
-
-                    fn try_from(v: &[u8]) -> Result<Self, Self::Error>  {
-                        if v.len() < size_of::<$ty>() {
-                            return Err(ByteConversionError::FromSliceTooSmall{
-                                expected: size_of::<$ty>(),
-                                found: v.len()
-                            });
-                        }
-                        Ok([<$ty:upper>]($ty::from_be_bytes(v[0..size_of::<$ty>()].try_into().unwrap())))
-                    }
-                }
-            }
-        )+
-    }
-}
-
-macro_rules! pair_byte_conversions_impl {
-    ($($ty: ty,)+) => {
-        $(
-            paste! {
-                impl ToBeBytes for [<$ty:upper Pair>] {
-                    type ByteArray = [u8; size_of::<$ty>() * 2];
-
-                    fn written_len(&self) -> usize {
-                        size_of::<Self::ByteArray>()
-                    }
-
-                    fn to_be_bytes(&self) -> Self::ByteArray {
-                        let mut array = [0; size_of::<$ty>() * 2];
-                        array[0..size_of::<$ty>()].copy_from_slice(&self.0.to_be_bytes());
-                        array[
-                            size_of::<$ty>()..2 * size_of::<$ty>()
-                        ].copy_from_slice(&self.1.to_be_bytes());
-                        array
-                    }
-                }
-
-                impl TryFrom<&[u8]> for [<$ty:upper Pair>] {
-                    type Error = ByteConversionError;
-
-                    fn try_from(v: &[u8]) -> Result<Self, Self::Error>  {
-                        if v.len() < 2 * size_of::<$ty>() {
-                            return Err(ByteConversionError::FromSliceTooSmall{
-                                expected: 2 * size_of::<$ty>(),
-                                found: v.len()
-                            });
-                        }
-                        Ok([<$ty:upper Pair>](
-                            $ty::from_be_bytes(v[0..size_of::<$ty>()].try_into().unwrap()),
-                            $ty::from_be_bytes(v[size_of::<$ty>()..2 * size_of::<$ty>()].try_into().unwrap())
-                        ))
-                    }
-                }
-            }
-        )+
-    }
-}
-
-macro_rules! triplet_to_be_bytes_impl {
-    ($($ty: ty,)+) => {
-        $(
-            paste! {
-                impl ToBeBytes for [<$ty:upper Triplet>] {
-                    type ByteArray = [u8; size_of::<$ty>() * 3];
-
-                    fn written_len(&self) -> usize {
-                        size_of::<Self::ByteArray>()
-                    }
-
-                    fn to_be_bytes(&self) -> Self::ByteArray {
-                        let mut array = [0; size_of::<$ty>() * 3];
-                        array[0..size_of::<$ty>()].copy_from_slice(&self.0.to_be_bytes());
-                        array[
-                            size_of::<$ty>()..2 * size_of::<$ty>()
-                        ].copy_from_slice(&self.1.to_be_bytes());
-                        array[
-                            2 * size_of::<$ty>()..3 * size_of::<$ty>()
-                        ].copy_from_slice(&self.2.to_be_bytes());
-                        array
-                    }
-                }
-                impl TryFrom<&[u8]> for [<$ty:upper Triplet>] {
-                    type Error = ByteConversionError;
-
-                    fn try_from(v: &[u8]) -> Result<Self, Self::Error>  {
-                        if v.len() < 3 * size_of::<$ty>() {
-                            return Err(ByteConversionError::FromSliceTooSmall{
-                                expected: 3 * size_of::<$ty>(),
-                                found: v.len()
-                            });
-                        }
-                        Ok([<$ty:upper Triplet>](
-                            $ty::from_be_bytes(v[0..size_of::<$ty>()].try_into().unwrap()),
-                            $ty::from_be_bytes(v[size_of::<$ty>()..2 * size_of::<$ty>()].try_into().unwrap()),
-                            $ty::from_be_bytes(v[2 * size_of::<$ty>()..3 * size_of::<$ty>()].try_into().unwrap())
-                        ))
-                    }
-                }
-            }
-        )+
-    }
-}
-
-scalar_byte_conversions_impl!(u8, u16, u32, u64, i8, i16, i32, i64, f32, f64,);
-
-impl ToBeBytes for U8Pair {
-    type ByteArray = [u8; 2];
-
-    fn written_len(&self) -> usize {
-        size_of::<Self::ByteArray>()
-    }
-
-    fn to_be_bytes(&self) -> Self::ByteArray {
-        let mut array = [0; 2];
-        array[0] = self.0;
-        array[1] = self.1;
-        array
-    }
-}
-
-impl ToBeBytes for I8Pair {
-    type ByteArray = [u8; 2];
-
-    fn written_len(&self) -> usize {
-        size_of::<Self::ByteArray>()
-    }
-
-    fn to_be_bytes(&self) -> Self::ByteArray {
-        let mut array = [0; 2];
-        array[0] = self.0 as u8;
-        array[1] = self.1 as u8;
-        array
-    }
-}
-
-impl ToBeBytes for U8Triplet {
-    type ByteArray = [u8; 3];
-
-    fn written_len(&self) -> usize {
-        size_of::<Self::ByteArray>()
-    }
-
-    fn to_be_bytes(&self) -> Self::ByteArray {
-        let mut array = [0; 3];
-        array[0] = self.0;
-        array[1] = self.1;
-        array[2] = self.2;
-        array
-    }
-}
-
-impl ToBeBytes for I8Triplet {
-    type ByteArray = [u8; 3];
-
-    fn written_len(&self) -> usize {
-        size_of::<Self::ByteArray>()
-    }
-
-    fn to_be_bytes(&self) -> Self::ByteArray {
-        let mut array = [0; 3];
-        array[0] = self.0 as u8;
-        array[1] = self.1 as u8;
-        array[2] = self.2 as u8;
-        array
-    }
-}
-
-pair_byte_conversions_impl!(u16, u32, u64, i16, i32, i64, f32, f64,);
-triplet_to_be_bytes_impl!(u16, u32, u64, i16, i32, i64, f32, f64,);
-
-/// Generic enumeration for additonal parameters only consisting of primitive data types.
-///
-/// All contained variants and the enum itself implement the [WritableToBeBytes] trait, which
-/// allows to easily convert them into a network-friendly format.
-#[derive(Debug, Copy, Clone, PartialEq)]
-pub enum ParamsRaw {
-    U8(U8),
-    U8Pair(U8Pair),
-    U8Triplet(U8Triplet),
-    I8(I8),
-    I8Pair(I8Pair),
-    I8Triplet(I8Triplet),
-    U16(U16),
-    U16Pair(U16Pair),
-    U16Triplet(U16Triplet),
-    I16(I16),
-    I16Pair(I16Pair),
-    I16Triplet(I16Triplet),
-    U32(U32),
-    U32Pair(U32Pair),
-    U32Triplet(U32Triplet),
-    I32(I32),
-    I32Pair(I32Pair),
-    I32Triplet(I32Triplet),
-    F32(F32),
-    F32Pair(F32Pair),
-    F32Triplet(F32Triplet),
-    U64(U64),
-    I64(I64),
-    F64(F64),
-}
-
-impl WritableToBeBytes for ParamsRaw {
-    fn raw_len(&self) -> usize {
-        match self {
-            ParamsRaw::U8(v) => v.raw_len(),
-            ParamsRaw::U8Pair(v) => v.raw_len(),
-            ParamsRaw::U8Triplet(v) => v.raw_len(),
-            ParamsRaw::I8(v) => v.raw_len(),
-            ParamsRaw::I8Pair(v) => v.raw_len(),
-            ParamsRaw::I8Triplet(v) => v.raw_len(),
-            ParamsRaw::U16(v) => v.raw_len(),
-            ParamsRaw::U16Pair(v) => v.raw_len(),
-            ParamsRaw::U16Triplet(v) => v.raw_len(),
-            ParamsRaw::I16(v) => v.raw_len(),
-            ParamsRaw::I16Pair(v) => v.raw_len(),
-            ParamsRaw::I16Triplet(v) => v.raw_len(),
-            ParamsRaw::U32(v) => v.raw_len(),
-            ParamsRaw::U32Pair(v) => v.raw_len(),
-            ParamsRaw::U32Triplet(v) => v.raw_len(),
-            ParamsRaw::I32(v) => v.raw_len(),
-            ParamsRaw::I32Pair(v) => v.raw_len(),
-            ParamsRaw::I32Triplet(v) => v.raw_len(),
-            ParamsRaw::F32(v) => v.raw_len(),
-            ParamsRaw::F32Pair(v) => v.raw_len(),
-            ParamsRaw::F32Triplet(v) => v.raw_len(),
-            ParamsRaw::U64(v) => v.raw_len(),
-            ParamsRaw::I64(v) => v.raw_len(),
-            ParamsRaw::F64(v) => v.raw_len(),
-        }
-    }
-
-    fn write_to_be_bytes(&self, buf: &mut [u8]) -> Result<usize, ByteConversionError> {
-        match self {
-            ParamsRaw::U8(v) => v.write_to_be_bytes(buf),
-            ParamsRaw::U8Pair(v) => v.write_to_be_bytes(buf),
-            ParamsRaw::U8Triplet(v) => v.write_to_be_bytes(buf),
-            ParamsRaw::I8(v) => v.write_to_be_bytes(buf),
-            ParamsRaw::I8Pair(v) => v.write_to_be_bytes(buf),
-            ParamsRaw::I8Triplet(v) => v.write_to_be_bytes(buf),
-            ParamsRaw::U16(v) => v.write_to_be_bytes(buf),
-            ParamsRaw::U16Pair(v) => v.write_to_be_bytes(buf),
-            ParamsRaw::U16Triplet(v) => v.write_to_be_bytes(buf),
-            ParamsRaw::I16(v) => v.write_to_be_bytes(buf),
-            ParamsRaw::I16Pair(v) => v.write_to_be_bytes(buf),
-            ParamsRaw::I16Triplet(v) => v.write_to_be_bytes(buf),
-            ParamsRaw::U32(v) => v.write_to_be_bytes(buf),
-            ParamsRaw::U32Pair(v) => v.write_to_be_bytes(buf),
-            ParamsRaw::U32Triplet(v) => v.write_to_be_bytes(buf),
-            ParamsRaw::I32(v) => v.write_to_be_bytes(buf),
-            ParamsRaw::I32Pair(v) => v.write_to_be_bytes(buf),
-            ParamsRaw::I32Triplet(v) => v.write_to_be_bytes(buf),
-            ParamsRaw::F32(v) => v.write_to_be_bytes(buf),
-            ParamsRaw::F32Pair(v) => v.write_to_be_bytes(buf),
-            ParamsRaw::F32Triplet(v) => v.write_to_be_bytes(buf),
-            ParamsRaw::U64(v) => v.write_to_be_bytes(buf),
-            ParamsRaw::I64(v) => v.write_to_be_bytes(buf),
-            ParamsRaw::F64(v) => v.write_to_be_bytes(buf),
-        }
-    }
-}
-
-macro_rules! params_raw_from_newtype {
-    ($($newtype: ident,)+) => {
-        $(
-            impl From<$newtype> for ParamsRaw {
-                fn from(v: $newtype) -> Self {
-                    Self::$newtype(v)
-                }
-            }
-        )+
-    }
-}
-
-params_raw_from_newtype!(
-    U8, U8Pair, U8Triplet, U16, U16Pair, U16Triplet, U32, U32Pair, U32Triplet, I8, I8Pair,
-    I8Triplet, I16, I16Pair, I16Triplet, I32, I32Pair, I32Triplet, F32, F32Pair, F32Triplet, U64,
-    I64, F64,
-);
-
-#[derive(Debug, Copy, Clone, PartialEq, Eq)]
-pub enum EcssEnumParams {
-    U8(EcssEnumU8),
-    U16(EcssEnumU16),
-    U32(EcssEnumU32),
-    U64(EcssEnumU64),
-}
-
-macro_rules! writable_as_be_bytes_ecss_enum_impl {
-    ($EnumIdent: ident) => {
-        impl WritableToBeBytes for $EnumIdent {
-            fn raw_len(&self) -> usize {
-                self.size()
-            }
-
-            fn write_to_be_bytes(&self, buf: &mut [u8]) -> Result<usize, ByteConversionError> {
-                <Self as UnsignedEnum>::write_to_be_bytes(self, buf).map(|_| self.raw_len())
-            }
-        }
-    };
-}
-
-writable_as_be_bytes_ecss_enum_impl!(EcssEnumU8);
-writable_as_be_bytes_ecss_enum_impl!(EcssEnumU16);
-writable_as_be_bytes_ecss_enum_impl!(EcssEnumU32);
-writable_as_be_bytes_ecss_enum_impl!(EcssEnumU64);
-
-impl WritableToBeBytes for EcssEnumParams {
-    fn raw_len(&self) -> usize {
-        match self {
-            EcssEnumParams::U8(e) => e.raw_len(),
-            EcssEnumParams::U16(e) => e.raw_len(),
-            EcssEnumParams::U32(e) => e.raw_len(),
-            EcssEnumParams::U64(e) => e.raw_len(),
-        }
-    }
-
-    fn write_to_be_bytes(&self, buf: &mut [u8]) -> Result<usize, ByteConversionError> {
-        match self {
-            EcssEnumParams::U8(e) => WritableToBeBytes::write_to_be_bytes(e, buf),
-            EcssEnumParams::U16(e) => WritableToBeBytes::write_to_be_bytes(e, buf),
-            EcssEnumParams::U32(e) => WritableToBeBytes::write_to_be_bytes(e, buf),
-            EcssEnumParams::U64(e) => WritableToBeBytes::write_to_be_bytes(e, buf),
-        }
-    }
-}
-
-/// Generic enumeration for parameters which do not rely on heap allocations.
-#[derive(Debug, Copy, Clone, PartialEq)]
-pub enum ParamsHeapless {
-    Raw(ParamsRaw),
-    EcssEnum(EcssEnumParams),
-}
-
-macro_rules! from_conversions_for_raw {
-    ($(($raw_ty: ty, $TargetPath: path),)+) => {
-        $(
-            impl From<$raw_ty> for ParamsRaw {
-                fn from(val: $raw_ty) -> Self {
-                    $TargetPath(val.into())
-                }
-            }
-
-            impl From<$raw_ty> for ParamsHeapless {
-                fn from(val: $raw_ty) -> Self {
-                    ParamsHeapless::Raw(val.into())
-                }
-            }
-        )+
-    };
-}
-
-from_conversions_for_raw!(
-    (u8, Self::U8),
-    ((u8, u8), Self::U8Pair),
-    ((u8, u8, u8), Self::U8Triplet),
-    (i8, Self::I8),
-    ((i8, i8), Self::I8Pair),
-    ((i8, i8, i8), Self::I8Triplet),
-    (u16, Self::U16),
-    ((u16, u16), Self::U16Pair),
-    ((u16, u16, u16), Self::U16Triplet),
-    (i16, Self::I16),
-    ((i16, i16), Self::I16Pair),
-    ((i16, i16, i16), Self::I16Triplet),
-    (u32, Self::U32),
-    ((u32, u32), Self::U32Pair),
-    ((u32, u32, u32), Self::U32Triplet),
-    (i32, Self::I32),
-    ((i32, i32), Self::I32Pair),
-    ((i32, i32, i32), Self::I32Triplet),
-    (f32, Self::F32),
-    ((f32, f32), Self::F32Pair),
-    ((f32, f32, f32), Self::F32Triplet),
-    (u64, Self::U64),
-    (f64, Self::F64),
-);
-
-#[cfg(feature = "alloc")]
-mod alloc_mod {
-    use super::*;
-    /// Generic enumeration for additional parameters, including parameters which rely on heap
-    /// allocations.
-    #[cfg_attr(doc_cfg, doc(cfg(feature = "alloc")))]
-    #[derive(Debug, Clone)]
-    pub enum Params {
-        Heapless(ParamsHeapless),
-        Store(StoreAddr),
-        Vec(Vec<u8>),
-        String(String),
-    }
-
-    impl From<StoreAddr> for Params {
-        fn from(x: StoreAddr) -> Self {
-            Self::Store(x)
-        }
-    }
-
-    impl From<ParamsHeapless> for Params {
-        fn from(x: ParamsHeapless) -> Self {
-            Self::Heapless(x)
-        }
-    }
-
-    impl From<Vec<u8>> for Params {
-        fn from(val: Vec<u8>) -> Self {
-            Self::Vec(val)
-        }
-    }
-
-    /// Converts a byte slice into the [Params::Vec] variant
-    impl From<&[u8]> for Params {
-        fn from(val: &[u8]) -> Self {
-            Self::Vec(val.to_vec())
-        }
-    }
-
-    impl From<String> for Params {
-        fn from(val: String) -> Self {
-            Self::String(val)
-        }
-    }
-
-    /// Converts a string slice into the [Params::String] variant
-    impl From<&str> for Params {
-        fn from(val: &str) -> Self {
-            Self::String(val.to_string())
-        }
-    }
-}
-
-#[cfg(test)]
-mod tests {
-    use super::*;
-
-    #[test]
-    fn test_basic_u32_pair() {
-        let u32_pair = U32Pair(4, 8);
-        assert_eq!(u32_pair.0, 4);
-        assert_eq!(u32_pair.1, 8);
-        let raw = u32_pair.to_be_bytes();
-        let mut u32_conv_back = u32::from_be_bytes(raw[0..4].try_into().unwrap());
-        assert_eq!(u32_conv_back, 4);
-        u32_conv_back = u32::from_be_bytes(raw[4..8].try_into().unwrap());
-        assert_eq!(u32_conv_back, 8);
-    }
-
-    #[test]
-    fn basic_signed_test_pair() {
-        let i8_pair = I8Pair(-3, -16);
-        assert_eq!(i8_pair.0, -3);
-        assert_eq!(i8_pair.1, -16);
-        let raw = i8_pair.to_be_bytes();
-        let mut i8_conv_back = i8::from_be_bytes(raw[0..1].try_into().unwrap());
-        assert_eq!(i8_conv_back, -3);
-        i8_conv_back = i8::from_be_bytes(raw[1..2].try_into().unwrap());
-        assert_eq!(i8_conv_back, -16);
-    }
-
-    #[test]
-    fn basic_signed_test_triplet() {
-        let i8_triplet = I8Triplet(-3, -16, -126);
-        assert_eq!(i8_triplet.0, -3);
-        assert_eq!(i8_triplet.1, -16);
-        assert_eq!(i8_triplet.2, -126);
-        let raw = i8_triplet.to_be_bytes();
-        let mut i8_conv_back = i8::from_be_bytes(raw[0..1].try_into().unwrap());
-        assert_eq!(i8_conv_back, -3);
-        i8_conv_back = i8::from_be_bytes(raw[1..2].try_into().unwrap());
-        assert_eq!(i8_conv_back, -16);
-        i8_conv_back = i8::from_be_bytes(raw[2..3].try_into().unwrap());
-        assert_eq!(i8_conv_back, -126);
-    }
-
-    #[test]
-    fn conversion_test_string() {
-        let param: Params = "Test String".into();
-        if let Params::String(str) = param {
-            assert_eq!(str, String::from("Test String"));
-        } else {
-            panic!("Params type is not String")
-        }
-    }
-
-    #[test]
-    fn conversion_from_slice() {
-        let test_slice: [u8; 5] = [0; 5];
-        let vec_param: Params = test_slice.as_slice().into();
-        if let Params::Vec(vec) = vec_param {
-            assert_eq!(vec, test_slice.to_vec());
-        } else {
-            panic!("Params type is not a vector")
-        }
-    }
-}

satrs-core/src/pus/event.rs

@@ -1,449 +0,0 @@
-use crate::pus::{source_buffer_large_enough, EcssTmtcError};
-use spacepackets::ecss::tm::PusTmCreator;
-use spacepackets::ecss::tm::PusTmSecondaryHeader;
-use spacepackets::ecss::{EcssEnumeration, PusError};
-use spacepackets::{SpHeader, MAX_APID};
-
-use crate::pus::EcssTmSenderCore;
-#[cfg(feature = "alloc")]
-pub use alloc_mod::EventReporter;
-pub use spacepackets::ecss::event::*;
-
-pub struct EventReporterBase {
-    msg_count: u16,
-    apid: u16,
-    pub dest_id: u16,
-}
-
-impl EventReporterBase {
-    pub fn new(apid: u16) -> Option<Self> {
-        if apid > MAX_APID {
-            return None;
-        }
-        Some(Self {
-            msg_count: 0,
-            dest_id: 0,
-            apid,
-        })
-    }
-
-    pub fn event_info(
-        &mut self,
-        buf: &mut [u8],
-        sender: &mut (impl EcssTmSenderCore + ?Sized),
-        time_stamp: &[u8],
-        event_id: impl EcssEnumeration,
-        aux_data: Option<&[u8]>,
-    ) -> Result<(), EcssTmtcError> {
-        self.generate_and_send_generic_tm(
-            buf,
-            Subservice::TmInfoReport,
-            sender,
-            time_stamp,
-            event_id,
-            aux_data,
-        )
-    }
-
-    pub fn event_low_severity(
-        &mut self,
-        buf: &mut [u8],
-        sender: &mut (impl EcssTmSenderCore + ?Sized),
-        time_stamp: &[u8],
-        event_id: impl EcssEnumeration,
-        aux_data: Option<&[u8]>,
-    ) -> Result<(), EcssTmtcError> {
-        self.generate_and_send_generic_tm(
-            buf,
-            Subservice::TmLowSeverityReport,
-            sender,
-            time_stamp,
-            event_id,
-            aux_data,
-        )
-    }
-
-    pub fn event_medium_severity(
-        &mut self,
-        buf: &mut [u8],
-        sender: &mut (impl EcssTmSenderCore + ?Sized),
-        time_stamp: &[u8],
-        event_id: impl EcssEnumeration,
-        aux_data: Option<&[u8]>,
-    ) -> Result<(), EcssTmtcError> {
-        self.generate_and_send_generic_tm(
-            buf,
-            Subservice::TmMediumSeverityReport,
-            sender,
-            time_stamp,
-            event_id,
-            aux_data,
-        )
-    }
-
-    pub fn event_high_severity(
-        &mut self,
-        buf: &mut [u8],
-        sender: &mut (impl EcssTmSenderCore + ?Sized),
-        time_stamp: &[u8],
-        event_id: impl EcssEnumeration,
-        aux_data: Option<&[u8]>,
-    ) -> Result<(), EcssTmtcError> {
-        self.generate_and_send_generic_tm(
-            buf,
-            Subservice::TmHighSeverityReport,
-            sender,
-            time_stamp,
-            event_id,
-            aux_data,
-        )
-    }
-
-    fn generate_and_send_generic_tm(
-        &mut self,
-        buf: &mut [u8],
-        subservice: Subservice,
-        sender: &mut (impl EcssTmSenderCore + ?Sized),
-        time_stamp: &[u8],
-        event_id: impl EcssEnumeration,
-        aux_data: Option<&[u8]>,
-    ) -> 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;
-        Ok(())
-    }
-
-    fn generate_generic_event_tm<'a>(
-        &'a self,
-        buf: &'a mut [u8],
-        subservice: Subservice,
-        time_stamp: &'a [u8],
-        event_id: impl EcssEnumeration,
-        aux_data: Option<&[u8]>,
-    ) -> Result<PusTmCreator, EcssTmtcError> {
-        let mut src_data_len = event_id.size();
-        if let Some(aux_data) = aux_data {
-            src_data_len += aux_data.len();
-        }
-        source_buffer_large_enough(buf.len(), src_data_len)?;
-        let mut sp_header = SpHeader::tm_unseg(self.apid, 0, 0).unwrap();
-        let sec_header = PusTmSecondaryHeader::new(
-            5,
-            subservice.into(),
-            self.msg_count,
-            self.dest_id,
-            Some(time_stamp),
-        );
-        let mut current_idx = 0;
-        event_id
-            .write_to_be_bytes(&mut buf[0..event_id.size()])
-            .map_err(PusError::ByteConversion)?;
-        current_idx += event_id.size();
-        if let Some(aux_data) = aux_data {
-            buf[current_idx..current_idx + aux_data.len()].copy_from_slice(aux_data);
-            current_idx += aux_data.len();
-        }
-        Ok(PusTmCreator::new(
-            &mut sp_header,
-            sec_header,
-            &buf[0..current_idx],
-            true,
-        ))
-    }
-}
-
-#[cfg(feature = "alloc")]
-mod alloc_mod {
-    use super::*;
-    use alloc::vec;
-    use alloc::vec::Vec;
-
-    pub struct EventReporter {
-        source_data_buf: Vec<u8>,
-        pub reporter: EventReporterBase,
-    }
-
-    impl EventReporter {
-        pub fn new(apid: u16, max_event_id_and_aux_data_size: usize) -> Option<Self> {
-            let reporter = EventReporterBase::new(apid)?;
-            Some(Self {
-                source_data_buf: vec![0; max_event_id_and_aux_data_size],
-                reporter,
-            })
-        }
-        pub fn event_info(
-            &mut self,
-            sender: &mut (impl EcssTmSenderCore + ?Sized),
-            time_stamp: &[u8],
-            event_id: impl EcssEnumeration,
-            aux_data: Option<&[u8]>,
-        ) -> Result<(), EcssTmtcError> {
-            self.reporter.event_info(
-                self.source_data_buf.as_mut_slice(),
-                sender,
-                time_stamp,
-                event_id,
-                aux_data,
-            )
-        }
-
-        pub fn event_low_severity(
-            &mut self,
-            sender: &mut (impl EcssTmSenderCore + ?Sized),
-            time_stamp: &[u8],
-            event_id: impl EcssEnumeration,
-            aux_data: Option<&[u8]>,
-        ) -> Result<(), EcssTmtcError> {
-            self.reporter.event_low_severity(
-                self.source_data_buf.as_mut_slice(),
-                sender,
-                time_stamp,
-                event_id,
-                aux_data,
-            )
-        }
-
-        pub fn event_medium_severity(
-            &mut self,
-            sender: &mut (impl EcssTmSenderCore + ?Sized),
-            time_stamp: &[u8],
-            event_id: impl EcssEnumeration,
-            aux_data: Option<&[u8]>,
-        ) -> Result<(), EcssTmtcError> {
-            self.reporter.event_medium_severity(
-                self.source_data_buf.as_mut_slice(),
-                sender,
-                time_stamp,
-                event_id,
-                aux_data,
-            )
-        }
-
-        pub fn event_high_severity(
-            &mut self,
-            sender: &mut (impl EcssTmSenderCore + ?Sized),
-            time_stamp: &[u8],
-            event_id: impl EcssEnumeration,
-            aux_data: Option<&[u8]>,
-        ) -> Result<(), EcssTmtcError> {
-            self.reporter.event_high_severity(
-                self.source_data_buf.as_mut_slice(),
-                sender,
-                time_stamp,
-                event_id,
-                aux_data,
-            )
-        }
-    }
-}
-
-#[cfg(test)]
-mod tests {
-    use super::*;
-    use crate::events::{EventU32, Severity};
-    use crate::pus::tests::CommonTmInfo;
-    use crate::pus::{EcssChannel, PusTmWrapper};
-    use crate::ChannelId;
-    use spacepackets::ByteConversionError;
-    use std::cell::RefCell;
-    use std::collections::VecDeque;
-    use std::vec::Vec;
-
-    const EXAMPLE_APID: u16 = 0xee;
-    const EXAMPLE_GROUP_ID: u16 = 2;
-    const EXAMPLE_EVENT_ID_0: u16 = 1;
-    #[allow(dead_code)]
-    const EXAMPLE_EVENT_ID_1: u16 = 2;
-
-    #[derive(Debug, Eq, PartialEq, Clone)]
-    struct TmInfo {
-        pub common: CommonTmInfo,
-        pub event: EventU32,
-        pub aux_data: Vec<u8>,
-    }
-
-    #[derive(Default, Clone)]
-    struct TestSender {
-        pub service_queue: RefCell<VecDeque<TmInfo>>,
-    }
-
-    impl EcssChannel for TestSender {
-        fn id(&self) -> ChannelId {
-            0
-        }
-    }
-
-    impl EcssTmSenderCore for TestSender {
-        fn send_tm(&self, tm: PusTmWrapper) -> Result<(), EcssTmtcError> {
-            match tm {
-                PusTmWrapper::InStore(_) => {
-                    panic!("TestSender: unexpected call with address");
-                }
-                PusTmWrapper::Direct(tm) => {
-                    assert!(!tm.source_data().is_empty());
-                    let src_data = tm.source_data();
-                    assert!(src_data.len() >= 4);
-                    let event =
-                        EventU32::from(u32::from_be_bytes(src_data[0..4].try_into().unwrap()));
-                    let mut aux_data = Vec::new();
-                    if src_data.len() > 4 {
-                        aux_data.extend_from_slice(&src_data[4..]);
-                    }
-                    self.service_queue.borrow_mut().push_back(TmInfo {
-                        common: CommonTmInfo::new_from_tm(&tm),
-                        event,
-                        aux_data,
-                    });
-                    Ok(())
-                }
-            }
-        }
-    }
-
-    fn severity_to_subservice(severity: Severity) -> Subservice {
-        match severity {
-            Severity::INFO => Subservice::TmInfoReport,
-            Severity::LOW => Subservice::TmLowSeverityReport,
-            Severity::MEDIUM => Subservice::TmMediumSeverityReport,
-            Severity::HIGH => Subservice::TmHighSeverityReport,
-        }
-    }
-
-    fn report_basic_event(
-        reporter: &mut EventReporter,
-        sender: &mut TestSender,
-        time_stamp: &[u8],
-        event: EventU32,
-        severity: Severity,
-        aux_data: Option<&[u8]>,
-    ) {
-        match severity {
-            Severity::INFO => {
-                reporter
-                    .event_info(sender, time_stamp, event, aux_data)
-                    .expect("Error reporting info event");
-            }
-            Severity::LOW => {
-                reporter
-                    .event_low_severity(sender, time_stamp, event, aux_data)
-                    .expect("Error reporting low event");
-            }
-            Severity::MEDIUM => {
-                reporter
-                    .event_medium_severity(sender, time_stamp, event, aux_data)
-                    .expect("Error reporting medium event");
-            }
-            Severity::HIGH => {
-                reporter
-                    .event_high_severity(sender, time_stamp, event, aux_data)
-                    .expect("Error reporting high event");
-            }
-        }
-    }
-
-    fn basic_event_test(
-        max_event_aux_data_buf: usize,
-        severity: Severity,
-        error_data: Option<&[u8]>,
-    ) {
-        let mut sender = TestSender::default();
-        let reporter = EventReporter::new(EXAMPLE_APID, max_event_aux_data_buf);
-        assert!(reporter.is_some());
-        let mut reporter = reporter.unwrap();
-        let time_stamp_empty: [u8; 7] = [0; 7];
-        let mut error_copy = Vec::new();
-        if let Some(err_data) = error_data {
-            error_copy.extend_from_slice(err_data);
-        }
-        let event = EventU32::new(severity, EXAMPLE_GROUP_ID, EXAMPLE_EVENT_ID_0)
-            .expect("Error creating example event");
-        report_basic_event(
-            &mut reporter,
-            &mut sender,
-            &time_stamp_empty,
-            event,
-            severity,
-            error_data,
-        );
-        let mut service_queue = sender.service_queue.borrow_mut();
-        assert_eq!(service_queue.len(), 1);
-        let tm_info = service_queue.pop_front().unwrap();
-        assert_eq!(
-            tm_info.common.subservice,
-            severity_to_subservice(severity) as u8
-        );
-        assert_eq!(tm_info.common.dest_id, 0);
-        assert_eq!(tm_info.common.time_stamp, time_stamp_empty);
-        assert_eq!(tm_info.common.msg_counter, 0);
-        assert_eq!(tm_info.common.apid, EXAMPLE_APID);
-        assert_eq!(tm_info.event, event);
-        assert_eq!(tm_info.aux_data, error_copy);
-    }
-
-    #[test]
-    fn basic_info_event_generation() {
-        basic_event_test(4, Severity::INFO, None);
-    }
-
-    #[test]
-    fn basic_low_severity_event() {
-        basic_event_test(4, Severity::LOW, None);
-    }
-
-    #[test]
-    fn basic_medium_severity_event() {
-        basic_event_test(4, Severity::MEDIUM, None);
-    }
-
-    #[test]
-    fn basic_high_severity_event() {
-        basic_event_test(4, Severity::HIGH, None);
-    }
-
-    #[test]
-    fn event_with_info_string() {
-        let info_string = "Test Information";
-        basic_event_test(32, Severity::INFO, Some(info_string.as_bytes()));
-    }
-
-    #[test]
-    fn low_severity_with_raw_err_data() {
-        let raw_err_param: i32 = -1;
-        let raw_err = raw_err_param.to_be_bytes();
-        basic_event_test(8, Severity::LOW, Some(&raw_err))
-    }
-
-    fn check_buf_too_small(
-        reporter: &mut EventReporter,
-        sender: &mut TestSender,
-        expected_found_len: usize,
-    ) {
-        let time_stamp_empty: [u8; 7] = [0; 7];
-        let event = EventU32::new(Severity::INFO, EXAMPLE_GROUP_ID, EXAMPLE_EVENT_ID_0)
-            .expect("Error creating example event");
-        let err = reporter.event_info(sender, &time_stamp_empty, event, None);
-        assert!(err.is_err());
-        let err = err.unwrap_err();
-        if let EcssTmtcError::Pus(PusError::ByteConversion(
-            ByteConversionError::ToSliceTooSmall { found, expected },
-        )) = err
-        {
-            assert_eq!(expected, 4);
-            assert_eq!(found, expected_found_len);
-        } else {
-            panic!("Unexpected error {:?}", err);
-        }
-    }
-
-    #[test]
-    fn insufficient_buffer() {
-        let mut sender = TestSender::default();
-        for i in 0..3 {
-            let reporter = EventReporter::new(EXAMPLE_APID, i);
-            assert!(reporter.is_some());
-            let mut reporter = reporter.unwrap();
-            check_buf_too_small(&mut reporter, &mut sender, i);
-        }
-    }
-}

satrs-core/src/pus/event_man.rs

@@ -1,309 +0,0 @@
-use crate::events::{EventU32, GenericEvent, Severity};
-#[cfg(feature = "alloc")]
-use crate::events::{EventU32TypedSev, HasSeverity};
-#[cfg(feature = "alloc")]
-use alloc::boxed::Box;
-#[cfg(feature = "alloc")]
-use core::hash::Hash;
-#[cfg(feature = "alloc")]
-use hashbrown::HashSet;
-
-#[cfg(feature = "alloc")]
-pub use crate::pus::event::EventReporter;
-use crate::pus::verification::TcStateToken;
-#[cfg(feature = "alloc")]
-use crate::pus::EcssTmSenderCore;
-use crate::pus::EcssTmtcError;
-#[cfg(feature = "alloc")]
-#[cfg_attr(doc_cfg, doc(cfg(feature = "alloc")))]
-pub use alloc_mod::*;
-#[cfg(feature = "heapless")]
-#[cfg_attr(doc_cfg, doc(cfg(feature = "heapless")))]
-pub use heapless_mod::*;
-
-/// This trait allows the PUS event manager implementation to stay generic over various types
-/// of backend containers.
-///
-/// These backend containers keep track on whether a particular event is enabled or disabled for
-/// reporting and also expose a simple API to enable or disable the event reporting.
-///
-/// For example, a straight forward implementation for host systems could use a
-/// [hash set](https://docs.rs/hashbrown/latest/hashbrown/struct.HashSet.html)
-/// structure to track disabled events. A more primitive and embedded friendly
-/// solution could track this information in a static or pre-allocated list which contains
-/// the disabled events.
-pub trait PusEventMgmtBackendProvider<Provider: GenericEvent> {
-    type Error;
-
-    fn event_enabled(&self, event: &Provider) -> bool;
-    fn enable_event_reporting(&mut self, event: &Provider) -> Result<bool, Self::Error>;
-    fn disable_event_reporting(&mut self, event: &Provider) -> Result<bool, Self::Error>;
-}
-
-#[cfg(feature = "heapless")]
-pub mod heapless_mod {
-    use super::*;
-    use crate::events::{GenericEvent, LargestEventRaw};
-    use std::marker::PhantomData;
-
-    #[cfg_attr(doc_cfg, doc(cfg(feature = "heapless")))]
-    // TODO: After a new version of heapless is released which uses hash32 version 0.3, try using
-    //       regular Event type again.
-    #[derive(Default)]
-    pub struct HeaplessPusMgmtBackendProvider<const N: usize, Provider: GenericEvent> {
-        disabled: heapless::FnvIndexSet<LargestEventRaw, N>,
-        phantom: PhantomData<Provider>,
-    }
-
-    /// Safety: All contained field are [Send] as well
-    unsafe impl<const N: usize, Event: GenericEvent + Send> Send
-        for HeaplessPusMgmtBackendProvider<N, Event>
-    {
-    }
-
-    impl<const N: usize, Provider: GenericEvent> PusEventMgmtBackendProvider<Provider>
-        for HeaplessPusMgmtBackendProvider<N, Provider>
-    {
-        type Error = ();
-
-        fn event_enabled(&self, event: &Provider) -> bool {
-            self.disabled.contains(&event.raw_as_largest_type())
-        }
-
-        fn enable_event_reporting(&mut self, event: &Provider) -> Result<bool, Self::Error> {
-            self.disabled
-                .insert(event.raw_as_largest_type())
-                .map_err(|_| ())
-        }
-
-        fn disable_event_reporting(&mut self, event: &Provider) -> Result<bool, Self::Error> {
-            Ok(self.disabled.remove(&event.raw_as_largest_type()))
-        }
-    }
-}
-
-#[derive(Debug, PartialEq, Eq)]
-pub enum EventRequest<Event: GenericEvent = EventU32> {
-    Enable(Event),
-    Disable(Event),
-}
-
-#[derive(Debug)]
-pub struct EventRequestWithToken<Event: GenericEvent = EventU32> {
-    pub request: EventRequest<Event>,
-    pub token: TcStateToken,
-}
-
-#[derive(Debug)]
-pub enum EventManError {
-    EcssTmtcError(EcssTmtcError),
-    SeverityMissmatch(Severity, Severity),
-}
-
-impl From<EcssTmtcError> for EventManError {
-    fn from(v: EcssTmtcError) -> Self {
-        Self::EcssTmtcError(v)
-    }
-}
-
-#[cfg(feature = "alloc")]
-pub mod alloc_mod {
-    use super::*;
-
-    /// Default backend provider which uses a hash set as the event reporting status container
-    /// like mentioned in the example of the [PusEventMgmtBackendProvider] documentation.
-    ///
-    /// This provider is a good option for host systems or larger embedded systems where
-    /// the expected occasional memory allocation performed by the [HashSet] is not an issue.
-    pub struct DefaultPusMgmtBackendProvider<Event: GenericEvent = EventU32> {
-        disabled: HashSet<Event>,
-    }
-
-    /// Safety: All contained field are [Send] as well
-    unsafe impl<Event: GenericEvent + Send> Send for DefaultPusMgmtBackendProvider<Event> {}
-
-    impl<Event: GenericEvent> Default for DefaultPusMgmtBackendProvider<Event> {
-        fn default() -> Self {
-            Self {
-                disabled: HashSet::default(),
-            }
-        }
-    }
-
-    impl<Provider: GenericEvent + PartialEq + Eq + Hash + Copy + Clone>
-        PusEventMgmtBackendProvider<Provider> for DefaultPusMgmtBackendProvider<Provider>
-    {
-        type Error = ();
-        fn event_enabled(&self, event: &Provider) -> bool {
-            !self.disabled.contains(event)
-        }
-
-        fn enable_event_reporting(&mut self, event: &Provider) -> Result<bool, Self::Error> {
-            Ok(self.disabled.remove(event))
-        }
-
-        fn disable_event_reporting(&mut self, event: &Provider) -> Result<bool, Self::Error> {
-            Ok(self.disabled.insert(*event))
-        }
-    }
-
-    pub struct PusEventDispatcher<BackendError, Provider: GenericEvent> {
-        reporter: EventReporter,
-        backend: Box<dyn PusEventMgmtBackendProvider<Provider, Error = BackendError>>,
-    }
-
-    /// Safety: All contained fields are send as well.
-    unsafe impl<E: Send, Event: GenericEvent + Send> Send for PusEventDispatcher<E, Event> {}
-
-    impl<BackendError, Provider: GenericEvent> PusEventDispatcher<BackendError, Provider> {
-        pub fn new(
-            reporter: EventReporter,
-            backend: Box<dyn PusEventMgmtBackendProvider<Provider, Error = BackendError>>,
-        ) -> Self {
-            Self { reporter, backend }
-        }
-    }
-
-    impl<BackendError, Event: GenericEvent> PusEventDispatcher<BackendError, Event> {
-        pub fn enable_tm_for_event(&mut self, event: &Event) -> Result<bool, BackendError> {
-            self.backend.enable_event_reporting(event)
-        }
-
-        pub fn disable_tm_for_event(&mut self, event: &Event) -> Result<bool, BackendError> {
-            self.backend.disable_event_reporting(event)
-        }
-
-        pub fn generate_pus_event_tm_generic(
-            &mut self,
-            sender: &mut (impl EcssTmSenderCore + ?Sized),
-            time_stamp: &[u8],
-            event: Event,
-            aux_data: Option<&[u8]>,
-        ) -> Result<bool, EventManError> {
-            if !self.backend.event_enabled(&event) {
-                return Ok(false);
-            }
-            match event.severity() {
-                Severity::INFO => self
-                    .reporter
-                    .event_info(sender, time_stamp, event, aux_data)
-                    .map(|_| true)
-                    .map_err(|e| e.into()),
-                Severity::LOW => self
-                    .reporter
-                    .event_low_severity(sender, time_stamp, event, aux_data)
-                    .map(|_| true)
-                    .map_err(|e| e.into()),
-                Severity::MEDIUM => self
-                    .reporter
-                    .event_medium_severity(sender, time_stamp, event, aux_data)
-                    .map(|_| true)
-                    .map_err(|e| e.into()),
-                Severity::HIGH => self
-                    .reporter
-                    .event_high_severity(sender, time_stamp, event, aux_data)
-                    .map(|_| true)
-                    .map_err(|e| e.into()),
-            }
-        }
-    }
-
-    impl<BackendError> PusEventDispatcher<BackendError, EventU32> {
-        pub fn enable_tm_for_event_with_sev<Severity: HasSeverity>(
-            &mut self,
-            event: &EventU32TypedSev<Severity>,
-        ) -> Result<bool, BackendError> {
-            self.backend.enable_event_reporting(event.as_ref())
-        }
-
-        pub fn disable_tm_for_event_with_sev<Severity: HasSeverity>(
-            &mut self,
-            event: &EventU32TypedSev<Severity>,
-        ) -> Result<bool, BackendError> {
-            self.backend.disable_event_reporting(event.as_ref())
-        }
-
-        pub fn generate_pus_event_tm<Severity: HasSeverity>(
-            &mut self,
-            sender: &mut (impl EcssTmSenderCore + ?Sized),
-            time_stamp: &[u8],
-            event: EventU32TypedSev<Severity>,
-            aux_data: Option<&[u8]>,
-        ) -> Result<bool, EventManError> {
-            self.generate_pus_event_tm_generic(sender, time_stamp, event.into(), aux_data)
-        }
-    }
-}
-#[cfg(test)]
-mod tests {
-    use super::*;
-    use crate::events::SeverityInfo;
-    use crate::pus::MpscTmAsVecSender;
-    use std::sync::mpsc::{channel, TryRecvError};
-
-    const INFO_EVENT: EventU32TypedSev<SeverityInfo> =
-        EventU32TypedSev::<SeverityInfo>::const_new(1, 0);
-    const LOW_SEV_EVENT: EventU32 = EventU32::const_new(Severity::LOW, 1, 5);
-    const EMPTY_STAMP: [u8; 7] = [0; 7];
-
-    fn create_basic_man() -> PusEventDispatcher<(), EventU32> {
-        let reporter = EventReporter::new(0x02, 128).expect("Creating event repoter failed");
-        let backend = DefaultPusMgmtBackendProvider::<EventU32>::default();
-        PusEventDispatcher::new(reporter, Box::new(backend))
-    }
-
-    #[test]
-    fn test_basic() {
-        let mut event_man = create_basic_man();
-        let (event_tx, event_rx) = channel();
-        let mut sender = MpscTmAsVecSender::new(0, "test_sender", event_tx);
-        let event_sent = event_man
-            .generate_pus_event_tm(&mut sender, &EMPTY_STAMP, INFO_EVENT, None)
-            .expect("Sending info event failed");
-
-        assert!(event_sent);
-        // Will not check packet here, correctness of packet was tested somewhere else
-        event_rx.try_recv().expect("Receiving event TM failed");
-    }
-
-    #[test]
-    fn test_disable_event() {
-        let mut event_man = create_basic_man();
-        let (event_tx, event_rx) = channel();
-        let mut sender = MpscTmAsVecSender::new(0, "test", event_tx);
-        let res = event_man.disable_tm_for_event(&LOW_SEV_EVENT);
-        assert!(res.is_ok());
-        assert!(res.unwrap());
-        let mut event_sent = event_man
-            .generate_pus_event_tm_generic(&mut sender, &EMPTY_STAMP, LOW_SEV_EVENT, None)
-            .expect("Sending low severity event failed");
-        assert!(!event_sent);
-        let res = event_rx.try_recv();
-        assert!(res.is_err());
-        assert!(matches!(res.unwrap_err(), TryRecvError::Empty));
-        // Check that only the low severity event was disabled
-        event_sent = event_man
-            .generate_pus_event_tm(&mut sender, &EMPTY_STAMP, INFO_EVENT, None)
-            .expect("Sending info event failed");
-        assert!(event_sent);
-        event_rx.try_recv().expect("No info event received");
-    }
-
-    #[test]
-    fn test_reenable_event() {
-        let mut event_man = create_basic_man();
-        let (event_tx, event_rx) = channel();
-        let mut sender = MpscTmAsVecSender::new(0, "test", event_tx);
-        let mut res = event_man.disable_tm_for_event_with_sev(&INFO_EVENT);
-        assert!(res.is_ok());
-        assert!(res.unwrap());
-        res = event_man.enable_tm_for_event_with_sev(&INFO_EVENT);
-        assert!(res.is_ok());
-        assert!(res.unwrap());
-        let event_sent = event_man
-            .generate_pus_event_tm(&mut sender, &EMPTY_STAMP, INFO_EVENT, None)
-            .expect("Sending info event failed");
-        assert!(event_sent);
-        event_rx.try_recv().expect("No info event received");
-    }
-}

satrs-core/src/pus/event_srv.rs

@@ -1,280 +0,0 @@
-use crate::events::EventU32;
-use crate::pus::event_man::{EventRequest, EventRequestWithToken};
-use crate::pus::verification::TcStateToken;
-use crate::pus::{PartialPusHandlingError, PusPacketHandlerResult, PusPacketHandlingError};
-use spacepackets::ecss::event::Subservice;
-use spacepackets::ecss::PusPacket;
-use std::sync::mpsc::Sender;
-
-use super::{EcssTcInMemConverter, PusServiceBase, PusServiceHelper};
-
-pub struct PusService5EventHandler<TcInMemConverter: EcssTcInMemConverter> {
-    pub service_helper: PusServiceHelper<TcInMemConverter>,
-    event_request_tx: Sender<EventRequestWithToken>,
-}
-
-impl<TcInMemConverter: EcssTcInMemConverter> PusService5EventHandler<TcInMemConverter> {
-    pub fn new(
-        service_handler: PusServiceHelper<TcInMemConverter>,
-        event_request_tx: Sender<EventRequestWithToken>,
-    ) -> Self {
-        Self {
-            service_helper: service_handler,
-            event_request_tx,
-        }
-    }
-
-    pub fn handle_one_tc(&mut self) -> Result<PusPacketHandlerResult, PusPacketHandlingError> {
-        let possible_packet = self.service_helper.retrieve_and_accept_next_packet()?;
-        if possible_packet.is_none() {
-            return Ok(PusPacketHandlerResult::Empty);
-        }
-        let ecss_tc_and_token = possible_packet.unwrap();
-        let tc = self
-            .service_helper
-            .tc_in_mem_converter
-            .convert_ecss_tc_in_memory_to_reader(&ecss_tc_and_token.tc_in_memory)?;
-        let subservice = tc.subservice();
-        let srv = Subservice::try_from(subservice);
-        if srv.is_err() {
-            return Ok(PusPacketHandlerResult::CustomSubservice(
-                tc.subservice(),
-                ecss_tc_and_token.token,
-            ));
-        }
-        let handle_enable_disable_request = |enable: bool, stamp: [u8; 7]| {
-            if tc.user_data().len() < 4 {
-                return Err(PusPacketHandlingError::NotEnoughAppData(
-                    "at least 4 bytes event ID expected".into(),
-                ));
-            }
-            let user_data = tc.user_data();
-            let event_u32 = EventU32::from(u32::from_be_bytes(user_data[0..4].try_into().unwrap()));
-            let start_token = self
-                .service_helper
-                .common
-                .verification_handler
-                .borrow_mut()
-                .start_success(ecss_tc_and_token.token, Some(&stamp))
-                .map_err(|_| PartialPusHandlingError::Verification);
-            let partial_error = start_token.clone().err();
-            let mut token: TcStateToken = ecss_tc_and_token.token.into();
-            if let Ok(start_token) = start_token {
-                token = start_token.into();
-            }
-            let event_req_with_token = if enable {
-                EventRequestWithToken {
-                    request: EventRequest::Enable(event_u32),
-                    token,
-                }
-            } else {
-                EventRequestWithToken {
-                    request: EventRequest::Disable(event_u32),
-                    token,
-                }
-            };
-            self.event_request_tx
-                .send(event_req_with_token)
-                .map_err(|_| {
-                    PusPacketHandlingError::Other("Forwarding event request failed".into())
-                })?;
-            if let Some(partial_error) = partial_error {
-                return Ok(PusPacketHandlerResult::RequestHandledPartialSuccess(
-                    partial_error,
-                ));
-            }
-            Ok(PusPacketHandlerResult::RequestHandled)
-        };
-        let mut partial_error = None;
-        let time_stamp = PusServiceBase::get_current_timestamp(&mut partial_error);
-        match srv.unwrap() {
-            Subservice::TmInfoReport
-            | Subservice::TmLowSeverityReport
-            | Subservice::TmMediumSeverityReport
-            | Subservice::TmHighSeverityReport => {
-                return Err(PusPacketHandlingError::InvalidSubservice(tc.subservice()))
-            }
-            Subservice::TcEnableEventGeneration => {
-                handle_enable_disable_request(true, time_stamp)?;
-            }
-            Subservice::TcDisableEventGeneration => {
-                handle_enable_disable_request(false, time_stamp)?;
-            }
-            Subservice::TcReportDisabledList | Subservice::TmDisabledEventsReport => {
-                return Ok(PusPacketHandlerResult::SubserviceNotImplemented(
-                    subservice,
-                    ecss_tc_and_token.token,
-                ));
-            }
-        }
-
-        Ok(PusPacketHandlerResult::RequestHandled)
-    }
-}
-
-#[cfg(test)]
-mod tests {
-    use delegate::delegate;
-    use spacepackets::ecss::event::Subservice;
-    use spacepackets::util::UnsignedEnum;
-    use spacepackets::{
-        ecss::{
-            tc::{PusTcCreator, PusTcSecondaryHeader},
-            tm::PusTmReader,
-        },
-        SequenceFlags, SpHeader,
-    };
-    use std::sync::mpsc::{self, Sender};
-
-    use crate::pus::event_man::EventRequest;
-    use crate::pus::tests::SimplePusPacketHandler;
-    use crate::pus::verification::RequestId;
-    use crate::{
-        events::EventU32,
-        pus::{
-            event_man::EventRequestWithToken,
-            tests::{PusServiceHandlerWithSharedStoreCommon, PusTestHarness, TEST_APID},
-            verification::{TcStateAccepted, VerificationToken},
-            EcssTcInSharedStoreConverter, PusPacketHandlerResult, PusPacketHandlingError,
-        },
-    };
-
-    use super::PusService5EventHandler;
-
-    const TEST_EVENT_0: EventU32 = EventU32::const_new(crate::events::Severity::INFO, 5, 25);
-
-    struct Pus5HandlerWithStoreTester {
-        common: PusServiceHandlerWithSharedStoreCommon,
-        handler: PusService5EventHandler<EcssTcInSharedStoreConverter>,
-    }
-
-    impl Pus5HandlerWithStoreTester {
-        pub fn new(event_request_tx: Sender<EventRequestWithToken>) -> Self {
-            let (common, srv_handler) = PusServiceHandlerWithSharedStoreCommon::new();
-            Self {
-                common,
-                handler: PusService5EventHandler::new(srv_handler, event_request_tx),
-            }
-        }
-    }
-
-    impl PusTestHarness for Pus5HandlerWithStoreTester {
-        delegate! {
-            to self.common {
-                fn send_tc(&mut self, tc: &PusTcCreator) -> VerificationToken<TcStateAccepted>;
-                fn read_next_tm(&mut self) -> PusTmReader<'_>;
-                fn check_no_tm_available(&self) -> bool;
-                fn check_next_verification_tm(&self, subservice: u8, expected_request_id: RequestId);
-            }
-
-        }
-    }
-
-    impl SimplePusPacketHandler for Pus5HandlerWithStoreTester {
-        delegate! {
-            to self.handler {
-                fn handle_one_tc(&mut self) -> Result<PusPacketHandlerResult, PusPacketHandlingError>;
-            }
-        }
-    }
-
-    fn event_test(
-        test_harness: &mut (impl PusTestHarness + SimplePusPacketHandler),
-        subservice: Subservice,
-        expected_event_req: EventRequest,
-        event_req_receiver: mpsc::Receiver<EventRequestWithToken>,
-    ) {
-        let mut sp_header = SpHeader::tc(TEST_APID, SequenceFlags::Unsegmented, 0, 0).unwrap();
-        let sec_header = PusTcSecondaryHeader::new_simple(5, subservice as u8);
-        let mut app_data = [0; 4];
-        TEST_EVENT_0
-            .write_to_be_bytes(&mut app_data)
-            .expect("writing test event failed");
-        let ping_tc = PusTcCreator::new(&mut sp_header, sec_header, &app_data, true);
-        let token = test_harness.send_tc(&ping_tc);
-        let request_id = token.req_id();
-        test_harness.handle_one_tc().unwrap();
-        test_harness.check_next_verification_tm(1, request_id);
-        test_harness.check_next_verification_tm(3, request_id);
-        // Completion TM is not generated for us.
-        assert!(test_harness.check_no_tm_available());
-        let event_request = event_req_receiver
-            .try_recv()
-            .expect("no event request received");
-        assert_eq!(expected_event_req, event_request.request);
-    }
-
-    #[test]
-    fn test_enabling_event_reporting() {
-        let (event_request_tx, event_request_rx) = mpsc::channel();
-        let mut test_harness = Pus5HandlerWithStoreTester::new(event_request_tx);
-        event_test(
-            &mut test_harness,
-            Subservice::TcEnableEventGeneration,
-            EventRequest::Enable(TEST_EVENT_0),
-            event_request_rx,
-        );
-    }
-
-    #[test]
-    fn test_disabling_event_reporting() {
-        let (event_request_tx, event_request_rx) = mpsc::channel();
-        let mut test_harness = Pus5HandlerWithStoreTester::new(event_request_tx);
-        event_test(
-            &mut test_harness,
-            Subservice::TcDisableEventGeneration,
-            EventRequest::Disable(TEST_EVENT_0),
-            event_request_rx,
-        );
-    }
-
-    #[test]
-    fn test_empty_tc_queue() {
-        let (event_request_tx, _) = mpsc::channel();
-        let mut test_harness = Pus5HandlerWithStoreTester::new(event_request_tx);
-        let result = test_harness.handle_one_tc();
-        assert!(result.is_ok());
-        let result = result.unwrap();
-        if let PusPacketHandlerResult::Empty = result {
-        } else {
-            panic!("unexpected result type {result:?}")
-        }
-    }
-
-    #[test]
-    fn test_sending_custom_subservice() {
-        let (event_request_tx, _) = mpsc::channel();
-        let mut test_harness = Pus5HandlerWithStoreTester::new(event_request_tx);
-        let mut sp_header = SpHeader::tc(TEST_APID, SequenceFlags::Unsegmented, 0, 0).unwrap();
-        let sec_header = PusTcSecondaryHeader::new_simple(5, 200);
-        let ping_tc = PusTcCreator::new_no_app_data(&mut sp_header, sec_header, true);
-        test_harness.send_tc(&ping_tc);
-        let result = test_harness.handle_one_tc();
-        assert!(result.is_ok());
-        let result = result.unwrap();
-        if let PusPacketHandlerResult::CustomSubservice(subservice, _) = result {
-            assert_eq!(subservice, 200);
-        } else {
-            panic!("unexpected result type {result:?}")
-        }
-    }
-
-    #[test]
-    fn test_sending_invalid_app_data() {
-        let (event_request_tx, _) = mpsc::channel();
-        let mut test_harness = Pus5HandlerWithStoreTester::new(event_request_tx);
-        let mut sp_header = SpHeader::tc(TEST_APID, SequenceFlags::Unsegmented, 0, 0).unwrap();
-        let sec_header =
-            PusTcSecondaryHeader::new_simple(5, Subservice::TcEnableEventGeneration as u8);
-        let ping_tc = PusTcCreator::new(&mut sp_header, sec_header, &[0, 1, 2], true);
-        test_harness.send_tc(&ping_tc);
-        let result = test_harness.handle_one_tc();
-        assert!(result.is_err());
-        let result = result.unwrap_err();
-        if let PusPacketHandlingError::NotEnoughAppData(string) = result {
-            assert_eq!(string, "at least 4 bytes event ID expected");
-        } else {
-            panic!("unexpected result type {result:?}")
-        }
-    }
-}

satrs-core/src/pus/hk.rs

@@ -1 +0,0 @@
-pub use spacepackets::ecss::hk::*;

satrs-core/src/pus/mode.rs

@@ -1,16 +0,0 @@
-use num_enum::{IntoPrimitive, TryFromPrimitive};
-#[cfg(feature = "serde")]
-use serde::{Deserialize, Serialize};
-
-#[derive(Debug, Eq, PartialEq, Copy, Clone, IntoPrimitive, TryFromPrimitive)]
-#[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
-#[repr(u8)]
-pub enum Subservice {
-    TcSetMode = 1,
-    TcReadMode = 3,
-    TcAnnounceMode = 4,
-    TcAnnounceModeRecursive = 5,
-    TmModeReply = 6,
-    TmCantReachMode = 7,
-    TmWrongModeReply = 8,
-}

satrs-core/src/pus/scheduler_srv.rs

@@ -1,355 +0,0 @@
-use super::scheduler::PusSchedulerInterface;
-use super::{EcssTcInMemConverter, PusServiceBase, PusServiceHelper};
-use crate::pool::PoolProviderMemInPlace;
-use crate::pus::{PusPacketHandlerResult, PusPacketHandlingError};
-use alloc::string::ToString;
-use spacepackets::ecss::{scheduling, PusPacket};
-use spacepackets::time::cds::TimeProvider;
-
-/// This is a helper class for [std] environments to handle generic PUS 11 (scheduling service)
-/// packets. This handler is able to handle the most important PUS requests for a scheduling
-/// service which provides the [PusSchedulerInterface].
-///
-/// Please note that this class does not do the regular periodic handling like releasing any
-/// telecommands inside the scheduler. The user can retrieve the wrapped scheduler via the
-/// [Self::scheduler] and [Self::scheduler_mut] function and then use the scheduler API to release
-/// telecommands when applicable.
-pub struct PusService11SchedHandler<
-    TcInMemConverter: EcssTcInMemConverter,
-    Scheduler: PusSchedulerInterface,
-> {
-    pub service_helper: PusServiceHelper<TcInMemConverter>,
-    scheduler: Scheduler,
-}
-
-impl<TcInMemConverter: EcssTcInMemConverter, Scheduler: PusSchedulerInterface>
-    PusService11SchedHandler<TcInMemConverter, Scheduler>
-{
-    pub fn new(service_helper: PusServiceHelper<TcInMemConverter>, scheduler: Scheduler) -> Self {
-        Self {
-            service_helper,
-            scheduler,
-        }
-    }
-
-    pub fn scheduler_mut(&mut self) -> &mut Scheduler {
-        &mut self.scheduler
-    }
-
-    pub fn scheduler(&self) -> &Scheduler {
-        &self.scheduler
-    }
-
-    pub fn handle_one_tc(
-        &mut self,
-        sched_tc_pool: &mut (impl PoolProviderMemInPlace + ?Sized),
-    ) -> Result<PusPacketHandlerResult, PusPacketHandlingError> {
-        let possible_packet = self.service_helper.retrieve_and_accept_next_packet()?;
-        if possible_packet.is_none() {
-            return Ok(PusPacketHandlerResult::Empty);
-        }
-        let ecss_tc_and_token = possible_packet.unwrap();
-        let tc = self
-            .service_helper
-            .tc_in_mem_converter
-            .convert_ecss_tc_in_memory_to_reader(&ecss_tc_and_token.tc_in_memory)?;
-        let subservice = PusPacket::subservice(&tc);
-        let standard_subservice = scheduling::Subservice::try_from(subservice);
-        if standard_subservice.is_err() {
-            return Ok(PusPacketHandlerResult::CustomSubservice(
-                subservice,
-                ecss_tc_and_token.token,
-            ));
-        }
-        let mut partial_error = None;
-        let time_stamp = PusServiceBase::get_current_timestamp(&mut partial_error);
-        match standard_subservice.unwrap() {
-            scheduling::Subservice::TcEnableScheduling => {
-                let start_token = self
-                    .service_helper
-                    .common
-                    .verification_handler
-                    .get_mut()
-                    .start_success(ecss_tc_and_token.token, Some(&time_stamp))
-                    .expect("Error sending start success");
-
-                self.scheduler.enable();
-                if self.scheduler.is_enabled() {
-                    self.service_helper
-                        .common
-                        .verification_handler
-                        .get_mut()
-                        .completion_success(start_token, Some(&time_stamp))
-                        .expect("Error sending completion success");
-                } else {
-                    return Err(PusPacketHandlingError::Other(
-                        "failed to enabled scheduler".to_string(),
-                    ));
-                }
-            }
-            scheduling::Subservice::TcDisableScheduling => {
-                let start_token = self
-                    .service_helper
-                    .common
-                    .verification_handler
-                    .get_mut()
-                    .start_success(ecss_tc_and_token.token, Some(&time_stamp))
-                    .expect("Error sending start success");
-
-                self.scheduler.disable();
-                if !self.scheduler.is_enabled() {
-                    self.service_helper
-                        .common
-                        .verification_handler
-                        .get_mut()
-                        .completion_success(start_token, Some(&time_stamp))
-                        .expect("Error sending completion success");
-                } else {
-                    return Err(PusPacketHandlingError::Other(
-                        "failed to disable scheduler".to_string(),
-                    ));
-                }
-            }
-            scheduling::Subservice::TcResetScheduling => {
-                let start_token = self
-                    .service_helper
-                    .common
-                    .verification_handler
-                    .get_mut()
-                    .start_success(ecss_tc_and_token.token, Some(&time_stamp))
-                    .expect("Error sending start success");
-
-                self.scheduler
-                    .reset(sched_tc_pool)
-                    .expect("Error resetting TC Pool");
-
-                self.service_helper
-                    .common
-                    .verification_handler
-                    .get_mut()
-                    .completion_success(start_token, Some(&time_stamp))
-                    .expect("Error sending completion success");
-            }
-            scheduling::Subservice::TcInsertActivity => {
-                let start_token = self
-                    .service_helper
-                    .common
-                    .verification_handler
-                    .get_mut()
-                    .start_success(ecss_tc_and_token.token, Some(&time_stamp))
-                    .expect("error sending start success");
-
-                // let mut pool = self.sched_tc_pool.write().expect("locking pool failed");
-                self.scheduler
-                    .insert_wrapped_tc::<TimeProvider>(&tc, sched_tc_pool)
-                    .expect("insertion of activity into pool failed");
-
-                self.service_helper
-                    .common
-                    .verification_handler
-                    .get_mut()
-                    .completion_success(start_token, Some(&time_stamp))
-                    .expect("sending completion success failed");
-            }
-            _ => {
-                // Treat unhandled standard subservices as custom subservices for now.
-                return Ok(PusPacketHandlerResult::CustomSubservice(
-                    subservice,
-                    ecss_tc_and_token.token,
-                ));
-            }
-        }
-        if let Some(partial_error) = partial_error {
-            return Ok(PusPacketHandlerResult::RequestHandledPartialSuccess(
-                partial_error,
-            ));
-        }
-        Ok(PusPacketHandlerResult::RequestHandled)
-    }
-}
-
-#[cfg(test)]
-mod tests {
-    use crate::pool::{StaticMemoryPool, StaticPoolConfig};
-    use crate::pus::tests::TEST_APID;
-    use crate::pus::{
-        scheduler::{self, PusSchedulerInterface, TcInfo},
-        tests::{PusServiceHandlerWithSharedStoreCommon, PusTestHarness},
-        verification::{RequestId, TcStateAccepted, VerificationToken},
-        EcssTcInSharedStoreConverter,
-    };
-    use alloc::collections::VecDeque;
-    use delegate::delegate;
-    use spacepackets::ecss::scheduling::Subservice;
-    use spacepackets::ecss::tc::PusTcSecondaryHeader;
-    use spacepackets::ecss::WritablePusPacket;
-    use spacepackets::time::TimeWriter;
-    use spacepackets::SpHeader;
-    use spacepackets::{
-        ecss::{tc::PusTcCreator, tm::PusTmReader},
-        time::cds,
-    };
-
-    use super::PusService11SchedHandler;
-
-    struct Pus11HandlerWithStoreTester {
-        common: PusServiceHandlerWithSharedStoreCommon,
-        handler: PusService11SchedHandler<EcssTcInSharedStoreConverter, TestScheduler>,
-        sched_tc_pool: StaticMemoryPool,
-    }
-
-    impl Pus11HandlerWithStoreTester {
-        pub fn new() -> Self {
-            let test_scheduler = TestScheduler::default();
-            let pool_cfg = StaticPoolConfig::new(alloc::vec![(16, 16), (8, 32), (4, 64)]);
-            let sched_tc_pool = StaticMemoryPool::new(pool_cfg.clone());
-            let (common, srv_handler) = PusServiceHandlerWithSharedStoreCommon::new();
-            Self {
-                common,
-                handler: PusService11SchedHandler::new(srv_handler, test_scheduler),
-                sched_tc_pool,
-            }
-        }
-    }
-
-    impl PusTestHarness for Pus11HandlerWithStoreTester {
-        delegate! {
-            to self.common {
-                fn send_tc(&mut self, tc: &PusTcCreator) -> VerificationToken<TcStateAccepted>;
-                fn read_next_tm(&mut self) -> PusTmReader<'_>;
-                fn check_no_tm_available(&self) -> bool;
-                fn check_next_verification_tm(&self, subservice: u8, expected_request_id: RequestId);
-            }
-        }
-    }
-
-    #[derive(Default)]
-    pub struct TestScheduler {
-        reset_count: u32,
-        enabled: bool,
-        enabled_count: u32,
-        disabled_count: u32,
-        inserted_tcs: VecDeque<TcInfo>,
-    }
-
-    impl PusSchedulerInterface for TestScheduler {
-        type TimeProvider = cds::TimeProvider;
-
-        fn reset(
-            &mut self,
-            _store: &mut (impl crate::pool::PoolProviderMemInPlace + ?Sized),
-        ) -> Result<(), crate::pool::StoreError> {
-            self.reset_count += 1;
-            Ok(())
-        }
-
-        fn is_enabled(&self) -> bool {
-            self.enabled
-        }
-
-        fn enable(&mut self) {
-            self.enabled_count += 1;
-            self.enabled = true;
-        }
-
-        fn disable(&mut self) {
-            self.disabled_count += 1;
-            self.enabled = false;
-        }
-
-        fn insert_unwrapped_and_stored_tc(
-            &mut self,
-            _time_stamp: spacepackets::time::UnixTimestamp,
-            info: crate::pus::scheduler::TcInfo,
-        ) -> Result<(), crate::pus::scheduler::ScheduleError> {
-            self.inserted_tcs.push_back(info);
-            Ok(())
-        }
-    }
-
-    fn generic_subservice_send(
-        test_harness: &mut Pus11HandlerWithStoreTester,
-        subservice: Subservice,
-    ) {
-        let mut reply_header = SpHeader::tm_unseg(TEST_APID, 0, 0).unwrap();
-        let tc_header = PusTcSecondaryHeader::new_simple(11, subservice as u8);
-        let enable_scheduling = PusTcCreator::new(&mut reply_header, tc_header, &[0; 7], true);
-        let token = test_harness.send_tc(&enable_scheduling);
-
-        let request_id = token.req_id();
-        test_harness
-            .handler
-            .handle_one_tc(&mut test_harness.sched_tc_pool)
-            .unwrap();
-        test_harness.check_next_verification_tm(1, request_id);
-        test_harness.check_next_verification_tm(3, request_id);
-        test_harness.check_next_verification_tm(7, request_id);
-    }
-
-    #[test]
-    fn test_scheduling_enabling_tc() {
-        let mut test_harness = Pus11HandlerWithStoreTester::new();
-        test_harness.handler.scheduler_mut().disable();
-        assert!(!test_harness.handler.scheduler().is_enabled());
-        generic_subservice_send(&mut test_harness, Subservice::TcEnableScheduling);
-        assert!(test_harness.handler.scheduler().is_enabled());
-        assert_eq!(test_harness.handler.scheduler().enabled_count, 1);
-    }
-
-    #[test]
-    fn test_scheduling_disabling_tc() {
-        let mut test_harness = Pus11HandlerWithStoreTester::new();
-        test_harness.handler.scheduler_mut().enable();
-        assert!(test_harness.handler.scheduler().is_enabled());
-        generic_subservice_send(&mut test_harness, Subservice::TcDisableScheduling);
-        assert!(!test_harness.handler.scheduler().is_enabled());
-        assert_eq!(test_harness.handler.scheduler().disabled_count, 1);
-    }
-
-    #[test]
-    fn test_reset_scheduler_tc() {
-        let mut test_harness = Pus11HandlerWithStoreTester::new();
-        generic_subservice_send(&mut test_harness, Subservice::TcResetScheduling);
-        assert_eq!(test_harness.handler.scheduler().reset_count, 1);
-    }
-
-    #[test]
-    fn test_insert_activity_tc() {
-        let mut test_harness = Pus11HandlerWithStoreTester::new();
-        let mut reply_header = SpHeader::tm_unseg(TEST_APID, 0, 0).unwrap();
-        let mut sec_header = PusTcSecondaryHeader::new_simple(17, 1);
-        let ping_tc = PusTcCreator::new(&mut reply_header, sec_header, &[], true);
-        let req_id_ping_tc = scheduler::RequestId::from_tc(&ping_tc);
-        let stamper = cds::TimeProvider::from_now_with_u16_days().expect("time provider failed");
-        let mut sched_app_data: [u8; 64] = [0; 64];
-        let mut written_len = stamper.write_to_bytes(&mut sched_app_data).unwrap();
-        let ping_raw = ping_tc.to_vec().expect("generating raw tc failed");
-        sched_app_data[written_len..written_len + ping_raw.len()].copy_from_slice(&ping_raw);
-        written_len += ping_raw.len();
-        reply_header = SpHeader::tm_unseg(TEST_APID, 1, 0).unwrap();
-        sec_header = PusTcSecondaryHeader::new_simple(11, Subservice::TcInsertActivity as u8);
-        let enable_scheduling = PusTcCreator::new(
-            &mut reply_header,
-            sec_header,
-            &sched_app_data[..written_len],
-            true,
-        );
-        let token = test_harness.send_tc(&enable_scheduling);
-
-        let request_id = token.req_id();
-        test_harness
-            .handler
-            .handle_one_tc(&mut test_harness.sched_tc_pool)
-            .unwrap();
-        test_harness.check_next_verification_tm(1, request_id);
-        test_harness.check_next_verification_tm(3, request_id);
-        test_harness.check_next_verification_tm(7, request_id);
-        let tc_info = test_harness
-            .handler
-            .scheduler_mut()
-            .inserted_tcs
-            .pop_front()
-            .unwrap();
-        assert_eq!(tc_info.request_id(), req_id_ping_tc);
-    }
-}

satrs-core/src/pus/test.rs

@@ -1,272 +0,0 @@
-use crate::pus::{
-    PartialPusHandlingError, PusPacketHandlerResult, PusPacketHandlingError, PusTmWrapper,
-};
-use spacepackets::ecss::tm::{PusTmCreator, PusTmSecondaryHeader};
-use spacepackets::ecss::PusPacket;
-use spacepackets::SpHeader;
-
-use super::{EcssTcInMemConverter, PusServiceBase, PusServiceHelper};
-
-/// This is a helper class for [std] environments to handle generic PUS 17 (test service) packets.
-/// This handler only processes ping requests and generates a ping reply for them accordingly.
-pub struct PusService17TestHandler<TcInMemConverter: EcssTcInMemConverter> {
-    pub service_helper: PusServiceHelper<TcInMemConverter>,
-}
-
-impl<TcInMemConverter: EcssTcInMemConverter> PusService17TestHandler<TcInMemConverter> {
-    pub fn new(service_helper: PusServiceHelper<TcInMemConverter>) -> Self {
-        Self { service_helper }
-    }
-
-    pub fn handle_one_tc(&mut self) -> Result<PusPacketHandlerResult, PusPacketHandlingError> {
-        let possible_packet = self.service_helper.retrieve_and_accept_next_packet()?;
-        if possible_packet.is_none() {
-            return Ok(PusPacketHandlerResult::Empty);
-        }
-        let ecss_tc_and_token = possible_packet.unwrap();
-        let tc = self
-            .service_helper
-            .tc_in_mem_converter
-            .convert_ecss_tc_in_memory_to_reader(&ecss_tc_and_token.tc_in_memory)?;
-        if tc.service() != 17 {
-            return Err(PusPacketHandlingError::WrongService(tc.service()));
-        }
-        if tc.subservice() == 1 {
-            let mut partial_error = None;
-            let time_stamp = PusServiceBase::get_current_timestamp(&mut partial_error);
-            let result = self
-                .service_helper
-                .common
-                .verification_handler
-                .get_mut()
-                .start_success(ecss_tc_and_token.token, Some(&time_stamp))
-                .map_err(|_| PartialPusHandlingError::Verification);
-            let start_token = if let Ok(result) = result {
-                Some(result)
-            } else {
-                partial_error = Some(result.unwrap_err());
-                None
-            };
-            // Sequence count will be handled centrally in TM funnel.
-            let mut reply_header =
-                SpHeader::tm_unseg(self.service_helper.common.tm_apid, 0, 0).unwrap();
-            let tc_header = PusTmSecondaryHeader::new_simple(17, 2, &time_stamp);
-            let ping_reply = PusTmCreator::new(&mut reply_header, tc_header, &[], true);
-            let result = self
-                .service_helper
-                .common
-                .tm_sender
-                .send_tm(PusTmWrapper::Direct(ping_reply))
-                .map_err(PartialPusHandlingError::TmSend);
-            if let Err(err) = result {
-                partial_error = Some(err);
-            }
-
-            if let Some(start_token) = start_token {
-                if self
-                    .service_helper
-                    .common
-                    .verification_handler
-                    .get_mut()
-                    .completion_success(start_token, Some(&time_stamp))
-                    .is_err()
-                {
-                    partial_error = Some(PartialPusHandlingError::Verification)
-                }
-            }
-            if let Some(partial_error) = partial_error {
-                return Ok(PusPacketHandlerResult::RequestHandledPartialSuccess(
-                    partial_error,
-                ));
-            };
-        } else {
-            return Ok(PusPacketHandlerResult::CustomSubservice(
-                tc.subservice(),
-                ecss_tc_and_token.token,
-            ));
-        }
-        Ok(PusPacketHandlerResult::RequestHandled)
-    }
-}
-
-#[cfg(test)]
-mod tests {
-    use crate::pus::tests::{
-        PusServiceHandlerWithSharedStoreCommon, PusServiceHandlerWithVecCommon, PusTestHarness,
-        SimplePusPacketHandler, TEST_APID,
-    };
-    use crate::pus::verification::RequestId;
-    use crate::pus::verification::{TcStateAccepted, VerificationToken};
-    use crate::pus::{
-        EcssTcInSharedStoreConverter, EcssTcInVecConverter, PusPacketHandlerResult,
-        PusPacketHandlingError,
-    };
-    use delegate::delegate;
-    use spacepackets::ecss::tc::{PusTcCreator, PusTcSecondaryHeader};
-    use spacepackets::ecss::tm::PusTmReader;
-    use spacepackets::ecss::PusPacket;
-    use spacepackets::{SequenceFlags, SpHeader};
-
-    use super::PusService17TestHandler;
-
-    struct Pus17HandlerWithStoreTester {
-        common: PusServiceHandlerWithSharedStoreCommon,
-        handler: PusService17TestHandler<EcssTcInSharedStoreConverter>,
-    }
-
-    impl Pus17HandlerWithStoreTester {
-        pub fn new() -> Self {
-            let (common, srv_handler) = PusServiceHandlerWithSharedStoreCommon::new();
-            let pus_17_handler = PusService17TestHandler::new(srv_handler);
-            Self {
-                common,
-                handler: pus_17_handler,
-            }
-        }
-    }
-
-    impl PusTestHarness for Pus17HandlerWithStoreTester {
-        delegate! {
-            to self.common {
-                fn send_tc(&mut self, tc: &PusTcCreator) -> VerificationToken<TcStateAccepted>;
-                fn read_next_tm(&mut self) -> PusTmReader<'_>;
-                fn check_no_tm_available(&self) -> bool;
-                fn check_next_verification_tm(
-                    &self,
-                    subservice: u8,
-                    expected_request_id: RequestId
-                );
-            }
-        }
-    }
-    impl SimplePusPacketHandler for Pus17HandlerWithStoreTester {
-        delegate! {
-            to self.handler {
-                fn handle_one_tc(&mut self) -> Result<PusPacketHandlerResult, PusPacketHandlingError>;
-            }
-        }
-    }
-
-    struct Pus17HandlerWithVecTester {
-        common: PusServiceHandlerWithVecCommon,
-        handler: PusService17TestHandler<EcssTcInVecConverter>,
-    }
-
-    impl Pus17HandlerWithVecTester {
-        pub fn new() -> Self {
-            let (common, srv_handler) = PusServiceHandlerWithVecCommon::new();
-            Self {
-                common,
-                handler: PusService17TestHandler::new(srv_handler),
-            }
-        }
-    }
-
-    impl PusTestHarness for Pus17HandlerWithVecTester {
-        delegate! {
-            to self.common {
-                fn send_tc(&mut self, tc: &PusTcCreator) -> VerificationToken<TcStateAccepted>;
-                fn read_next_tm(&mut self) -> PusTmReader<'_>;
-                fn check_no_tm_available(&self) -> bool;
-                fn check_next_verification_tm(
-                    &self,
-                    subservice: u8,
-                    expected_request_id: RequestId,
-                );
-            }
-        }
-    }
-    impl SimplePusPacketHandler for Pus17HandlerWithVecTester {
-        delegate! {
-            to self.handler {
-                fn handle_one_tc(&mut self) -> Result<PusPacketHandlerResult, PusPacketHandlingError>;
-            }
-        }
-    }
-
-    fn ping_test(test_harness: &mut (impl PusTestHarness + SimplePusPacketHandler)) {
-        // Create a ping TC, verify acceptance.
-        let mut sp_header = SpHeader::tc(TEST_APID, SequenceFlags::Unsegmented, 0, 0).unwrap();
-        let sec_header = PusTcSecondaryHeader::new_simple(17, 1);
-        let ping_tc = PusTcCreator::new_no_app_data(&mut sp_header, sec_header, true);
-        let token = test_harness.send_tc(&ping_tc);
-        let request_id = token.req_id();
-        let result = test_harness.handle_one_tc();
-        assert!(result.is_ok());
-        // We should see 4 replies in the TM queue now: Acceptance TM, Start TM, ping reply and
-        // Completion TM
-
-        // Acceptance TM
-        test_harness.check_next_verification_tm(1, request_id);
-
-        // Start TM
-        test_harness.check_next_verification_tm(3, request_id);
-
-        // Ping reply
-        let tm = test_harness.read_next_tm();
-        assert_eq!(tm.service(), 17);
-        assert_eq!(tm.subservice(), 2);
-        assert!(tm.user_data().is_empty());
-
-        // TM completion
-        test_harness.check_next_verification_tm(7, request_id);
-    }
-
-    #[test]
-    fn test_basic_ping_processing_using_store() {
-        let mut test_harness = Pus17HandlerWithStoreTester::new();
-        ping_test(&mut test_harness);
-    }
-
-    #[test]
-    fn test_basic_ping_processing_using_vec() {
-        let mut test_harness = Pus17HandlerWithVecTester::new();
-        ping_test(&mut test_harness);
-    }
-
-    #[test]
-    fn test_empty_tc_queue() {
-        let mut test_harness = Pus17HandlerWithStoreTester::new();
-        let result = test_harness.handle_one_tc();
-        assert!(result.is_ok());
-        let result = result.unwrap();
-        if let PusPacketHandlerResult::Empty = result {
-        } else {
-            panic!("unexpected result type {result:?}")
-        }
-    }
-
-    #[test]
-    fn test_sending_unsupported_service() {
-        let mut test_harness = Pus17HandlerWithStoreTester::new();
-        let mut sp_header = SpHeader::tc(TEST_APID, SequenceFlags::Unsegmented, 0, 0).unwrap();
-        let sec_header = PusTcSecondaryHeader::new_simple(3, 1);
-        let ping_tc = PusTcCreator::new_no_app_data(&mut sp_header, sec_header, true);
-        test_harness.send_tc(&ping_tc);
-        let result = test_harness.handle_one_tc();
-        assert!(result.is_err());
-        let error = result.unwrap_err();
-        if let PusPacketHandlingError::WrongService(num) = error {
-            assert_eq!(num, 3);
-        } else {
-            panic!("unexpected error type {error}")
-        }
-    }
-
-    #[test]
-    fn test_sending_custom_subservice() {
-        let mut test_harness = Pus17HandlerWithStoreTester::new();
-        let mut sp_header = SpHeader::tc(TEST_APID, SequenceFlags::Unsegmented, 0, 0).unwrap();
-        let sec_header = PusTcSecondaryHeader::new_simple(17, 200);
-        let ping_tc = PusTcCreator::new_no_app_data(&mut sp_header, sec_header, true);
-        test_harness.send_tc(&ping_tc);
-        let result = test_harness.handle_one_tc();
-        assert!(result.is_ok());
-        let result = result.unwrap();
-        if let PusPacketHandlerResult::CustomSubservice(subservice, _) = result {
-            assert_eq!(subservice, 200);
-        } else {
-            panic!("unexpected result type {result:?}")
-        }
-    }
-}

satrs-core/src/request.rs

@@ -1 +0,0 @@
-

satrs-core/src/res_code.rs

@@ -1,60 +0,0 @@
-#[cfg(feature = "serde")]
-use serde::{Deserialize, Serialize};
-use spacepackets::ecss::{EcssEnumU16, EcssEnumeration};
-use spacepackets::util::UnsignedEnum;
-use spacepackets::ByteConversionError;
-
-#[derive(Debug, Copy, Clone, PartialEq, Eq)]
-#[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
-pub struct ResultU16 {
-    group_id: u8,
-    unique_id: u8,
-}
-
-impl ResultU16 {
-    pub const fn const_new(group_id: u8, unique_id: u8) -> Self {
-        Self {
-            group_id,
-            unique_id,
-        }
-    }
-    pub fn raw(&self) -> u16 {
-        ((self.group_id as u16) << 8) | self.unique_id as u16
-    }
-    pub fn group_id(&self) -> u8 {
-        self.group_id
-    }
-    pub fn unique_id(&self) -> u8 {
-        self.unique_id
-    }
-}
-
-impl From<ResultU16> for EcssEnumU16 {
-    fn from(v: ResultU16) -> Self {
-        EcssEnumU16::new(v.raw())
-    }
-}
-
-impl UnsignedEnum for ResultU16 {
-    fn size(&self) -> usize {
-        core::mem::size_of::<u16>()
-    }
-
-    fn write_to_be_bytes(&self, buf: &mut [u8]) -> Result<usize, ByteConversionError> {
-        if buf.len() < 2 {
-            return Err(ByteConversionError::ToSliceTooSmall {
-                found: buf.len(),
-                expected: 2,
-            });
-        }
-        buf[0] = self.group_id;
-        buf[1] = self.unique_id;
-        Ok(self.size())
-    }
-}
-
-impl EcssEnumeration for ResultU16 {
-    fn pfc(&self) -> u8 {
-        16
-    }
-}

satrs-core/src/tmtc/ccsds_distrib.rs

@@ -1,367 +0,0 @@
-//! CCSDS packet routing components.
-//!
-//! The routing components consist of two core components:
-//!  1. [CcsdsDistributor] component which dispatches received packets to a user-provided handler
-//!  2. [CcsdsPacketHandler] trait which should be implemented by the user-provided packet handler.
-//!
-//! The [CcsdsDistributor] implements the [ReceivesCcsdsTc] and [ReceivesTcCore] trait which allows to
-//! pass raw or CCSDS packets to it. Upon receiving a packet, it performs the following steps:
-//!
-//! 1. It tries to identify the target Application Process Identifier (APID) based on the
-//!    respective CCSDS space packet header field. If that process fails, a [ByteConversionError] is
-//!    returned to the user
-//! 2. If a valid APID is found and matches one of the APIDs provided by
-//!    [CcsdsPacketHandler::valid_apids], it will pass the packet to the user provided
-//!    [CcsdsPacketHandler::handle_known_apid] function. If no valid APID is found, the packet
-//!    will be passed to the [CcsdsPacketHandler::handle_unknown_apid] function.
-//!
-//! # Example
-//!
-//! ```rust
-//! use satrs_core::tmtc::ccsds_distrib::{CcsdsPacketHandler, CcsdsDistributor};
-//! use satrs_core::tmtc::{ReceivesTc, ReceivesTcCore};
-//! use spacepackets::{CcsdsPacket, SpHeader};
-//! use spacepackets::ecss::WritablePusPacket;
-//! use spacepackets::ecss::tc::{PusTc, PusTcCreator};
-//!
-//! #[derive (Default)]
-//! struct ConcreteApidHandler {
-//!     known_call_count: u32,
-//!     unknown_call_count: u32
-//! }
-//!
-//! impl ConcreteApidHandler {
-//!     fn mutable_foo(&mut self) {}
-//! }
-//!
-//! impl CcsdsPacketHandler for ConcreteApidHandler {
-//!     type Error = ();
-//!     fn valid_apids(&self) -> &'static [u16] { &[0x002] }
-//!     fn handle_known_apid(&mut self, sp_header: &SpHeader, tc_raw: &[u8]) -> Result<(), Self::Error> {
-//!         assert_eq!(sp_header.apid(), 0x002);
-//!         assert_eq!(tc_raw.len(), 13);
-//!         self.known_call_count += 1;
-//!         Ok(())
-//!     }
-//!     fn handle_unknown_apid(&mut self, sp_header: &SpHeader, tc_raw: &[u8]) -> Result<(), Self::Error> {
-//!         assert_eq!(sp_header.apid(), 0x003);
-//!         assert_eq!(tc_raw.len(), 13);
-//!         self.unknown_call_count += 1;
-//!         Ok(())
-//!     }
-//! }
-//!
-//! let apid_handler = ConcreteApidHandler::default();
-//! let mut ccsds_distributor = CcsdsDistributor::new(Box::new(apid_handler));
-//!
-//! // Create and pass PUS telecommand with a valid APID
-//! let mut space_packet_header = SpHeader::tc_unseg(0x002, 0x34, 0).unwrap();
-//! let mut pus_tc = PusTcCreator::new_simple(&mut space_packet_header, 17, 1, None, true);
-//! let mut test_buf: [u8; 32] = [0; 32];
-//! let mut size = pus_tc
-//!     .write_to_bytes(test_buf.as_mut_slice())
-//!     .expect("Error writing TC to buffer");
-//! let tc_slice = &test_buf[0..size];
-//! ccsds_distributor.pass_tc(&tc_slice).expect("Passing TC slice failed");
-//!
-//! // Now pass a packet with an unknown APID to the distributor
-//! pus_tc.set_apid(0x003);
-//! size = pus_tc
-//!     .write_to_bytes(test_buf.as_mut_slice())
-//!     .expect("Error writing TC to buffer");
-//! let tc_slice = &test_buf[0..size];
-//! ccsds_distributor.pass_tc(&tc_slice).expect("Passing TC slice failed");
-//!
-//! // User helper function to retrieve concrete class
-//! let concrete_handler_ref: &ConcreteApidHandler = ccsds_distributor
-//!     .apid_handler_ref()
-//!     .expect("Casting back to concrete type failed");
-//! assert_eq!(concrete_handler_ref.known_call_count, 1);
-//! assert_eq!(concrete_handler_ref.unknown_call_count, 1);
-//!
-//! // It's also possible to retrieve a mutable reference
-//! let mutable_ref: &mut ConcreteApidHandler = ccsds_distributor
-//!     .apid_handler_mut()
-//!     .expect("Casting back to concrete type failed");
-//! mutable_ref.mutable_foo();
-//! ```
-use crate::tmtc::{ReceivesCcsdsTc, ReceivesTcCore};
-use alloc::boxed::Box;
-use core::fmt::{Display, Formatter};
-use downcast_rs::Downcast;
-use spacepackets::{ByteConversionError, CcsdsPacket, SpHeader};
-#[cfg(feature = "std")]
-use std::error::Error;
-
-/// Generic trait for a handler or dispatcher object handling CCSDS packets.
-///
-/// Users should implement this trait on their custom CCSDS packet handler and then pass a boxed
-/// instance of this handler to the [CcsdsDistributor]. The distributor will use the trait
-/// interface to dispatch received packets to the user based on the Application Process Identifier
-/// (APID) field of the CCSDS packet.
-///
-/// This trait automatically implements the [downcast_rs::Downcast] to allow a more convenient API
-/// to cast trait objects back to their concrete type after the handler was passed to the
-/// distributor.
-pub trait CcsdsPacketHandler: Downcast {
-    type Error;
-
-    fn valid_apids(&self) -> &'static [u16];
-    fn handle_known_apid(&mut self, sp_header: &SpHeader, tc_raw: &[u8])
-        -> Result<(), Self::Error>;
-    fn handle_unknown_apid(
-        &mut self,
-        sp_header: &SpHeader,
-        tc_raw: &[u8],
-    ) -> Result<(), Self::Error>;
-}
-
-downcast_rs::impl_downcast!(CcsdsPacketHandler assoc Error);
-
-pub trait SendableCcsdsPacketHandler: CcsdsPacketHandler + Send {}
-
-impl<T: CcsdsPacketHandler + Send> SendableCcsdsPacketHandler for T {}
-
-downcast_rs::impl_downcast!(SendableCcsdsPacketHandler assoc Error);
-
-/// The CCSDS distributor dispatches received CCSDS packets to a user provided packet handler.
-///
-/// The passed APID handler is required to be [Send]able to allow more ergonomic usage with
-/// threads.
-pub struct CcsdsDistributor<E> {
-    /// User provided APID handler stored as a generic trait object.
-    /// It can be cast back to the original concrete type using the [Self::apid_handler_ref] or
-    /// the [Self::apid_handler_mut] method.
-    pub apid_handler: Box<dyn SendableCcsdsPacketHandler<Error = E>>,
-}
-
-#[derive(Debug, Copy, Clone, PartialEq, Eq)]
-pub enum CcsdsError<E> {
-    CustomError(E),
-    ByteConversionError(ByteConversionError),
-}
-
-impl<E: Display> Display for CcsdsError<E> {
-    fn fmt(&self, f: &mut Formatter<'_>) -> core::fmt::Result {
-        match self {
-            Self::CustomError(e) => write!(f, "{e}"),
-            Self::ByteConversionError(e) => write!(f, "{e}"),
-        }
-    }
-}
-
-#[cfg(feature = "std")]
-impl<E: Error> Error for CcsdsError<E> {
-    fn source(&self) -> Option<&(dyn Error + 'static)> {
-        match self {
-            Self::CustomError(e) => e.source(),
-            Self::ByteConversionError(e) => e.source(),
-        }
-    }
-}
-
-impl<E: 'static> ReceivesCcsdsTc for CcsdsDistributor<E> {
-    type Error = CcsdsError<E>;
-
-    fn pass_ccsds(&mut self, header: &SpHeader, tc_raw: &[u8]) -> Result<(), Self::Error> {
-        self.dispatch_ccsds(header, tc_raw)
-    }
-}
-
-impl<E: 'static> ReceivesTcCore for CcsdsDistributor<E> {
-    type Error = CcsdsError<E>;
-
-    fn pass_tc(&mut self, tc_raw: &[u8]) -> Result<(), Self::Error> {
-        if tc_raw.len() < 7 {
-            return Err(CcsdsError::ByteConversionError(
-                ByteConversionError::FromSliceTooSmall {
-                    found: tc_raw.len(),
-                    expected: 7,
-                },
-            ));
-        }
-        let (sp_header, _) =
-            SpHeader::from_be_bytes(tc_raw).map_err(|e| CcsdsError::ByteConversionError(e))?;
-        self.dispatch_ccsds(&sp_header, tc_raw)
-    }
-}
-
-impl<E: 'static> CcsdsDistributor<E> {
-    pub fn new(apid_handler: Box<dyn SendableCcsdsPacketHandler<Error = E>>) -> Self {
-        CcsdsDistributor { apid_handler }
-    }
-
-    /// This function can be used to retrieve a reference to the concrete instance of the APID
-    /// handler after it was passed to the distributor. See the
-    /// [module documentation][crate::tmtc::ccsds_distrib] for an fsrc-example.
-    pub fn apid_handler_ref<T: SendableCcsdsPacketHandler<Error = E>>(&self) -> Option<&T> {
-        self.apid_handler.downcast_ref::<T>()
-    }
-
-    /// This function can be used to retrieve a mutable reference to the concrete instance of the
-    /// APID handler after it was passed to the distributor.
-    pub fn apid_handler_mut<T: SendableCcsdsPacketHandler<Error = E>>(&mut self) -> Option<&mut T> {
-        self.apid_handler.downcast_mut::<T>()
-    }
-
-    fn dispatch_ccsds(&mut self, sp_header: &SpHeader, tc_raw: &[u8]) -> Result<(), CcsdsError<E>> {
-        let apid = sp_header.apid();
-        let valid_apids = self.apid_handler.valid_apids();
-        for &valid_apid in valid_apids {
-            if valid_apid == apid {
-                return self
-                    .apid_handler
-                    .handle_known_apid(sp_header, tc_raw)
-                    .map_err(|e| CcsdsError::CustomError(e));
-            }
-        }
-        self.apid_handler
-            .handle_unknown_apid(sp_header, tc_raw)
-            .map_err(|e| CcsdsError::CustomError(e))
-    }
-}
-
-#[cfg(test)]
-pub(crate) mod tests {
-    use super::*;
-    use crate::tmtc::ccsds_distrib::{CcsdsDistributor, CcsdsPacketHandler};
-    use spacepackets::ecss::tc::PusTcCreator;
-    use spacepackets::ecss::WritablePusPacket;
-    use spacepackets::CcsdsPacket;
-    use std::collections::VecDeque;
-    use std::sync::{Arc, Mutex};
-    use std::vec::Vec;
-
-    fn is_send<T: Send>(_: &T) {}
-
-    pub fn generate_ping_tc(buf: &mut [u8]) -> &[u8] {
-        let mut sph = SpHeader::tc_unseg(0x002, 0x34, 0).unwrap();
-        let pus_tc = PusTcCreator::new_simple(&mut sph, 17, 1, None, true);
-        let size = pus_tc
-            .write_to_bytes(buf)
-            .expect("Error writing TC to buffer");
-        assert_eq!(size, 13);
-        &buf[0..size]
-    }
-
-    type SharedPacketQueue = Arc<Mutex<VecDeque<(u16, Vec<u8>)>>>;
-    pub struct BasicApidHandlerSharedQueue {
-        pub known_packet_queue: SharedPacketQueue,
-        pub unknown_packet_queue: SharedPacketQueue,
-    }
-
-    #[derive(Default)]
-    pub struct BasicApidHandlerOwnedQueue {
-        pub known_packet_queue: VecDeque<(u16, Vec<u8>)>,
-        pub unknown_packet_queue: VecDeque<(u16, Vec<u8>)>,
-    }
-
-    impl CcsdsPacketHandler for BasicApidHandlerSharedQueue {
-        type Error = ();
-        fn valid_apids(&self) -> &'static [u16] {
-            &[0x000, 0x002]
-        }
-
-        fn handle_known_apid(
-            &mut self,
-            sp_header: &SpHeader,
-            tc_raw: &[u8],
-        ) -> Result<(), Self::Error> {
-            let mut vec = Vec::new();
-            vec.extend_from_slice(tc_raw);
-            self.known_packet_queue
-                .lock()
-                .unwrap()
-                .push_back((sp_header.apid(), vec));
-            Ok(())
-        }
-
-        fn handle_unknown_apid(
-            &mut self,
-            sp_header: &SpHeader,
-            tc_raw: &[u8],
-        ) -> Result<(), Self::Error> {
-            let mut vec = Vec::new();
-            vec.extend_from_slice(tc_raw);
-            self.unknown_packet_queue
-                .lock()
-                .unwrap()
-                .push_back((sp_header.apid(), vec));
-            Ok(())
-        }
-    }
-
-    impl CcsdsPacketHandler for BasicApidHandlerOwnedQueue {
-        type Error = ();
-
-        fn valid_apids(&self) -> &'static [u16] {
-            &[0x000, 0x002]
-        }
-
-        fn handle_known_apid(
-            &mut self,
-            sp_header: &SpHeader,
-            tc_raw: &[u8],
-        ) -> Result<(), Self::Error> {
-            let mut vec = Vec::new();
-            vec.extend_from_slice(tc_raw);
-            Ok(self.known_packet_queue.push_back((sp_header.apid(), vec)))
-        }
-
-        fn handle_unknown_apid(
-            &mut self,
-            sp_header: &SpHeader,
-            tc_raw: &[u8],
-        ) -> Result<(), Self::Error> {
-            let mut vec = Vec::new();
-            vec.extend_from_slice(tc_raw);
-            Ok(self.unknown_packet_queue.push_back((sp_header.apid(), vec)))
-        }
-    }
-
-    #[test]
-    fn test_distribs_known_apid() {
-        let known_packet_queue = Arc::new(Mutex::default());
-        let unknown_packet_queue = Arc::new(Mutex::default());
-        let apid_handler = BasicApidHandlerSharedQueue {
-            known_packet_queue: known_packet_queue.clone(),
-            unknown_packet_queue: unknown_packet_queue.clone(),
-        };
-        let mut ccsds_distrib = CcsdsDistributor::new(Box::new(apid_handler));
-        is_send(&ccsds_distrib);
-        let mut test_buf: [u8; 32] = [0; 32];
-        let tc_slice = generate_ping_tc(test_buf.as_mut_slice());
-
-        ccsds_distrib.pass_tc(tc_slice).expect("Passing TC failed");
-        let recvd = known_packet_queue.lock().unwrap().pop_front();
-        assert!(unknown_packet_queue.lock().unwrap().is_empty());
-        assert!(recvd.is_some());
-        let (apid, packet) = recvd.unwrap();
-        assert_eq!(apid, 0x002);
-        assert_eq!(packet, tc_slice);
-    }
-
-    #[test]
-    fn test_distribs_unknown_apid() {
-        let known_packet_queue = Arc::new(Mutex::default());
-        let unknown_packet_queue = Arc::new(Mutex::default());
-        let apid_handler = BasicApidHandlerSharedQueue {
-            known_packet_queue: known_packet_queue.clone(),
-            unknown_packet_queue: unknown_packet_queue.clone(),
-        };
-        let mut ccsds_distrib = CcsdsDistributor::new(Box::new(apid_handler));
-        let mut sph = SpHeader::tc_unseg(0x004, 0x34, 0).unwrap();
-        let pus_tc = PusTcCreator::new_simple(&mut sph, 17, 1, None, true);
-        let mut test_buf: [u8; 32] = [0; 32];
-        pus_tc
-            .write_to_bytes(test_buf.as_mut_slice())
-            .expect("Error writing TC to buffer");
-        ccsds_distrib.pass_tc(&test_buf).expect("Passing TC failed");
-        let recvd = unknown_packet_queue.lock().unwrap().pop_front();
-        assert!(known_packet_queue.lock().unwrap().is_empty());
-        assert!(recvd.is_some());
-        let (apid, packet) = recvd.unwrap();
-        assert_eq!(apid, 0x004);
-        assert_eq!(packet.as_slice(), test_buf);
-    }
-}

satrs-core/src/tmtc/mod.rs

@@ -1,117 +0,0 @@
-//! Telemetry and Telecommanding (TMTC) module. Contains packet routing components with special
-//! support for CCSDS and ECSS packets.
-//!
-//! The distributor modules provided by this module use trait objects provided by the user to
-//! directly dispatch received packets to packet listeners based on packet fields like the CCSDS
-//! 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
-#[cfg(feature = "alloc")]
-use downcast_rs::{impl_downcast, Downcast};
-use spacepackets::SpHeader;
-
-#[cfg(feature = "alloc")]
-pub mod ccsds_distrib;
-#[cfg(feature = "alloc")]
-pub mod pus_distrib;
-pub mod tm_helper;
-
-#[cfg(feature = "alloc")]
-pub use ccsds_distrib::{CcsdsDistributor, CcsdsError, CcsdsPacketHandler};
-#[cfg(feature = "alloc")]
-pub use pus_distrib::{PusDistributor, PusServiceProvider};
-
-pub type TargetId = u32;
-
-/// Generic trait for object which can receive any telecommands in form of a raw bytestream, with
-/// no assumptions about the received protocol.
-///
-/// 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 ReceivesTcCore {
-    type Error;
-    fn pass_tc(&mut self, tc_raw: &[u8]) -> Result<(), Self::Error>;
-}
-
-/// Extension trait of [ReceivesTcCore] which allows downcasting by implementing [Downcast] and
-/// is also sendable.
-#[cfg(feature = "alloc")]
-pub trait ReceivesTc: ReceivesTcCore + Downcast + Send {
-    // Remove this once trait upcasting coercion has been implemented.
-    // Tracking issue: https://github.com/rust-lang/rust/issues/65991
-    fn upcast(&self) -> &dyn ReceivesTcCore<Error = Self::Error>;
-    // Remove this once trait upcasting coercion has been implemented.
-    // Tracking issue: https://github.com/rust-lang/rust/issues/65991
-    fn upcast_mut(&mut self) -> &mut dyn ReceivesTcCore<Error = Self::Error>;
-}
-
-/// Blanket implementation to automatically implement [ReceivesTc] when the [alloc] feature
-/// is enabled.
-#[cfg(feature = "alloc")]
-impl<T> ReceivesTc for T
-where
-    T: ReceivesTcCore + Send + 'static,
-{
-    // Remove this once trait upcasting coercion has been implemented.
-    // Tracking issue: https://github.com/rust-lang/rust/issues/65991
-    fn upcast(&self) -> &dyn ReceivesTcCore<Error = Self::Error> {
-        self
-    }
-    // Remove this once trait upcasting coercion has been implemented.
-    // Tracking issue: https://github.com/rust-lang/rust/issues/65991
-    fn upcast_mut(&mut self) -> &mut dyn ReceivesTcCore<Error = Self::Error> {
-        self
-    }
-}
-
-#[cfg(feature = "alloc")]
-impl_downcast!(ReceivesTc assoc Error);
-
-/// Generic trait for object which can receive CCSDS space packets, for example ECSS PUS packets
-/// for CCSDS File Delivery Protocol (CFDP) packets.
-///
-/// 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 or in CCSDS format into them.
-pub trait ReceivesCcsdsTc {
-    type Error;
-    fn pass_ccsds(&mut self, header: &SpHeader, tc_raw: &[u8]) -> Result<(), Self::Error>;
-}
-
-/// Generic trait for a TM packet source, with no restrictions on the type of TM.
-/// Implementors write the telemetry into the provided buffer and return the size of the telemetry.
-pub trait TmPacketSourceCore {
-    type Error;
-    fn retrieve_packet(&mut self, buffer: &mut [u8]) -> Result<usize, Self::Error>;
-}
-
-/// Extension trait of [TmPacketSourceCore] which allows downcasting by implementing [Downcast] and
-/// is also sendable.
-#[cfg(feature = "alloc")]
-pub trait TmPacketSource: TmPacketSourceCore + Downcast + Send {
-    // Remove this once trait upcasting coercion has been implemented.
-    // Tracking issue: https://github.com/rust-lang/rust/issues/65991
-    fn upcast(&self) -> &dyn TmPacketSourceCore<Error = Self::Error>;
-    // Remove this once trait upcasting coercion has been implemented.
-    // Tracking issue: https://github.com/rust-lang/rust/issues/65991
-    fn upcast_mut(&mut self) -> &mut dyn TmPacketSourceCore<Error = Self::Error>;
-}
-
-/// Blanket implementation to automatically implement [ReceivesTc] when the [alloc] feature
-/// is enabled.
-#[cfg(feature = "alloc")]
-impl<T> TmPacketSource for T
-where
-    T: TmPacketSourceCore + Send + 'static,
-{
-    // Remove this once trait upcasting coercion has been implemented.
-    // Tracking issue: https://github.com/rust-lang/rust/issues/65991
-    fn upcast(&self) -> &dyn TmPacketSourceCore<Error = Self::Error> {
-        self
-    }
-    // Remove this once trait upcasting coercion has been implemented.
-    // Tracking issue: https://github.com/rust-lang/rust/issues/65991
-    fn upcast_mut(&mut self) -> &mut dyn TmPacketSourceCore<Error = Self::Error> {
-        self
-    }
-}

satrs-core/src/tmtc/pus_distrib.rs

@@ -1,369 +0,0 @@
-//! ECSS PUS packet routing components.
-//!
-//! The routing components consist of two core components:
-//!  1. [PusDistributor] component which dispatches received packets to a user-provided handler.
-//!  2. [PusServiceProvider] trait which should be implemented by the user-provided PUS packet
-//!     handler.
-//!
-//! The [PusDistributor] implements the [ReceivesEcssPusTc], [ReceivesCcsdsTc] and the
-//! [ReceivesTcCore] trait which allows to pass raw packets, CCSDS packets and PUS TC packets into
-//! it. Upon receiving a packet, it performs the following steps:
-//!
-//! 1. It tries to extract the [SpHeader] and [spacepackets::ecss::tc::PusTcReader] objects from
-//!    the raw bytestream. If this process fails, a [PusDistribError::PusError] is returned to the
-//!    user.
-//! 2. If it was possible to extract both components, the packet will be passed to the
-//!    [PusServiceProvider::handle_pus_tc_packet] method provided by the user.
-//!
-//! # Example
-//!
-//! ```rust
-//! use spacepackets::ecss::WritablePusPacket;
-//! use satrs_core::tmtc::pus_distrib::{PusDistributor, PusServiceProvider};
-//! use satrs_core::tmtc::{ReceivesTc, ReceivesTcCore};
-//! use spacepackets::SpHeader;
-//! use spacepackets::ecss::tc::{PusTcCreator, PusTcReader};
-//! struct ConcretePusHandler {
-//!     handler_call_count: u32
-//! }
-//!
-//! // This is a very simple possible service provider. It increments an internal call count field,
-//! // which is used to verify the handler was called
-//! impl PusServiceProvider for ConcretePusHandler {
-//!     type Error = ();
-//!     fn handle_pus_tc_packet(&mut self, service: u8, header: &SpHeader, pus_tc: &PusTcReader) -> Result<(), Self::Error> {
-//!         assert_eq!(service, 17);
-//!         assert_eq!(pus_tc.len_packed(), 13);
-//!         self.handler_call_count += 1;
-//!         Ok(())
-//!     }
-//! }
-//!
-//! let service_handler = ConcretePusHandler {
-//!     handler_call_count: 0
-//! };
-//! let mut pus_distributor = PusDistributor::new(Box::new(service_handler));
-//!
-//! // Create and pass PUS ping telecommand with a valid APID
-//! let mut space_packet_header = SpHeader::tc_unseg(0x002, 0x34, 0).unwrap();
-//! let mut pus_tc = PusTcCreator::new_simple(&mut space_packet_header, 17, 1, None, true);
-//! let mut test_buf: [u8; 32] = [0; 32];
-//! let mut size = pus_tc
-//!     .write_to_bytes(test_buf.as_mut_slice())
-//!     .expect("Error writing TC to buffer");
-//! let tc_slice = &test_buf[0..size];
-//!
-//! pus_distributor.pass_tc(tc_slice).expect("Passing PUS telecommand failed");
-//!
-//! // User helper function to retrieve concrete class. We check the call count here to verify
-//! // that the PUS ping telecommand was routed successfully.
-//! let concrete_handler_ref: &ConcretePusHandler = pus_distributor
-//!     .service_provider_ref()
-//!     .expect("Casting back to concrete type failed");
-//! assert_eq!(concrete_handler_ref.handler_call_count, 1);
-//! ```
-use crate::pus::ReceivesEcssPusTc;
-use crate::tmtc::{ReceivesCcsdsTc, ReceivesTcCore};
-use alloc::boxed::Box;
-use core::fmt::{Display, Formatter};
-use downcast_rs::Downcast;
-use spacepackets::ecss::tc::PusTcReader;
-use spacepackets::ecss::{PusError, PusPacket};
-use spacepackets::SpHeader;
-#[cfg(feature = "std")]
-use std::error::Error;
-
-pub trait PusServiceProvider: Downcast {
-    type Error;
-    fn handle_pus_tc_packet(
-        &mut self,
-        service: u8,
-        header: &SpHeader,
-        pus_tc: &PusTcReader,
-    ) -> Result<(), Self::Error>;
-}
-downcast_rs::impl_downcast!(PusServiceProvider assoc Error);
-
-pub trait SendablePusServiceProvider: PusServiceProvider + Send {}
-
-impl<T: Send + PusServiceProvider> SendablePusServiceProvider for T {}
-
-downcast_rs::impl_downcast!(SendablePusServiceProvider assoc Error);
-
-/// Generic distributor object which dispatches received packets to a user provided handler.
-///
-/// This distributor expects the passed trait object to be [Send]able to allow more ergonomic
-/// usage with threads.
-pub struct PusDistributor<E> {
-    pub service_provider: Box<dyn SendablePusServiceProvider<Error = E>>,
-}
-
-impl<E> PusDistributor<E> {
-    pub fn new(service_provider: Box<dyn SendablePusServiceProvider<Error = E>>) -> Self {
-        PusDistributor { service_provider }
-    }
-}
-
-#[derive(Debug, Copy, Clone, PartialEq, Eq)]
-pub enum PusDistribError<E> {
-    CustomError(E),
-    PusError(PusError),
-}
-
-impl<E: Display> Display for PusDistribError<E> {
-    fn fmt(&self, f: &mut Formatter<'_>) -> core::fmt::Result {
-        match self {
-            PusDistribError::CustomError(e) => write!(f, "{e}"),
-            PusDistribError::PusError(e) => write!(f, "{e}"),
-        }
-    }
-}
-
-#[cfg(feature = "std")]
-impl<E: Error> Error for PusDistribError<E> {
-    fn source(&self) -> Option<&(dyn Error + 'static)> {
-        match self {
-            Self::CustomError(e) => e.source(),
-            Self::PusError(e) => e.source(),
-        }
-    }
-}
-
-impl<E: 'static> ReceivesTcCore for PusDistributor<E> {
-    type Error = PusDistribError<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::ByteConversion(e)))?;
-        self.pass_ccsds(&sp_header, tm_raw)
-    }
-}
-
-impl<E: 'static> ReceivesCcsdsTc for PusDistributor<E> {
-    type Error = PusDistribError<E>;
-    fn pass_ccsds(&mut self, header: &SpHeader, tm_raw: &[u8]) -> Result<(), Self::Error> {
-        let (tc, _) = PusTcReader::new(tm_raw).map_err(|e| PusDistribError::PusError(e))?;
-        self.pass_pus_tc(header, &tc)
-    }
-}
-
-impl<E: 'static> ReceivesEcssPusTc for PusDistributor<E> {
-    type Error = PusDistribError<E>;
-    fn pass_pus_tc(&mut self, header: &SpHeader, pus_tc: &PusTcReader) -> Result<(), Self::Error> {
-        self.service_provider
-            .handle_pus_tc_packet(pus_tc.service(), header, pus_tc)
-            .map_err(|e| PusDistribError::CustomError(e))
-    }
-}
-
-impl<E: 'static> PusDistributor<E> {
-    pub fn service_provider_ref<T: SendablePusServiceProvider<Error = E>>(&self) -> Option<&T> {
-        self.service_provider.downcast_ref::<T>()
-    }
-
-    pub fn service_provider_mut<T: SendablePusServiceProvider<Error = E>>(
-        &mut self,
-    ) -> Option<&mut T> {
-        self.service_provider.downcast_mut::<T>()
-    }
-}
-
-#[cfg(test)]
-mod tests {
-    use super::*;
-    use crate::tmtc::ccsds_distrib::tests::{
-        generate_ping_tc, BasicApidHandlerOwnedQueue, BasicApidHandlerSharedQueue,
-    };
-    use crate::tmtc::ccsds_distrib::{CcsdsDistributor, CcsdsPacketHandler};
-    use alloc::vec::Vec;
-    use spacepackets::ecss::PusError;
-    use spacepackets::CcsdsPacket;
-    #[cfg(feature = "std")]
-    use std::collections::VecDeque;
-    #[cfg(feature = "std")]
-    use std::sync::{Arc, Mutex};
-
-    fn is_send<T: Send>(_: &T) {}
-
-    struct PusHandlerSharedQueue {
-        pub pus_queue: Arc<Mutex<VecDeque<(u8, u16, Vec<u8>)>>>,
-    }
-
-    #[derive(Default)]
-    struct PusHandlerOwnedQueue {
-        pub pus_queue: VecDeque<(u8, u16, Vec<u8>)>,
-    }
-
-    impl PusServiceProvider for PusHandlerSharedQueue {
-        type Error = PusError;
-        fn handle_pus_tc_packet(
-            &mut self,
-            service: u8,
-            sp_header: &SpHeader,
-            pus_tc: &PusTcReader,
-        ) -> Result<(), Self::Error> {
-            let mut vec: Vec<u8> = Vec::new();
-            vec.extend_from_slice(pus_tc.raw_data());
-            Ok(self
-                .pus_queue
-                .lock()
-                .expect("Mutex lock failed")
-                .push_back((service, sp_header.apid(), vec)))
-        }
-    }
-
-    impl PusServiceProvider for PusHandlerOwnedQueue {
-        type Error = PusError;
-        fn handle_pus_tc_packet(
-            &mut self,
-            service: u8,
-            sp_header: &SpHeader,
-            pus_tc: &PusTcReader,
-        ) -> Result<(), Self::Error> {
-            let mut vec: Vec<u8> = Vec::new();
-            vec.extend_from_slice(pus_tc.raw_data());
-            Ok(self.pus_queue.push_back((service, sp_header.apid(), vec)))
-        }
-    }
-
-    struct ApidHandlerShared {
-        pub pus_distrib: PusDistributor<PusError>,
-        pub handler_base: BasicApidHandlerSharedQueue,
-    }
-
-    struct ApidHandlerOwned {
-        pub pus_distrib: PusDistributor<PusError>,
-        handler_base: BasicApidHandlerOwnedQueue,
-    }
-
-    macro_rules! apid_handler_impl {
-        () => {
-            type Error = PusError;
-
-            fn valid_apids(&self) -> &'static [u16] {
-                &[0x000, 0x002]
-            }
-
-            fn handle_known_apid(
-                &mut self,
-                sp_header: &SpHeader,
-                tc_raw: &[u8],
-            ) -> Result<(), Self::Error> {
-                self.handler_base
-                    .handle_known_apid(&sp_header, tc_raw)
-                    .ok()
-                    .expect("Unexpected error");
-                match self.pus_distrib.pass_ccsds(&sp_header, tc_raw) {
-                    Ok(_) => Ok(()),
-                    Err(e) => match e {
-                        PusDistribError::CustomError(_) => Ok(()),
-                        PusDistribError::PusError(e) => Err(e),
-                    },
-                }
-            }
-
-            fn handle_unknown_apid(
-                &mut self,
-                sp_header: &SpHeader,
-                tc_raw: &[u8],
-            ) -> Result<(), Self::Error> {
-                self.handler_base
-                    .handle_unknown_apid(&sp_header, tc_raw)
-                    .ok()
-                    .expect("Unexpected error");
-                Ok(())
-            }
-        };
-    }
-
-    impl CcsdsPacketHandler for ApidHandlerOwned {
-        apid_handler_impl!();
-    }
-
-    impl CcsdsPacketHandler for ApidHandlerShared {
-        apid_handler_impl!();
-    }
-
-    #[test]
-    #[cfg(feature = "std")]
-    fn test_pus_distribution() {
-        let known_packet_queue = Arc::new(Mutex::default());
-        let unknown_packet_queue = Arc::new(Mutex::default());
-        let pus_queue = Arc::new(Mutex::default());
-        let pus_handler = PusHandlerSharedQueue {
-            pus_queue: pus_queue.clone(),
-        };
-        let handler_base = BasicApidHandlerSharedQueue {
-            known_packet_queue: known_packet_queue.clone(),
-            unknown_packet_queue: unknown_packet_queue.clone(),
-        };
-
-        let pus_distrib = PusDistributor {
-            service_provider: Box::new(pus_handler),
-        };
-        is_send(&pus_distrib);
-        let apid_handler = ApidHandlerShared {
-            pus_distrib,
-            handler_base,
-        };
-        let mut ccsds_distrib = CcsdsDistributor::new(Box::new(apid_handler));
-        let mut test_buf: [u8; 32] = [0; 32];
-        let tc_slice = generate_ping_tc(test_buf.as_mut_slice());
-
-        // Pass packet to distributor
-        ccsds_distrib
-            .pass_tc(tc_slice)
-            .expect("Passing TC slice failed");
-        let recvd_ccsds = known_packet_queue.lock().unwrap().pop_front();
-        assert!(unknown_packet_queue.lock().unwrap().is_empty());
-        assert!(recvd_ccsds.is_some());
-        let (apid, packet) = recvd_ccsds.unwrap();
-        assert_eq!(apid, 0x002);
-        assert_eq!(packet.as_slice(), tc_slice);
-        let recvd_pus = pus_queue.lock().unwrap().pop_front();
-        assert!(recvd_pus.is_some());
-        let (service, apid, tc_raw) = recvd_pus.unwrap();
-        assert_eq!(service, 17);
-        assert_eq!(apid, 0x002);
-        assert_eq!(tc_raw, tc_slice);
-    }
-
-    #[test]
-    fn test_as_any_cast() {
-        let pus_handler = PusHandlerOwnedQueue::default();
-        let handler_base = BasicApidHandlerOwnedQueue::default();
-        let pus_distrib = PusDistributor {
-            service_provider: Box::new(pus_handler),
-        };
-
-        let apid_handler = ApidHandlerOwned {
-            pus_distrib,
-            handler_base,
-        };
-        let mut ccsds_distrib = CcsdsDistributor::new(Box::new(apid_handler));
-
-        let mut test_buf: [u8; 32] = [0; 32];
-        let tc_slice = generate_ping_tc(test_buf.as_mut_slice());
-
-        ccsds_distrib
-            .pass_tc(tc_slice)
-            .expect("Passing TC slice failed");
-
-        let apid_handler_casted_back: &mut ApidHandlerOwned = ccsds_distrib
-            .apid_handler_mut()
-            .expect("Cast to concrete type ApidHandler failed");
-        assert!(!apid_handler_casted_back
-            .handler_base
-            .known_packet_queue
-            .is_empty());
-        let handler_casted_back: &mut PusHandlerOwnedQueue = apid_handler_casted_back
-            .pus_distrib
-            .service_provider_mut()
-            .expect("Cast to concrete type PusHandlerOwnedQueue failed");
-        assert!(!handler_casted_back.pus_queue.is_empty());
-        let (service, apid, packet_raw) = handler_casted_back.pus_queue.pop_front().unwrap();
-        assert_eq!(service, 17);
-        assert_eq!(apid, 0x002);
-        assert_eq!(packet_raw.as_slice(), tc_slice);
-    }
-}

satrs-example-stm32f3-disco/.cargo/def_config.toml

@@ -0,0 +1,37 @@
+[target.'cfg(all(target_arch = "arm", target_os = "none"))']
+# uncomment ONE of these three option to make `cargo run` start a GDB session
+# which option to pick depends on your system
+# You can also replace openocd.gdb by jlink.gdb when using a J-Link.
+# runner = "arm-none-eabi-gdb -q -x openocd.gdb"
+# runner = "gdb-multiarch -q -x openocd.gdb"
+# runner = "gdb -q -x openocd.gdb"
+runner = "probe-rs run --chip STM32F303VCTx"
+
+rustflags = [
+  "-C", "linker=flip-link",
+  # LLD (shipped with the Rust toolchain) is used as the default linker
+  "-C", "link-arg=-Tlink.x",
+  "-C", "link-arg=-Tdefmt.x",
+
+  # This is needed if your flash or ram addresses are not aligned to 0x10000 in memory.x
+  # See https://github.com/rust-embedded/cortex-m-quickstart/pull/95
+  "-C", "link-arg=--nmagic",
+
+  # if you run into problems with LLD switch to the GNU linker by commenting out
+  # this line
+  # "-C", "linker=arm-none-eabi-ld",
+
+  # if you need to link to pre-compiled C libraries provided by a C toolchain
+  # use GCC as the linker by commenting out both lines above and then
+  # uncommenting the three lines below
+  # "-C", "linker=arm-none-eabi-gcc",
+  # "-C", "link-arg=-Wl,-Tlink.x",
+  # "-C", "link-arg=-nostartfiles",
+]
+
+[build]
+# comment out the following line if you intend to run unit tests on host machine
+target = "thumbv7em-none-eabihf" # Cortex-M4F and Cortex-M7F (with FPU)
+
+[env]
+DEFMT_LOG = "info"

satrs-example-stm32f3-disco/.gitignore

@@ -1,3 +1,4 @@
 /target
 /itm.txt
 /.cargo/config*
+/.vscode

satrs-example-stm32f3-disco/.vscode/launch.json

@@ -1,66 +0,0 @@
-{
-    /* 
-     * Requires the Rust Language Server (RLS) and Cortex-Debug extensions
-     * https://marketplace.visualstudio.com/items?itemName=rust-lang.rust
-     * https://marketplace.visualstudio.com/items?itemName=marus25.cortex-debug
-     */
-    "version": "0.2.0",
-    "configurations": [
-        {
-            /* Launches debug session for currently open example */
-            "type": "cortex-debug",
-            "request": "launch",
-            "name": "Debug",
-            "servertype": "openocd",
-            "cwd": "${workspaceRoot}",
-            "preLaunchTask": "cargo build",
-            "runToEntryPoint": "true",
-            "executable": "./target/thumbv7em-none-eabihf/debug/satrs-example-stm32f3-disco",
-            "preLaunchCommands": ["break rust_begin_unwind"],
-            "device": "STM32F303VCT6",
-            "configFiles": [
-                "${workspaceRoot}/.vscode/openocd-helpers.tcl",
-                "interface/stlink.cfg",
-                "target/stm32f3x.cfg"
-            ],
-            "svdFile": "${env:HOME}/.svd/STM32F303.svd",
-            "swoConfig": {
-                "enabled": true,
-                "cpuFrequency": 8000000,
-                "swoFrequency": 2000000,
-                "source": "probe",
-                "decoders": [
-                    { "type": "console", "label": "ITM", "port": 0 }
-                ]
-            }
-        },
-        {
-            /* Launches debug session for currently open example */
-            "type": "cortex-debug",
-            "request": "launch",
-            "name": "Release",
-            "servertype": "openocd",
-            "cwd": "${workspaceRoot}",
-            "preLaunchTask": "cargo build",
-            "runToEntryPoint": "true",
-            "executable": "./target/thumbv7em-none-eabihf/release/satrs-example-stm32f3-disco",
-            "preLaunchCommands": ["break rust_begin_unwind"],
-            "device": "STM32F303VCT6",
-            "configFiles": [
-                "${workspaceRoot}/.vscode/openocd-helpers.tcl",
-                "interface/stlink.cfg",
-                "target/stm32f3x.cfg"
-            ],
-            "svdFile": "${env:HOME}/.svd/STM32F303.svd",
-            "swoConfig": {
-                "enabled": true,
-                "cpuFrequency": 8000000,
-                "swoFrequency": 2000000,
-                "source": "probe",
-                "decoders": [
-                    { "type": "console", "label": "ITM", "port": 0 }
-                ]
-            }
-        }
-    ]
-}

satrs-example-stm32f3-disco/.vscode/settings_default.json

@@ -1,3 +0,0 @@
-{
-    "cortex-debug.gdbPath.linux": "gdb-multiarch"
-}

satrs-example-stm32f3-disco/Cargo.lock

@@ -13,18 +13,18 @@ dependencies = [
 
 [[package]]
 name = "atomic-polyfill"
-version = "0.1.11"
+version = "1.0.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e3ff7eb3f316534d83a8a2c3d1674ace8a5a71198eba31e2e2b597833f699b28"
+checksum = "8cf2bce30dfe09ef0bfaef228b9d414faaf7e563035494d7fe092dba54b300f4"
 dependencies = [
  "critical-section",
 ]
 
 [[package]]
 name = "autocfg"
-version = "1.1.0"
+version = "1.2.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "d468802bab17cbc0cc575e9b053f41e72aa36bfa6b7f55e3529ffa43161b97fa"
+checksum = "f1fdabc7756949593fe60f30ec81974b613357de856987752631dea1e3394c80"
 
 [[package]]
 name = "bare-metal"
@@ -55,20 +55,21 @@ checksum = "bef38d45163c2f1dde094a7dfd33ccf595c92905c8f8f4fdc18d06fb1037718a"
 
 [[package]]
 name = "bxcan"
-version = "0.6.2"
+version = "0.7.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "4b13b4b2ea9ab2ba924063ebb86ad895cb79f4a79bf90f27949eb20c335b30f9"
+checksum = "40ac3d0c0a542d0ab5521211f873f62706a7136df415676f676d347e5a41dd80"
 dependencies = [
  "bitflags",
- "nb 1.0.0",
+ "embedded-hal 0.2.7",
+ "nb 1.1.0",
  "vcell",
 ]
 
 [[package]]
 name = "byteorder"
-version = "1.4.3"
+version = "1.5.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "14c189c53d098945499cdfa7ecc63567cf3886b3332b312a5b4585d8d3a6a610"
+checksum = "1fd0f2584146f6f2ef48085050886acf353beff7305ebd1ae69500e27c67f64b"
 
 [[package]]
 name = "cast"
@@ -87,31 +88,36 @@ checksum = "baf1de4339761588bc0619e3cbc0120ee582ebb74b53b4efbf79117bd2da40fd"
 
 [[package]]
 name = "chrono"
-version = "0.4.23"
+version = "0.4.37"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "16b0a3d9ed01224b22057780a37bb8c5dbfe1be8ba48678e7bf57ec4b385411f"
+checksum = "8a0d04d43504c61aa6c7531f1871dd0d418d91130162063b789da00fd7057a5e"
 dependencies = [
- "num-integer",
  "num-traits",
 ]
 
+[[package]]
+name = "cobs"
+version = "0.2.3"
+source = "git+https://github.com/robamu/cobs.rs.git?branch=all_features#c70a7f30fd00a7cbdb7666dec12b437977385d40"
+
 [[package]]
 name = "cortex-m"
-version = "0.7.6"
+version = "0.7.7"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "70858629a458fdfd39f9675c4dc309411f2a3f83bede76988d81bf1a0ecee9e0"
+checksum = "8ec610d8f49840a5b376c69663b6369e71f4b34484b9b2eb29fb918d92516cb9"
 dependencies = [
  "bare-metal 0.2.5",
  "bitfield",
- "embedded-hal",
+ "critical-section",
+ "embedded-hal 0.2.7",
  "volatile-register",
 ]
 
 [[package]]
 name = "cortex-m-rt"
-version = "0.7.2"
+version = "0.7.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "d6d3328b8b5534f0c90acd66b68950f2763b37e0173cac4d8b4937c4a80761f9"
+checksum = "ee84e813d593101b1723e13ec38b6ab6abbdbaaa4546553f5395ed274079ddb1"
 dependencies = [
  "cortex-m-rt-macros",
 ]
@@ -124,48 +130,44 @@ checksum = "f0f6f3e36f203cfedbc78b357fb28730aa2c6dc1ab060ee5c2405e843988d3c7"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn",
+ "syn 1.0.109",
 ]
 
 [[package]]
-name = "cortex-m-rtic"
-version = "1.1.3"
+name = "cortex-m-semihosting"
+version = "0.5.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "c6b82f1c39acd6c3a35c2013b6110c20f5bc534522791fabadeed49ccada2dce"
+checksum = "c23234600452033cc77e4b761e740e02d2c4168e11dbf36ab14a0f58973592b0"
 dependencies = [
- "bare-metal 1.0.0",
  "cortex-m",
- "cortex-m-rtic-macros",
- "heapless",
- "rtic-core",
- "rtic-monotonic",
- "version_check",
 ]
 
 [[package]]
-name = "cortex-m-rtic-macros"
-version = "1.1.5"
+name = "crc"
+version = "3.0.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "9e8e9645ef54bec1cf70ac33e9bf9566e6507ab5b41ae6baf3735662194e8607"
+checksum = "86ec7a15cbe22e59248fc7eadb1907dab5ba09372595da4d73dd805ed4417dfe"
 dependencies = [
- "proc-macro-error",
- "proc-macro2",
- "quote",
- "rtic-syntax",
- "syn",
+ "crc-catalog",
 ]
 
+[[package]]
+name = "crc-catalog"
+version = "2.4.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "19d374276b40fb8bbdee95aef7c7fa6b5316ec764510eb64b8dd0e2ed0d7e7f5"
+
 [[package]]
 name = "critical-section"
-version = "1.1.1"
+version = "1.1.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "6548a0ad5d2549e111e1f6a11a6c2e2d00ce6a3dafe22948d67c2b443f775e52"
+checksum = "7059fff8937831a9ae6f0fe4d658ffabf58f2ca96aa9dec1c889f936f705f216"
 
 [[package]]
 name = "darling"
-version = "0.14.2"
+version = "0.20.8"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "b0dd3cd20dc6b5a876612a6e5accfe7f3dd883db6d07acfbf14c128f61550dfa"
+checksum = "54e36fcd13ed84ffdfda6f5be89b31287cbb80c439841fe69e04841435464391"
 dependencies = [
  "darling_core",
  "darling_macro",
@@ -173,26 +175,102 @@ dependencies = [
 
 [[package]]
 name = "darling_core"
-version = "0.14.2"
+version = "0.20.8"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "a784d2ccaf7c98501746bf0be29b2022ba41fd62a2e622af997a03e9f972859f"
+checksum = "9c2cf1c23a687a1feeb728783b993c4e1ad83d99f351801977dd809b48d0a70f"
 dependencies = [
  "fnv",
  "ident_case",
  "proc-macro2",
  "quote",
- "syn",
+ "syn 2.0.58",
 ]
 
 [[package]]
 name = "darling_macro"
-version = "0.14.2"
+version = "0.20.8"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "7618812407e9402654622dd402b0a89dff9ba93badd6540781526117b92aab7e"
+checksum = "a668eda54683121533a393014d8692171709ff57a7d61f187b6e782719f8933f"
 dependencies = [
  "darling_core",
  "quote",
- "syn",
+ "syn 2.0.58",
+]
+
+[[package]]
+name = "defmt"
+version = "0.3.6"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "3939552907426de152b3c2c6f51ed53f98f448babd26f28694c95f5906194595"
+dependencies = [
+ "bitflags",
+ "defmt-macros",
+]
+
+[[package]]
+name = "defmt-brtt"
+version = "0.1.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "c2f0ac3635d0c89d12b8101fcb44a7625f5f030a1c0491124b74467eb5a58a78"
+dependencies = [
+ "critical-section",
+ "defmt",
+]
+
+[[package]]
+name = "defmt-macros"
+version = "0.3.7"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "18bdc7a7b92ac413e19e95240e75d3a73a8d8e78aa24a594c22cbb4d44b4bbda"
+dependencies = [
+ "defmt-parser",
+ "proc-macro-error",
+ "proc-macro2",
+ "quote",
+ "syn 2.0.58",
+]
+
+[[package]]
+name = "defmt-parser"
+version = "0.3.4"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "ff4a5fefe330e8d7f31b16a318f9ce81000d8e35e69b93eae154d16d2278f70f"
+dependencies = [
+ "thiserror",
+]
+
+[[package]]
+name = "defmt-test"
+version = "0.3.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "290966e8c38f94b11884877242de876280d0eab934900e9642d58868e77c5df1"
+dependencies = [
+ "cortex-m-rt",
+ "cortex-m-semihosting",
+ "defmt",
+ "defmt-test-macros",
+]
+
+[[package]]
+name = "defmt-test-macros"
+version = "0.3.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "984bc6eca246389726ac2826acc2488ca0fe5fcd6b8d9b48797021951d76a125"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn 2.0.58",
+]
+
+[[package]]
+name = "delegate"
+version = "0.10.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "0ee5df75c70b95bd3aacc8e2fd098797692fb1d54121019c4de481e42f04c8a1"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn 1.0.109",
 ]
 
 [[package]]
@@ -214,6 +292,12 @@ dependencies = [
  "void",
 ]
 
+[[package]]
+name = "embedded-hal"
+version = "1.0.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "361a90feb7004eca4019fb28352a9465666b24f840f5c3cddf0ff13920590b89"
+
 [[package]]
 name = "embedded-time"
 version = "0.12.1"
@@ -225,25 +309,31 @@ dependencies = [
 
 [[package]]
 name = "enumset"
-version = "1.0.12"
+version = "1.1.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "19be8061a06ab6f3a6cf21106c873578bf01bd42ad15e0311a9c76161cb1c753"
+checksum = "226c0da7462c13fb57e5cc9e0dc8f0635e7d27f276a3a7fd30054647f669007d"
 dependencies = [
  "enumset_derive",
 ]
 
 [[package]]
 name = "enumset_derive"
-version = "0.6.1"
+version = "0.8.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "03e7b551eba279bf0fa88b83a46330168c1560a52a94f5126f892f0b364ab3e0"
+checksum = "e08b6c6ab82d70f08844964ba10c7babb716de2ecaeab9be5717918a5177d3af"
 dependencies = [
  "darling",
  "proc-macro2",
  "quote",
- "syn",
+ "syn 2.0.58",
 ]
 
+[[package]]
+name = "equivalent"
+version = "1.0.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "5443807d6dff69373d433ab9ef5378ad8df50ca6298caf15de6e52e24aaf54d5"
+
 [[package]]
 name = "fnv"
 version = "1.0.7"
@@ -252,18 +342,42 @@ checksum = "3f9eec918d3f24069decb9af1554cad7c880e2da24a9afd88aca000531ab82c1"
 
 [[package]]
 name = "fugit"
-version = "0.3.6"
+version = "0.3.7"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "7ab17bb279def6720d058cb6c052249938e7f99260ab534879281a95367a87e5"
+checksum = "17186ad64927d5ac8f02c1e77ccefa08ccd9eaa314d5a4772278aa204a22f7e7"
 dependencies = [
  "gcd",
 ]
 
 [[package]]
-name = "gcd"
-version = "2.2.0"
+name = "futures-core"
+version = "0.3.30"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "a4b1b088ad0a967aa29540456b82fc8903f854775d33f71e9709c4efb3dfbfd2"
+checksum = "dfc6580bb841c5a68e9ef15c77ccc837b40a7504914d52e47b8b0e9bbda25a1d"
+
+[[package]]
+name = "futures-task"
+version = "0.3.30"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "38d84fa142264698cdce1a9f9172cf383a0c82de1bddcf3092901442c4097004"
+
+[[package]]
+name = "futures-util"
+version = "0.3.30"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "3d6401deb83407ab3da39eba7e33987a73c3df0c82b4bb5813ee871c19c41d48"
+dependencies = [
+ "futures-core",
+ "futures-task",
+ "pin-project-lite",
+ "pin-utils",
+]
+
+[[package]]
+name = "gcd"
+version = "2.3.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "1d758ba1b47b00caf47f24925c0074ecb20d6dfcffe7f6d53395c0465674841a"
 
 [[package]]
 name = "generic-array"
@@ -276,9 +390,9 @@ dependencies = [
 
 [[package]]
 name = "generic-array"
-version = "0.14.6"
+version = "0.14.7"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "bff49e947297f3312447abdca79f45f4738097cc82b06e72054d2223f601f1b9"
+checksum = "85649ca51fd72272d7821adaf274ad91c288277713d9c18820d8499a7ff69e9a"
 dependencies = [
  "typenum",
  "version_check",
@@ -286,29 +400,26 @@ dependencies = [
 
 [[package]]
 name = "hash32"
-version = "0.2.1"
+version = "0.3.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "b0c35f58762feb77d74ebe43bdbc3210f09be9fe6742234d573bacc26ed92b67"
+checksum = "47d60b12902ba28e2730cd37e95b8c9223af2808df9e902d4df49588d1470606"
 dependencies = [
  "byteorder",
 ]
 
 [[package]]
 name = "hashbrown"
-version = "0.12.3"
+version = "0.14.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "8a9ee70c43aaf417c914396645a0fa852624801b24ebb7ae78fe8272889ac888"
+checksum = "290f1a1d9242c78d09ce40a5e87e7554ee637af1351968159f4952f028f75604"
 
 [[package]]
 name = "heapless"
-version = "0.7.16"
+version = "0.8.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "db04bc24a18b9ea980628ecf00e6c0264f3c1426dac36c00cb49b6fbad8b0743"
+checksum = "0bfb9eb618601c89945a70e254898da93b13be0388091d42117462b265bb3fad"
 dependencies = [
- "atomic-polyfill",
  "hash32",
- "rustc_version 0.4.0",
- "spin",
  "stable_deref_trait",
 ]
 
@@ -320,41 +431,14 @@ checksum = "b9e0384b61958566e926dc50660321d12159025e767c18e043daf26b70104c39"
 
 [[package]]
 name = "indexmap"
-version = "1.9.2"
+version = "2.2.6"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "1885e79c1fc4b10f0e172c475f458b7f7b93061064d98c3293e98c5ba0c8b399"
+checksum = "168fb715dda47215e360912c096649d23d58bf392ac62f73919e831745e40f26"
 dependencies = [
- "autocfg",
+ "equivalent",
  "hashbrown",
 ]
 
-[[package]]
-name = "itm_logger"
-version = "0.1.3-pre.0"
-dependencies = [
- "cortex-m",
- "log",
-]
-
-[[package]]
-name = "lock_api"
-version = "0.4.9"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "435011366fe56583b16cf956f9df0095b405b82d76425bc8981c0e22e60ec4df"
-dependencies = [
- "autocfg",
- "scopeguard",
-]
-
-[[package]]
-name = "log"
-version = "0.4.17"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "abb12e687cfb44aa40f41fc3978ef76448f9b6038cad6aef4259d3c095a2382e"
-dependencies = [
- "cfg-if",
-]
-
 [[package]]
 name = "lsm303dlhc"
 version = "0.2.0"
@@ -362,7 +446,7 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "9e5d1a5c290951321d1b0d4a40edd828537de9889134a0e67c5146542ae57706"
 dependencies = [
  "cast",
- "embedded-hal",
+ "embedded-hal 0.2.7",
  "generic-array 0.11.2",
 ]
 
@@ -372,7 +456,7 @@ version = "1.1.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "bc4010833aea396656c2f91ee704d51a6f1329ec2ab56ffd00bfd56f7481ea94"
 dependencies = [
- "generic-array 0.14.6",
+ "generic-array 0.14.7",
 ]
 
 [[package]]
@@ -381,14 +465,14 @@ version = "0.1.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "801d31da0513b6ec5214e9bf433a77966320625a37860f910be265be6e18d06f"
 dependencies = [
- "nb 1.0.0",
+ "nb 1.1.0",
 ]
 
 [[package]]
 name = "nb"
-version = "1.0.0"
+version = "1.1.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "546c37ac5d9e56f55e73b677106873d9d9f5190605e41a856503623648488cae"
+checksum = "8d5439c4ad607c3c23abf66de8c8bf57ba8adcd1f129e699851a6e43935d339d"
 
 [[package]]
 name = "num"
@@ -414,19 +498,18 @@ dependencies = [
 
 [[package]]
 name = "num-integer"
-version = "0.1.45"
+version = "0.1.46"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "225d3389fb3509a24c93f5c29eb6bde2586b98d9f016636dff58d7c6f7569cd9"
+checksum = "7969661fd2958a5cb096e56c8e1ad0444ac2bbcd0061bd28660485a44879858f"
 dependencies = [
- "autocfg",
  "num-traits",
 ]
 
 [[package]]
 name = "num-iter"
-version = "0.1.43"
+version = "0.1.44"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "7d03e6c028c5dc5cac6e2dec0efda81fc887605bb3d884578bb6d6bf7514e252"
+checksum = "d869c01cc0c455284163fd0092f1f93835385ccab5a98a0dcc497b2f8bf055a9"
 dependencies = [
  "autocfg",
  "num-integer",
@@ -446,27 +529,60 @@ dependencies = [
 
 [[package]]
 name = "num-traits"
-version = "0.2.15"
+version = "0.2.18"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "578ede34cf02f8924ab9447f50c28075b4d3e5b269972345e7e0372b38c6cdcd"
+checksum = "da0df0e5185db44f69b44f26786fe401b6c293d1907744beaa7fa62b2e5a517a"
 dependencies = [
  "autocfg",
 ]
 
 [[package]]
-name = "panic-itm"
-version = "0.4.2"
+name = "num_enum"
+version = "0.7.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "3d577d97d1b31268087b6dddf2470e6794ef5eee87d9dca7fcd0481695391a4c"
+checksum = "02339744ee7253741199f897151b38e72257d13802d4ee837285cc2990a90845"
+dependencies = [
+ "num_enum_derive",
+]
+
+[[package]]
+name = "num_enum_derive"
+version = "0.7.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "681030a937600a36906c185595136d26abfebb4aa9c65701cefcaf8578bb982b"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn 2.0.58",
+]
+
+[[package]]
+name = "panic-probe"
+version = "0.3.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "aa6fa5645ef5a760cd340eaa92af9c1ce131c8c09e7f8926d8a24b59d26652b9"
 dependencies = [
  "cortex-m",
+ "defmt",
 ]
 
 [[package]]
 name = "paste"
-version = "1.0.11"
+version = "1.0.14"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "d01a5bd0424d00070b0098dd17ebca6f961a959dead1dbcbbbc1d1cd8d3deeba"
+checksum = "de3145af08024dea9fa9914f381a17b8fc6034dfb00f3a84013f7ff43f29ed4c"
+
+[[package]]
+name = "pin-project-lite"
+version = "0.2.14"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "bda66fc9667c18cb2758a2ac84d1167245054bcf85d5d1aaa6923f45801bdd02"
+
+[[package]]
+name = "pin-utils"
+version = "0.1.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "8b870d8c151b6f2fb93e84a13146138f05d02ed11c7e7c54f8826aaaf7c9f184"
 
 [[package]]
 name = "proc-macro-error"
@@ -477,7 +593,7 @@ dependencies = [
  "proc-macro-error-attr",
  "proc-macro2",
  "quote",
- "syn",
+ "syn 1.0.109",
  "version_check",
 ]
 
@@ -494,31 +610,54 @@ dependencies = [
 
 [[package]]
 name = "proc-macro2"
-version = "1.0.49"
+version = "1.0.79"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "57a8eca9f9c4ffde41714334dee777596264c7825420f521abc92b5b5deb63a5"
+checksum = "e835ff2298f5721608eb1a980ecaee1aef2c132bf95ecc026a11b7bf3c01c02e"
 dependencies = [
  "unicode-ident",
 ]
 
 [[package]]
 name = "quote"
-version = "1.0.23"
+version = "1.0.35"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "8856d8364d252a14d474036ea1358d63c9e6965c8e5c1885c18f73d70bff9c7b"
+checksum = "291ec9ab5efd934aaf503a6466c5d5251535d108ee747472c3977cc5acc868ef"
 dependencies = [
  "proc-macro2",
 ]
 
 [[package]]
 name = "rtcc"
-version = "0.3.0"
+version = "0.3.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "3623619ce77c09a7d87cf7c61c5c887b9c7dee8805f66af6c4aa5824be4d9930"
+checksum = "95973c3a0274adc4f3c5b70d2b5b85618d6de9559a6737d3293ecae9a2fc0839"
 dependencies = [
  "chrono",
 ]
 
+[[package]]
+name = "rtic"
+version = "2.1.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "c443db16326376bdd64377da268f6616d5f804aba8ce799bac7d1f7f244e9d51"
+dependencies = [
+ "atomic-polyfill",
+ "bare-metal 1.0.0",
+ "cortex-m",
+ "critical-section",
+ "rtic-core",
+ "rtic-macros",
+]
+
+[[package]]
+name = "rtic-common"
+version = "1.0.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "0786b50b81ef9d2a944a000f60405bb28bf30cd45da2d182f3fe636b2321f35c"
+dependencies = [
+ "critical-section",
+]
+
 [[package]]
 name = "rtic-core"
 version = "1.0.0"
@@ -526,21 +665,41 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "d9369355b04d06a3780ec0f51ea2d225624db777acbc60abd8ca4832da5c1a42"
 
 [[package]]
-name = "rtic-monotonic"
-version = "1.0.0"
+name = "rtic-macros"
+version = "2.1.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "fb8b0b822d1a366470b9cea83a1d4e788392db763539dc4ba022bcc787fece82"
-
-[[package]]
-name = "rtic-syntax"
-version = "1.0.2"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "3ad3ae243dd8d0a1b064615f664d4fa7e63929939074c564cbe5efdc4c503065"
+checksum = "54053598ea24b1b74937724e366558412a1777eb2680b91ef646db540982789a"
 dependencies = [
  "indexmap",
+ "proc-macro-error",
  "proc-macro2",
  "quote",
- "syn",
+ "syn 2.0.58",
+]
+
+[[package]]
+name = "rtic-monotonics"
+version = "1.5.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "058c2397dbd5bb4c5650a0e368c3920953e458805ff5097a0511b8147b3619d7"
+dependencies = [
+ "atomic-polyfill",
+ "cfg-if",
+ "cortex-m",
+ "embedded-hal 1.0.0",
+ "fugit",
+ "rtic-time",
+]
+
+[[package]]
+name = "rtic-time"
+version = "1.3.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "75b232e7aebc045cfea81cdd164bc2727a10aca9a4568d406d0a5661cdfd0f19"
+dependencies = [
+ "critical-section",
+ "futures-util",
+ "rtic-common",
 ]
 
 [[package]]
@@ -558,31 +717,52 @@ version = "0.4.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "bfa0f585226d2e68097d4f95d113b15b83a82e819ab25717ec0590d9584ef366"
 dependencies = [
- "semver 1.0.16",
+ "semver 1.0.22",
 ]
 
 [[package]]
-name = "sat-rs-example-stm32f-disco"
+name = "satrs"
+version = "0.2.0-rc.0"
+dependencies = [
+ "cobs",
+ "crc",
+ "delegate",
+ "num-traits",
+ "num_enum",
+ "paste",
+ "satrs-shared",
+ "smallvec",
+ "spacepackets",
+]
+
+[[package]]
+name = "satrs-example-stm32f3-disco"
 version = "0.1.0"
 dependencies = [
+ "cobs",
  "cortex-m",
  "cortex-m-rt",
- "cortex-m-rtic",
- "embedded-hal",
+ "cortex-m-semihosting",
+ "defmt",
+ "defmt-brtt",
+ "defmt-test",
+ "embedded-hal 0.2.7",
  "enumset",
  "heapless",
- "itm_logger",
- "panic-itm",
+ "panic-probe",
+ "rtic",
+ "rtic-monotonics",
+ "satrs",
  "stm32f3-discovery",
  "stm32f3xx-hal",
- "systick-monotonic",
 ]
 
 [[package]]
-name = "scopeguard"
-version = "1.1.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "d29ab0c6d3fc0ee92fe66e2d99f700eab17a8d57d1c1d3b748380fb20baa78cd"
+name = "satrs-shared"
+version = "0.1.3"
+dependencies = [
+ "spacepackets",
+]
 
 [[package]]
 name = "semver"
@@ -595,9 +775,9 @@ dependencies = [
 
 [[package]]
 name = "semver"
-version = "1.0.16"
+version = "1.0.22"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "58bc9567378fc7690d6b2addae4e60ac2eeea07becb2c64b9f218b53865cba2a"
+checksum = "92d43fe69e652f3df9bdc2b85b2854a0825b86e4fb76bc44d945137d053639ca"
 
 [[package]]
 name = "semver-parser"
@@ -607,17 +787,28 @@ checksum = "388a1df253eca08550bef6c72392cfe7c30914bf41df5269b68cbd6ff8f570a3"
 
 [[package]]
 name = "slice-group-by"
-version = "0.3.0"
+version = "0.3.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "03b634d87b960ab1a38c4fe143b508576f075e7c978bfad18217645ebfdfa2ec"
+checksum = "826167069c09b99d56f31e9ae5c99049e932a98c9dc2dac47645b08dbbf76ba7"
 
 [[package]]
-name = "spin"
-version = "0.9.4"
+name = "smallvec"
+version = "1.13.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "7f6002a767bff9e83f8eeecf883ecb8011875a21ae8da43bffb817a57e78cc09"
+checksum = "3c5e1a9a646d36c3599cd173a41282daf47c44583ad367b8e6837255952e5c67"
+
+[[package]]
+name = "spacepackets"
+version = "0.11.0-rc.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "c2cfd5f9a4c7f10714d21f9bc61f2d176cb7ae092cdd687e7ade2d4e6f7d7125"
 dependencies = [
- "lock_api",
+ "crc",
+ "defmt",
+ "delegate",
+ "num-traits",
+ "num_enum",
+ "zerocopy",
 ]
 
 [[package]]
@@ -639,9 +830,9 @@ dependencies = [
 
 [[package]]
 name = "stm32f3"
-version = "0.14.0"
+version = "0.15.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "265cda62ac13307414de4aca58dbbbd8038ddba85cffbb335823aa216f2e3200"
+checksum = "b28b37228ef3fa47956af38c6abd756e912f244c1657f14e66d42fc8d74ea96f"
 dependencies = [
  "bare-metal 1.0.0",
  "cortex-m",
@@ -651,7 +842,8 @@ dependencies = [
 
 [[package]]
 name = "stm32f3-discovery"
-version = "0.8.0-pre.0"
+version = "0.8.0-alpha.0"
+source = "git+https://github.com/robamu/stm32f3-discovery?branch=complete-dma-update-hal#5ccacae07ceff02d7d3649df67a6a0ba2a144752"
 dependencies = [
  "accelerometer",
  "cortex-m",
@@ -663,20 +855,20 @@ dependencies = [
 
 [[package]]
 name = "stm32f3xx-hal"
-version = "0.9.1"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "4e422c5c044e8f3a068b1e14b83c071449e27c9d4bc0e24f972b552d79f2be03"
+version = "0.11.0-alpha.0"
+source = "git+https://github.com/robamu/stm32f3xx-hal?branch=complete-dma-update#04fc76b7912649c84b57bd0ab803ea3ccf2aadae"
 dependencies = [
- "bare-metal 1.0.0",
  "bxcan",
  "cfg-if",
  "cortex-m",
  "cortex-m-rt",
+ "critical-section",
  "embedded-dma",
- "embedded-hal",
+ "embedded-hal 0.2.7",
  "embedded-time",
  "enumset",
- "nb 1.0.0",
+ "nb 1.1.0",
+ "num-traits",
  "paste",
  "rtcc",
  "slice-group-by",
@@ -691,14 +883,14 @@ version = "0.4.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "90a4adc8cbd1726249b161898e48e0f3f1ce74d34dc784cbbc98fba4ed283fbf"
 dependencies = [
- "embedded-hal",
+ "embedded-hal 0.2.7",
 ]
 
 [[package]]
 name = "syn"
-version = "1.0.107"
+version = "1.0.109"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "1f4064b5b16e03ae50984a5a8ed5d4f8803e6bc1fd170a3cda91a1be4b18e3f5"
+checksum = "72b64191b275b66ffe2469e8af2c1cfe3bafa67b529ead792a6d0160888b4237"
 dependencies = [
  "proc-macro2",
  "quote",
@@ -706,27 +898,47 @@ dependencies = [
 ]
 
 [[package]]
-name = "systick-monotonic"
-version = "1.0.1"
+name = "syn"
+version = "2.0.58"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "67fb822d5c615a0ae3a4795ee5b1d06381c7faf488d861c0a4fa8e6a88d5ff84"
+checksum = "44cfb93f38070beee36b3fef7d4f5a16f27751d94b187b666a5cc5e9b0d30687"
 dependencies = [
- "cortex-m",
- "fugit",
- "rtic-monotonic",
+ "proc-macro2",
+ "quote",
+ "unicode-ident",
+]
+
+[[package]]
+name = "thiserror"
+version = "1.0.58"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "03468839009160513471e86a034bb2c5c0e4baae3b43f79ffc55c4a5427b3297"
+dependencies = [
+ "thiserror-impl",
+]
+
+[[package]]
+name = "thiserror-impl"
+version = "1.0.58"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "c61f3ba182994efc43764a46c018c347bc492c79f024e705f46567b418f6d4f7"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn 2.0.58",
 ]
 
 [[package]]
 name = "typenum"
-version = "1.16.0"
+version = "1.17.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "497961ef93d974e23eb6f433eb5fe1b7930b659f06d12dec6fc44a8f554c0bba"
+checksum = "42ff0bf0c66b8238c6f3b578df37d0b7848e55df8577b3f74f92a69acceeb825"
 
 [[package]]
 name = "unicode-ident"
-version = "1.0.6"
+version = "1.0.12"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "84a22b9f218b40614adcb3f4ff08b703773ad44fa9423e4e0d346d5db86e4ebc"
+checksum = "3354b9ac3fae1ff6755cb6db53683adb661634f67557942dea4facebec0fee4b"
 
 [[package]]
 name = "usb-device"
@@ -754,9 +966,30 @@ checksum = "6a02e4885ed3bc0f2de90ea6dd45ebcbb66dacffe03547fadbb0eeae2770887d"
 
 [[package]]
 name = "volatile-register"
-version = "0.2.1"
+version = "0.2.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "9ee8f19f9d74293faf70901bc20ad067dc1ad390d2cbf1e3f75f721ffee908b6"
+checksum = "de437e2a6208b014ab52972a27e59b33fa2920d3e00fe05026167a1c509d19cc"
 dependencies = [
  "vcell",
 ]
+
+[[package]]
+name = "zerocopy"
+version = "0.7.32"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "74d4d3961e53fa4c9a25a8637fc2bfaf2595b3d3ae34875568a5cf64787716be"
+dependencies = [
+ "byteorder",
+ "zerocopy-derive",
+]
+
+[[package]]
+name = "zerocopy-derive"
+version = "0.7.32"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "9ce1b18ccd8e73a9321186f97e46f9f04b778851177567b1975109d26a08d2a6"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn 2.0.58",
+]

satrs-example-stm32f3-disco/Cargo.toml

@@ -2,58 +2,82 @@
 name = "satrs-example-stm32f3-disco"
 version = "0.1.0"
 edition = "2021"
+default-run = "satrs-example-stm32f3-disco"
 
 # See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
 
 [dependencies]
-cortex-m = "0.7"
+cortex-m = { version = "0.7", features = ["critical-section-single-core"] }
 cortex-m-rt = "0.7"
-embedded-hal = "0.2.6"
-cortex-m-rtic = "1.0"
-enumset = "1.0"
-heapless = "0.7"
-systick-monotonic = "1.0"
+defmt = "0.3"
+defmt-brtt = { version = "0.1", default-features = false, features = ["rtt"] }
+panic-probe = { version = "0.3", features = ["print-defmt"] }
+embedded-hal = "0.2.7"
+cortex-m-semihosting = "0.5.0"
+enumset = "1"
+heapless = "0.8"
+
+[dependencies.rtic]
+version = "2"
+features = ["thumbv7-backend"]
+
+[dependencies.rtic-monotonics]
+version = "1"
+features = ["cortex-m-systick"]
 
 [dependencies.cobs]
 git = "https://github.com/robamu/cobs.rs.git"
 branch = "all_features"
 default-features = false
 
-[dependencies.panic-itm]
-version = "0.4"
-
-[dependencies.itm_logger]
-git = "https://github.com/robamu/itm_logger.rs.git"
-branch = "all_features"
-version = "0.1.3-alpha.0"
-
 [dependencies.stm32f3xx-hal]
 git = "https://github.com/robamu/stm32f3xx-hal"
-version = "0.10.0-alpha.0"
+version = "0.11.0-alpha.0"
 features = ["stm32f303xc", "rt", "enumset"]
-branch = "all_features"
+branch = "complete-dma-update"
 # Can be used in workspace to develop and update HAL
 # path = "../stm32f3xx-hal"
 
 [dependencies.stm32f3-discovery]
 git = "https://github.com/robamu/stm32f3-discovery"
 version = "0.8.0-alpha.0"
-branch = "all_features"
+branch = "complete-dma-update-hal"
 # Can be used in workspace to develop and update BSP
 # path = "../stm32f3-discovery"
 
-[dependencies.satrs-core]
-git = "https://egit.irs.uni-stuttgart.de/rust/satrs-core.git"
-version = "0.1.0-alpha.0"
+[dependencies.satrs]
+path = "../satrs"
 default-features = false
+features = ["defmt"]
 
-# this lets you use `cargo fix`!
-# [[bin]]
-# name = "stm32f3-blinky"
-# test = false
-# bench = false
+[dev-dependencies]
+defmt-test = "0.3"
 
+# cargo test
+[profile.test]
+codegen-units = 1
+debug = 2
+debug-assertions = true # <-
+incremental = false
+opt-level = "s" # <-
+overflow-checks = true # <-
+
+# cargo build/run --release
 [profile.release]
-codegen-units = 1 # better optimizations
-debug = true # symbols are nice and they don't increase the size on Flash
-lto = true # better optimizations
+codegen-units = 1
+debug = 2
+debug-assertions = false # <-
+incremental = false
+lto = 'fat'
+opt-level = "s" # <-
+overflow-checks = false # <-
+
+# cargo test --release
+[profile.bench]
+codegen-units = 1
+debug = 2
+debug-assertions = false # <-
+incremental = false
+lto = 'fat'
+opt-level = "s" # <-
+overflow-checks = false # <-

satrs-example-stm32f3-disco/README.md

@@ -2,15 +2,25 @@ sat-rs example for the STM32F3-Discovery board
 =======
 
 This example application shows how the [sat-rs framework](https://egit.irs.uni-stuttgart.de/rust/satrs-launchpad)
-can be used on an embedded target. It also shows how a relatively simple OBSW could be built when no
-standard runtime is available. It uses [RTIC](https://rtic.rs/1/book/en/) as the concurrency
-framework.
+can be used on an embedded target.
+It also shows how a relatively simple OBSW could be built when no standard runtime is available.
+It uses [RTIC](https://rtic.rs/1/book/en/) as the concurrency framework and the
+[defmt](https://defmt.ferrous-systems.com/) framework for logging.
 
 The STM32F3-Discovery device was picked because it is a cheap Cortex-M4 based device which is also
 used by the [Rust Embedded Book](https://docs.rust-embedded.org/book/intro/hardware.html) and the
 [Rust Discovery](https://docs.rust-embedded.org/discovery/f3discovery/) book as an introduction
 to embedded Rust.
 
+## Pre-Requisites
+
+Make sure the following tools are installed:
+
+1. [`probe-rs`](https://probe.rs/): Application used to flash and debug the MCU.
+2. Optional and recommended: [VS Code](https://code.visualstudio.com/) with
+   [probe-rs plugin](https://marketplace.visualstudio.com/items?itemName=probe-rs.probe-rs-debugger)
+   for debugging.
+
 ## Preparing Rust and the repository
 
 Building an application requires the `thumbv7em-none-eabihf` cross-compiler toolchain.
@@ -40,15 +50,23 @@ you can simply build the application with
 cargo build
 ```
 
-## Flashing and Debugging from the command line
+## Flashing from the command line
 
-TODO
+You can flash the application from the command line using `probe-rs`:
+
+```sh
+probe-rs run --chip STM32F303VCTx
+```
 
 ## Debugging with VS Code
 
 The STM32F3-Discovery comes with an on-board ST-Link so all that is required to flash and debug
-the board is a Mini-USB cable. The code in this repository was debugged using `openocd`
-and the VS Code [`Cortex-Debug` plugin](https://marketplace.visualstudio.com/items?itemName=marus25.cortex-debug).
+the board is a Mini-USB cable. The code in this repository was debugged using [`probe-rs`](https://probe.rs/docs/tools/debuggerA)
+and the VS Code [`probe-rs` plugin](https://marketplace.visualstudio.com/items?itemName=probe-rs.probe-rs-debugger).
+Make sure to install this plugin first.
+
+Sample configuration files are provided inside the `vscode` folder.
+Use `cp vscode .vscode -r` to use them for your project.
 
 Some sample configuration files for VS Code were provided as well. You can simply use `Run` and `Debug`
 to automatically rebuild and flash your application.
@@ -56,20 +74,41 @@ to automatically rebuild and flash your application.
 The `tasks.json` and `launch.json` files are generic and you can use them immediately by opening
 the folder in VS code or adding it to a workspace.
 
-If you would like to use a custom GDB application, you can specify the gdb binary in the following
-configuration variables in your `settings.json`:
-
-- `"cortex-debug.gdbPath"`
-- `"cortex-debug.gdbPath.linux"`
-- `"cortex-debug.gdbPath.windows"`
-- `"cortex-debug.gdbPath.osx"`
-
 ## Commanding with Python
 
 When the SW is running on the Discovery board, you can command the MCU via a serial interface,
-using COBS encoded CCSDS packets.
- 
-TODO:
-  - How and where to connect serial interface on the MCU
-  - How to set up Python venv (or at least strongly recommend it) and install deps
-  - How to copy `def_tmtc_conf.json` to `tmtc_conf.json` and adapt it for custom serial port
+using COBS encoded PUS packets.
+
+It is recommended to use a virtual environment to do this. To set up one in the command line,
+you can use `python3 -m venv venv` on Unix systems or `py -m venv venv` on Windows systems.
+After doing this, you can check the [venv tutorial](https://docs.python.org/3/tutorial/venv.html)
+on how to activate the environment and then use the following command to install the required
+dependency:
+
+```sh
+pip install -r requirements.txt
+```
+
+The packets are exchanged using a dedicated serial interface. You can use any generic USB-to-UART
+converter device with the TX pin connected to the PA3 pin and the RX pin connected to the PA2 pin.
+
+A default configuration file for the python application is provided and can be used by running
+
+```sh
+cp def_tmtc_conf.json tmtc_conf.json
+```
+
+After that, you can for example send a ping to the MCU using the following command
+
+```sh
+./main.py -p /ping
+```
+
+You can configure the blinky frequency using
+
+```sh
+./main.py -p /change_blink_freq
+```
+
+All these commands will package a PUS telecommand which will be sent to the MCU using the COBS
+format as the packet framing format.

satrs-example-stm32f3-disco/build.rs

@@ -1,18 +0,0 @@
-use std::env;
-use std::fs::File;
-use std::io::Write;
-use std::path::PathBuf;
-
-fn main() {
-    // Put the linker script somewhere the linker can find it
-    let out = &PathBuf::from(env::var_os("OUT_DIR").unwrap());
-    File::create(out.join("memory.x"))
-        .unwrap()
-        .write_all(include_bytes!("memory.x"))
-        .unwrap();
-    println!("cargo:rustc-link-search={}", out.display());
-
-    // Only re-run the build script when memory.x is changed,
-    // instead of when any part of the source code changes.
-    println!("cargo:rerun-if-changed=memory.x");
-}

satrs-example-stm32f3-disco/legacy/openocd.gdb

@@ -24,7 +24,9 @@ break main
 # # send captured ITM to the file itm.fifo
 # # (the microcontroller SWO pin must be connected to the programmer SWO pin)
 # # 8000000 must match the core clock frequency
-monitor tpiu config internal itm.txt uart off 8000000
+# # 2000000 is the frequency of the SWO pin. This was added for newer
+# openocd versions like v0.12.0.
+# monitor tpiu config internal itm.txt uart off 8000000 2000000
 
 # # OR: make the microcontroller SWO pin output compatible with UART (8N1)
 # # 8000000 must match the core clock frequency
@@ -32,7 +34,7 @@ monitor tpiu config internal itm.txt uart off 8000000
 # monitor tpiu config external uart off 8000000 2000000
 
 # # enable ITM port 0
-monitor itm port 0 on
+# monitor itm port 0 on
 
 load
 

satrs-example-stm32f3-disco/pyclient/.gitignore

@@ -1,4 +1,5 @@
 /venv
+/.tmtc-history.txt
 /log
 /.idea/*
 !/.idea/runConfigurations

satrs-example-stm32f3-disco/pyclient/def_tmtc_conf.json

@@ -1,4 +1,4 @@
 {
     "com_if": "serial_cobs",
     "serial_baudrate": 115200
-}
+}

satrs-example-stm32f3-disco/pyclient/main.py

@@ -1,39 +1,40 @@
 #!/usr/bin/env python3
 """Example client for the sat-rs example application"""
-import enum
 import struct
+import logging
 import sys
 import time
-from typing import Optional, cast
+from typing import Any, Optional, cast
+from prompt_toolkit.history import FileHistory, History
+from spacepackets.ecss.tm import CdsShortTimestamp
 
 import tmtccmd
 from spacepackets.ecss import PusTelemetry, PusTelecommand, PusVerificator
 from spacepackets.ecss.pus_17_test import Service17Tm
 from spacepackets.ecss.pus_1_verification import UnpackParams, Service1Tm
 
-from tmtccmd import CcsdsTmtcBackend, TcHandlerBase, ProcedureParamsWrapper
+from tmtccmd import TcHandlerBase, ProcedureParamsWrapper
 from tmtccmd.core.base import BackendRequest
+from tmtccmd.core.ccsds_backend import QueueWrapper
+from tmtccmd.logging import add_colorlog_console_logger
 from tmtccmd.pus import VerificationWrapper
-from tmtccmd.tm import CcsdsTmHandler, SpecificApidHandlerBase
-from tmtccmd.com_if import ComInterface
+from tmtccmd.tmtc import CcsdsTmHandler, SpecificApidHandlerBase
+from tmtccmd.com import ComInterface
 from tmtccmd.config import (
+    CmdTreeNode,
     default_json_path,
     SetupParams,
-    TmTcCfgHookBase,
-    TmtcDefinitionWrapper,
-    CoreServiceList,
-    OpCodeEntry,
+    HookBase,
     params_to_procedure_conversion,
 )
-from tmtccmd.config.com_if import SerialCfgWrapper
+from tmtccmd.config.com import SerialCfgWrapper
 from tmtccmd.config import PreArgsParsingWrapper, SetupWrapper
-from tmtccmd.logging import get_console_logger
 from tmtccmd.logging.pus import (
     RegularTmtcLogWrapper,
     RawTmtcTimedLogWrapper,
     TimedLogWhen,
 )
-from tmtccmd.tc import (
+from tmtccmd.tmtc import (
     TcQueueEntryType,
     ProcedureWrapper,
     TcProcedureType,
@@ -41,27 +42,26 @@ from tmtccmd.tc import (
     SendCbParams,
     DefaultPusQueueHelper,
 )
-from tmtccmd.tm.pus_5_event import Service5Tm
+from tmtccmd.pus.s5_fsfw_event import Service5Tm
 from tmtccmd.util import FileSeqCountProvider, PusFileSeqCountProvider
 from tmtccmd.util.obj_id import ObjectIdDictT
 
-from tmtccmd.util.tmtc_printer import FsfwTmTcPrinter
-
-LOGGER = get_console_logger()
+_LOGGER = logging.getLogger()
 
 EXAMPLE_PUS_APID = 0x02
 
 
-class SatRsConfigHook(TmTcCfgHookBase):
+class SatRsConfigHook(HookBase):
     def __init__(self, json_cfg_path: str):
         super().__init__(json_cfg_path=json_cfg_path)
 
-    def assign_communication_interface(self, com_if_key: str) -> Optional[ComInterface]:
-        from tmtccmd.config.com_if import (
+    def get_communication_interface(self, com_if_key: str) -> Optional[ComInterface]:
+        from tmtccmd.config.com import (
             create_com_interface_default,
             create_com_interface_cfg_default,
         )
 
+        assert self.cfg_path is not None
         cfg = create_com_interface_cfg_default(
             com_if_key=com_if_key,
             json_cfg_path=self.cfg_path,
@@ -76,35 +76,14 @@ class SatRsConfigHook(TmTcCfgHookBase):
             cfg.serial_cfg.serial_timeout = 0.5
         return create_com_interface_default(cfg)
 
-    def get_tmtc_definitions(self) -> TmtcDefinitionWrapper:
-        from tmtccmd.config.globals import get_default_tmtc_defs
+    def get_command_definitions(self) -> CmdTreeNode:
+        """This function should return the root node of the command definition tree."""
+        return create_cmd_definition_tree()
 
-        defs = get_default_tmtc_defs()
-        srv_5 = OpCodeEntry()
-        srv_5.add("0", "Event Test")
-        defs.add_service(
-            name=CoreServiceList.SERVICE_5.value,
-            info="PUS Service 5 Event",
-            op_code_entry=srv_5,
-        )
-        srv_17 = OpCodeEntry()
-        srv_17.add("0", "Ping Test")
-        defs.add_service(
-            name=CoreServiceList.SERVICE_17_ALT,
-            info="PUS Service 17 Test",
-            op_code_entry=srv_17,
-        )
-        srv_3 = OpCodeEntry()
-        defs.add_service(
-            name=CoreServiceList.SERVICE_3,
-            info="PUS Service 3 Housekeeping",
-            op_code_entry=srv_3,
-        )
-        return defs
-
-    def perform_mode_operation(self, tmtc_backend: CcsdsTmtcBackend, mode: int):
-        LOGGER.info("Mode operation hook was called")
-        pass
+    def get_cmd_history(self) -> Optional[History]:
+        """Optionlly return a history class for the past command paths which will be used
+        when prompting a command path from the user in CLI mode."""
+        return FileHistory(".tmtc-history.txt")
 
     def get_object_ids(self) -> ObjectIdDictT:
         from tmtccmd.config.objects import get_core_object_ids
@@ -112,74 +91,76 @@ class SatRsConfigHook(TmTcCfgHookBase):
         return get_core_object_ids()
 
 
+def create_cmd_definition_tree() -> CmdTreeNode:
+    root_node = CmdTreeNode.root_node()
+    root_node.add_child(CmdTreeNode("ping", "Send PUS ping TC"))
+    root_node.add_child(CmdTreeNode("change_blink_freq", "Change blink frequency"))
+    return root_node
+
+
 class PusHandler(SpecificApidHandlerBase):
     def __init__(
         self,
+        file_logger: logging.Logger,
         verif_wrapper: VerificationWrapper,
-        printer: FsfwTmTcPrinter,
         raw_logger: RawTmtcTimedLogWrapper,
     ):
         super().__init__(EXAMPLE_PUS_APID, None)
-        self.printer = printer
+        self.file_logger = file_logger
         self.raw_logger = raw_logger
         self.verif_wrapper = verif_wrapper
 
-    def handle_tm(self, packet: bytes, _user_args: any):
+    def handle_tm(self, packet: bytes, _user_args: Any):
+        time_reader = CdsShortTimestamp.empty()
         try:
-            tm_packet = PusTelemetry.unpack(packet)
+            pus_tm = PusTelemetry.unpack(packet, time_reader=CdsShortTimestamp.empty())
         except ValueError as e:
-            LOGGER.warning("Could not generate PUS TM object from raw data")
-            LOGGER.warning(f"Raw Packet: [{packet.hex(sep=',')}], REPR: {packet!r}")
+            _LOGGER.warning("Could not generate PUS TM object from raw data")
+            _LOGGER.warning(f"Raw Packet: [{packet.hex(sep=',')}], REPR: {packet!r}")
             raise e
-        service = tm_packet.service
-        dedicated_handler = False
+        service = pus_tm.service
+        tm_packet = None
         if service == 1:
-            tm_packet = Service1Tm.unpack(data=packet, params=UnpackParams(1, 2))
+            tm_packet = Service1Tm.unpack(
+                data=packet, params=UnpackParams(time_reader, 1, 2)
+            )
             res = self.verif_wrapper.add_tm(tm_packet)
             if res is None:
-                LOGGER.info(
+                _LOGGER.info(
                     f"Received Verification TM[{tm_packet.service}, {tm_packet.subservice}] "
                     f"with Request ID {tm_packet.tc_req_id.as_u32():#08x}"
                 )
-                LOGGER.warning(
+                _LOGGER.warning(
                     f"No matching telecommand found for {tm_packet.tc_req_id}"
                 )
             else:
                 self.verif_wrapper.log_to_console(tm_packet, res)
                 self.verif_wrapper.log_to_file(tm_packet, res)
-            dedicated_handler = True
         if service == 3:
-            LOGGER.info("No handling for HK packets implemented")
-            LOGGER.info(f"Raw packet: 0x[{packet.hex(sep=',')}]")
-            pus_tm = PusTelemetry.unpack(packet)
+            _LOGGER.info("No handling for HK packets implemented")
+            _LOGGER.info(f"Raw packet: 0x[{packet.hex(sep=',')}]")
+            pus_tm = PusTelemetry.unpack(packet, CdsShortTimestamp.empty())
             if pus_tm.subservice == 25:
                 if len(pus_tm.source_data) < 8:
                     raise ValueError("No addressable ID in HK packet")
                 json_str = pus_tm.source_data[8:]
-            dedicated_handler = True
+                _LOGGER.info("received JSON string: " + json_str.decode("utf-8"))
         if service == 5:
-            tm_packet = Service5Tm.unpack(packet)
+            tm_packet = Service5Tm.unpack(packet, time_reader)
         if service == 17:
-            tm_packet = Service17Tm.unpack(packet)
-            dedicated_handler = True
+            tm_packet = Service17Tm.unpack(packet, time_reader)
             if tm_packet.subservice == 2:
-                self.printer.file_logger.info("Received Ping Reply TM[17,2]")
-                LOGGER.info("Received Ping Reply TM[17,2]")
+                _LOGGER.info("Received Ping Reply TM[17,2]")
             else:
-                self.printer.file_logger.info(
-                    f"Received Test Packet with unknown subservice {tm_packet.subservice}"
-                )
-                LOGGER.info(
+                _LOGGER.info(
                     f"Received Test Packet with unknown subservice {tm_packet.subservice}"
                 )
         if tm_packet is None:
-            LOGGER.info(
+            _LOGGER.info(
                 f"The service {service} is not implemented in Telemetry Factory"
             )
-            tm_packet = PusTelemetry.unpack(packet)
-        self.raw_logger.log_tm(tm_packet)
-        if not dedicated_handler and tm_packet is not None:
-            self.printer.handle_long_tm_print(packet_if=tm_packet, info_if=tm_packet)
+            tm_packet = PusTelemetry.unpack(packet, time_reader)
+        self.raw_logger.log_tm(pus_tm)
 
 
 def make_addressable_id(target_id: int, unique_id: int) -> bytes:
@@ -198,8 +179,11 @@ class TcHandler(TcHandlerBase):
         self.seq_count_provider = seq_count_provider
         self.verif_wrapper = verif_wrapper
         self.queue_helper = DefaultPusQueueHelper(
-            queue_wrapper=None,
+            queue_wrapper=QueueWrapper.empty(),
+            tc_sched_timestamp_len=7,
             seq_cnt_provider=seq_count_provider,
+            pus_verificator=verif_wrapper.pus_verificator,
+            default_pus_apid=EXAMPLE_PUS_APID,
         )
 
     def send_cb(self, send_params: SendCbParams):
@@ -212,61 +196,74 @@ class TcHandler(TcHandlerBase):
                 )
                 self.verif_wrapper.add_tc(pus_tc_wrapper.pus_tc)
                 raw_tc = pus_tc_wrapper.pus_tc.pack()
-                LOGGER.info(f"Sending {pus_tc_wrapper.pus_tc}")
+                _LOGGER.info(f"Sending {pus_tc_wrapper.pus_tc}")
                 send_params.com_if.send(raw_tc)
         elif entry_helper.entry_type == TcQueueEntryType.LOG:
             log_entry = entry_helper.to_log_entry()
-            LOGGER.info(log_entry.log_str)
+            _LOGGER.info(log_entry.log_str)
 
-    def queue_finished_cb(self, helper: ProcedureWrapper):
-        if helper.proc_type == TcProcedureType.DEFAULT:
-            def_proc = helper.to_def_procedure()
-            LOGGER.info(
-                f"Queue handling finished for service {def_proc.service} and "
-                f"op code {def_proc.op_code}"
-            )
+    def queue_finished_cb(self, info: ProcedureWrapper):
+        if info.proc_type == TcProcedureType.DEFAULT:
+            def_proc = info.to_def_procedure()
+            _LOGGER.info(f"Queue handling finished for command {def_proc.cmd_path}")
 
-    def feed_cb(self, helper: ProcedureWrapper, wrapper: FeedWrapper):
+    def feed_cb(self, info: ProcedureWrapper, wrapper: FeedWrapper):
         q = self.queue_helper
         q.queue_wrapper = wrapper.queue_wrapper
-        if helper.proc_type == TcProcedureType.DEFAULT:
-            def_proc = helper.to_def_procedure()
-            service = def_proc.service
-            op_code = def_proc.op_code
-            if (
-                service == CoreServiceList.SERVICE_17
-                or service == CoreServiceList.SERVICE_17_ALT
-            ):
+        if info.proc_type == TcProcedureType.DEFAULT:
+            def_proc = info.to_def_procedure()
+            cmd_path = def_proc.cmd_path
+            if cmd_path == "/ping":
                 q.add_log_cmd("Sending PUS ping telecommand")
-                return q.add_pus_tc(PusTelecommand(service=17, subservice=1))
+                q.add_pus_tc(PusTelecommand(service=17, subservice=1))
+            if cmd_path == "/change_blink_freq":
+                self.create_change_blink_freq_command(q)
+
+    def create_change_blink_freq_command(self, q: DefaultPusQueueHelper):
+        q.add_log_cmd("Changing blink frequency")
+        while True:
+            blink_freq = int(
+                input(
+                    "Please specify new blink frequency in ms. Valid Range [2..10000]: "
+                )
+            )
+            if blink_freq < 2 or blink_freq > 10000:
+                print(
+                    "Invalid blink frequency. Please specify a value between 2 and 10000."
+                )
+                continue
+            break
+        app_data = struct.pack("!I", blink_freq)
+        q.add_pus_tc(PusTelecommand(service=8, subservice=1, app_data=app_data))
 
 
 def main():
+    add_colorlog_console_logger(_LOGGER)
     tmtccmd.init_printout(False)
     hook_obj = SatRsConfigHook(json_cfg_path=default_json_path())
     parser_wrapper = PreArgsParsingWrapper()
     parser_wrapper.create_default_parent_parser()
     parser_wrapper.create_default_parser()
     parser_wrapper.add_def_proc_args()
-    post_args_wrapper = parser_wrapper.parse(hook_obj)
     params = SetupParams()
+    post_args_wrapper = parser_wrapper.parse(hook_obj, params)
     proc_wrapper = ProcedureParamsWrapper()
     if post_args_wrapper.use_gui:
-        post_args_wrapper.set_params_without_prompts(params, proc_wrapper)
+        post_args_wrapper.set_params_without_prompts(proc_wrapper)
     else:
-        post_args_wrapper.set_params_with_prompts(params, proc_wrapper)
+        post_args_wrapper.set_params_with_prompts(proc_wrapper)
     params.apid = EXAMPLE_PUS_APID
     setup_args = SetupWrapper(
         hook_obj=hook_obj, setup_params=params, proc_param_wrapper=proc_wrapper
     )
     # Create console logger helper and file loggers
     tmtc_logger = RegularTmtcLogWrapper()
-    printer = FsfwTmTcPrinter(tmtc_logger.logger)
+    file_logger = tmtc_logger.logger
     raw_logger = RawTmtcTimedLogWrapper(when=TimedLogWhen.PER_HOUR, interval=1)
     verificator = PusVerificator()
-    verification_wrapper = VerificationWrapper(verificator, LOGGER, printer.file_logger)
+    verification_wrapper = VerificationWrapper(verificator, _LOGGER, file_logger)
     # Create primary TM handler and add it to the CCSDS Packet Handler
-    tm_handler = PusHandler(verification_wrapper, printer, raw_logger)
+    tm_handler = PusHandler(file_logger, verification_wrapper, raw_logger)
     ccsds_handler = CcsdsTmHandler(generic_handler=None)
     ccsds_handler.add_apid_handler(tm_handler)
 
@@ -288,7 +285,7 @@ def main():
             if state.request == BackendRequest.TERMINATION_NO_ERROR:
                 sys.exit(0)
             elif state.request == BackendRequest.DELAY_IDLE:
-                LOGGER.info("TMTC Client in IDLE mode")
+                _LOGGER.info("TMTC Client in IDLE mode")
                 time.sleep(3.0)
             elif state.request == BackendRequest.DELAY_LISTENER:
                 time.sleep(0.8)

satrs-example-stm32f3-disco/pyclient/requirements.txt

@@ -1,2 +1,2 @@
-tmtccmd == 4.0.0a0
+tmtccmd == 8.0.0rc.0
 # -e git+https://github.com/robamu-org/tmtccmd.git@main#egg=tmtccmd

satrs-example-stm32f3-disco/src/bin/blinky.rs

@@ -1,17 +1,15 @@
 #![no_std]
 #![no_main]
+use satrs_example_stm32f3_disco as _;
 
-extern crate panic_itm;
-
-use cortex_m_rt::entry;
-
+use stm32f3_discovery::leds::Leds;
 use stm32f3_discovery::stm32f3xx_hal::delay::Delay;
 use stm32f3_discovery::stm32f3xx_hal::{pac, prelude::*};
-use stm32f3_discovery::leds::Leds;
 use stm32f3_discovery::switch_hal::{OutputSwitch, ToggleableOutputSwitch};
 
-#[entry]
-fn main()-> ! {
+#[cortex_m_rt::entry]
+fn main() -> ! {
+    defmt::println!("STM32F3 Discovery Blinky");
     let dp = pac::Peripherals::take().unwrap();
     let mut rcc = dp.RCC.constrain();
     let cp = cortex_m::Peripherals::take().unwrap();
@@ -30,49 +28,49 @@ fn main()-> ! {
         gpioe.pe14,
         gpioe.pe15,
         &mut gpioe.moder,
-        &mut gpioe.otyper
+        &mut gpioe.otyper,
     );
     let delay_ms = 200u16;
     loop {
-        leds.ld3.toggle().ok();
+        leds.ld3_n.toggle().ok();
         delay.delay_ms(delay_ms);
-        leds.ld3.toggle().ok();
+        leds.ld3_n.toggle().ok();
         delay.delay_ms(delay_ms);
 
         //explicit on/off
-        leds.ld4.on().ok();
+        leds.ld4_nw.on().ok();
         delay.delay_ms(delay_ms);
-        leds.ld4.off().ok();
+        leds.ld4_nw.off().ok();
         delay.delay_ms(delay_ms);
 
-        leds.ld5.on().ok();
+        leds.ld5_ne.on().ok();
         delay.delay_ms(delay_ms);
-        leds.ld5.off().ok();
+        leds.ld5_ne.off().ok();
         delay.delay_ms(delay_ms);
 
-        leds.ld6.on().ok();
+        leds.ld6_w.on().ok();
         delay.delay_ms(delay_ms);
-        leds.ld6.off().ok();
-        delay.delay_ms(delay_ms);
-        
-        leds.ld7.on().ok();
-        delay.delay_ms(delay_ms);
-        leds.ld7.off().ok();
-        delay.delay_ms(delay_ms);
-        
-        leds.ld8.on().ok();
-        delay.delay_ms(delay_ms);
-        leds.ld8.off().ok();
-        delay.delay_ms(delay_ms);
-        
-        leds.ld9.on().ok();
-        delay.delay_ms(delay_ms);
-        leds.ld9.off().ok();
+        leds.ld6_w.off().ok();
         delay.delay_ms(delay_ms);
 
-        leds.ld10.on().ok();
+        leds.ld7_e.on().ok();
         delay.delay_ms(delay_ms);
-        leds.ld10.off().ok();
+        leds.ld7_e.off().ok();
+        delay.delay_ms(delay_ms);
+
+        leds.ld8_sw.on().ok();
+        delay.delay_ms(delay_ms);
+        leds.ld8_sw.off().ok();
+        delay.delay_ms(delay_ms);
+
+        leds.ld9_se.on().ok();
+        delay.delay_ms(delay_ms);
+        leds.ld9_se.off().ok();
+        delay.delay_ms(delay_ms);
+
+        leds.ld10_s.on().ok();
+        delay.delay_ms(delay_ms);
+        leds.ld10_s.off().ok();
         delay.delay_ms(delay_ms);
     }
 }

satrs-example-stm32f3-disco/src/lib.rs

@@ -0,0 +1,51 @@
+#![no_main]
+#![no_std]
+
+use cortex_m_semihosting::debug;
+
+use defmt_brtt as _; // global logger
+
+use stm32f3xx_hal as _; // memory layout
+
+use panic_probe as _;
+
+// same panicking *behavior* as `panic-probe` but doesn't print a panic message
+// this prevents the panic message being printed *twice* when `defmt::panic` is invoked
+#[defmt::panic_handler]
+fn panic() -> ! {
+    cortex_m::asm::udf()
+}
+
+/// Terminates the application and makes a semihosting-capable debug tool exit
+/// with status code 0.
+pub fn exit() -> ! {
+    loop {
+        debug::exit(debug::EXIT_SUCCESS);
+    }
+}
+
+/// Hardfault handler.
+///
+/// Terminates the application and makes a semihosting-capable debug tool exit
+/// with an error. This seems better than the default, which is to spin in a
+/// loop.
+#[cortex_m_rt::exception]
+unsafe fn HardFault(_frame: &cortex_m_rt::ExceptionFrame) -> ! {
+    loop {
+        debug::exit(debug::EXIT_FAILURE);
+    }
+}
+
+// defmt-test 0.3.0 has the limitation that this `#[tests]` attribute can only be used
+// once within a crate. the module can be in any file but there can only be at most
+// one `#[tests]` module in this library crate
+#[cfg(test)]
+#[defmt_test::tests]
+mod unit_tests {
+    use defmt::assert;
+
+    #[test]
+    fn it_works() {
+        assert!(true)
+    }
+}

satrs-example-stm32f3-disco/src/main.rs

@@ -1,38 +1,40 @@
 #![no_std]
 #![no_main]
-extern crate panic_itm;
+use satrs::pus::verification::{
+    FailParams, TcStateAccepted, VerificationReportCreator, VerificationToken,
+};
+use satrs::spacepackets::ecss::tc::PusTcReader;
+use satrs::spacepackets::ecss::tm::{PusTmCreator, PusTmSecondaryHeader};
+use satrs::spacepackets::ecss::EcssEnumU16;
+use satrs::spacepackets::CcsdsPacket;
+use satrs::spacepackets::{ByteConversionError, SpHeader};
+// global logger + panicking-behavior + memory layout
+use satrs_example_stm32f3_disco as _;
 
 use rtic::app;
 
-use heapless::{
-    mpmc::Q16,
-    pool,
-    pool::singleton::{Box, Pool},
-};
+use heapless::{mpmc::Q8, Vec};
 #[allow(unused_imports)]
-use itm_logger::{debug, info, logger_init, warn};
-use satrs_core::spacepackets::{ecss::PusPacket, tm::PusTm};
-use satrs_core::{
-    pus::{EcssTmErrorWithSend, EcssTmSenderCore},
-    seq_count::SequenceCountProviderCore,
-};
+use rtic_monotonics::systick::fugit::{MillisDurationU32, TimerInstantU32};
+use rtic_monotonics::systick::ExtU32;
+use satrs::seq_count::SequenceCountProviderCore;
+use satrs::spacepackets::{ecss::PusPacket, ecss::WritablePusPacket};
 use stm32f3xx_hal::dma::dma1;
 use stm32f3xx_hal::gpio::{PushPull, AF7, PA2, PA3};
 use stm32f3xx_hal::pac::USART2;
 use stm32f3xx_hal::serial::{Rx, RxEvent, Serial, SerialDmaRx, SerialDmaTx, Tx, TxEvent};
-use systick_monotonic::{fugit::Duration, Systick};
 
 const UART_BAUD: u32 = 115200;
-const BLINK_FREQ_MS: u64 = 1000;
-const TX_HANDLER_FREQ_MS: u64 = 20;
-const MIN_DELAY_BETWEEN_TX_PACKETS_MS: u16 = 5;
-const MAX_TC_LEN: usize = 200;
-const MAX_TM_LEN: usize = 200;
+const DEFAULT_BLINK_FREQ_MS: u32 = 1000;
+const TX_HANDLER_FREQ_MS: u32 = 20;
+const MIN_DELAY_BETWEEN_TX_PACKETS_MS: u32 = 5;
+const MAX_TC_LEN: usize = 128;
+const MAX_TM_LEN: usize = 128;
 pub const PUS_APID: u16 = 0x02;
 
 type TxType = Tx<USART2, PA2<AF7<PushPull>>>;
 type RxType = Rx<USART2, PA3<AF7<PushPull>>>;
-type MsDuration = Duration<u64, 1, 1000>;
+type InstantFugit = TimerInstantU32<1000>;
 type TxDmaTransferType = SerialDmaTx<&'static [u8], dma1::C7, TxType>;
 type RxDmaTransferType = SerialDmaRx<&'static mut [u8], dma1::C6, RxType>;
 
@@ -51,10 +53,11 @@ static mut DMA_TX_BUF: [u8; TM_BUF_LEN] = [0; TM_BUF_LEN];
 // transfer buffer.
 static mut DMA_RX_BUF: [u8; TC_BUF_LEN] = [0; TC_BUF_LEN];
 
-static TX_REQUESTS: Q16<(Box<poolmod::TM>, usize)> = Q16::new();
+type TmPacket = Vec<u8, MAX_TM_LEN>;
+type TcPacket = Vec<u8, MAX_TC_LEN>;
+
+static TM_REQUESTS: Q8<TmPacket> = Q8::new();
 
-const TC_POOL_SLOTS: usize = 12;
-const TM_POOL_SLOTS: usize = 12;
 use core::sync::atomic::{AtomicU16, Ordering};
 
 pub struct SeqCountProviderAtomicRef {
@@ -88,72 +91,50 @@ impl SequenceCountProviderCore<u16> for SeqCountProviderAtomicRef {
 static SEQ_COUNT_PROVIDER: SeqCountProviderAtomicRef =
     SeqCountProviderAtomicRef::new(Ordering::Relaxed);
 
-// Otherwise, warnings because of heapless pool macro.
-#[allow(non_camel_case_types)]
-mod poolmod {
-    use super::*;
-    // Must hold full TC length including COBS overhead.
-    pool!(TC: [u8; TC_BUF_LEN]);
-    // Only encoded at the end, so no need to account for COBS overhead.
-    pool!(TM: [u8; MAX_TM_LEN]);
-}
-
 pub struct TxIdle {
     tx: TxType,
     dma_channel: dma1::C7,
 }
 
-#[derive(Debug)]
-pub enum TmStoreError {
-    StoreFull,
-    StoreSlotsTooSmall,
+#[derive(Debug, defmt::Format)]
+pub enum TmSendError {
+    ByteConversion(ByteConversionError),
+    Queue,
 }
 
-impl From<TmStoreError> for EcssTmErrorWithSend<TmStoreError> {
-    fn from(value: TmStoreError) -> Self {
-        Self::SendError(value)
+impl From<ByteConversionError> for TmSendError {
+    fn from(value: ByteConversionError) -> Self {
+        Self::ByteConversion(value)
     }
 }
 
-pub struct TmSender {
-    mem_block: Option<Box<poolmod::TM>>,
-    ctx: &'static str,
+fn send_tm(tm_creator: PusTmCreator) -> Result<(), TmSendError> {
+    if tm_creator.len_written() > MAX_TM_LEN {
+        return Err(ByteConversionError::ToSliceTooSmall {
+            expected: tm_creator.len_written(),
+            found: MAX_TM_LEN,
+        }
+        .into());
+    }
+    let mut tm_vec = TmPacket::new();
+    tm_vec
+        .resize(tm_creator.len_written(), 0)
+        .expect("vec resize failed");
+    tm_creator.write_to_bytes(tm_vec.as_mut_slice())?;
+    defmt::info!(
+        "Sending TM[{},{}] with size {}",
+        tm_creator.service(),
+        tm_creator.subservice(),
+        tm_creator.len_written()
+    );
+    TM_REQUESTS
+        .enqueue(tm_vec)
+        .map_err(|_| TmSendError::Queue)?;
+    Ok(())
 }
 
-impl TmSender {
-    pub fn new(mem_block: Box<poolmod::TM>, ctx: &'static str) -> Self {
-        Self {
-            mem_block: Some(mem_block),
-            ctx,
-        }
-    }
-}
-
-impl EcssTmSenderCore for TmSender {
-    type Error = TmStoreError;
-
-    fn send_tm(
-        &mut self,
-        tm: PusTm,
-    ) -> Result<(), satrs_core::pus::EcssTmErrorWithSend<Self::Error>> {
-        let mem_block = self.mem_block.take();
-        if mem_block.is_none() {
-            panic!("send_tm should only be called once");
-        }
-        let mut mem_block = mem_block.unwrap();
-        if tm.len_packed() > MAX_TM_LEN {
-            return Err(EcssTmErrorWithSend::SendError(
-                TmStoreError::StoreSlotsTooSmall,
-            ));
-        }
-        tm.write_to_bytes(mem_block.as_mut_slice())
-            .map_err(|e| EcssTmErrorWithSend::EcssTmError(e.into()))?;
-        info!(target: self.ctx, "Sending TM[{},{}] with size {}", tm.service(), tm.subservice(), tm.len_packed());
-        TX_REQUESTS
-            .enqueue((mem_block, tm.len_packed()))
-            .map_err(|_| TmStoreError::StoreFull)?;
-        Ok(())
-    }
+fn handle_tm_send_error(error: TmSendError) {
+    defmt::warn!("sending tm failed with error {}", error);
 }
 
 pub enum UartTxState {
@@ -163,56 +144,144 @@ pub enum UartTxState {
     Transmitting(Option<TxDmaTransferType>),
 }
 
-#[app(device = stm32f3xx_hal::pac, peripherals = true, dispatchers = [TIM20_BRK, TIM20_UP, TIM20_TRG_COM])]
+pub struct UartTxShared {
+    last_completed: Option<InstantFugit>,
+    state: UartTxState,
+}
+
+pub struct RequestWithToken {
+    token: VerificationToken<TcStateAccepted>,
+    request: Request,
+}
+
+#[derive(Debug, defmt::Format)]
+pub enum Request {
+    Ping,
+    ChangeBlinkFrequency(u32),
+}
+
+#[derive(Debug, defmt::Format)]
+pub enum RequestError {
+    InvalidApid = 1,
+    InvalidService = 2,
+    InvalidSubservice = 3,
+    NotEnoughAppData = 4,
+}
+
+pub fn convert_pus_tc_to_request(
+    tc: &PusTcReader,
+    verif_reporter: &mut VerificationReportCreator,
+    src_data_buf: &mut [u8],
+    timestamp: &[u8],
+) -> Result<RequestWithToken, RequestError> {
+    defmt::info!(
+        "Found PUS TC [{},{}] with length {}",
+        tc.service(),
+        tc.subservice(),
+        tc.len_packed()
+    );
+
+    let token = verif_reporter.add_tc(tc);
+    if tc.apid() != PUS_APID {
+        defmt::warn!("Received tc with unknown APID {}", tc.apid());
+        let result = send_tm(
+            verif_reporter
+                .acceptance_failure(
+                    src_data_buf,
+                    token,
+                    SEQ_COUNT_PROVIDER.get_and_increment(),
+                    0,
+                    FailParams::new(timestamp, &EcssEnumU16::new(0), &[]),
+                )
+                .unwrap(),
+        );
+        if let Err(e) = result {
+            handle_tm_send_error(e);
+        }
+        return Err(RequestError::InvalidApid);
+    }
+    let (tm_creator, accepted_token) = verif_reporter
+        .acceptance_success(
+            src_data_buf,
+            token,
+            SEQ_COUNT_PROVIDER.get_and_increment(),
+            0,
+            timestamp,
+        )
+        .unwrap();
+
+    if let Err(e) = send_tm(tm_creator) {
+        handle_tm_send_error(e);
+    }
+
+    if tc.service() == 17 && tc.subservice() == 1 {
+        if tc.subservice() == 1 {
+            return Ok(RequestWithToken {
+                request: Request::Ping,
+                token: accepted_token,
+            });
+        } else {
+            return Err(RequestError::InvalidSubservice);
+        }
+    } else if tc.service() == 8 {
+        if tc.subservice() == 1 {
+            if tc.user_data().len() < 4 {
+                return Err(RequestError::NotEnoughAppData);
+            }
+            let new_freq_ms = u32::from_be_bytes(tc.user_data()[0..4].try_into().unwrap());
+            return Ok(RequestWithToken {
+                request: Request::ChangeBlinkFrequency(new_freq_ms),
+                token: accepted_token,
+            });
+        } else {
+            return Err(RequestError::InvalidSubservice);
+        }
+    } else {
+        return Err(RequestError::InvalidService);
+    }
+}
+
+#[app(device = stm32f3xx_hal::pac, peripherals = true)]
 mod app {
     use super::*;
     use core::slice::Iter;
-    use cortex_m::iprintln;
-    use satrs_core::pus::verification::FailParams;
-    use satrs_core::pus::verification::VerificationReporterCore;
-    use satrs_core::spacepackets::{
-        ecss::EcssEnumU16,
-        tc::PusTc,
-        time::cds::P_FIELD_BASE,
-        tm::{PusTm, PusTmSecondaryHeader},
-        CcsdsPacket, SpHeader,
-    };
+    use rtic_monotonics::systick::Systick;
+    use rtic_monotonics::Monotonic;
+    use satrs::pus::verification::{TcStateStarted, VerificationReportCreator};
+    use satrs::spacepackets::{ecss::tc::PusTcReader, time::cds::P_FIELD_BASE};
     #[allow(unused_imports)]
     use stm32f3_discovery::leds::Direction;
     use stm32f3_discovery::leds::Leds;
     use stm32f3xx_hal::prelude::*;
-    use stm32f3xx_hal::Toggle;
 
     use stm32f3_discovery::switch_hal::OutputSwitch;
+    use stm32f3xx_hal::Switch;
     #[allow(dead_code)]
     type SerialType = Serial<USART2, (PA2<AF7<PushPull>>, PA3<AF7<PushPull>>)>;
 
     #[shared]
     struct Shared {
-        tx_transfer: UartTxState,
+        blink_freq: MillisDurationU32,
+        tx_shared: UartTxShared,
         rx_transfer: Option<RxDmaTransferType>,
     }
 
     #[local]
     struct Local {
+        verif_reporter: VerificationReportCreator,
         leds: Leds,
         last_dir: Direction,
-        verif_reporter: VerificationReporterCore,
         curr_dir: Iter<'static, Direction>,
     }
 
-    #[monotonic(binds = SysTick, default = true)]
-    type MonoTimer = Systick<1000>;
-
-    #[init(local = [
-        tc_pool_mem: [u8; TC_BUF_LEN * TC_POOL_SLOTS] = [0; TC_BUF_LEN * TC_POOL_SLOTS],
-        tm_pool_mem: [u8; MAX_TM_LEN * TM_POOL_SLOTS] = [0; MAX_TM_LEN * TM_POOL_SLOTS]
-    ])]
-    fn init(mut cx: init::Context) -> (Shared, Local, init::Monotonics) {
+    #[init]
+    fn init(cx: init::Context) -> (Shared, Local) {
         let mut rcc = cx.device.RCC.constrain();
 
-        let mono = Systick::new(cx.core.SYST, 8_000_000);
-        logger_init();
+        // Initialize the systick interrupt & obtain the token to prove that we did
+        let systick_mono_token = rtic_monotonics::create_systick_token!();
+        Systick::start(cx.core.SYST, 8_000_000, systick_mono_token);
+
         let mut flash = cx.device.FLASH.constrain();
         let clocks = rcc
             .cfgr
@@ -220,17 +289,12 @@ mod app {
             .sysclk(8.MHz())
             .pclk1(8.MHz())
             .freeze(&mut flash.acr);
-        // setup ITM output
-        iprintln!(
-            &mut cx.core.ITM.stim[0],
-            "Starting sat-rs demo application for the STM32F3-Discovery"
-        );
-        let mut gpioe = cx.device.GPIOE.split(&mut rcc.ahb);
-        // Assign memory to the pools.
-        poolmod::TC::grow(cx.local.tc_pool_mem);
-        poolmod::TM::grow(cx.local.tm_pool_mem);
 
-        let verif_reporter = VerificationReporterCore::new(PUS_APID).unwrap();
+        // Set up monotonic timer.
+        //let mono_timer = MonoTimer::new(cx.core.DWT, clocks, &mut cx.core.DCB);
+
+        defmt::info!("Starting sat-rs demo application for the STM32F3-Discovery");
+        let mut gpioe = cx.device.GPIOE.split(&mut rcc.ahb);
 
         let leds = Leds::new(
             gpioe.pe8,
@@ -264,125 +328,160 @@ mod app {
             clocks,
             &mut rcc.apb1,
         );
-        usart2.configure_rx_interrupt(RxEvent::Idle, Toggle::On);
+        usart2.configure_rx_interrupt(RxEvent::Idle, Switch::On);
         // This interrupt is enabled to re-schedule new transfers in the interrupt handler immediately.
-        usart2.configure_tx_interrupt(TxEvent::TransmissionComplete, Toggle::On);
+        usart2.configure_tx_interrupt(TxEvent::TransmissionComplete, Switch::On);
 
         let dma1 = cx.device.DMA1.split(&mut rcc.ahb);
-        let (tx_serial, mut rx_serial) = usart2.split();
+        let (mut tx_serial, mut rx_serial) = usart2.split();
 
         // This interrupt is immediately triggered, clear it. It will only be reset
         // by the hardware when data is received on RX (RXNE event)
         rx_serial.clear_event(RxEvent::Idle);
+        // For some reason, this is also immediately triggered..
+        tx_serial.clear_event(TxEvent::TransmissionComplete);
         let rx_transfer = rx_serial.read_exact(unsafe { DMA_RX_BUF.as_mut_slice() }, dma1.ch6);
-        info!(target: "init", "Spawning tasks");
+        defmt::info!("Spawning tasks");
         blink::spawn().unwrap();
         serial_tx_handler::spawn().unwrap();
+
+        let verif_reporter = VerificationReportCreator::new(PUS_APID).unwrap();
+
         (
             Shared {
-                tx_transfer: UartTxState::Idle(Some(TxIdle {
-                    tx: tx_serial,
-                    dma_channel: dma1.ch7,
-                })),
+                blink_freq: MillisDurationU32::from_ticks(DEFAULT_BLINK_FREQ_MS),
+                tx_shared: UartTxShared {
+                    last_completed: None,
+                    state: UartTxState::Idle(Some(TxIdle {
+                        tx: tx_serial,
+                        dma_channel: dma1.ch7,
+                    })),
+                },
                 rx_transfer: Some(rx_transfer),
             },
             Local {
+                verif_reporter,
                 leds,
                 last_dir: Direction::North,
                 curr_dir: Direction::iter(),
-                verif_reporter,
             },
-            init::Monotonics(mono),
         )
     }
 
-    #[task(local = [leds, curr_dir, last_dir])]
-    fn blink(cx: blink::Context) {
-        let toggle_leds = |dir: &Direction| {
-            let leds = cx.local.leds;
-            let last_led = leds.for_direction(*cx.local.last_dir);
+    #[task(local = [leds, curr_dir, last_dir], shared=[blink_freq])]
+    async fn blink(mut cx: blink::Context) {
+        let blink::LocalResources {
+            leds,
+            curr_dir,
+            last_dir,
+            ..
+        } = cx.local;
+        let mut toggle_leds = |dir: &Direction| {
+            let last_led = leds.for_direction(*last_dir);
             last_led.off().ok();
             let led = leds.for_direction(*dir);
             led.on().ok();
-            *cx.local.last_dir = *dir;
+            *last_dir = *dir;
         };
-
-        match cx.local.curr_dir.next() {
-            Some(dir) => {
-                toggle_leds(dir);
-            }
-            None => {
-                *cx.local.curr_dir = Direction::iter();
-                toggle_leds(cx.local.curr_dir.next().unwrap());
+        loop {
+            match curr_dir.next() {
+                Some(dir) => {
+                    toggle_leds(dir);
+                }
+                None => {
+                    *curr_dir = Direction::iter();
+                    toggle_leds(curr_dir.next().unwrap());
+                }
             }
+            let current_blink_freq = cx.shared.blink_freq.lock(|current| *current);
+            Systick::delay(current_blink_freq).await;
         }
-        blink::spawn_after(MsDuration::from_ticks(BLINK_FREQ_MS)).unwrap();
     }
 
     #[task(
-        shared = [tx_transfer],
-        local = []
+        shared = [tx_shared],
     )]
-    fn serial_tx_handler(mut cx: serial_tx_handler::Context) {
-        if let Some((buf, len)) = TX_REQUESTS.dequeue() {
-            cx.shared.tx_transfer.lock(|tx_state| match tx_state {
-                UartTxState::Idle(tx) => {
-                    //debug!(target: "serial_tx_handler", "bytes: {:x?}", &buf[0..len]);
-                    // Safety: We only copy the data into the TX DMA buffer in this task.
-                    // If the DMA is active, another branch will be taken.
-                    let mut_tx_dma_buf = unsafe { &mut DMA_TX_BUF };
-                    // 0 sentinel value as start marker
-                    mut_tx_dma_buf[0] = 0;
-                    // Should never panic, we accounted for the overhead.
-                    // Write into transfer buffer directly, no need for intermediate
-                    // encoding buffer.
-                    let encoded_len = cobs::encode(&buf[0..len], &mut mut_tx_dma_buf[1..]);
-                    // 0 end marker
-                    mut_tx_dma_buf[encoded_len + 1] = 0;
-                    //debug!(target: "serial_tx_handler", "Sending {} bytes", encoded_len + 2);
-                    //debug!("sent: {:x?}", &mut_tx_dma_buf[0..encoded_len + 2]);
-                    let tx_idle = tx.take().unwrap();
-                    // Transfer completion and re-scheduling of new TX transfers will be done
-                    // by the IRQ handler.
-                    let transfer = tx_idle
-                        .tx
-                        .write_all(&mut_tx_dma_buf[0..encoded_len + 2], tx_idle.dma_channel);
-                    *tx_state = UartTxState::Transmitting(Some(transfer));
-                    // The memory block is automatically returned to the pool when it is dropped.
-                }
-                UartTxState::Transmitting(_) => {
-                    // This is a SW configuration error. Only the ISR which
-                    // detects transfer completion should be able to spawn a new
-                    // task, and that ISR should set the state to IDLE.
-                    panic!("invalid internal tx state detected")
-                }
-            })
-        } else {
-            cx.shared.tx_transfer.lock(|tx_state| {
-                if let UartTxState::Idle(_) = tx_state {
-                    serial_tx_handler::spawn_after(MsDuration::from_ticks(TX_HANDLER_FREQ_MS))
-                        .unwrap();
+    async fn serial_tx_handler(mut cx: serial_tx_handler::Context) {
+        loop {
+            let is_idle = cx.shared.tx_shared.lock(|tx_shared| {
+                if let UartTxState::Idle(_) = tx_shared.state {
+                    return true;
                 }
+                false
             });
+            if is_idle {
+                let last_completed = cx.shared.tx_shared.lock(|shared| shared.last_completed);
+                if let Some(last_completed) = last_completed {
+                    let elapsed_ms = (Systick::now() - last_completed).to_millis();
+                    if elapsed_ms < MIN_DELAY_BETWEEN_TX_PACKETS_MS {
+                        Systick::delay((MIN_DELAY_BETWEEN_TX_PACKETS_MS - elapsed_ms).millis())
+                            .await;
+                    }
+                }
+            } else {
+                // Check for completion after 1 ms
+                Systick::delay(1.millis()).await;
+                continue;
+            }
+            if let Some(vec) = TM_REQUESTS.dequeue() {
+                cx.shared
+                    .tx_shared
+                    .lock(|tx_shared| match &mut tx_shared.state {
+                        UartTxState::Idle(tx) => {
+                            let encoded_len;
+                            //debug!(target: "serial_tx_handler", "bytes: {:x?}", &buf[0..len]);
+                            // Safety: We only copy the data into the TX DMA buffer in this task.
+                            // If the DMA is active, another branch will be taken.
+                            unsafe {
+                                // 0 sentinel value as start marker
+                                DMA_TX_BUF[0] = 0;
+                                encoded_len =
+                                    cobs::encode(&vec[0..vec.len()], &mut DMA_TX_BUF[1..]);
+                                // Should never panic, we accounted for the overhead.
+                                // Write into transfer buffer directly, no need for intermediate
+                                // encoding buffer.
+                                // 0 end marker
+                                DMA_TX_BUF[encoded_len + 1] = 0;
+                            }
+                            //debug!(target: "serial_tx_handler", "Sending {} bytes", encoded_len + 2);
+                            //debug!("sent: {:x?}", &mut_tx_dma_buf[0..encoded_len + 2]);
+                            let tx_idle = tx.take().unwrap();
+                            // Transfer completion and re-scheduling of new TX transfers will be done
+                            // by the IRQ handler.
+                            // SAFETY: The DMA is the exclusive writer to the DMA buffer now.
+                            let transfer = tx_idle.tx.write_all(
+                                unsafe { &DMA_TX_BUF[0..encoded_len + 2] },
+                                tx_idle.dma_channel,
+                            );
+                            tx_shared.state = UartTxState::Transmitting(Some(transfer));
+                            // The memory block is automatically returned to the pool when it is dropped.
+                        }
+                        UartTxState::Transmitting(_) => (),
+                    });
+                // Check for completion after 1 ms
+                Systick::delay(1.millis()).await;
+                continue;
+            }
+            // Nothing to do, and we are idle.
+            Systick::delay(TX_HANDLER_FREQ_MS.millis()).await;
         }
     }
 
     #[task(
         local = [
-            stamp_buf: [u8; 7] = [0; 7],
+            verif_reporter,
             decode_buf: [u8; MAX_TC_LEN] = [0; MAX_TC_LEN],
             src_data_buf: [u8; MAX_TM_LEN] = [0; MAX_TM_LEN],
-            verif_reporter
+            timestamp: [u8; 7] = [0; 7],
         ],
+        shared = [blink_freq]
     )]
-    fn serial_rx_handler(
-        cx: serial_rx_handler::Context,
-        received_packet: Box<poolmod::TC>,
-        rx_len: usize,
+    async fn serial_rx_handler(
+        mut cx: serial_rx_handler::Context,
+        received_packet: Vec<u8, MAX_TC_LEN>,
     ) {
-        let tgt: &'static str = "serial_rx_handler";
-        cx.local.stamp_buf[0] = P_FIELD_BASE;
-        info!(target: tgt, "Received packet with {} bytes", rx_len);
+        cx.local.timestamp[0] = P_FIELD_BASE;
+        defmt::info!("Received packet with {} bytes", received_packet.len());
         let decode_buf = cx.local.decode_buf;
         let packet = received_packet.as_slice();
         let mut start_idx = None;
@@ -393,168 +492,149 @@ mod app {
             }
         }
         if start_idx.is_none() {
-            warn!(
-                target: tgt,
-                "decoding error, can only process cobs encoded frames, data is all 0"
-            );
+            defmt::warn!("decoding error, can only process cobs encoded frames, data is all 0");
             return;
         }
         let start_idx = start_idx.unwrap();
         match cobs::decode(&received_packet.as_slice()[start_idx..], decode_buf) {
             Ok(len) => {
-                info!(target: tgt, "Decoded packet length: {}", len);
-                let pus_tc = PusTc::from_bytes(decode_buf);
-                let verif_reporter = cx.local.verif_reporter;
+                defmt::info!("Decoded packet length: {}", len);
+                let pus_tc = PusTcReader::new(decode_buf);
                 match pus_tc {
-                    Ok((tc, tc_len)) => handle_tc(
-                        tc,
-                        tc_len,
-                        verif_reporter,
-                        cx.local.src_data_buf,
-                        cx.local.stamp_buf,
-                        tgt,
-                    ),
+                    Ok((tc, _tc_len)) => {
+                        match convert_pus_tc_to_request(
+                            &tc,
+                            cx.local.verif_reporter,
+                            cx.local.src_data_buf,
+                            cx.local.timestamp,
+                        ) {
+                            Ok(request_with_token) => {
+                                let started_token = handle_start_verification(
+                                    request_with_token.token,
+                                    cx.local.verif_reporter,
+                                    cx.local.src_data_buf,
+                                    cx.local.timestamp,
+                                );
+
+                                match request_with_token.request {
+                                    Request::Ping => {
+                                        handle_ping_request(cx.local.timestamp);
+                                    }
+                                    Request::ChangeBlinkFrequency(new_freq_ms) => {
+                                        defmt::info!("Received blink frequency change request with new frequncy {}", new_freq_ms);
+                                        cx.shared.blink_freq.lock(|blink_freq| {
+                                            *blink_freq =
+                                                MillisDurationU32::from_ticks(new_freq_ms);
+                                        });
+                                    }
+                                }
+                                handle_completion_verification(
+                                    started_token,
+                                    cx.local.verif_reporter,
+                                    cx.local.src_data_buf,
+                                    cx.local.timestamp,
+                                );
+                            }
+                            Err(e) => {
+                                // TODO: Error handling: Send verification failure based on request error.
+                                defmt::warn!("request error {}", e);
+                            }
+                        }
+                    }
                     Err(e) => {
-                        warn!(target: tgt, "Error unpacking PUS TC: {}", e);
+                        defmt::warn!("Error unpacking PUS TC: {}", e);
                     }
                 }
             }
             Err(_) => {
-                warn!(
-                    target: tgt,
-                    "decoding error, can only process cobs encoded frames"
-                )
+                defmt::warn!("decoding error, can only process cobs encoded frames")
             }
         }
     }
 
-    fn handle_tc(
-        tc: PusTc,
-        tc_len: usize,
-        verif_reporter: &mut VerificationReporterCore,
-        src_data_buf: &mut [u8; MAX_TM_LEN],
-        stamp_buf: &[u8; 7],
-        tgt: &'static str,
-    ) {
-        info!(
-            target: tgt,
-            "Found PUS TC [{},{}] with length {}",
-            tc.service(),
-            tc.subservice(),
-            tc_len
-        );
-
-        let token = verif_reporter.add_tc(&tc);
-        if tc.apid() != PUS_APID {
-            warn!(target: tgt, "Received tc with unknown APID {}", tc.apid());
-            let sendable = verif_reporter
-                .acceptance_failure(
-                    src_data_buf,
-                    token,
-                    &SEQ_COUNT_PROVIDER,
-                    FailParams::new(stamp_buf, &EcssEnumU16::new(0), None),
-                )
-                .unwrap();
-            let mem_block = poolmod::TM::alloc().unwrap().init([0u8; MAX_TM_LEN]);
-            let mut sender = TmSender::new(mem_block, tgt);
-            if let Err(e) =
-                verif_reporter.send_acceptance_failure(sendable, &SEQ_COUNT_PROVIDER, &mut sender)
-            {
-                warn!(target: tgt, "Sending acceptance failure failed: {:?}", e.0);
-            };
+    fn handle_ping_request(timestamp: &[u8]) {
+        defmt::info!("Received PUS ping telecommand, sending ping reply TM[17,2]");
+        let sp_header =
+            SpHeader::new_for_unseg_tc(PUS_APID, SEQ_COUNT_PROVIDER.get_and_increment(), 0);
+        let sec_header = PusTmSecondaryHeader::new_simple(17, 2, timestamp);
+        let ping_reply = PusTmCreator::new(sp_header, sec_header, &[], true);
+        let mut tm_packet = TmPacket::new();
+        tm_packet
+            .resize(ping_reply.len_written(), 0)
+            .expect("vec resize failed");
+        ping_reply.write_to_bytes(&mut tm_packet).unwrap();
+        if TM_REQUESTS.enqueue(tm_packet).is_err() {
+            defmt::warn!("TC queue full");
             return;
         }
-        let sendable = verif_reporter
-            .acceptance_success(src_data_buf, token, &SEQ_COUNT_PROVIDER, stamp_buf)
+    }
+
+    fn handle_start_verification(
+        accepted_token: VerificationToken<TcStateAccepted>,
+        verif_reporter: &mut VerificationReportCreator,
+        src_data_buf: &mut [u8],
+        timestamp: &[u8],
+    ) -> VerificationToken<TcStateStarted> {
+        let (tm_creator, started_token) = verif_reporter
+            .start_success(
+                src_data_buf,
+                accepted_token,
+                SEQ_COUNT_PROVIDER.get(),
+                0,
+                &timestamp,
+            )
             .unwrap();
+        let result = send_tm(tm_creator);
+        if let Err(e) = result {
+            handle_tm_send_error(e);
+        }
+        started_token
+    }
 
-        let mem_block = poolmod::TM::alloc().unwrap().init([0u8; MAX_TM_LEN]);
-        let mut sender = TmSender::new(mem_block, tgt);
-        let accepted_token = match verif_reporter.send_acceptance_success(
-            sendable,
-            &SEQ_COUNT_PROVIDER,
-            &mut sender,
-        ) {
-            Ok(token) => token,
-            Err(e) => {
-                warn!(target: "serial_rx_handler", "Sending acceptance success failed: {:?}", e.0);
-                return;
-            }
-        };
-
-        if tc.service() == 17 {
-            if tc.subservice() == 1 {
-                let sendable = verif_reporter
-                    .start_success(src_data_buf, accepted_token, &SEQ_COUNT_PROVIDER, stamp_buf)
-                    .unwrap();
-                let mem_block = poolmod::TM::alloc().unwrap().init([0u8; MAX_TM_LEN]);
-                let mut sender = TmSender::new(mem_block, tgt);
-                let started_token = match verif_reporter.send_start_success(
-                    sendable,
-                    &SEQ_COUNT_PROVIDER,
-                    &mut sender,
-                ) {
-                    Ok(token) => token,
-                    Err(e) => {
-                        warn!(target: tgt, "Sending acceptance success failed: {:?}", e.0);
-                        return;
-                    }
-                };
-                info!(
-                    target: tgt,
-                    "Received PUS ping telecommand, sending ping reply TM[17,2]"
-                );
-                let mut sp_header =
-                    SpHeader::tc_unseg(PUS_APID, SEQ_COUNT_PROVIDER.get(), 0).unwrap();
-                let sec_header = PusTmSecondaryHeader::new_simple(17, 2, stamp_buf);
-                let ping_reply = PusTm::new(&mut sp_header, sec_header, None, true);
-                let mut mem_block = poolmod::TM::alloc().unwrap().init([0u8; MAX_TM_LEN]);
-                let reply_len = ping_reply.write_to_bytes(mem_block.as_mut_slice()).unwrap();
-                if TX_REQUESTS.enqueue((mem_block, reply_len)).is_err() {
-                    warn!(target: tgt, "TC queue full");
-                    return;
-                }
-                SEQ_COUNT_PROVIDER.increment();
-                let sendable = verif_reporter
-                    .completion_success(src_data_buf, started_token, &SEQ_COUNT_PROVIDER, stamp_buf)
-                    .unwrap();
-                let mem_block = poolmod::TM::alloc().unwrap().init([0u8; MAX_TM_LEN]);
-                let mut sender = TmSender::new(mem_block, tgt);
-                if let Err(e) = verif_reporter.send_step_or_completion_success(
-                    sendable,
-                    &SEQ_COUNT_PROVIDER,
-                    &mut sender,
-                ) {
-                    warn!(target: tgt, "Sending completion success failed: {:?}", e.0);
-                }
-            } else {
-                // TODO: Invalid subservice
-            }
+    fn handle_completion_verification(
+        started_token: VerificationToken<TcStateStarted>,
+        verif_reporter: &mut VerificationReportCreator,
+        src_data_buf: &mut [u8],
+        timestamp: &[u8],
+    ) {
+        let result = send_tm(
+            verif_reporter
+                .completion_success(
+                    src_data_buf,
+                    started_token,
+                    SEQ_COUNT_PROVIDER.get(),
+                    0,
+                    timestamp,
+                )
+                .unwrap(),
+        );
+        if let Err(e) = result {
+            handle_tm_send_error(e);
         }
     }
 
     #[task(binds = DMA1_CH6, shared = [rx_transfer])]
     fn rx_dma_isr(mut cx: rx_dma_isr::Context) {
+        let mut tc_packet = TcPacket::new();
         cx.shared.rx_transfer.lock(|rx_transfer| {
             let rx_ref = rx_transfer.as_ref().unwrap();
             if rx_ref.is_complete() {
                 let uart_rx_owned = rx_transfer.take().unwrap();
                 let (buf, c, rx) = uart_rx_owned.stop();
                 // The received data is transferred to another task now to avoid any processing overhead
-                // during the interrupt. There are multiple ways to do this, we use a memory pool here
+                // during the interrupt. There are multiple ways to do this, we use a stack allocaed vector here
                 // to do this.
-                let mut mem_block = poolmod::TC::alloc()
-                    .expect("allocating memory block for rx failed")
-                    .init([0u8; TC_BUF_LEN]);
-                // Copy data into memory pool.
-                mem_block.copy_from_slice(buf);
+                tc_packet.resize(buf.len(), 0).expect("vec resize failed");
+                tc_packet.copy_from_slice(buf);
+
+                // Start the next transfer as soon as possible.
                 *rx_transfer = Some(rx.read_exact(buf, c));
-                // Only send owning pointer to pool memory and the received packet length.
-                serial_rx_handler::spawn(mem_block, TC_BUF_LEN)
-                    .expect("spawning rx handler task failed");
+
+                // Send the vector to a regular task.
+                serial_rx_handler::spawn(tc_packet).expect("spawning rx handler task failed");
                 // If this happens, there is a high chance that the maximum packet length was
                 // exceeded. Circular mode is not used here, so data might be missed.
-                warn!(
+                defmt::warn!(
                     "rx transfer with maximum length {}, might miss data",
                     TC_BUF_LEN
                 );
@@ -562,23 +642,26 @@ mod app {
         });
     }
 
-    #[task(binds = USART2_EXTI26, shared = [rx_transfer, tx_transfer])]
+    #[task(binds = USART2_EXTI26, shared = [rx_transfer, tx_shared])]
     fn serial_isr(mut cx: serial_isr::Context) {
-        cx.shared.tx_transfer.lock(|tx_state| match tx_state {
-            UartTxState::Idle(_) => (),
-            UartTxState::Transmitting(transfer) => {
-                let transfer_ref = transfer.as_ref().unwrap();
-                if transfer_ref.is_complete() {
-                    let transfer = transfer.take().unwrap();
-                    let (_, dma_channel, tx) = transfer.stop();
-                    *tx_state = UartTxState::Idle(Some(TxIdle { tx, dma_channel }));
-                    serial_tx_handler::spawn_after(MsDuration::from_ticks(
-                        MIN_DELAY_BETWEEN_TX_PACKETS_MS.into(),
-                    ))
-                    .unwrap();
+        cx.shared
+            .tx_shared
+            .lock(|tx_shared| match &mut tx_shared.state {
+                UartTxState::Idle(_) => (),
+                UartTxState::Transmitting(transfer) => {
+                    let transfer_ref = transfer.as_ref().unwrap();
+                    if transfer_ref.is_complete() {
+                        let transfer = transfer.take().unwrap();
+                        let (_, dma_channel, mut tx) = transfer.stop();
+                        tx.clear_event(TxEvent::TransmissionComplete);
+                        tx_shared.state = UartTxState::Idle(Some(TxIdle { tx, dma_channel }));
+                        // We cache the last completed time to ensure that there is a minimum delay between consecutive
+                        // transferred packets.
+                        tx_shared.last_completed = Some(Systick::now());
+                    }
                 }
-            }
-        });
+            });
+        let mut tc_packet = TcPacket::new();
         cx.shared.rx_transfer.lock(|rx_transfer| {
             let rx_transfer_ref = rx_transfer.as_ref().unwrap();
             // Received a partial packet.
@@ -586,17 +669,14 @@ mod app {
                 let rx_transfer_owned = rx_transfer.take().unwrap();
                 let (buf, ch, mut rx, rx_len) = rx_transfer_owned.stop_and_return_received_bytes();
                 // The received data is transferred to another task now to avoid any processing overhead
-                // during the interrupt. There are multiple ways to do this, we use a memory pool here
-                // to do this.
-                let mut mem_block = poolmod::TC::alloc()
-                    .expect("allocating memory block for rx failed")
-                    .init([0u8; TC_BUF_LEN]);
-                // Copy data into memory pool.
-                mem_block[0..rx_len as usize].copy_from_slice(&buf[0..rx_len as usize]);
+                // during the interrupt. There are multiple ways to do this, we use a stack
+                // allocated vector to do this.
+                tc_packet
+                    .resize(rx_len as usize, 0)
+                    .expect("vec resize failed");
+                tc_packet[0..rx_len as usize].copy_from_slice(&buf[0..rx_len as usize]);
                 rx.clear_event(RxEvent::Idle);
-                // Only send owning pointer to pool memory and the received packet length.
-                serial_rx_handler::spawn(mem_block, rx_len as usize)
-                    .expect("spawning rx handler task failed");
+                serial_rx_handler::spawn(tc_packet).expect("spawning rx handler failed");
                 *rx_transfer = Some(rx.read_exact(buf, ch));
             }
         });

satrs-example-stm32f3-disco/vscode/extensions.json

@@ -5,8 +5,8 @@
 	// List of extensions which should be recommended for users of this workspace.
 	"recommendations": [
 		"rust-lang.rust",
-		"marus25.cortex-debug",
+		"probe-rs.probe-rs-debugger"
 	],
 	// List of extensions recommended by VS Code that should not be recommended for users of this workspace.
 	"unwantedRecommendations": []
-}
+}

satrs-example-stm32f3-disco/vscode/launch.json

@@ -0,0 +1,22 @@
+{
+  "version": "0.2.0",
+  "configurations": [
+    {
+      "preLaunchTask": "${defaultBuildTask}",
+      "type": "probe-rs-debug",
+      "request": "launch",
+      "name": "probe-rs Debugging ",
+      "flashingConfig": {
+        "flashingEnabled": true
+      },
+      "chip": "STM32F303VCTx",
+      "coreConfigs": [
+        {
+          "programBinary": "${workspaceFolder}/target/thumbv7em-none-eabihf/debug/satrs-example-stm32f3-disco",
+          "rttEnabled": true,
+          "svdFile": "STM32F303.svd"
+        }
+      ]
+    }
+  ]
+}

satrs-example-stm32f3-disco/vscode/openocd-helpers.tcl

@@ -11,7 +11,8 @@ proc CDSWOConfigure { CDCPUFreqHz CDSWOFreqHz CDSWOOutput } {
     # Alternative option: Pipe ITM output into itm.txt file
     # tpiu config internal itm.txt uart off $CDCPUFreqHz
 
-    # Default option so SWO display of VS code works.
+    # Default option so SWO display of VS code works. Please note that this might not be required
+    # anymore starting at openocd v0.12.0
     tpiu config internal $CDSWOOutput uart off $CDCPUFreqHz $CDSWOFreqHz
     itm port 0 on
 }

satrs-example/Cargo.toml

@@ -1,6 +1,6 @@
 [package]
 name = "satrs-example"
-version = "0.1.0"
+version = "0.1.1"
 edition = "2021"
 authors = ["Robin Mueller <muellerr@irs.uni-stuttgart.de>"]
 default-run = "satrs-example"
@@ -17,16 +17,23 @@ zerocopy = "0.6"
 csv = "1"
 num_enum = "0.7"
 thiserror = "1"
+lazy_static = "1"
+strum = { version = "0.26", features = ["derive"] }
 derive-new = "0.5"
+serde = { version = "1", features = ["derive"] }
+serde_json = "1"
 
-[dependencies.satrs-core]
-# version = "0.1.0-alpha.1"
-path = "../satrs-core"
+[dependencies.satrs]
+path = "../satrs"
+features = ["test_util"]
 
 [dependencies.satrs-mib]
-# version = "0.1.0-alpha.1"
+version = "0.1.1"
 path = "../satrs-mib"
 
 [features]
 dyn_tmtc = []
 default = ["dyn_tmtc"]
+
+[dev-dependencies]
+env_logger = "0.11"

satrs-example/pyclient/pus_tc.py

@@ -1,85 +0,0 @@
-import datetime
-import logging
-
-from spacepackets.ccsds import CdsShortTimestamp
-from spacepackets.ecss import PusTelecommand
-from tmtccmd.config import CmdTreeNode
-from tmtccmd.tmtc import DefaultPusQueueHelper
-from tmtccmd.pus.s11_tc_sched import create_time_tagged_cmd
-from tmtccmd.pus.tc.s3_fsfw_hk import create_request_one_hk_command
-
-from common import (
-    EXAMPLE_PUS_APID,
-    make_addressable_id,
-    RequestTargetId,
-    AcsHkIds,
-)
-
-_LOGGER = logging.getLogger(__name__)
-
-
-def create_cmd_definition_tree() -> CmdTreeNode:
-
-    root_node = CmdTreeNode.root_node()
-
-    test_node = CmdTreeNode("test", "Test Node")
-    test_node.add_child(CmdTreeNode("ping", "Send PUS ping TC"))
-    test_node.add_child(CmdTreeNode("trigger_event", "Send PUS test to trigger event"))
-    root_node.add_child(test_node)
-
-    scheduler_node = CmdTreeNode("scheduler", "Scheduler Node")
-    scheduler_node.add_child(
-        CmdTreeNode(
-            "schedule_ping_10_secs_ahead", "Schedule Ping to execute in 10 seconds"
-        )
-    )
-    root_node.add_child(scheduler_node)
-
-    acs_node = CmdTreeNode("acs", "ACS Subsystem Node")
-    mgm_node = CmdTreeNode("mgms", "MGM devices node")
-    mgm_node.add_child(CmdTreeNode("one_shot_hk", "Request one shot HK"))
-    acs_node.add_child(mgm_node)
-    root_node.add_child(acs_node)
-
-    return root_node
-
-
-def pack_pus_telecommands(q: DefaultPusQueueHelper, cmd_path: str):
-    # It should always be at least the root path "/", so we split of the empty portion left of it.
-    cmd_path_list = cmd_path.split("/")[1:]
-    if len(cmd_path_list) == 0:
-        _LOGGER.warning("empty command path")
-        return
-    if cmd_path_list[0] == "test":
-        assert len(cmd_path_list) >= 2
-        if cmd_path_list[1] == "ping":
-            q.add_log_cmd("Sending PUS ping telecommand")
-            return q.add_pus_tc(PusTelecommand(service=17, subservice=1))
-        elif cmd_path_list[1] == "trigger_event":
-            q.add_log_cmd("Triggering test event")
-            return q.add_pus_tc(PusTelecommand(service=17, subservice=128))
-    if cmd_path_list[0] == "scheduler":
-        assert len(cmd_path_list) >= 2
-        if cmd_path_list[1] == "schedule_ping_10_secs_ahead":
-            q.add_log_cmd("Sending PUS scheduled TC telecommand")
-            crt_time = CdsShortTimestamp.from_now()
-            time_stamp = crt_time + datetime.timedelta(seconds=10)
-            time_stamp = time_stamp.pack()
-            return q.add_pus_tc(
-                create_time_tagged_cmd(
-                    time_stamp,
-                    PusTelecommand(service=17, subservice=1),
-                    apid=EXAMPLE_PUS_APID,
-                )
-            )
-    if cmd_path_list[0] == "acs":
-        assert len(cmd_path_list) >= 2
-        if cmd_path_list[1] == "mgm":
-            assert len(cmd_path_list) >= 3
-            if cmd_path_list[2] == "one_shot_hk":
-                q.add_log_cmd("Sending HK one shot request")
-                q.add_pus_tc(
-                    create_request_one_hk_command(
-                        make_addressable_id(RequestTargetId.ACS, AcsHkIds.MGM_SET)
-                    )
-                )

satrs-example/pytmtc/common.py

@@ -4,11 +4,13 @@ import dataclasses
 import enum
 import struct
 
-from spacepackets.ecss.tc import PacketId, PacketType
 
-EXAMPLE_PUS_APID = 0x02
-EXAMPLE_PUS_PACKET_ID_TM = PacketId(PacketType.TM, True, EXAMPLE_PUS_APID)
-TM_PACKET_IDS = [EXAMPLE_PUS_PACKET_ID_TM]
+class Apid(enum.IntEnum):
+    SCHED = 1
+    GENERIC_PUS = 2
+    ACS = 3
+    CFDP = 4
+    TMTC = 5
 
 
 class EventSeverity(enum.IntEnum):
@@ -36,8 +38,8 @@ class EventU32:
         )
 
 
-class RequestTargetId(enum.IntEnum):
-    ACS = 1
+class AcsId(enum.IntEnum):
+    MGM_0 = 0
 
 
 class AcsHkIds(enum.IntEnum):

satrs-example/pytmtc/main.py

@@ -3,10 +3,11 @@
 import logging
 import sys
 import time
-from typing import Optional
+from typing import Any, Optional
 from prompt_toolkit.history import History
 from prompt_toolkit.history import FileHistory
 
+from spacepackets.ccsds import PacketId, PacketType
 import tmtccmd
 from spacepackets.ecss import PusTelemetry, PusVerificator
 from spacepackets.ecss.pus_17_test import Service17Tm
@@ -16,7 +17,7 @@ from spacepackets.ccsds.time import CdsShortTimestamp
 from tmtccmd import TcHandlerBase, ProcedureParamsWrapper
 from tmtccmd.core.base import BackendRequest
 from tmtccmd.pus import VerificationWrapper
-from tmtccmd.tmtc import CcsdsTmHandler, SpecificApidHandlerBase
+from tmtccmd.tmtc import CcsdsTmHandler, GenericApidHandlerBase
 from tmtccmd.com import ComInterface
 from tmtccmd.config import (
     CmdTreeNode,
@@ -46,7 +47,7 @@ from tmtccmd.util.obj_id import ObjectIdDictT
 
 
 import pus_tc
-from common import EXAMPLE_PUS_APID, TM_PACKET_IDS, EventU32
+from common import Apid, EventU32
 
 _LOGGER = logging.getLogger()
 
@@ -62,10 +63,13 @@ class SatRsConfigHook(HookBase):
         )
 
         assert self.cfg_path is not None
+        packet_id_list = []
+        for apid in Apid:
+            packet_id_list.append(PacketId(PacketType.TM, True, apid))
         cfg = create_com_interface_cfg_default(
             com_if_key=com_if_key,
             json_cfg_path=self.cfg_path,
-            space_packet_ids=TM_PACKET_IDS,
+            space_packet_ids=packet_id_list,
         )
         assert cfg is not None
         return create_com_interface_default(cfg)
@@ -85,21 +89,23 @@ class SatRsConfigHook(HookBase):
         return get_core_object_ids()
 
 
-class PusHandler(SpecificApidHandlerBase):
+class PusHandler(GenericApidHandlerBase):
     def __init__(
         self,
         file_logger: logging.Logger,
         verif_wrapper: VerificationWrapper,
         raw_logger: RawTmtcTimedLogWrapper,
     ):
-        super().__init__(EXAMPLE_PUS_APID, None)
+        super().__init__(None)
         self.file_logger = file_logger
         self.raw_logger = raw_logger
         self.verif_wrapper = verif_wrapper
 
-    def handle_tm(self, packet: bytes, _user_args: any):
+    def handle_tm(self, apid: int, packet: bytes, _user_args: Any):
         try:
-            pus_tm = PusTelemetry.unpack(packet, time_reader=CdsShortTimestamp.empty())
+            pus_tm = PusTelemetry.unpack(
+                packet, timestamp_len=CdsShortTimestamp.TIMESTAMP_SIZE
+            )
         except ValueError as e:
             _LOGGER.warning("Could not generate PUS TM object from raw data")
             _LOGGER.warning(f"Raw Packet: [{packet.hex(sep=',')}], REPR: {packet!r}")
@@ -107,7 +113,7 @@ class PusHandler(SpecificApidHandlerBase):
         service = pus_tm.service
         if service == 1:
             tm_packet = Service1Tm.unpack(
-                data=packet, params=UnpackParams(CdsShortTimestamp.empty(), 1, 2)
+                data=packet, params=UnpackParams(CdsShortTimestamp.TIMESTAMP_SIZE, 1, 2)
             )
             res = self.verif_wrapper.add_tm(tm_packet)
             if res is None:
@@ -124,7 +130,9 @@ class PusHandler(SpecificApidHandlerBase):
         elif service == 3:
             _LOGGER.info("No handling for HK packets implemented")
             _LOGGER.info(f"Raw packet: 0x[{packet.hex(sep=',')}]")
-            pus_tm = PusTelemetry.unpack(packet, time_reader=CdsShortTimestamp.empty())
+            pus_tm = PusTelemetry.unpack(
+                packet, timestamp_len=CdsShortTimestamp.TIMESTAMP_SIZE
+            )
             if pus_tm.subservice == 25:
                 if len(pus_tm.source_data) < 8:
                     raise ValueError("No addressable ID in HK packet")
@@ -132,16 +140,18 @@ class PusHandler(SpecificApidHandlerBase):
                 _LOGGER.info(json_str)
         elif service == 5:
             tm_packet = PusTelemetry.unpack(
-                packet, time_reader=CdsShortTimestamp.empty()
+                packet, timestamp_len=CdsShortTimestamp.TIMESTAMP_SIZE
             )
             src_data = tm_packet.source_data
             event_u32 = EventU32.unpack(src_data)
-            _LOGGER.info(f"Received event packet. Event: {event_u32}")
+            _LOGGER.info(
+                f"Received event packet. Source APID: {Apid(tm_packet.apid)!r}, Event: {event_u32}"
+            )
             if event_u32.group_id == 0 and event_u32.unique_id == 0:
                 _LOGGER.info("Received test event")
         elif service == 17:
             tm_packet = Service17Tm.unpack(
-                packet, time_reader=CdsShortTimestamp.empty()
+                packet, timestamp_len=CdsShortTimestamp.TIMESTAMP_SIZE
             )
             if tm_packet.subservice == 2:
                 self.file_logger.info("Received Ping Reply TM[17,2]")
@@ -158,7 +168,7 @@ class PusHandler(SpecificApidHandlerBase):
                 f"The service {service} is not implemented in Telemetry Factory"
             )
             tm_packet = PusTelemetry.unpack(
-                packet, time_reader=CdsShortTimestamp.empty()
+                packet, timestamp_len=CdsShortTimestamp.TIMESTAMP_SIZE
             )
         self.raw_logger.log_tm(pus_tm)
 
@@ -177,7 +187,7 @@ class TcHandler(TcHandlerBase):
             tc_sched_timestamp_len=CdsShortTimestamp.TIMESTAMP_SIZE,
             seq_cnt_provider=seq_count_provider,
             pus_verificator=self.verif_wrapper.pus_verificator,
-            default_pus_apid=EXAMPLE_PUS_APID,
+            default_pus_apid=None,
         )
 
     def send_cb(self, send_params: SendCbParams):
@@ -193,15 +203,15 @@ class TcHandler(TcHandlerBase):
             _LOGGER.info(log_entry.log_str)
 
     def queue_finished_cb(self, info: ProcedureWrapper):
-        if info.proc_type == TcProcedureType.DEFAULT:
-            def_proc = info.to_def_procedure()
+        if info.proc_type == TcProcedureType.TREE_COMMANDING:
+            def_proc = info.to_tree_commanding_procedure()
             _LOGGER.info(f"Queue handling finished for command {def_proc.cmd_path}")
 
     def feed_cb(self, info: ProcedureWrapper, wrapper: FeedWrapper):
         q = self.queue_helper
         q.queue_wrapper = wrapper.queue_wrapper
-        if info.proc_type == TcProcedureType.DEFAULT:
-            def_proc = info.to_def_procedure()
+        if info.proc_type == TcProcedureType.TREE_COMMANDING:
+            def_proc = info.to_tree_commanding_procedure()
             assert def_proc.cmd_path is not None
             pus_tc.pack_pus_telecommands(q, def_proc.cmd_path)
 
@@ -221,7 +231,6 @@ def main():
         post_args_wrapper.set_params_without_prompts(proc_wrapper)
     else:
         post_args_wrapper.set_params_with_prompts(proc_wrapper)
-    params.apid = EXAMPLE_PUS_APID
     setup_args = SetupWrapper(
         hook_obj=hook_obj, setup_params=params, proc_param_wrapper=proc_wrapper
     )
@@ -233,8 +242,9 @@ def main():
     verification_wrapper = VerificationWrapper(verificator, _LOGGER, file_logger)
     # Create primary TM handler and add it to the CCSDS Packet Handler
     tm_handler = PusHandler(file_logger, verification_wrapper, raw_logger)
-    ccsds_handler = CcsdsTmHandler(generic_handler=None)
-    ccsds_handler.add_apid_handler(tm_handler)
+    ccsds_handler = CcsdsTmHandler(generic_handler=tm_handler)
+    # TODO: We could add the CFDP handler for the CFDP APID at a later stage.
+    # ccsds_handler.add_apid_handler(tm_handler)
 
     # Create TC handler
     seq_count_provider = PusFileSeqCountProvider()
@@ -252,6 +262,7 @@ def main():
         while True:
             state = tmtc_backend.periodic_op(None)
             if state.request == BackendRequest.TERMINATION_NO_ERROR:
+                tmtc_backend.close_com_if()
                 sys.exit(0)
             elif state.request == BackendRequest.DELAY_IDLE:
                 _LOGGER.info("TMTC Client in IDLE mode")
@@ -266,6 +277,7 @@ def main():
             elif state.request == BackendRequest.CALL_NEXT:
                 pass
     except KeyboardInterrupt:
+        tmtc_backend.close_com_if()
         sys.exit(0)
 
 

satrs-example/pytmtc/pus_tc.py

@@ -0,0 +1,143 @@
+import datetime
+import struct
+import logging
+
+from spacepackets.ccsds import CdsShortTimestamp
+from spacepackets.ecss import PusTelecommand
+from tmtccmd.config import CmdTreeNode
+from tmtccmd.pus.tc.s200_fsfw_mode import Mode
+from tmtccmd.tmtc import DefaultPusQueueHelper
+from tmtccmd.pus.s11_tc_sched import create_time_tagged_cmd
+from tmtccmd.pus.s200_fsfw_mode import Subservice as ModeSubservice
+
+from common import AcsId, Apid
+
+_LOGGER = logging.getLogger(__name__)
+
+
+def create_set_mode_cmd(
+    apid: int, unique_id: int, mode: int, submode: int
+) -> PusTelecommand:
+    app_data = bytearray()
+    app_data.extend(struct.pack("!I", unique_id))
+    app_data.extend(struct.pack("!I", mode))
+    app_data.extend(struct.pack("!H", submode))
+    return PusTelecommand(
+        service=200,
+        subservice=ModeSubservice.TC_MODE_COMMAND,
+        apid=apid,
+        app_data=app_data,
+    )
+
+
+def create_cmd_definition_tree() -> CmdTreeNode:
+
+    root_node = CmdTreeNode.root_node()
+
+    hk_node = CmdTreeNode("hk", "Housekeeping Node", hide_children_for_print=True)
+    hk_node.add_child(CmdTreeNode("one_shot_hk", "Request One Shot HK set"))
+    hk_node.add_child(
+        CmdTreeNode("enable", "Enable periodic housekeeping data generation")
+    )
+    hk_node.add_child(
+        CmdTreeNode("disable", "Disable periodic housekeeping data generation")
+    )
+
+    mode_node = CmdTreeNode("mode", "Mode Node", hide_children_for_print=True)
+    set_mode_node = CmdTreeNode(
+        "set_mode", "Set Node", hide_children_which_are_leaves=True
+    )
+    set_mode_node.add_child(CmdTreeNode("off", "Set OFF Mode"))
+    set_mode_node.add_child(CmdTreeNode("on", "Set ON Mode"))
+    set_mode_node.add_child(CmdTreeNode("normal", "Set NORMAL Mode"))
+    mode_node.add_child(set_mode_node)
+    mode_node.add_child(CmdTreeNode("read_mode", "Read Mode"))
+
+    test_node = CmdTreeNode("test", "Test Node")
+    test_node.add_child(CmdTreeNode("ping", "Send PUS ping TC"))
+    test_node.add_child(CmdTreeNode("trigger_event", "Send PUS test to trigger event"))
+    root_node.add_child(test_node)
+
+    scheduler_node = CmdTreeNode("scheduler", "Scheduler Node")
+    scheduler_node.add_child(
+        CmdTreeNode(
+            "schedule_ping_10_secs_ahead", "Schedule Ping to execute in 10 seconds"
+        )
+    )
+    root_node.add_child(scheduler_node)
+
+    acs_node = CmdTreeNode("acs", "ACS Subsystem Node")
+    mgm_node = CmdTreeNode("mgms", "MGM devices node")
+    mgm_node.add_child(mode_node)
+    mgm_node.add_child(hk_node)
+
+    acs_node.add_child(mgm_node)
+    root_node.add_child(acs_node)
+
+    return root_node
+
+
+def pack_pus_telecommands(q: DefaultPusQueueHelper, cmd_path: str):
+    # It should always be at least the root path "/", so we split of the empty portion left of it.
+    cmd_path_list = cmd_path.split("/")[1:]
+    if len(cmd_path_list) == 0:
+        _LOGGER.warning("empty command path")
+        return
+    if cmd_path_list[0] == "test":
+        assert len(cmd_path_list) >= 2
+        if cmd_path_list[1] == "ping":
+            q.add_log_cmd("Sending PUS ping telecommand")
+            return q.add_pus_tc(
+                PusTelecommand(apid=Apid.GENERIC_PUS, service=17, subservice=1)
+            )
+        elif cmd_path_list[1] == "trigger_event":
+            q.add_log_cmd("Triggering test event")
+            return q.add_pus_tc(
+                PusTelecommand(apid=Apid.GENERIC_PUS, service=17, subservice=128)
+            )
+    if cmd_path_list[0] == "scheduler":
+        assert len(cmd_path_list) >= 2
+        if cmd_path_list[1] == "schedule_ping_10_secs_ahead":
+            q.add_log_cmd("Sending PUS scheduled TC telecommand")
+            crt_time = CdsShortTimestamp.from_now()
+            time_stamp = crt_time + datetime.timedelta(seconds=10)
+            time_stamp = time_stamp.pack()
+            return q.add_pus_tc(
+                create_time_tagged_cmd(
+                    time_stamp,
+                    PusTelecommand(service=17, subservice=1),
+                    apid=Apid.SCHED,
+                )
+            )
+    if cmd_path_list[0] == "acs":
+        assert len(cmd_path_list) >= 2
+        if cmd_path_list[1] == "mgms":
+            assert len(cmd_path_list) >= 3
+            if cmd_path_list[2] == "hk":
+                if cmd_path_list[3] == "one_shot_hk":
+                    q.add_log_cmd("Sending HK one shot request")
+                    # TODO: Fix
+                    # q.add_pus_tc(
+                    #   create_request_one_hk_command(
+                    #    make_addressable_id(Apid.ACS, AcsId.MGM_SET)
+                    # )
+                    # )
+            if cmd_path_list[2] == "mode":
+                if cmd_path_list[3] == "set_mode":
+                    handle_set_mode_cmd(
+                        q, "MGM 0", cmd_path_list[4], Apid.ACS, AcsId.MGM_0
+                    )
+
+
+def handle_set_mode_cmd(
+    q: DefaultPusQueueHelper, target_str: str, mode_str: str, apid: int, unique_id: int
+):
+    if mode_str == "off":
+        q.add_log_cmd(f"Sending Mode OFF to {target_str}")
+        q.add_pus_tc(create_set_mode_cmd(apid, unique_id, Mode.OFF, 0))
+    elif mode_str == "on":
+        q.add_log_cmd(f"Sending Mode ON to {target_str}")
+        q.add_pus_tc(create_set_mode_cmd(apid, unique_id, Mode.ON, 0))
+    elif mode_str == "normal":
+        q.add_log_cmd(f"Sending Mode NORMAL to {target_str}")
+        q.add_pus_tc(create_set_mode_cmd(apid, unique_id, Mode.NORMAL, 0))

satrs-example/pytmtc/requirements.txt

@@ -1,2 +1,2 @@
-tmtccmd == 8.0.0rc1
+tmtccmd == 8.0.0rc2
 # -e git+https://github.com/robamu-org/tmtccmd@97e5e51101a08b21472b3ddecc2063359f7e307a#egg=tmtccmd

satrs-example/src/acs.rs

@@ -1,117 +0,0 @@
-use std::sync::mpsc::{self, TryRecvError};
-
-use log::{info, warn};
-use satrs_core::pus::verification::VerificationReporterWithSender;
-use satrs_core::pus::{EcssTmSender, PusTmWrapper};
-use satrs_core::spacepackets::ecss::hk::Subservice as HkSubservice;
-use satrs_core::{
-    hk::HkRequest,
-    spacepackets::{
-        ecss::tm::{PusTmCreator, PusTmSecondaryHeader},
-        time::cds::{DaysLen16Bits, TimeProvider},
-        SequenceFlags, SpHeader,
-    },
-};
-use satrs_example::config::{RequestTargetId, PUS_APID};
-
-use crate::{
-    hk::{AcsHkIds, HkUniqueId},
-    requests::{Request, RequestWithToken},
-    update_time,
-};
-
-pub struct AcsTask {
-    timestamp: [u8; 7],
-    time_provider: TimeProvider<DaysLen16Bits>,
-    verif_reporter: VerificationReporterWithSender,
-    tm_sender: Box<dyn EcssTmSender>,
-    request_rx: mpsc::Receiver<RequestWithToken>,
-}
-
-impl AcsTask {
-    pub fn new(
-        tm_sender: impl EcssTmSender,
-        request_rx: mpsc::Receiver<RequestWithToken>,
-        verif_reporter: VerificationReporterWithSender,
-    ) -> Self {
-        Self {
-            timestamp: [0; 7],
-            time_provider: TimeProvider::new_with_u16_days(0, 0),
-            verif_reporter,
-            tm_sender: Box::new(tm_sender),
-            request_rx,
-        }
-    }
-
-    fn handle_hk_request(&mut self, target_id: u32, unique_id: u32) {
-        assert_eq!(target_id, RequestTargetId::AcsSubsystem as u32);
-        if unique_id == AcsHkIds::TestMgmSet as u32 {
-            let mut sp_header = SpHeader::tm(PUS_APID, SequenceFlags::Unsegmented, 0, 0).unwrap();
-            let sec_header = PusTmSecondaryHeader::new_simple(
-                3,
-                HkSubservice::TmHkPacket as u8,
-                &self.timestamp,
-            );
-            let mut buf: [u8; 8] = [0; 8];
-            let hk_id = HkUniqueId::new(target_id, unique_id);
-            hk_id.write_to_be_bytes(&mut buf).unwrap();
-            let pus_tm = PusTmCreator::new(&mut sp_header, sec_header, &buf, true);
-            self.tm_sender
-                .send_tm(PusTmWrapper::Direct(pus_tm))
-                .expect("Sending HK TM failed");
-        }
-        // TODO: Verification failure for invalid unique IDs.
-    }
-
-    pub fn try_reading_one_request(&mut self) -> bool {
-        match self.request_rx.try_recv() {
-            Ok(request) => {
-                info!(
-                    "ACS thread: Received HK request {:?}",
-                    request.targeted_request
-                );
-                match request.targeted_request.request {
-                    Request::Hk(hk_req) => match hk_req {
-                        HkRequest::OneShot(unique_id) => self.handle_hk_request(
-                            request.targeted_request.target_id_with_apid.target_id(),
-                            unique_id,
-                        ),
-                        HkRequest::Enable(_) => {}
-                        HkRequest::Disable(_) => {}
-                        HkRequest::ModifyCollectionInterval(_, _) => {}
-                    },
-                    Request::Mode(_mode_req) => {
-                        warn!("mode request handling not implemented yet")
-                    }
-                    Request::Action(_action_req) => {
-                        warn!("action request handling not implemented yet")
-                    }
-                }
-                let started_token = self
-                    .verif_reporter
-                    .start_success(request.token, Some(&self.timestamp))
-                    .expect("Sending start success failed");
-                self.verif_reporter
-                    .completion_success(started_token, Some(&self.timestamp))
-                    .expect("Sending completion success failed");
-                true
-            }
-            Err(e) => match e {
-                TryRecvError::Empty => false,
-                TryRecvError::Disconnected => {
-                    warn!("ACS thread: Message Queue TX disconnected!");
-                    false
-                }
-            },
-        }
-    }
-
-    pub fn periodic_operation(&mut self) {
-        update_time(&mut self.time_provider, &mut self.timestamp);
-        loop {
-            if !self.try_reading_one_request() {
-                break;
-            }
-        }
-    }
-}

satrs-example/src/acs/mgm.rs

@@ -0,0 +1,282 @@
+use derive_new::new;
+use satrs::hk::{HkRequest, HkRequestVariant};
+use satrs::queue::{GenericSendError, GenericTargetedMessagingError};
+use satrs::spacepackets::ecss::hk;
+use satrs::spacepackets::ecss::tm::{PusTmCreator, PusTmSecondaryHeader};
+use satrs::spacepackets::SpHeader;
+use satrs_example::{DeviceMode, TimeStampHelper};
+use std::sync::mpsc::{self};
+use std::sync::{Arc, Mutex};
+
+use satrs::mode::{
+    ModeAndSubmode, ModeError, ModeProvider, ModeReply, ModeRequest, ModeRequestHandler,
+};
+use satrs::pus::{EcssTmSender, PusTmVariant};
+use satrs::request::{GenericMessage, MessageMetadata, UniqueApidTargetId};
+use satrs_example::config::components::PUS_MODE_SERVICE;
+
+use crate::pus::hk::{HkReply, HkReplyVariant};
+use crate::requests::CompositeRequest;
+
+use serde::{Deserialize, Serialize};
+
+const GAUSS_TO_MICROTESLA_FACTOR: f32 = 100.0;
+// This is the selected resoltion for the STM LIS3MDL device for the 4 Gauss sensitivity setting.
+const FIELD_LSB_PER_GAUSS_4_SENS: f32 = 1.0 / 6842.0;
+
+pub trait SpiInterface {
+    type Error;
+    fn transfer(&mut self, tx: &[u8], rx: &mut [u8]) -> Result<(), Self::Error>;
+}
+
+#[derive(Default)]
+pub struct SpiDummyInterface {
+    pub dummy_val_0: i16,
+    pub dummy_val_1: i16,
+    pub dummy_val_2: i16,
+}
+
+impl SpiInterface for SpiDummyInterface {
+    type Error = ();
+
+    fn transfer(&mut self, _tx: &[u8], rx: &mut [u8]) -> Result<(), Self::Error> {
+        rx[0..2].copy_from_slice(&self.dummy_val_0.to_be_bytes());
+        rx[2..4].copy_from_slice(&self.dummy_val_1.to_be_bytes());
+        rx[4..6].copy_from_slice(&self.dummy_val_2.to_be_bytes());
+        Ok(())
+    }
+}
+
+#[derive(Default, Debug, Copy, Clone, Serialize, Deserialize)]
+pub struct MgmData {
+    pub valid: bool,
+    pub x: f32,
+    pub y: f32,
+    pub z: f32,
+}
+
+pub struct MpscModeLeafInterface {
+    pub request_rx: mpsc::Receiver<GenericMessage<ModeRequest>>,
+    pub reply_tx_to_pus: mpsc::Sender<GenericMessage<ModeReply>>,
+    pub reply_tx_to_parent: mpsc::Sender<GenericMessage<ModeReply>>,
+}
+
+/// Example MGM device handler strongly based on the LIS3MDL MEMS device.
+#[derive(new)]
+#[allow(clippy::too_many_arguments)]
+pub struct MgmHandlerLis3Mdl<ComInterface: SpiInterface, TmSender: EcssTmSender> {
+    id: UniqueApidTargetId,
+    dev_str: &'static str,
+    mode_interface: MpscModeLeafInterface,
+    composite_request_receiver: mpsc::Receiver<GenericMessage<CompositeRequest>>,
+    hk_reply_sender: mpsc::Sender<GenericMessage<HkReply>>,
+    tm_sender: TmSender,
+    com_interface: ComInterface,
+    shared_mgm_set: Arc<Mutex<MgmData>>,
+    #[new(value = "ModeAndSubmode::new(satrs_example::DeviceMode::Off as u32, 0)")]
+    mode_and_submode: ModeAndSubmode,
+    #[new(default)]
+    tx_buf: [u8; 12],
+    #[new(default)]
+    rx_buf: [u8; 12],
+    #[new(default)]
+    tm_buf: [u8; 16],
+    #[new(default)]
+    stamp_helper: TimeStampHelper,
+}
+
+impl<ComInterface: SpiInterface, TmSender: EcssTmSender> MgmHandlerLis3Mdl<ComInterface, TmSender> {
+    pub fn periodic_operation(&mut self) {
+        self.stamp_helper.update_from_now();
+        // Handle requests.
+        self.handle_composite_requests();
+        self.handle_mode_requests();
+        if self.mode() == DeviceMode::Normal as u32 {
+            log::trace!("polling LIS3MDL sensor {}", self.dev_str);
+            // Communicate with the device.
+            let result = self.com_interface.transfer(&self.tx_buf, &mut self.rx_buf);
+            assert!(result.is_ok());
+            // Actual data begins on the second byte, similarly to how a lot of SPI devices behave.
+            let x_raw = i16::from_be_bytes(self.rx_buf[1..3].try_into().unwrap());
+            let y_raw = i16::from_be_bytes(self.rx_buf[3..5].try_into().unwrap());
+            let z_raw = i16::from_be_bytes(self.rx_buf[5..7].try_into().unwrap());
+            // Simple scaling to retrieve the float value, assuming a sensor resolution of
+            let mut mgm_guard = self.shared_mgm_set.lock().unwrap();
+            mgm_guard.x = x_raw as f32 * GAUSS_TO_MICROTESLA_FACTOR * FIELD_LSB_PER_GAUSS_4_SENS;
+            mgm_guard.y = y_raw as f32 * GAUSS_TO_MICROTESLA_FACTOR * FIELD_LSB_PER_GAUSS_4_SENS;
+            mgm_guard.z = z_raw as f32 * GAUSS_TO_MICROTESLA_FACTOR * FIELD_LSB_PER_GAUSS_4_SENS;
+            drop(mgm_guard);
+        }
+    }
+
+    pub fn handle_composite_requests(&mut self) {
+        loop {
+            match self.composite_request_receiver.try_recv() {
+                Ok(ref msg) => match &msg.message {
+                    CompositeRequest::Hk(hk_request) => {
+                        self.handle_hk_request(&msg.requestor_info, hk_request)
+                    }
+                    // TODO: This object does not have actions (yet).. Still send back completion failure
+                    // reply.
+                    CompositeRequest::Action(_action_req) => {}
+                },
+
+                Err(e) => {
+                    if e != mpsc::TryRecvError::Empty {
+                        log::warn!(
+                            "{}: failed to receive composite request: {:?}",
+                            self.dev_str,
+                            e
+                        );
+                    } else {
+                        break;
+                    }
+                }
+            }
+        }
+    }
+
+    pub fn handle_hk_request(&mut self, requestor_info: &MessageMetadata, hk_request: &HkRequest) {
+        match hk_request.variant {
+            HkRequestVariant::OneShot => {
+                self.hk_reply_sender
+                    .send(GenericMessage::new(
+                        *requestor_info,
+                        HkReply::new(hk_request.unique_id, HkReplyVariant::Ack),
+                    ))
+                    .expect("failed to send HK reply");
+                let sec_header = PusTmSecondaryHeader::new(
+                    3,
+                    hk::Subservice::TmHkPacket as u8,
+                    0,
+                    0,
+                    self.stamp_helper.stamp(),
+                );
+                let mgm_snapshot = *self.shared_mgm_set.lock().unwrap();
+                // Use binary serialization here. We want the data to be tightly packed.
+                self.tm_buf[0] = mgm_snapshot.valid as u8;
+                self.tm_buf[1..5].copy_from_slice(&mgm_snapshot.x.to_be_bytes());
+                self.tm_buf[5..9].copy_from_slice(&mgm_snapshot.y.to_be_bytes());
+                self.tm_buf[9..13].copy_from_slice(&mgm_snapshot.z.to_be_bytes());
+                let hk_tm = PusTmCreator::new(
+                    SpHeader::new_from_apid(self.id.apid),
+                    sec_header,
+                    &self.tm_buf[0..12],
+                    true,
+                );
+                self.tm_sender
+                    .send_tm(self.id.id(), PusTmVariant::Direct(hk_tm))
+                    .expect("failed to send HK TM");
+            }
+            HkRequestVariant::EnablePeriodic => todo!(),
+            HkRequestVariant::DisablePeriodic => todo!(),
+            HkRequestVariant::ModifyCollectionInterval(_) => todo!(),
+        }
+    }
+
+    pub fn handle_mode_requests(&mut self) {
+        loop {
+            // TODO: Only allow one set mode request per cycle?
+            match self.mode_interface.request_rx.try_recv() {
+                Ok(msg) => {
+                    let result = self.handle_mode_request(msg);
+                    // TODO: Trigger event?
+                    if result.is_err() {
+                        log::warn!(
+                            "{}: mode request failed with error {:?}",
+                            self.dev_str,
+                            result.err().unwrap()
+                        );
+                    }
+                }
+                Err(e) => {
+                    if e != mpsc::TryRecvError::Empty {
+                        log::warn!("{}: failed to receive mode request: {:?}", self.dev_str, e);
+                    } else {
+                        break;
+                    }
+                }
+            }
+        }
+    }
+}
+
+impl<ComInterface: SpiInterface, TmSender: EcssTmSender> ModeProvider
+    for MgmHandlerLis3Mdl<ComInterface, TmSender>
+{
+    fn mode_and_submode(&self) -> ModeAndSubmode {
+        self.mode_and_submode
+    }
+}
+
+impl<ComInterface: SpiInterface, TmSender: EcssTmSender> ModeRequestHandler
+    for MgmHandlerLis3Mdl<ComInterface, TmSender>
+{
+    type Error = ModeError;
+    fn start_transition(
+        &mut self,
+        requestor: MessageMetadata,
+        mode_and_submode: ModeAndSubmode,
+    ) -> Result<(), satrs::mode::ModeError> {
+        log::info!(
+            "{}: transitioning to mode {:?}",
+            self.dev_str,
+            mode_and_submode
+        );
+        self.mode_and_submode = mode_and_submode;
+        self.handle_mode_reached(Some(requestor))?;
+        Ok(())
+    }
+
+    fn announce_mode(&self, _requestor_info: Option<MessageMetadata>, _recursive: bool) {
+        log::info!(
+            "{} announcing mode: {:?}",
+            self.dev_str,
+            self.mode_and_submode
+        );
+    }
+
+    fn handle_mode_reached(
+        &mut self,
+        requestor: Option<MessageMetadata>,
+    ) -> Result<(), Self::Error> {
+        self.announce_mode(requestor, false);
+        if let Some(requestor) = requestor {
+            if requestor.sender_id() != PUS_MODE_SERVICE.id() {
+                log::warn!(
+                    "can not send back mode reply to sender {}",
+                    requestor.sender_id()
+                );
+            } else {
+                self.send_mode_reply(requestor, ModeReply::ModeReply(self.mode_and_submode()))?;
+            }
+        }
+        Ok(())
+    }
+
+    fn send_mode_reply(
+        &self,
+        requestor: MessageMetadata,
+        reply: ModeReply,
+    ) -> Result<(), Self::Error> {
+        if requestor.sender_id() != PUS_MODE_SERVICE.id() {
+            log::warn!(
+                "can not send back mode reply to sender {}",
+                requestor.sender_id()
+            );
+        }
+        self.mode_interface
+            .reply_tx_to_pus
+            .send(GenericMessage::new(requestor, reply))
+            .map_err(|_| GenericTargetedMessagingError::Send(GenericSendError::RxDisconnected))?;
+        Ok(())
+    }
+
+    fn handle_mode_info(
+        &mut self,
+        _requestor_info: MessageMetadata,
+        _info: ModeAndSubmode,
+    ) -> Result<(), Self::Error> {
+        Ok(())
+    }
+}

satrs-example/src/acs/mod.rs

@@ -0,0 +1 @@
+pub mod mgm;

satrs-example/src/bin/simpleclient.rs

@@ -1,7 +1,7 @@
-use satrs_core::pus::verification::RequestId;
-use satrs_core::spacepackets::ecss::tc::PusTcCreator;
-use satrs_core::spacepackets::ecss::tm::PusTmReader;
-use satrs_core::{
+use satrs::pus::verification::RequestId;
+use satrs::spacepackets::ecss::tc::PusTcCreator;
+use satrs::spacepackets::ecss::tm::PusTmReader;
+use satrs::{
     spacepackets::ecss::{PusPacket, WritablePusPacket},
     spacepackets::SpHeader,
 };
@@ -12,8 +12,7 @@ use std::time::Duration;
 fn main() {
     let mut buf = [0; 32];
     let addr = SocketAddr::new(IpAddr::V4(OBSW_SERVER_ADDR), SERVER_PORT);
-    let mut sph = SpHeader::tc_unseg(0x02, 0, 0).unwrap();
-    let pus_tc = PusTcCreator::new_simple(&mut sph, 17, 1, None, true);
+    let pus_tc = PusTcCreator::new_simple(SpHeader::new_from_apid(0x02), 17, 1, &[], true);
     let client = UdpSocket::bind("127.0.0.1:7302").expect("Connecting to UDP server failed");
     let tc_req_id = RequestId::new(&pus_tc);
     println!("Packing and sending PUS ping command TC[17,1] with request ID {tc_req_id}");

satrs-example/src/ccsds.rs

@@ -1,44 +0,0 @@
-use satrs_core::pus::ReceivesEcssPusTc;
-use satrs_core::spacepackets::{CcsdsPacket, SpHeader};
-use satrs_core::tmtc::{CcsdsPacketHandler, ReceivesCcsdsTc};
-use satrs_example::config::PUS_APID;
-
-#[derive(Clone)]
-pub struct CcsdsReceiver<
-    TcSource: ReceivesCcsdsTc<Error = E> + ReceivesEcssPusTc<Error = E> + Clone,
-    E,
-> {
-    pub tc_source: TcSource,
-}
-
-impl<
-        TcSource: ReceivesCcsdsTc<Error = E> + ReceivesEcssPusTc<Error = E> + Clone + 'static,
-        E: 'static,
-    > CcsdsPacketHandler for CcsdsReceiver<TcSource, E>
-{
-    type Error = E;
-
-    fn valid_apids(&self) -> &'static [u16] {
-        &[PUS_APID]
-    }
-
-    fn handle_known_apid(
-        &mut self,
-        sp_header: &SpHeader,
-        tc_raw: &[u8],
-    ) -> Result<(), Self::Error> {
-        if sp_header.apid() == PUS_APID {
-            return self.tc_source.pass_ccsds(sp_header, tc_raw);
-        }
-        Ok(())
-    }
-
-    fn handle_unknown_apid(
-        &mut self,
-        sp_header: &SpHeader,
-        _tc_raw: &[u8],
-    ) -> Result<(), Self::Error> {
-        println!("Unknown APID 0x{:x?} detected", sp_header.apid());
-        Ok(())
-    }
-}

satrs-example/src/config.rs

@@ -1,16 +1,19 @@
-use satrs_core::res_code::ResultU16;
+use lazy_static::lazy_static;
+use satrs::{
+    res_code::ResultU16,
+    spacepackets::{PacketId, PacketType},
+};
 use satrs_mib::res_code::ResultU16Info;
 use satrs_mib::resultcode;
-use std::net::Ipv4Addr;
+use std::{collections::HashSet, net::Ipv4Addr};
+use strum::IntoEnumIterator;
 
 use num_enum::{IntoPrimitive, TryFromPrimitive};
-use satrs_core::{
+use satrs::{
     events::{EventU32TypedSev, SeverityInfo},
     pool::{StaticMemoryPool, StaticPoolConfig},
 };
 
-pub const PUS_APID: u16 = 0x02;
-
 #[derive(Copy, Clone, PartialEq, Eq, Debug, TryFromPrimitive, IntoPrimitive)]
 #[repr(u8)]
 pub enum CustomPusServiceId {
@@ -29,37 +32,63 @@ pub const AOCS_APID: u16 = 1;
 pub enum GroupId {
     Tmtc = 0,
     Hk = 1,
+    Mode = 2,
 }
 
 pub const OBSW_SERVER_ADDR: Ipv4Addr = Ipv4Addr::UNSPECIFIED;
 pub const SERVER_PORT: u16 = 7301;
 
-pub const TEST_EVENT: EventU32TypedSev<SeverityInfo> =
-    EventU32TypedSev::<SeverityInfo>::const_new(0, 0);
+pub const TEST_EVENT: EventU32TypedSev<SeverityInfo> = EventU32TypedSev::<SeverityInfo>::new(0, 0);
+
+lazy_static! {
+    pub static ref PACKET_ID_VALIDATOR: HashSet<PacketId> = {
+        let mut set = HashSet::new();
+        for id in components::Apid::iter() {
+            set.insert(PacketId::new(PacketType::Tc, true, id as u16));
+        }
+        set
+    };
+    pub static ref APID_VALIDATOR: HashSet<u16> = {
+        let mut set = HashSet::new();
+        for id in components::Apid::iter() {
+            set.insert(id as u16);
+        }
+        set
+    };
+}
 
 pub mod tmtc_err {
 
     use super::*;
 
     #[resultcode]
-    pub const INVALID_PUS_SERVICE: ResultU16 = ResultU16::const_new(GroupId::Tmtc as u8, 0);
+    pub const INVALID_PUS_SERVICE: ResultU16 = ResultU16::new(GroupId::Tmtc as u8, 0);
     #[resultcode]
-    pub const INVALID_PUS_SUBSERVICE: ResultU16 = ResultU16::const_new(GroupId::Tmtc as u8, 1);
+    pub const INVALID_PUS_SUBSERVICE: ResultU16 = ResultU16::new(GroupId::Tmtc as u8, 1);
     #[resultcode]
-    pub const PUS_SERVICE_NOT_IMPLEMENTED: ResultU16 = ResultU16::const_new(GroupId::Tmtc as u8, 2);
+    pub const PUS_SERVICE_NOT_IMPLEMENTED: ResultU16 = ResultU16::new(GroupId::Tmtc as u8, 2);
     #[resultcode]
-    pub const UNKNOWN_TARGET_ID: ResultU16 = ResultU16::const_new(GroupId::Tmtc as u8, 3);
+    pub const PUS_SUBSERVICE_NOT_IMPLEMENTED: ResultU16 = ResultU16::new(GroupId::Tmtc as u8, 3);
+    #[resultcode]
+    pub const UNKNOWN_TARGET_ID: ResultU16 = ResultU16::new(GroupId::Tmtc as u8, 4);
+    #[resultcode]
+    pub const ROUTING_ERROR: ResultU16 = ResultU16::new(GroupId::Tmtc as u8, 5);
+    #[resultcode(info = "Request timeout for targeted PUS request. P1: Request ID. P2: Target ID")]
+    pub const REQUEST_TIMEOUT: ResultU16 = ResultU16::new(GroupId::Tmtc as u8, 6);
 
     #[resultcode(
         info = "Not enough data inside the TC application data field. Optionally includes: \
           8 bytes of failure data containing 2 failure parameters, \
           P1 (u32 big endian): Expected data length, P2: Found data length"
     )]
-    pub const NOT_ENOUGH_APP_DATA: ResultU16 = ResultU16::const_new(GroupId::Tmtc as u8, 2);
+    pub const NOT_ENOUGH_APP_DATA: ResultU16 = ResultU16::new(GroupId::Tmtc as u8, 2);
 
     pub const TMTC_RESULTS: &[ResultU16Info] = &[
         INVALID_PUS_SERVICE_EXT,
         INVALID_PUS_SUBSERVICE_EXT,
+        PUS_SERVICE_NOT_IMPLEMENTED_EXT,
+        UNKNOWN_TARGET_ID_EXT,
+        ROUTING_ERROR_EXT,
         NOT_ENOUGH_APP_DATA_EXT,
     ];
 }
@@ -69,68 +98,127 @@ pub mod hk_err {
     use super::*;
 
     #[resultcode]
-    pub const TARGET_ID_MISSING: ResultU16 = ResultU16::const_new(GroupId::Hk as u8, 0);
+    pub const TARGET_ID_MISSING: ResultU16 = ResultU16::new(GroupId::Hk as u8, 0);
     #[resultcode]
-    pub const UNIQUE_ID_MISSING: ResultU16 = ResultU16::const_new(GroupId::Hk as u8, 1);
+    pub const UNIQUE_ID_MISSING: ResultU16 = ResultU16::new(GroupId::Hk as u8, 1);
     #[resultcode]
-    pub const UNKNOWN_TARGET_ID: ResultU16 = ResultU16::const_new(GroupId::Hk as u8, 2);
+    pub const UNKNOWN_TARGET_ID: ResultU16 = ResultU16::new(GroupId::Hk as u8, 2);
     #[resultcode]
-    pub const COLLECTION_INTERVAL_MISSING: ResultU16 = ResultU16::const_new(GroupId::Hk as u8, 3);
+    pub const COLLECTION_INTERVAL_MISSING: ResultU16 = ResultU16::new(GroupId::Hk as u8, 3);
+
+    pub const HK_ERR_RESULTS: &[ResultU16Info] = &[
+        TARGET_ID_MISSING_EXT,
+        UNKNOWN_TARGET_ID_EXT,
+        UNKNOWN_TARGET_ID_EXT,
+        COLLECTION_INTERVAL_MISSING_EXT,
+    ];
 }
 
-#[allow(clippy::enum_variant_names)]
-#[derive(Copy, Clone, PartialEq, Eq)]
-pub enum TmSenderId {
-    PusVerification = 0,
-    PusTest = 1,
-    PusEvent = 2,
-    PusHk = 3,
-    PusAction = 4,
-    PusSched = 5,
-    AllEvents = 6,
-    AcsSubsystem = 7,
+pub mod mode_err {
+    use super::*;
+
+    #[resultcode]
+    pub const WRONG_MODE: ResultU16 = ResultU16::new(GroupId::Mode as u8, 0);
 }
 
-#[derive(Copy, Clone, PartialEq, Eq)]
-pub enum TcReceiverId {
-    PusTest = 1,
-    PusEvent = 2,
-    PusHk = 3,
-    PusAction = 4,
-    PusSched = 5,
+pub mod components {
+    use satrs::request::UniqueApidTargetId;
+    use strum::EnumIter;
+
+    #[derive(Copy, Clone, PartialEq, Eq, EnumIter)]
+    pub enum Apid {
+        Sched = 1,
+        GenericPus = 2,
+        Acs = 3,
+        Cfdp = 4,
+        Tmtc = 5,
+    }
+
+    // Component IDs for components with the PUS APID.
+    #[derive(Copy, Clone, PartialEq, Eq)]
+    pub enum PusId {
+        PusEventManagement = 0,
+        PusRouting = 1,
+        PusTest = 2,
+        PusAction = 3,
+        PusMode = 4,
+        PusHk = 5,
+    }
+
+    #[derive(Copy, Clone, PartialEq, Eq)]
+    pub enum AcsId {
+        Mgm0 = 0,
+    }
+
+    #[derive(Copy, Clone, PartialEq, Eq)]
+    pub enum TmtcId {
+        UdpServer = 0,
+        TcpServer = 1,
+    }
+
+    pub const PUS_ACTION_SERVICE: UniqueApidTargetId =
+        UniqueApidTargetId::new(Apid::GenericPus as u16, PusId::PusAction as u32);
+    pub const PUS_EVENT_MANAGEMENT: UniqueApidTargetId =
+        UniqueApidTargetId::new(Apid::GenericPus as u16, 0);
+    pub const PUS_ROUTING_SERVICE: UniqueApidTargetId =
+        UniqueApidTargetId::new(Apid::GenericPus as u16, PusId::PusRouting as u32);
+    pub const PUS_TEST_SERVICE: UniqueApidTargetId =
+        UniqueApidTargetId::new(Apid::GenericPus as u16, PusId::PusTest as u32);
+    pub const PUS_MODE_SERVICE: UniqueApidTargetId =
+        UniqueApidTargetId::new(Apid::GenericPus as u16, PusId::PusMode as u32);
+    pub const PUS_HK_SERVICE: UniqueApidTargetId =
+        UniqueApidTargetId::new(Apid::GenericPus as u16, PusId::PusHk as u32);
+    pub const PUS_SCHED_SERVICE: UniqueApidTargetId =
+        UniqueApidTargetId::new(Apid::Sched as u16, 0);
+    pub const MGM_HANDLER_0: UniqueApidTargetId =
+        UniqueApidTargetId::new(Apid::Acs as u16, AcsId::Mgm0 as u32);
+    pub const UDP_SERVER: UniqueApidTargetId =
+        UniqueApidTargetId::new(Apid::Tmtc as u16, TmtcId::UdpServer as u32);
+    pub const TCP_SERVER: UniqueApidTargetId =
+        UniqueApidTargetId::new(Apid::Tmtc as u16, TmtcId::TcpServer as u32);
 }
+
 pub mod pool {
     use super::*;
     pub fn create_static_pools() -> (StaticMemoryPool, StaticMemoryPool) {
         (
-            StaticMemoryPool::new(StaticPoolConfig::new(vec![
-                (30, 32),
-                (15, 64),
-                (15, 128),
-                (15, 256),
-                (15, 1024),
-                (15, 2048),
-            ])),
-            StaticMemoryPool::new(StaticPoolConfig::new(vec![
-                (30, 32),
-                (15, 64),
-                (15, 128),
-                (15, 256),
-                (15, 1024),
-                (15, 2048),
-            ])),
+            StaticMemoryPool::new(StaticPoolConfig::new(
+                vec![
+                    (30, 32),
+                    (15, 64),
+                    (15, 128),
+                    (15, 256),
+                    (15, 1024),
+                    (15, 2048),
+                ],
+                true,
+            )),
+            StaticMemoryPool::new(StaticPoolConfig::new(
+                vec![
+                    (30, 32),
+                    (15, 64),
+                    (15, 128),
+                    (15, 256),
+                    (15, 1024),
+                    (15, 2048),
+                ],
+                true,
+            )),
         )
     }
 
     pub fn create_sched_tc_pool() -> StaticMemoryPool {
-        StaticMemoryPool::new(StaticPoolConfig::new(vec![
-            (30, 32),
-            (15, 64),
-            (15, 128),
-            (15, 256),
-            (15, 1024),
-            (15, 2048),
-        ]))
+        StaticMemoryPool::new(StaticPoolConfig::new(
+            vec![
+                (30, 32),
+                (15, 64),
+                (15, 128),
+                (15, 256),
+                (15, 1024),
+                (15, 2048),
+            ],
+            true,
+        ))
     }
 }
 

satrs-example/src/events.rs

@@ -1,68 +1,90 @@
-use std::sync::mpsc::{self, SendError};
+use std::sync::mpsc::{self};
 
-use satrs_core::{
-    event_man::{
-        EventManager, EventManagerWithMpscQueue, MpscEventReceiver, MpscEventU32SendProvider,
-        SendEventProvider,
-    },
-    events::EventU32,
-    params::Params,
+use crate::pus::create_verification_reporter;
+use satrs::event_man::{EventMessageU32, EventRoutingError};
+use satrs::pus::event::EventTmHookProvider;
+use satrs::pus::verification::VerificationReporter;
+use satrs::pus::EcssTmSender;
+use satrs::request::UniqueApidTargetId;
+use satrs::{
+    event_man::{EventManagerWithBoundedMpsc, EventSendProvider, EventU32SenderMpscBounded},
     pus::{
         event_man::{
-            DefaultPusMgmtBackendProvider, EventReporter, EventRequest, EventRequestWithToken,
-            PusEventDispatcher,
+            DefaultPusEventU32TmCreator, EventReporter, EventRequest, EventRequestWithToken,
         },
-        verification::{TcStateStarted, VerificationReporterWithSender, VerificationToken},
-        EcssTmSender,
+        verification::{TcStateStarted, VerificationReportingProvider, VerificationToken},
     },
-    spacepackets::time::cds::{self, TimeProvider},
+    spacepackets::time::cds::CdsTime,
 };
-use satrs_example::config::PUS_APID;
+use satrs_example::config::components::PUS_EVENT_MANAGEMENT;
 
 use crate::update_time;
 
-pub type MpscEventManager = EventManager<SendError<(EventU32, Option<Params>)>>;
-
-pub struct PusEventHandler {
-    event_request_rx: mpsc::Receiver<EventRequestWithToken>,
-    pus_event_dispatcher: PusEventDispatcher<(), EventU32>,
-    pus_event_man_rx: mpsc::Receiver<(EventU32, Option<Params>)>,
-    tm_sender: Box<dyn EcssTmSender>,
-    time_provider: TimeProvider,
-    timestamp: [u8; 7],
-    verif_handler: VerificationReporterWithSender,
+// This helper sets the APID of the event sender for the PUS telemetry.
+#[derive(Default)]
+pub struct EventApidSetter {
+    pub next_apid: u16,
 }
-/*
-*/
 
-impl PusEventHandler {
+impl EventTmHookProvider for EventApidSetter {
+    fn modify_tm(&self, tm: &mut satrs::spacepackets::ecss::tm::PusTmCreator) {
+        tm.set_apid(self.next_apid);
+    }
+}
+
+/// The PUS event handler subscribes for all events and converts them into ECSS PUS 5 event
+/// packets. It also handles the verification completion of PUS event service requests.
+pub struct PusEventHandler<TmSender: EcssTmSender> {
+    event_request_rx: mpsc::Receiver<EventRequestWithToken>,
+    pus_event_tm_creator: DefaultPusEventU32TmCreator<EventApidSetter>,
+    pus_event_man_rx: mpsc::Receiver<EventMessageU32>,
+    tm_sender: TmSender,
+    time_provider: CdsTime,
+    timestamp: [u8; 7],
+    small_data_buf: [u8; 64],
+    verif_handler: VerificationReporter,
+}
+
+impl<TmSender: EcssTmSender> PusEventHandler<TmSender> {
     pub fn new(
-        verif_handler: VerificationReporterWithSender,
-        event_manager: &mut MpscEventManager,
+        tm_sender: TmSender,
+        verif_handler: VerificationReporter,
+        event_manager: &mut EventManagerWithBoundedMpsc,
         event_request_rx: mpsc::Receiver<EventRequestWithToken>,
-        tm_sender: impl EcssTmSender,
     ) -> Self {
-        let (pus_event_man_tx, pus_event_man_rx) = mpsc::channel();
+        let event_queue_cap = 30;
+        let (pus_event_man_tx, pus_event_man_rx) = mpsc::sync_channel(event_queue_cap);
 
         // All events sent to the manager are routed to the PUS event manager, which generates PUS event
         // telemetry for each event.
-        let event_reporter = EventReporter::new(PUS_APID, 128).unwrap();
-        let pus_tm_backend = DefaultPusMgmtBackendProvider::<EventU32>::default();
+        let event_reporter = EventReporter::new_with_hook(
+            PUS_EVENT_MANAGEMENT.raw(),
+            0,
+            0,
+            128,
+            EventApidSetter::default(),
+        )
+        .unwrap();
         let pus_event_dispatcher =
-            PusEventDispatcher::new(event_reporter, Box::new(pus_tm_backend));
-        let pus_event_man_send_provider = MpscEventU32SendProvider::new(1, pus_event_man_tx);
+            DefaultPusEventU32TmCreator::new_with_default_backend(event_reporter);
+        let pus_event_man_send_provider = EventU32SenderMpscBounded::new(
+            PUS_EVENT_MANAGEMENT.raw(),
+            pus_event_man_tx,
+            event_queue_cap,
+        );
 
-        event_manager.subscribe_all(pus_event_man_send_provider.id());
+        event_manager.subscribe_all(pus_event_man_send_provider.target_id());
         event_manager.add_sender(pus_event_man_send_provider);
 
         Self {
             event_request_rx,
-            pus_event_dispatcher,
+            pus_event_tm_creator: pus_event_dispatcher,
             pus_event_man_rx,
-            time_provider: cds::TimeProvider::new_with_u16_days(0, 0),
+            time_provider: CdsTime::new_with_u16_days(0, 0),
             timestamp: [0; 7],
+            small_data_buf: [0; 64],
             verif_handler,
-            tm_sender: Box::new(tm_sender),
+            tm_sender,
         }
     }
 
@@ -73,115 +95,203 @@ impl PusEventHandler {
                 .try_into()
                 .expect("expected start verification token");
             self.verif_handler
-                .completion_success(started_token, Some(timestamp))
+                .completion_success(&self.tm_sender, started_token, timestamp)
                 .expect("Sending completion success failed");
         };
-        // handle event requests
-        if let Ok(event_req) = self.event_request_rx.try_recv() {
-            match event_req.request {
-                EventRequest::Enable(event) => {
-                    self.pus_event_dispatcher
-                        .enable_tm_for_event(&event)
-                        .expect("Enabling TM failed");
-                    update_time(&mut self.time_provider, &mut self.timestamp);
-                    report_completion(event_req, &self.timestamp);
-                }
-                EventRequest::Disable(event) => {
-                    self.pus_event_dispatcher
-                        .disable_tm_for_event(&event)
-                        .expect("Disabling TM failed");
-                    update_time(&mut self.time_provider, &mut self.timestamp);
-                    report_completion(event_req, &self.timestamp);
-                }
+        loop {
+            // handle event requests
+            match self.event_request_rx.try_recv() {
+                Ok(event_req) => match event_req.request {
+                    EventRequest::Enable(event) => {
+                        self.pus_event_tm_creator
+                            .enable_tm_for_event(&event)
+                            .expect("Enabling TM failed");
+                        update_time(&mut self.time_provider, &mut self.timestamp);
+                        report_completion(event_req, &self.timestamp);
+                    }
+                    EventRequest::Disable(event) => {
+                        self.pus_event_tm_creator
+                            .disable_tm_for_event(&event)
+                            .expect("Disabling TM failed");
+                        update_time(&mut self.time_provider, &mut self.timestamp);
+                        report_completion(event_req, &self.timestamp);
+                    }
+                },
+                Err(e) => match e {
+                    mpsc::TryRecvError::Empty => break,
+                    mpsc::TryRecvError::Disconnected => {
+                        log::warn!("all event request senders have disconnected");
+                        break;
+                    }
+                },
             }
         }
     }
 
     pub fn generate_pus_event_tm(&mut self) {
-        // Perform the generation of PUS event packets
-        if let Ok((event, _param)) = self.pus_event_man_rx.try_recv() {
-            update_time(&mut self.time_provider, &mut self.timestamp);
-            self.pus_event_dispatcher
-                .generate_pus_event_tm_generic(
-                    self.tm_sender.upcast_mut(),
-                    &self.timestamp,
-                    event,
-                    None,
-                )
-                .expect("Sending TM as event failed");
+        loop {
+            // Perform the generation of PUS event packets
+            match self.pus_event_man_rx.try_recv() {
+                Ok(event_msg) => {
+                    // We use the TM modification hook to set the sender APID for each event.
+                    self.pus_event_tm_creator.reporter.tm_hook.next_apid =
+                        UniqueApidTargetId::from(event_msg.sender_id()).apid;
+                    update_time(&mut self.time_provider, &mut self.timestamp);
+                    let generation_result = self
+                        .pus_event_tm_creator
+                        .generate_pus_event_tm_generic_with_generic_params(
+                            &self.tm_sender,
+                            &self.timestamp,
+                            event_msg.event(),
+                            &mut self.small_data_buf,
+                            event_msg.params(),
+                        )
+                        .expect("Sending TM as event failed");
+                    if !generation_result.params_were_propagated {
+                        log::warn!(
+                            "Event TM parameters were not propagated: {:?}",
+                            event_msg.params()
+                        );
+                    }
+                }
+                Err(e) => match e {
+                    mpsc::TryRecvError::Empty => break,
+                    mpsc::TryRecvError::Disconnected => {
+                        log::warn!("All event senders have disconnected");
+                        break;
+                    }
+                },
+            }
         }
     }
 }
 
-pub struct EventManagerWrapper {
-    event_manager: MpscEventManager,
-    event_sender: mpsc::Sender<(EventU32, Option<Params>)>,
+pub struct EventHandler<TmSender: EcssTmSender> {
+    pub pus_event_handler: PusEventHandler<TmSender>,
+    event_manager: EventManagerWithBoundedMpsc,
 }
 
-impl EventManagerWrapper {
-    pub fn new() -> Self {
-        // The sender handle is the primary sender handle for all components which want to create events.
-        // The event manager will receive the RX handle to receive all the events.
-        let (event_sender, event_man_rx) = mpsc::channel();
-        let event_recv = MpscEventReceiver::<EventU32>::new(event_man_rx);
-        Self {
-            event_manager: EventManagerWithMpscQueue::new(Box::new(event_recv)),
-            event_sender,
-        }
-    }
-
-    pub fn clone_event_sender(&self) -> mpsc::Sender<(EventU32, Option<Params>)> {
-        self.event_sender.clone()
-    }
-
-    pub fn event_manager(&mut self) -> &mut MpscEventManager {
-        &mut self.event_manager
-    }
-
-    pub fn try_event_routing(&mut self) {
-        // Perform the event routing.
-        self.event_manager
-            .try_event_handling()
-            .expect("event handling failed");
-    }
-}
-
-pub struct EventHandler {
-    pub event_man_wrapper: EventManagerWrapper,
-    pub pus_event_handler: PusEventHandler,
-}
-
-impl EventHandler {
+impl<TmSender: EcssTmSender> EventHandler<TmSender> {
     pub fn new(
-        tm_sender: impl EcssTmSender,
-        verif_handler: VerificationReporterWithSender,
+        tm_sender: TmSender,
+        event_rx: mpsc::Receiver<EventMessageU32>,
         event_request_rx: mpsc::Receiver<EventRequestWithToken>,
     ) -> Self {
-        let mut event_man_wrapper = EventManagerWrapper::new();
+        let mut event_manager = EventManagerWithBoundedMpsc::new(event_rx);
         let pus_event_handler = PusEventHandler::new(
-            verif_handler,
-            event_man_wrapper.event_manager(),
-            event_request_rx,
             tm_sender,
+            create_verification_reporter(PUS_EVENT_MANAGEMENT.id(), PUS_EVENT_MANAGEMENT.apid),
+            &mut event_manager,
+            event_request_rx,
         );
-        Self {
-            event_man_wrapper,
-            pus_event_handler,
-        }
-    }
 
-    pub fn clone_event_sender(&self) -> mpsc::Sender<(EventU32, Option<Params>)> {
-        self.event_man_wrapper.clone_event_sender()
+        Self {
+            pus_event_handler,
+            event_manager,
+        }
     }
 
     #[allow(dead_code)]
-    pub fn event_manager(&mut self) -> &mut MpscEventManager {
-        self.event_man_wrapper.event_manager()
+    pub fn event_manager(&mut self) -> &mut EventManagerWithBoundedMpsc {
+        &mut self.event_manager
     }
 
     pub fn periodic_operation(&mut self) {
         self.pus_event_handler.handle_event_requests();
-        self.event_man_wrapper.try_event_routing();
+        self.try_event_routing();
         self.pus_event_handler.generate_pus_event_tm();
     }
+
+    pub fn try_event_routing(&mut self) {
+        let error_handler = |event_msg: &EventMessageU32, error: EventRoutingError| {
+            self.routing_error_handler(event_msg, error)
+        };
+        // Perform the event routing.
+        self.event_manager.try_event_handling(error_handler);
+    }
+
+    pub fn routing_error_handler(&self, event_msg: &EventMessageU32, error: EventRoutingError) {
+        log::warn!("event routing error for event {event_msg:?}: {error:?}");
+    }
+}
+
+#[cfg(test)]
+mod tests {
+    use satrs::{
+        events::EventU32,
+        pus::verification::VerificationReporterCfg,
+        spacepackets::{
+            ecss::{tm::PusTmReader, PusPacket},
+            CcsdsPacket,
+        },
+        tmtc::PacketAsVec,
+    };
+
+    use super::*;
+
+    const TEST_CREATOR_ID: UniqueApidTargetId = UniqueApidTargetId::new(1, 2);
+    const TEST_EVENT: EventU32 = EventU32::new(satrs::events::Severity::Info, 1, 1);
+
+    pub struct EventManagementTestbench {
+        pub event_tx: mpsc::SyncSender<EventMessageU32>,
+        pub event_manager: EventManagerWithBoundedMpsc,
+        pub tm_receiver: mpsc::Receiver<PacketAsVec>,
+        pub pus_event_handler: PusEventHandler<mpsc::Sender<PacketAsVec>>,
+    }
+
+    impl EventManagementTestbench {
+        pub fn new() -> Self {
+            let (event_tx, event_rx) = mpsc::sync_channel(10);
+            let (_event_req_tx, event_req_rx) = mpsc::sync_channel(10);
+            let (tm_sender, tm_receiver) = mpsc::channel();
+            let verif_reporter_cfg = VerificationReporterCfg::new(0x05, 2, 2, 128).unwrap();
+            let verif_reporter =
+                VerificationReporter::new(PUS_EVENT_MANAGEMENT.id(), &verif_reporter_cfg);
+            let mut event_manager = EventManagerWithBoundedMpsc::new(event_rx);
+            let pus_event_handler = PusEventHandler::<mpsc::Sender<PacketAsVec>>::new(
+                tm_sender,
+                verif_reporter,
+                &mut event_manager,
+                event_req_rx,
+            );
+            Self {
+                event_tx,
+                tm_receiver,
+                event_manager,
+                pus_event_handler,
+            }
+        }
+    }
+
+    #[test]
+    fn test_basic_event_generation() {
+        let mut testbench = EventManagementTestbench::new();
+        testbench
+            .event_tx
+            .send(EventMessageU32::new(
+                TEST_CREATOR_ID.id(),
+                EventU32::new(satrs::events::Severity::Info, 1, 1),
+            ))
+            .expect("failed to send event");
+        testbench.pus_event_handler.handle_event_requests();
+        testbench.event_manager.try_event_handling(|_, _| {});
+        testbench.pus_event_handler.generate_pus_event_tm();
+        let tm_packet = testbench
+            .tm_receiver
+            .try_recv()
+            .expect("failed to receive TM packet");
+        assert_eq!(tm_packet.sender_id, PUS_EVENT_MANAGEMENT.id());
+        let tm_reader = PusTmReader::new(&tm_packet.packet, 7)
+            .expect("failed to create TM reader")
+            .0;
+        assert_eq!(tm_reader.apid(), TEST_CREATOR_ID.apid);
+        assert_eq!(tm_reader.user_data().len(), 4);
+        let event_read_back = EventU32::from_be_bytes(tm_reader.user_data().try_into().unwrap());
+        assert_eq!(event_read_back, TEST_EVENT);
+    }
+
+    #[test]
+    fn test_basic_event_disabled() {
+        // TODO: Add test.
+    }
 }

satrs-example/src/hk.rs

@@ -1,27 +1,25 @@
 use derive_new::new;
-use satrs_core::spacepackets::ByteConversionError;
-
-#[derive(Debug, Copy, Clone, PartialEq, Eq)]
-pub enum AcsHkIds {
-    TestMgmSet = 1,
-}
+use satrs::hk::UniqueId;
+use satrs::request::UniqueApidTargetId;
+use satrs::spacepackets::ByteConversionError;
 
 #[derive(Debug, new, Copy, Clone)]
 pub struct HkUniqueId {
-    target_id: u32,
-    set_id: u32,
+    target_id: UniqueApidTargetId,
+    set_id: UniqueId,
 }
 
 impl HkUniqueId {
     #[allow(dead_code)]
-    pub fn target_id(&self) -> u32 {
+    pub fn target_id(&self) -> UniqueApidTargetId {
         self.target_id
     }
     #[allow(dead_code)]
-    pub fn set_id(&self) -> u32 {
+    pub fn set_id(&self) -> UniqueId {
         self.set_id
     }
 
+    #[allow(dead_code)]
     pub fn write_to_be_bytes(&self, buf: &mut [u8]) -> Result<usize, ByteConversionError> {
         if buf.len() < 8 {
             return Err(ByteConversionError::ToSliceTooSmall {
@@ -29,7 +27,7 @@ impl HkUniqueId {
                 expected: 8,
             });
         }
-        buf[0..4].copy_from_slice(&self.target_id.to_be_bytes());
+        buf[0..4].copy_from_slice(&self.target_id.unique_id.to_be_bytes());
         buf[4..8].copy_from_slice(&self.set_id.to_be_bytes());
 
         Ok(8)

satrs-example/src/interface/mod.rs

@@ -0,0 +1,3 @@
+//! This module contains all component related to the direct interface of the example.
+pub mod tcp;
+pub mod udp;

satrs-example/src/interface/tcp.rs

@@ -0,0 +1,154 @@
+use std::time::Duration;
+use std::{
+    collections::{HashSet, VecDeque},
+    fmt::Debug,
+    marker::PhantomData,
+    sync::{Arc, Mutex},
+};
+
+use log::{info, warn};
+use satrs::{
+    encoding::ccsds::{SpValidity, SpacePacketValidator},
+    hal::std::tcp_server::{HandledConnectionHandler, ServerConfig, TcpSpacepacketsServer},
+    spacepackets::{CcsdsPacket, PacketId},
+    tmtc::{PacketSenderRaw, PacketSource},
+};
+
+#[derive(Default)]
+pub struct ConnectionFinishedHandler {}
+
+pub struct SimplePacketValidator {
+    pub valid_ids: HashSet<PacketId>,
+}
+
+impl SpacePacketValidator for SimplePacketValidator {
+    fn validate(
+        &self,
+        sp_header: &satrs::spacepackets::SpHeader,
+        _raw_buf: &[u8],
+    ) -> satrs::encoding::ccsds::SpValidity {
+        if self.valid_ids.contains(&sp_header.packet_id()) {
+            return SpValidity::Valid;
+        }
+        log::warn!("ignoring space packet with header {:?}", sp_header);
+        // We could perform a CRC check.. but lets keep this simple and assume that TCP ensures
+        // data integrity.
+        SpValidity::Skip
+    }
+}
+
+impl HandledConnectionHandler for ConnectionFinishedHandler {
+    fn handled_connection(&mut self, info: satrs::hal::std::tcp_server::HandledConnectionInfo) {
+        info!(
+            "Served {} TMs and {} TCs for client {:?}",
+            info.num_sent_tms, info.num_received_tcs, info.addr
+        );
+    }
+}
+
+#[derive(Default, Clone)]
+pub struct SyncTcpTmSource {
+    tm_queue: Arc<Mutex<VecDeque<Vec<u8>>>>,
+    max_packets_stored: usize,
+    pub silent_packet_overwrite: bool,
+}
+
+impl SyncTcpTmSource {
+    pub fn new(max_packets_stored: usize) -> Self {
+        Self {
+            tm_queue: Arc::default(),
+            max_packets_stored,
+            silent_packet_overwrite: true,
+        }
+    }
+
+    pub fn add_tm(&mut self, tm: &[u8]) {
+        let mut tm_queue = self.tm_queue.lock().expect("locking tm queue failec");
+        if tm_queue.len() > self.max_packets_stored {
+            if !self.silent_packet_overwrite {
+                warn!("TPC TM source is full, deleting oldest packet");
+            }
+            tm_queue.pop_front();
+        }
+        tm_queue.push_back(tm.to_vec());
+    }
+}
+
+impl PacketSource for SyncTcpTmSource {
+    type Error = ();
+
+    fn retrieve_packet(&mut self, buffer: &mut [u8]) -> Result<usize, Self::Error> {
+        let mut tm_queue = self.tm_queue.lock().expect("locking tm queue failed");
+        if !tm_queue.is_empty() {
+            let next_vec = tm_queue.front().unwrap();
+            if buffer.len() < next_vec.len() {
+                panic!(
+                    "provided buffer too small, must be at least {} bytes",
+                    next_vec.len()
+                );
+            }
+            let next_vec = tm_queue.pop_front().unwrap();
+            buffer[0..next_vec.len()].copy_from_slice(&next_vec);
+            if next_vec.len() > 9 {
+                let service = next_vec[7];
+                let subservice = next_vec[8];
+                info!("Sending PUS TM[{service},{subservice}]")
+            } else {
+                info!("Sending PUS TM");
+            }
+            return Ok(next_vec.len());
+        }
+        Ok(0)
+    }
+}
+
+pub type TcpServer<ReceivesTc, SendError> = TcpSpacepacketsServer<
+    SyncTcpTmSource,
+    ReceivesTc,
+    SimplePacketValidator,
+    ConnectionFinishedHandler,
+    (),
+    SendError,
+>;
+
+pub struct TcpTask<TcSender: PacketSenderRaw<Error = SendError>, SendError: Debug + 'static>(
+    pub TcpServer<TcSender, SendError>,
+    PhantomData<SendError>,
+);
+
+impl<TcSender: PacketSenderRaw<Error = SendError>, SendError: Debug + 'static>
+    TcpTask<TcSender, SendError>
+{
+    pub fn new(
+        cfg: ServerConfig,
+        tm_source: SyncTcpTmSource,
+        tc_sender: TcSender,
+        valid_ids: HashSet<PacketId>,
+    ) -> Result<Self, std::io::Error> {
+        Ok(Self(
+            TcpSpacepacketsServer::new(
+                cfg,
+                tm_source,
+                tc_sender,
+                SimplePacketValidator { valid_ids },
+                ConnectionFinishedHandler::default(),
+                None,
+            )?,
+            PhantomData,
+        ))
+    }
+
+    pub fn periodic_operation(&mut self) {
+        loop {
+            let result = self
+                .0
+                .handle_all_connections(Some(Duration::from_millis(400)));
+            match result {
+                Ok(_conn_result) => (),
+                Err(e) => {
+                    warn!("TCP server error: {e:?}");
+                }
+            }
+        }
+    }
+}

satrs-example/src/interface/udp.rs

@@ -1,13 +1,13 @@
-use std::{
-    net::{SocketAddr, UdpSocket},
-    sync::mpsc::Receiver,
-};
+use core::fmt::Debug;
+use std::net::{SocketAddr, UdpSocket};
+use std::sync::mpsc;
 
 use log::{info, warn};
-use satrs_core::{
+use satrs::pus::HandlingStatus;
+use satrs::tmtc::{PacketAsVec, PacketInPool, PacketSenderRaw};
+use satrs::{
     hal::std::udp_server::{ReceiveResult, UdpTcServer},
-    pool::{PoolProviderMemInPlaceWithGuards, SharedStaticMemoryPool, StoreAddr},
-    tmtc::CcsdsError,
+    pool::{PoolProviderWithGuards, SharedStaticMemoryPool},
 };
 
 pub trait UdpTmHandler {
@@ -15,34 +15,27 @@ pub trait UdpTmHandler {
 }
 
 pub struct StaticUdpTmHandler {
-    pub tm_rx: Receiver<StoreAddr>,
+    pub tm_rx: mpsc::Receiver<PacketInPool>,
     pub tm_store: SharedStaticMemoryPool,
 }
 
 impl UdpTmHandler for StaticUdpTmHandler {
     fn send_tm_to_udp_client(&mut self, socket: &UdpSocket, &recv_addr: &SocketAddr) {
-        while let Ok(addr) = self.tm_rx.try_recv() {
+        while let Ok(pus_tm_in_pool) = self.tm_rx.try_recv() {
             let store_lock = self.tm_store.write();
             if store_lock.is_err() {
                 warn!("Locking TM store failed");
                 continue;
             }
             let mut store_lock = store_lock.unwrap();
-            let pg = store_lock.read_with_guard(addr);
-            let read_res = pg.read();
+            let pg = store_lock.read_with_guard(pus_tm_in_pool.store_addr);
+            let read_res = pg.read_as_vec();
             if read_res.is_err() {
                 warn!("Error reading TM pool data");
                 continue;
             }
             let buf = read_res.unwrap();
-            if buf.len() > 9 {
-                let service = buf[7];
-                let subservice = buf[8];
-                info!("Sending PUS TM[{service},{subservice}]")
-            } else {
-                info!("Sending PUS TM");
-            }
-            let result = socket.send_to(buf, recv_addr);
+            let result = socket.send_to(&buf, recv_addr);
             if let Err(e) = result {
                 warn!("Sending TM with UDP socket failed: {e}")
             }
@@ -51,20 +44,20 @@ impl UdpTmHandler for StaticUdpTmHandler {
 }
 
 pub struct DynamicUdpTmHandler {
-    pub tm_rx: Receiver<Vec<u8>>,
+    pub tm_rx: mpsc::Receiver<PacketAsVec>,
 }
 
 impl UdpTmHandler for DynamicUdpTmHandler {
     fn send_tm_to_udp_client(&mut self, socket: &UdpSocket, recv_addr: &SocketAddr) {
         while let Ok(tm) = self.tm_rx.try_recv() {
-            if tm.len() > 9 {
-                let service = tm[7];
-                let subservice = tm[8];
+            if tm.packet.len() > 9 {
+                let service = tm.packet[7];
+                let subservice = tm.packet[8];
                 info!("Sending PUS TM[{service},{subservice}]")
             } else {
                 info!("Sending PUS TM");
             }
-            let result = socket.send_to(&tm, recv_addr);
+            let result = socket.send_to(&tm.packet, recv_addr);
             if let Err(e) = result {
                 warn!("Sending TM with UDP socket failed: {e}")
             }
@@ -72,74 +65,87 @@ impl UdpTmHandler for DynamicUdpTmHandler {
     }
 }
 
-pub struct UdpTmtcServer<TmHandler: UdpTmHandler, SendError> {
-    pub udp_tc_server: UdpTcServer<CcsdsError<SendError>>,
+pub struct UdpTmtcServer<
+    TcSender: PacketSenderRaw<Error = SendError>,
+    TmHandler: UdpTmHandler,
+    SendError,
+> {
+    pub udp_tc_server: UdpTcServer<TcSender, SendError>,
     pub tm_handler: TmHandler,
 }
 
-impl<TmHandler: UdpTmHandler, SendError: core::fmt::Debug + 'static>
-    UdpTmtcServer<TmHandler, SendError>
+impl<
+        TcSender: PacketSenderRaw<Error = SendError>,
+        TmHandler: UdpTmHandler,
+        SendError: Debug + 'static,
+    > UdpTmtcServer<TcSender, TmHandler, SendError>
 {
     pub fn periodic_operation(&mut self) {
-        while self.poll_tc_server() {}
+        loop {
+            if self.poll_tc_server() == HandlingStatus::Empty {
+                break;
+            }
+        }
         if let Some(recv_addr) = self.udp_tc_server.last_sender() {
             self.tm_handler
                 .send_tm_to_udp_client(&self.udp_tc_server.socket, &recv_addr);
         }
     }
 
-    fn poll_tc_server(&mut self) -> bool {
+    fn poll_tc_server(&mut self) -> HandlingStatus {
         match self.udp_tc_server.try_recv_tc() {
-            Ok(_) => true,
-            Err(e) => match e {
-                ReceiveResult::ReceiverError(e) => match e {
-                    CcsdsError::ByteConversionError(e) => {
-                        warn!("packet error: {e:?}");
-                        true
+            Ok(_) => HandlingStatus::HandledOne,
+            Err(e) => {
+                match e {
+                    ReceiveResult::NothingReceived => (),
+                    ReceiveResult::Io(e) => {
+                        warn!("IO error {e}");
                     }
-                    CcsdsError::CustomError(e) => {
-                        warn!("mpsc custom error {e:?}");
-                        true
+                    ReceiveResult::Send(send_error) => {
+                        warn!("send error {send_error:?}");
                     }
-                },
-                ReceiveResult::IoError(e) => {
-                    warn!("IO error {e}");
-                    false
                 }
-                ReceiveResult::NothingReceived => false,
-            },
+                HandlingStatus::Empty
+            }
         }
     }
 }
 
 #[cfg(test)]
 mod tests {
+    use std::net::Ipv4Addr;
     use std::{
+        cell::RefCell,
         collections::VecDeque,
         net::IpAddr,
         sync::{Arc, Mutex},
     };
 
-    use satrs_core::{
+    use satrs::{
         spacepackets::{
             ecss::{tc::PusTcCreator, WritablePusPacket},
             SpHeader,
         },
-        tmtc::ReceivesTcCore,
+        tmtc::PacketSenderRaw,
+        ComponentId,
     };
-    use satrs_example::config::{OBSW_SERVER_ADDR, PUS_APID};
+    use satrs_example::config::{components, OBSW_SERVER_ADDR};
 
     use super::*;
 
-    #[derive(Default, Debug, Clone)]
-    pub struct TestReceiver {
-        tc_vec: Arc<Mutex<VecDeque<Vec<u8>>>>,
+    const UDP_SERVER_ID: ComponentId = 0x05;
+
+    #[derive(Default, Debug)]
+    pub struct TestSender {
+        tc_vec: RefCell<VecDeque<PacketAsVec>>,
     }
 
-    impl ReceivesTcCore for TestReceiver {
-        type Error = CcsdsError<()>;
-        fn pass_tc(&mut self, tc_raw: &[u8]) -> Result<(), Self::Error> {
-            self.tc_vec.lock().unwrap().push_back(tc_raw.to_vec());
+    impl PacketSenderRaw for TestSender {
+        type Error = ();
+
+        fn send_packet(&self, sender_id: ComponentId, tc_raw: &[u8]) -> Result<(), Self::Error> {
+            let mut mut_queue = self.tc_vec.borrow_mut();
+            mut_queue.push_back(PacketAsVec::new(sender_id, tc_raw.to_vec()));
             Ok(())
         }
     }
@@ -158,9 +164,10 @@ mod tests {
     #[test]
     fn test_basic() {
         let sock_addr = SocketAddr::new(IpAddr::V4(OBSW_SERVER_ADDR), 0);
-        let test_receiver = TestReceiver::default();
-        let tc_queue = test_receiver.tc_vec.clone();
-        let udp_tc_server = UdpTcServer::new(sock_addr, 2048, Box::new(test_receiver)).unwrap();
+        let test_receiver = TestSender::default();
+        // let tc_queue = test_receiver.tc_vec.clone();
+        let udp_tc_server =
+            UdpTcServer::new(UDP_SERVER_ID, sock_addr, 2048, test_receiver).unwrap();
         let tm_handler = TestTmHandler::default();
         let tm_handler_calls = tm_handler.addrs_to_send_to.clone();
         let mut udp_dyn_server = UdpTmtcServer {
@@ -168,16 +175,18 @@ mod tests {
             tm_handler,
         };
         udp_dyn_server.periodic_operation();
-        assert!(tc_queue.lock().unwrap().is_empty());
+        let queue = udp_dyn_server.udp_tc_server.tc_sender.tc_vec.borrow();
+        assert!(queue.is_empty());
         assert!(tm_handler_calls.lock().unwrap().is_empty());
     }
 
     #[test]
     fn test_transactions() {
-        let sock_addr = SocketAddr::new(IpAddr::V4(OBSW_SERVER_ADDR), 0);
-        let test_receiver = TestReceiver::default();
-        let tc_queue = test_receiver.tc_vec.clone();
-        let udp_tc_server = UdpTcServer::new(sock_addr, 2048, Box::new(test_receiver)).unwrap();
+        let sock_addr = SocketAddr::new(IpAddr::V4(Ipv4Addr::LOCALHOST), 0);
+        let test_receiver = TestSender::default();
+        // let tc_queue = test_receiver.tc_vec.clone();
+        let udp_tc_server =
+            UdpTcServer::new(UDP_SERVER_ID, sock_addr, 2048, test_receiver).unwrap();
         let server_addr = udp_tc_server.socket.local_addr().unwrap();
         let tm_handler = TestTmHandler::default();
         let tm_handler_calls = tm_handler.addrs_to_send_to.clone();
@@ -185,20 +194,21 @@ mod tests {
             udp_tc_server,
             tm_handler,
         };
-        let mut sph = SpHeader::tc_unseg(PUS_APID, 0, 0).unwrap();
-        let ping_tc = PusTcCreator::new_simple(&mut sph, 17, 1, None, true)
+        let sph = SpHeader::new_for_unseg_tc(components::Apid::GenericPus as u16, 0, 0);
+        let ping_tc = PusTcCreator::new_simple(sph, 17, 1, &[], true)
             .to_vec()
             .unwrap();
         let client = UdpSocket::bind("127.0.0.1:0").expect("Connecting to UDP server failed");
         let client_addr = client.local_addr().unwrap();
-        client.connect(server_addr).unwrap();
-        client.send(&ping_tc).unwrap();
+        println!("{}", server_addr);
+        client.send_to(&ping_tc, server_addr).unwrap();
         udp_dyn_server.periodic_operation();
         {
-            let mut tc_queue = tc_queue.lock().unwrap();
-            assert!(!tc_queue.is_empty());
-            let received_tc = tc_queue.pop_front().unwrap();
-            assert_eq!(received_tc, ping_tc);
+            let mut queue = udp_dyn_server.udp_tc_server.tc_sender.tc_vec.borrow_mut();
+            assert!(!queue.is_empty());
+            let packet_with_sender = queue.pop_front().unwrap();
+            assert_eq!(packet_with_sender.packet, ping_tc);
+            assert_eq!(packet_with_sender.sender_id, UDP_SERVER_ID);
         }
 
         {
@@ -209,7 +219,9 @@ mod tests {
             assert_eq!(received_addr, client_addr);
         }
         udp_dyn_server.periodic_operation();
-        assert!(tc_queue.lock().unwrap().is_empty());
+        let queue = udp_dyn_server.udp_tc_server.tc_sender.tc_vec.borrow();
+        assert!(queue.is_empty());
+        drop(queue);
         // Still tries to send to the same client.
         {
             let mut tm_handler_calls = tm_handler_calls.lock().unwrap();

satrs-example/src/lib.rs

@@ -1,59 +1,39 @@
-use derive_new::new;
-use satrs_core::spacepackets::ecss::tc::IsPusTelecommand;
-use satrs_core::spacepackets::ecss::PusPacket;
-use satrs_core::spacepackets::{ByteConversionError, CcsdsPacket};
-use satrs_core::tmtc::TargetId;
-use std::fmt;
-use thiserror::Error;
+use satrs::spacepackets::time::{cds::CdsTime, TimeWriter};
 
 pub mod config;
 
-pub type Apid = u16;
-
-#[derive(Debug, Error)]
-pub enum TargetIdCreationError {
-    #[error("byte conversion")]
-    ByteConversion(#[from] ByteConversionError),
-    #[error("not enough app data to generate target ID")]
-    NotEnoughAppData(usize),
+#[derive(Debug, PartialEq, Eq, Copy, Clone)]
+pub enum DeviceMode {
+    Off = 0,
+    On = 1,
+    Normal = 2,
 }
 
-// TODO: can these stay pub?
-#[derive(Copy, Clone, PartialEq, Eq, Hash, Debug, new)]
-pub struct TargetIdWithApid {
-    pub apid: Apid,
-    pub target: TargetId,
+pub struct TimeStampHelper {
+    stamper: CdsTime,
+    time_stamp: [u8; 7],
 }
 
-impl fmt::Display for TargetIdWithApid {
-    fn fmt(&self, f: &mut fmt::Formatter) -> fmt::Result {
-        write!(f, "{}, {}", self.apid, self.target)
+impl TimeStampHelper {
+    pub fn stamp(&self) -> &[u8] {
+        &self.time_stamp
+    }
+
+    pub fn update_from_now(&mut self) {
+        self.stamper
+            .update_from_now()
+            .expect("Updating timestamp failed");
+        self.stamper
+            .write_to_bytes(&mut self.time_stamp)
+            .expect("Writing timestamp failed");
     }
 }
 
-impl TargetIdWithApid {
-    pub fn apid(&self) -> Apid {
-        self.apid
-    }
-    pub fn target_id(&self) -> TargetId {
-        self.target
-    }
-}
-
-impl TargetIdWithApid {
-    pub fn from_tc(
-        tc: &(impl CcsdsPacket + PusPacket + IsPusTelecommand),
-    ) -> Result<Self, TargetIdCreationError> {
-        if tc.user_data().len() < 4 {
-            return Err(ByteConversionError::FromSliceTooSmall {
-                found: tc.user_data().len(),
-                expected: 8,
-            }
-            .into());
+impl Default for TimeStampHelper {
+    fn default() -> Self {
+        Self {
+            stamper: CdsTime::now_with_u16_days().expect("creating time stamper failed"),
+            time_stamp: Default::default(),
         }
-        Ok(Self {
-            apid: tc.apid(),
-            target: u32::from_be_bytes(tc.user_data()[0..4].try_into().unwrap()),
-        })
     }
 }

satrs-example/src/main.rs

@@ -1,228 +1,223 @@
 mod acs;
-mod ccsds;
 mod events;
 mod hk;
+mod interface;
 mod logger;
 mod pus;
 mod requests;
-mod tcp;
-mod tm_funnel;
 mod tmtc;
-mod udp;
 
 use crate::events::EventHandler;
+use crate::interface::udp::DynamicUdpTmHandler;
 use crate::pus::stack::PusStack;
-use crate::tm_funnel::{TmFunnelDynamic, TmFunnelStatic};
+use crate::tmtc::tc_source::{TcSourceTaskDynamic, TcSourceTaskStatic};
+use crate::tmtc::tm_sink::{TmSinkDynamic, TmSinkStatic};
 use log::info;
 use pus::test::create_test_service_dynamic;
-use satrs_core::hal::std::tcp_server::ServerConfig;
-use satrs_core::hal::std::udp_server::UdpTcServer;
-use satrs_core::tmtc::tm_helper::SharedTmPool;
+use satrs::hal::std::tcp_server::ServerConfig;
+use satrs::hal::std::udp_server::UdpTcServer;
+use satrs::request::GenericMessage;
+use satrs::tmtc::{PacketSenderWithSharedPool, SharedPacketPool};
 use satrs_example::config::pool::{create_sched_tc_pool, create_static_pools};
 use satrs_example::config::tasks::{
     FREQ_MS_AOCS, FREQ_MS_EVENT_HANDLING, FREQ_MS_PUS_STACK, FREQ_MS_UDP_TMTC,
 };
-use satrs_example::config::{RequestTargetId, TmSenderId, OBSW_SERVER_ADDR, PUS_APID, SERVER_PORT};
-use tmtc::PusTcSourceProviderDynamic;
-use udp::DynamicUdpTmHandler;
+use satrs_example::config::{OBSW_SERVER_ADDR, PACKET_ID_VALIDATOR, SERVER_PORT};
 
-use crate::acs::AcsTask;
-use crate::ccsds::CcsdsReceiver;
+use crate::acs::mgm::{MgmHandlerLis3Mdl, MpscModeLeafInterface, SpiDummyInterface};
+use crate::interface::tcp::{SyncTcpTmSource, TcpTask};
+use crate::interface::udp::{StaticUdpTmHandler, UdpTmtcServer};
 use crate::logger::setup_logger;
 use crate::pus::action::{create_action_service_dynamic, create_action_service_static};
 use crate::pus::event::{create_event_service_dynamic, create_event_service_static};
 use crate::pus::hk::{create_hk_service_dynamic, create_hk_service_static};
+use crate::pus::mode::{create_mode_service_dynamic, create_mode_service_static};
 use crate::pus::scheduler::{create_scheduler_service_dynamic, create_scheduler_service_static};
 use crate::pus::test::create_test_service_static;
-use crate::pus::{PusReceiver, PusTcMpscRouter};
-use crate::requests::RequestWithToken;
-use crate::tcp::{SyncTcpTmSource, TcpTask};
-use crate::tmtc::{
-    PusTcSourceProviderSharedPool, SharedTcPool, TcSourceTaskDynamic, TcSourceTaskStatic,
-};
-use crate::udp::{StaticUdpTmHandler, UdpTmtcServer};
-use satrs_core::pus::event_man::EventRequestWithToken;
-use satrs_core::pus::verification::{VerificationReporterCfg, VerificationReporterWithSender};
-use satrs_core::pus::{EcssTmSender, MpscTmAsVecSender, MpscTmInSharedPoolSender};
-use satrs_core::spacepackets::{time::cds::TimeProvider, time::TimeWriter};
-use satrs_core::tmtc::{CcsdsDistributor, TargetId};
-use satrs_core::ChannelId;
-use satrs_example::TargetIdWithApid;
-use std::collections::HashMap;
+use crate::pus::{PusTcDistributor, PusTcMpscRouter};
+use crate::requests::{CompositeRequest, GenericRequestRouter};
+use satrs::mode::ModeRequest;
+use satrs::pus::event_man::EventRequestWithToken;
+use satrs::spacepackets::{time::cds::CdsTime, time::TimeWriter};
+use satrs_example::config::components::{MGM_HANDLER_0, TCP_SERVER, UDP_SERVER};
 use std::net::{IpAddr, SocketAddr};
-use std::sync::mpsc::{self, channel};
+use std::sync::mpsc;
 use std::sync::{Arc, RwLock};
 use std::thread;
 use std::time::Duration;
 
-fn create_verification_reporter(verif_sender: impl EcssTmSender) -> VerificationReporterWithSender {
-    let verif_cfg = VerificationReporterCfg::new(PUS_APID, 1, 2, 8).unwrap();
-    // Every software component which needs to generate verification telemetry, gets a cloned
-    // verification reporter.
-    VerificationReporterWithSender::new(&verif_cfg, Box::new(verif_sender))
-}
-
 #[allow(dead_code)]
 fn static_tmtc_pool_main() {
     let (tm_pool, tc_pool) = create_static_pools();
-    let shared_tm_pool = SharedTmPool::new(tm_pool);
-    let shared_tc_pool = SharedTcPool {
-        pool: Arc::new(RwLock::new(tc_pool)),
-    };
-    let (tc_source_tx, tc_source_rx) = channel();
-    let (tm_funnel_tx, tm_funnel_rx) = channel();
-    let (tm_server_tx, tm_server_rx) = channel();
+    let shared_tm_pool = Arc::new(RwLock::new(tm_pool));
+    let shared_tc_pool = Arc::new(RwLock::new(tc_pool));
+    let shared_tm_pool_wrapper = SharedPacketPool::new(&shared_tm_pool);
+    let shared_tc_pool_wrapper = SharedPacketPool::new(&shared_tc_pool);
+    let (tc_source_tx, tc_source_rx) = mpsc::sync_channel(50);
+    let (tm_sink_tx, tm_sink_rx) = mpsc::sync_channel(50);
+    let (tm_server_tx, tm_server_rx) = mpsc::sync_channel(50);
 
-    // Every software component which needs to generate verification telemetry, receives a cloned
-    // verification reporter.
-    let verif_reporter = create_verification_reporter(MpscTmInSharedPoolSender::new(
-        TmSenderId::PusVerification as ChannelId,
-        "verif_sender",
-        shared_tm_pool.clone(),
-        tm_funnel_tx.clone(),
-    ));
+    let tm_sink_tx_sender =
+        PacketSenderWithSharedPool::new(tm_sink_tx.clone(), shared_tm_pool_wrapper.clone());
+
+    let (mgm_handler_composite_tx, mgm_handler_composite_rx) =
+        mpsc::channel::<GenericMessage<CompositeRequest>>();
+    let (mgm_handler_mode_tx, mgm_handler_mode_rx) = mpsc::channel::<GenericMessage<ModeRequest>>();
 
-    let acs_target_id = TargetIdWithApid::new(PUS_APID, RequestTargetId::AcsSubsystem as TargetId);
-    let (acs_thread_tx, acs_thread_rx) = channel::<RequestWithToken>();
     // Some request are targetable. This map is used to retrieve sender handles based on a target ID.
-    let mut request_map = HashMap::new();
-    request_map.insert(acs_target_id, acs_thread_tx);
+    let mut request_map = GenericRequestRouter::default();
+    request_map
+        .composite_router_map
+        .insert(MGM_HANDLER_0.id(), mgm_handler_composite_tx);
+    request_map
+        .mode_router_map
+        .insert(MGM_HANDLER_0.id(), mgm_handler_mode_tx);
 
     // This helper structure is used by all telecommand providers which need to send telecommands
     // to the TC source.
-    let tc_source = PusTcSourceProviderSharedPool {
-        shared_pool: shared_tc_pool.clone(),
-        tc_source: tc_source_tx,
-    };
+    let tc_source = PacketSenderWithSharedPool::new(tc_source_tx, shared_tc_pool_wrapper.clone());
 
     // Create event handling components
     // These sender handles are used to send event requests, for example to enable or disable
     // certain events.
+    let (event_tx, event_rx) = mpsc::sync_channel(100);
     let (event_request_tx, event_request_rx) = mpsc::channel::<EventRequestWithToken>();
 
     // The event task is the core handler to perform the event routing and TM handling as specified
     // in the sat-rs documentation.
-    let mut event_handler = EventHandler::new(
-        MpscTmInSharedPoolSender::new(
-            TmSenderId::AllEvents as ChannelId,
-            "ALL_EVENTS_TX",
-            shared_tm_pool.clone(),
-            tm_funnel_tx.clone(),
-        ),
-        verif_reporter.clone(),
-        event_request_rx,
-    );
+    let mut event_handler = EventHandler::new(tm_sink_tx.clone(), event_rx, event_request_rx);
+
+    let (pus_test_tx, pus_test_rx) = mpsc::channel();
+    let (pus_event_tx, pus_event_rx) = mpsc::channel();
+    let (pus_sched_tx, pus_sched_rx) = mpsc::channel();
+    let (pus_hk_tx, pus_hk_rx) = mpsc::channel();
+    let (pus_action_tx, pus_action_rx) = mpsc::channel();
+    let (pus_mode_tx, pus_mode_rx) = mpsc::channel();
+
+    let (_pus_action_reply_tx, pus_action_reply_rx) = mpsc::channel();
+    let (pus_hk_reply_tx, pus_hk_reply_rx) = mpsc::channel();
+    let (pus_mode_reply_tx, pus_mode_reply_rx) = mpsc::channel();
 
-    let (pus_test_tx, pus_test_rx) = channel();
-    let (pus_event_tx, pus_event_rx) = channel();
-    let (pus_sched_tx, pus_sched_rx) = channel();
-    let (pus_hk_tx, pus_hk_rx) = channel();
-    let (pus_action_tx, pus_action_rx) = channel();
     let pus_router = PusTcMpscRouter {
-        test_service_receiver: pus_test_tx,
-        event_service_receiver: pus_event_tx,
-        sched_service_receiver: pus_sched_tx,
-        hk_service_receiver: pus_hk_tx,
-        action_service_receiver: pus_action_tx,
+        test_tc_sender: pus_test_tx,
+        event_tc_sender: pus_event_tx,
+        sched_tc_sender: pus_sched_tx,
+        hk_tc_sender: pus_hk_tx,
+        action_tc_sender: pus_action_tx,
+        mode_tc_sender: pus_mode_tx,
     };
     let pus_test_service = create_test_service_static(
-        shared_tm_pool.clone(),
-        tm_funnel_tx.clone(),
-        verif_reporter.clone(),
-        shared_tc_pool.pool.clone(),
-        event_handler.clone_event_sender(),
+        tm_sink_tx_sender.clone(),
+        shared_tc_pool.clone(),
+        event_tx.clone(),
         pus_test_rx,
     );
     let pus_scheduler_service = create_scheduler_service_static(
-        shared_tm_pool.clone(),
-        tm_funnel_tx.clone(),
-        verif_reporter.clone(),
+        tm_sink_tx_sender.clone(),
         tc_source.clone(),
         pus_sched_rx,
         create_sched_tc_pool(),
     );
     let pus_event_service = create_event_service_static(
-        shared_tm_pool.clone(),
-        tm_funnel_tx.clone(),
-        verif_reporter.clone(),
-        shared_tc_pool.pool.clone(),
+        tm_sink_tx_sender.clone(),
+        shared_tc_pool.clone(),
         pus_event_rx,
         event_request_tx,
     );
     let pus_action_service = create_action_service_static(
-        shared_tm_pool.clone(),
-        tm_funnel_tx.clone(),
-        verif_reporter.clone(),
-        shared_tc_pool.pool.clone(),
+        tm_sink_tx_sender.clone(),
+        shared_tc_pool.clone(),
         pus_action_rx,
         request_map.clone(),
+        pus_action_reply_rx,
     );
     let pus_hk_service = create_hk_service_static(
-        shared_tm_pool.clone(),
-        tm_funnel_tx.clone(),
-        verif_reporter.clone(),
-        shared_tc_pool.pool.clone(),
+        tm_sink_tx_sender.clone(),
+        shared_tc_pool.clone(),
         pus_hk_rx,
+        request_map.clone(),
+        pus_hk_reply_rx,
+    );
+    let pus_mode_service = create_mode_service_static(
+        tm_sink_tx_sender.clone(),
+        shared_tc_pool.clone(),
+        pus_mode_rx,
         request_map,
+        pus_mode_reply_rx,
     );
     let mut pus_stack = PusStack::new(
+        pus_test_service,
         pus_hk_service,
         pus_event_service,
         pus_action_service,
         pus_scheduler_service,
-        pus_test_service,
+        pus_mode_service,
     );
 
-    let ccsds_receiver = CcsdsReceiver { tc_source };
     let mut tmtc_task = TcSourceTaskStatic::new(
-        shared_tc_pool.clone(),
+        shared_tc_pool_wrapper.clone(),
         tc_source_rx,
-        PusReceiver::new(verif_reporter.clone(), pus_router),
+        PusTcDistributor::new(tm_sink_tx_sender, pus_router),
     );
 
     let sock_addr = SocketAddr::new(IpAddr::V4(OBSW_SERVER_ADDR), SERVER_PORT);
-    let udp_ccsds_distributor = CcsdsDistributor::new(Box::new(ccsds_receiver.clone()));
-    let udp_tc_server = UdpTcServer::new(sock_addr, 2048, Box::new(udp_ccsds_distributor))
+    let udp_tc_server = UdpTcServer::new(UDP_SERVER.id(), sock_addr, 2048, tc_source.clone())
         .expect("creating UDP TMTC server failed");
     let mut udp_tmtc_server = UdpTmtcServer {
         udp_tc_server,
         tm_handler: StaticUdpTmHandler {
             tm_rx: tm_server_rx,
-            tm_store: shared_tm_pool.clone_backing_pool(),
+            tm_store: shared_tm_pool.clone(),
         },
     };
 
-    let tcp_ccsds_distributor = CcsdsDistributor::new(Box::new(ccsds_receiver));
-    let tcp_server_cfg = ServerConfig::new(sock_addr, Duration::from_millis(400), 4096, 8192);
+    let tcp_server_cfg = ServerConfig::new(
+        TCP_SERVER.id(),
+        sock_addr,
+        Duration::from_millis(400),
+        4096,
+        8192,
+    );
     let sync_tm_tcp_source = SyncTcpTmSource::new(200);
     let mut tcp_server = TcpTask::new(
         tcp_server_cfg,
         sync_tm_tcp_source.clone(),
-        tcp_ccsds_distributor,
+        tc_source.clone(),
+        PACKET_ID_VALIDATOR.clone(),
     )
     .expect("tcp server creation failed");
 
-    let mut acs_task = AcsTask::new(
-        MpscTmInSharedPoolSender::new(
-            TmSenderId::AcsSubsystem as ChannelId,
-            "ACS_TASK_SENDER",
-            shared_tm_pool.clone(),
-            tm_funnel_tx.clone(),
-        ),
-        acs_thread_rx,
-        verif_reporter,
+    let mut tm_sink = TmSinkStatic::new(
+        shared_tm_pool_wrapper,
+        sync_tm_tcp_source,
+        tm_sink_rx,
+        tm_server_tx,
     );
 
-    let mut tm_funnel = TmFunnelStatic::new(
-        shared_tm_pool,
-        sync_tm_tcp_source,
-        tm_funnel_rx,
-        tm_server_tx,
+    let (mgm_handler_mode_reply_to_parent_tx, _mgm_handler_mode_reply_to_parent_rx) =
+        mpsc::channel();
+
+    let dummy_spi_interface = SpiDummyInterface::default();
+    let shared_mgm_set = Arc::default();
+    let mode_leaf_interface = MpscModeLeafInterface {
+        request_rx: mgm_handler_mode_rx,
+        reply_tx_to_pus: pus_mode_reply_tx,
+        reply_tx_to_parent: mgm_handler_mode_reply_to_parent_tx,
+    };
+    let mut mgm_handler = MgmHandlerLis3Mdl::new(
+        MGM_HANDLER_0,
+        "MGM_0",
+        mode_leaf_interface,
+        mgm_handler_composite_rx,
+        pus_hk_reply_tx,
+        tm_sink_tx,
+        dummy_spi_interface,
+        shared_mgm_set,
     );
 
     info!("Starting TMTC and UDP task");
     let jh_udp_tmtc = thread::Builder::new()
-        .name("TMTC and UDP".to_string())
+        .name("SATRS tmtc-udp".to_string())
         .spawn(move || {
             info!("Running UDP server on port {SERVER_PORT}");
             loop {
@@ -235,7 +230,7 @@ fn static_tmtc_pool_main() {
 
     info!("Starting TCP task");
     let jh_tcp = thread::Builder::new()
-        .name("TCP".to_string())
+        .name("sat-rs tcp".to_string())
         .spawn(move || {
             info!("Running TCP server on port {SERVER_PORT}");
             loop {
@@ -246,15 +241,15 @@ fn static_tmtc_pool_main() {
 
     info!("Starting TM funnel task");
     let jh_tm_funnel = thread::Builder::new()
-        .name("TM Funnel".to_string())
+        .name("tm sink".to_string())
         .spawn(move || loop {
-            tm_funnel.operation();
+            tm_sink.operation();
         })
         .unwrap();
 
     info!("Starting event handling task");
     let jh_event_handling = thread::Builder::new()
-        .name("Event".to_string())
+        .name("sat-rs events".to_string())
         .spawn(move || loop {
             event_handler.periodic_operation();
             thread::sleep(Duration::from_millis(FREQ_MS_EVENT_HANDLING));
@@ -263,16 +258,16 @@ fn static_tmtc_pool_main() {
 
     info!("Starting AOCS thread");
     let jh_aocs = thread::Builder::new()
-        .name("AOCS".to_string())
+        .name("sat-rs aocs".to_string())
         .spawn(move || loop {
-            acs_task.periodic_operation();
+            mgm_handler.periodic_operation();
             thread::sleep(Duration::from_millis(FREQ_MS_AOCS));
         })
         .unwrap();
 
     info!("Starting PUS handler thread");
     let jh_pus_handler = thread::Builder::new()
-        .name("PUS".to_string())
+        .name("sat-rs pus".to_string())
         .spawn(move || loop {
             pus_stack.periodic_operation();
             thread::sleep(Duration::from_millis(FREQ_MS_PUS_STACK));
@@ -299,104 +294,98 @@ fn static_tmtc_pool_main() {
 
 #[allow(dead_code)]
 fn dyn_tmtc_pool_main() {
-    let (tc_source_tx, tc_source_rx) = channel();
-    let (tm_funnel_tx, tm_funnel_rx) = channel();
-    let (tm_server_tx, tm_server_rx) = channel();
-    // Every software component which needs to generate verification telemetry, gets a cloned
-    // verification reporter.
-    let verif_reporter = create_verification_reporter(MpscTmAsVecSender::new(
-        TmSenderId::PusVerification as ChannelId,
-        "verif_sender",
-        tm_funnel_tx.clone(),
-    ));
+    let (tc_source_tx, tc_source_rx) = mpsc::channel();
+    let (tm_funnel_tx, tm_funnel_rx) = mpsc::channel();
+    let (tm_server_tx, tm_server_rx) = mpsc::channel();
 
-    let acs_target_id = TargetIdWithApid::new(PUS_APID, RequestTargetId::AcsSubsystem as TargetId);
-    let (acs_thread_tx, acs_thread_rx) = channel::<RequestWithToken>();
     // Some request are targetable. This map is used to retrieve sender handles based on a target ID.
-    let mut request_map = HashMap::new();
-    request_map.insert(acs_target_id, acs_thread_tx);
+    let (mgm_handler_composite_tx, mgm_handler_composite_rx) =
+        mpsc::channel::<GenericMessage<CompositeRequest>>();
+    let (mgm_handler_mode_tx, mgm_handler_mode_rx) = mpsc::channel::<GenericMessage<ModeRequest>>();
 
-    let tc_source = PusTcSourceProviderDynamic(tc_source_tx);
+    // Some request are targetable. This map is used to retrieve sender handles based on a target ID.
+    let mut request_map = GenericRequestRouter::default();
+    request_map
+        .composite_router_map
+        .insert(MGM_HANDLER_0.raw(), mgm_handler_composite_tx);
+    request_map
+        .mode_router_map
+        .insert(MGM_HANDLER_0.raw(), mgm_handler_mode_tx);
 
     // Create event handling components
     // These sender handles are used to send event requests, for example to enable or disable
     // certain events.
+    let (event_tx, event_rx) = mpsc::sync_channel(100);
     let (event_request_tx, event_request_rx) = mpsc::channel::<EventRequestWithToken>();
     // The event task is the core handler to perform the event routing and TM handling as specified
     // in the sat-rs documentation.
-    let mut event_handler = EventHandler::new(
-        MpscTmAsVecSender::new(
-            TmSenderId::AllEvents as ChannelId,
-            "ALL_EVENTS_TX",
-            tm_funnel_tx.clone(),
-        ),
-        verif_reporter.clone(),
-        event_request_rx,
-    );
+    let mut event_handler = EventHandler::new(tm_funnel_tx.clone(), event_rx, event_request_rx);
+
+    let (pus_test_tx, pus_test_rx) = mpsc::channel();
+    let (pus_event_tx, pus_event_rx) = mpsc::channel();
+    let (pus_sched_tx, pus_sched_rx) = mpsc::channel();
+    let (pus_hk_tx, pus_hk_rx) = mpsc::channel();
+    let (pus_action_tx, pus_action_rx) = mpsc::channel();
+    let (pus_mode_tx, pus_mode_rx) = mpsc::channel();
+
+    let (_pus_action_reply_tx, pus_action_reply_rx) = mpsc::channel();
+    let (pus_hk_reply_tx, pus_hk_reply_rx) = mpsc::channel();
+    let (pus_mode_reply_tx, pus_mode_reply_rx) = mpsc::channel();
 
-    let (pus_test_tx, pus_test_rx) = channel();
-    let (pus_event_tx, pus_event_rx) = channel();
-    let (pus_sched_tx, pus_sched_rx) = channel();
-    let (pus_hk_tx, pus_hk_rx) = channel();
-    let (pus_action_tx, pus_action_rx) = channel();
     let pus_router = PusTcMpscRouter {
-        test_service_receiver: pus_test_tx,
-        event_service_receiver: pus_event_tx,
-        sched_service_receiver: pus_sched_tx,
-        hk_service_receiver: pus_hk_tx,
-        action_service_receiver: pus_action_tx,
+        test_tc_sender: pus_test_tx,
+        event_tc_sender: pus_event_tx,
+        sched_tc_sender: pus_sched_tx,
+        hk_tc_sender: pus_hk_tx,
+        action_tc_sender: pus_action_tx,
+        mode_tc_sender: pus_mode_tx,
     };
 
-    let pus_test_service = create_test_service_dynamic(
-        tm_funnel_tx.clone(),
-        verif_reporter.clone(),
-        event_handler.clone_event_sender(),
-        pus_test_rx,
-    );
+    let pus_test_service =
+        create_test_service_dynamic(tm_funnel_tx.clone(), event_tx.clone(), pus_test_rx);
     let pus_scheduler_service = create_scheduler_service_dynamic(
         tm_funnel_tx.clone(),
-        verif_reporter.clone(),
-        tc_source.0.clone(),
+        tc_source_tx.clone(),
         pus_sched_rx,
         create_sched_tc_pool(),
     );
 
-    let pus_event_service = create_event_service_dynamic(
-        tm_funnel_tx.clone(),
-        verif_reporter.clone(),
-        pus_event_rx,
-        event_request_tx,
-    );
+    let pus_event_service =
+        create_event_service_dynamic(tm_funnel_tx.clone(), pus_event_rx, event_request_tx);
     let pus_action_service = create_action_service_dynamic(
         tm_funnel_tx.clone(),
-        verif_reporter.clone(),
         pus_action_rx,
         request_map.clone(),
+        pus_action_reply_rx,
     );
     let pus_hk_service = create_hk_service_dynamic(
         tm_funnel_tx.clone(),
-        verif_reporter.clone(),
         pus_hk_rx,
+        request_map.clone(),
+        pus_hk_reply_rx,
+    );
+    let pus_mode_service = create_mode_service_dynamic(
+        tm_funnel_tx.clone(),
+        pus_mode_rx,
         request_map,
+        pus_mode_reply_rx,
     );
     let mut pus_stack = PusStack::new(
+        pus_test_service,
         pus_hk_service,
         pus_event_service,
         pus_action_service,
         pus_scheduler_service,
-        pus_test_service,
+        pus_mode_service,
     );
 
-    let ccsds_receiver = CcsdsReceiver { tc_source };
-
     let mut tmtc_task = TcSourceTaskDynamic::new(
         tc_source_rx,
-        PusReceiver::new(verif_reporter.clone(), pus_router),
+        PusTcDistributor::new(tm_funnel_tx.clone(), pus_router),
     );
 
     let sock_addr = SocketAddr::new(IpAddr::V4(OBSW_SERVER_ADDR), SERVER_PORT);
-    let udp_ccsds_distributor = CcsdsDistributor::new(Box::new(ccsds_receiver.clone()));
-    let udp_tc_server = UdpTcServer::new(sock_addr, 2048, Box::new(udp_ccsds_distributor))
+    let udp_tc_server = UdpTcServer::new(UDP_SERVER.id(), sock_addr, 2048, tc_source_tx.clone())
         .expect("creating UDP TMTC server failed");
     let mut udp_tmtc_server = UdpTmtcServer {
         udp_tc_server,
@@ -405,30 +394,47 @@ fn dyn_tmtc_pool_main() {
         },
     };
 
-    let tcp_ccsds_distributor = CcsdsDistributor::new(Box::new(ccsds_receiver));
-    let tcp_server_cfg = ServerConfig::new(sock_addr, Duration::from_millis(400), 4096, 8192);
+    let tcp_server_cfg = ServerConfig::new(
+        TCP_SERVER.id(),
+        sock_addr,
+        Duration::from_millis(400),
+        4096,
+        8192,
+    );
     let sync_tm_tcp_source = SyncTcpTmSource::new(200);
     let mut tcp_server = TcpTask::new(
         tcp_server_cfg,
         sync_tm_tcp_source.clone(),
-        tcp_ccsds_distributor,
+        tc_source_tx.clone(),
+        PACKET_ID_VALIDATOR.clone(),
     )
     .expect("tcp server creation failed");
 
-    let mut acs_task = AcsTask::new(
-        MpscTmAsVecSender::new(
-            TmSenderId::AcsSubsystem as ChannelId,
-            "ACS_TASK_SENDER",
-            tm_funnel_tx.clone(),
-        ),
-        acs_thread_rx,
-        verif_reporter,
+    let mut tm_funnel = TmSinkDynamic::new(sync_tm_tcp_source, tm_funnel_rx, tm_server_tx);
+
+    let (mgm_handler_mode_reply_to_parent_tx, _mgm_handler_mode_reply_to_parent_rx) =
+        mpsc::channel();
+    let dummy_spi_interface = SpiDummyInterface::default();
+    let shared_mgm_set = Arc::default();
+    let mode_leaf_interface = MpscModeLeafInterface {
+        request_rx: mgm_handler_mode_rx,
+        reply_tx_to_pus: pus_mode_reply_tx,
+        reply_tx_to_parent: mgm_handler_mode_reply_to_parent_tx,
+    };
+    let mut mgm_handler = MgmHandlerLis3Mdl::new(
+        MGM_HANDLER_0,
+        "MGM_0",
+        mode_leaf_interface,
+        mgm_handler_composite_rx,
+        pus_hk_reply_tx,
+        tm_funnel_tx,
+        dummy_spi_interface,
+        shared_mgm_set,
     );
-    let mut tm_funnel = TmFunnelDynamic::new(sync_tm_tcp_source, tm_funnel_rx, tm_server_tx);
 
     info!("Starting TMTC and UDP task");
     let jh_udp_tmtc = thread::Builder::new()
-        .name("TMTC and UDP".to_string())
+        .name("sat-rs tmtc-udp".to_string())
         .spawn(move || {
             info!("Running UDP server on port {SERVER_PORT}");
             loop {
@@ -441,7 +447,7 @@ fn dyn_tmtc_pool_main() {
 
     info!("Starting TCP task");
     let jh_tcp = thread::Builder::new()
-        .name("TCP".to_string())
+        .name("sat-rs tcp".to_string())
         .spawn(move || {
             info!("Running TCP server on port {SERVER_PORT}");
             loop {
@@ -452,7 +458,7 @@ fn dyn_tmtc_pool_main() {
 
     info!("Starting TM funnel task");
     let jh_tm_funnel = thread::Builder::new()
-        .name("TM Funnel".to_string())
+        .name("sat-rs tm-sink".to_string())
         .spawn(move || loop {
             tm_funnel.operation();
         })
@@ -460,7 +466,7 @@ fn dyn_tmtc_pool_main() {
 
     info!("Starting event handling task");
     let jh_event_handling = thread::Builder::new()
-        .name("Event".to_string())
+        .name("sat-rs events".to_string())
         .spawn(move || loop {
             event_handler.periodic_operation();
             thread::sleep(Duration::from_millis(FREQ_MS_EVENT_HANDLING));
@@ -469,16 +475,16 @@ fn dyn_tmtc_pool_main() {
 
     info!("Starting AOCS thread");
     let jh_aocs = thread::Builder::new()
-        .name("AOCS".to_string())
+        .name("sat-rs aocs".to_string())
         .spawn(move || loop {
-            acs_task.periodic_operation();
+            mgm_handler.periodic_operation();
             thread::sleep(Duration::from_millis(FREQ_MS_AOCS));
         })
         .unwrap();
 
     info!("Starting PUS handler thread");
     let jh_pus_handler = thread::Builder::new()
-        .name("PUS".to_string())
+        .name("sat-rs pus".to_string())
         .spawn(move || loop {
             pus_stack.periodic_operation();
             thread::sleep(Duration::from_millis(FREQ_MS_PUS_STACK));
@@ -512,7 +518,7 @@ fn main() {
     dyn_tmtc_pool_main();
 }
 
-pub fn update_time(time_provider: &mut TimeProvider, timestamp: &mut [u8]) {
+pub fn update_time(time_provider: &mut CdsTime, timestamp: &mut [u8]) {
     time_provider
         .update_from_now()
         .expect("Could not get current time");

satrs-example/src/pus/action.rs

@@ -1,234 +1,747 @@
-use crate::requests::{ActionRequest, Request, RequestWithToken};
-use log::{error, warn};
-use satrs_core::pool::{SharedStaticMemoryPool, StoreAddr};
-use satrs_core::pus::verification::{
-    FailParams, TcStateAccepted, VerificationReporterWithSender, VerificationToken,
+use log::warn;
+use satrs::action::{ActionRequest, ActionRequestVariant};
+use satrs::pool::SharedStaticMemoryPool;
+use satrs::pus::action::{
+    ActionReplyPus, ActionReplyVariant, ActivePusActionRequestStd, DefaultActiveActionRequestMap,
 };
-use satrs_core::pus::{
-    EcssTcAndToken, EcssTcInMemConverter, EcssTcInSharedStoreConverter, EcssTcInVecConverter,
-    EcssTcReceiver, EcssTmSender, MpscTcReceiver, MpscTmAsVecSender, MpscTmInSharedPoolSender,
-    PusPacketHandlerResult, PusPacketHandlingError, PusServiceBase, PusServiceHelper,
+use satrs::pus::verification::{
+    handle_completion_failure_with_generic_params, handle_step_failure_with_generic_params,
+    FailParamHelper, FailParams, TcStateAccepted, TcStateStarted, VerificationReporter,
+    VerificationReportingProvider, VerificationToken,
 };
-use satrs_core::spacepackets::ecss::tc::PusTcReader;
-use satrs_core::spacepackets::ecss::PusPacket;
-use satrs_core::tmtc::tm_helper::SharedTmPool;
-use satrs_core::ChannelId;
-use satrs_example::config::{tmtc_err, TcReceiverId, TmSenderId, PUS_APID};
-use satrs_example::TargetIdWithApid;
-use std::collections::HashMap;
-use std::sync::mpsc::{self, Sender};
+use satrs::pus::{
+    ActiveRequestProvider, EcssTcAndToken, EcssTcInMemConverter, EcssTcInSharedStoreConverter,
+    EcssTcInVecConverter, EcssTmSender, EcssTmtcError, GenericConversionError, MpscTcReceiver,
+    MpscTmAsVecSender, PusPacketHandlingError, PusReplyHandler, PusServiceHelper,
+    PusTcToRequestConverter,
+};
+use satrs::request::{GenericMessage, UniqueApidTargetId};
+use satrs::spacepackets::ecss::tc::PusTcReader;
+use satrs::spacepackets::ecss::{EcssEnumU16, PusPacket, PusServiceId};
+use satrs::tmtc::{PacketAsVec, PacketSenderWithSharedPool};
+use satrs_example::config::components::PUS_ACTION_SERVICE;
+use satrs_example::config::tmtc_err;
+use std::sync::mpsc;
+use std::time::Duration;
 
-pub fn create_action_service_static(
-    shared_tm_store: SharedTmPool,
-    tm_funnel_tx: mpsc::Sender<StoreAddr>,
-    verif_reporter: VerificationReporterWithSender,
-    tc_pool: SharedStaticMemoryPool,
-    pus_action_rx: mpsc::Receiver<EcssTcAndToken>,
-    request_map: HashMap<TargetIdWithApid, mpsc::Sender<RequestWithToken>>,
-) -> Pus8Wrapper<EcssTcInSharedStoreConverter> {
-    let action_srv_tm_sender = MpscTmInSharedPoolSender::new(
-        TmSenderId::PusAction as ChannelId,
-        "PUS_8_TM_SENDER",
-        shared_tm_store.clone(),
-        tm_funnel_tx.clone(),
-    );
-    let action_srv_receiver = MpscTcReceiver::new(
-        TcReceiverId::PusAction as ChannelId,
-        "PUS_8_TC_RECV",
-        pus_action_rx,
-    );
-    let pus_8_handler = PusService8ActionHandler::new(
-        Box::new(action_srv_receiver),
-        Box::new(action_srv_tm_sender),
-        PUS_APID,
-        verif_reporter.clone(),
-        EcssTcInSharedStoreConverter::new(tc_pool.clone(), 2048),
-        request_map.clone(),
-    );
-    Pus8Wrapper { pus_8_handler }
+use crate::requests::GenericRequestRouter;
+
+use super::{
+    create_verification_reporter, generic_pus_request_timeout_handler, HandlingStatus,
+    PusTargetedRequestService, TargetedPusService,
+};
+
+pub struct ActionReplyHandler {
+    fail_data_buf: [u8; 128],
 }
 
-pub fn create_action_service_dynamic(
-    tm_funnel_tx: mpsc::Sender<Vec<u8>>,
-    verif_reporter: VerificationReporterWithSender,
-    pus_action_rx: mpsc::Receiver<EcssTcAndToken>,
-    request_map: HashMap<TargetIdWithApid, mpsc::Sender<RequestWithToken>>,
-) -> Pus8Wrapper<EcssTcInVecConverter> {
-    let action_srv_tm_sender = MpscTmAsVecSender::new(
-        TmSenderId::PusAction as ChannelId,
-        "PUS_8_TM_SENDER",
-        tm_funnel_tx.clone(),
-    );
-    let action_srv_receiver = MpscTcReceiver::new(
-        TcReceiverId::PusAction as ChannelId,
-        "PUS_8_TC_RECV",
-        pus_action_rx,
-    );
-    let pus_8_handler = PusService8ActionHandler::new(
-        Box::new(action_srv_receiver),
-        Box::new(action_srv_tm_sender),
-        PUS_APID,
-        verif_reporter.clone(),
-        EcssTcInVecConverter::default(),
-        request_map.clone(),
-    );
-    Pus8Wrapper { pus_8_handler }
-}
-
-pub struct PusService8ActionHandler<TcInMemConverter: EcssTcInMemConverter> {
-    service_helper: PusServiceHelper<TcInMemConverter>,
-    request_handlers: HashMap<TargetIdWithApid, Sender<RequestWithToken>>,
-}
-
-impl<TcInMemConverter: EcssTcInMemConverter> PusService8ActionHandler<TcInMemConverter> {
-    pub fn new(
-        tc_receiver: Box<dyn EcssTcReceiver>,
-        tm_sender: Box<dyn EcssTmSender>,
-        tm_apid: u16,
-        verification_handler: VerificationReporterWithSender,
-        tc_in_mem_converter: TcInMemConverter,
-        request_handlers: HashMap<TargetIdWithApid, Sender<RequestWithToken>>,
-    ) -> Self {
+impl Default for ActionReplyHandler {
+    fn default() -> Self {
         Self {
-            service_helper: PusServiceHelper::new(
-                tc_receiver,
-                tm_sender,
-                tm_apid,
-                verification_handler,
-                tc_in_mem_converter,
-            ),
-            request_handlers,
+            fail_data_buf: [0; 128],
         }
     }
+}
 
-    fn handle_action_request_with_id(
-        &self,
-        token: VerificationToken<TcStateAccepted>,
-        tc: &PusTcReader,
-        time_stamp: &[u8],
-    ) -> Result<(), PusPacketHandlingError> {
-        let user_data = tc.user_data();
-        if user_data.len() < 8 {
-            self.service_helper
-                .common
-                .verification_handler
-                .borrow_mut()
-                .start_failure(
-                    token,
-                    FailParams::new(Some(time_stamp), &tmtc_err::NOT_ENOUGH_APP_DATA, None),
-                )
-                .expect("Sending start failure failed");
-            return Err(PusPacketHandlingError::NotEnoughAppData(
-                "Expected at least 4 bytes".into(),
-            ));
-        }
-        //let target_id = u32::from_be_bytes(user_data[0..4].try_into().unwrap());
-        let target_id = TargetIdWithApid::from_tc(tc).unwrap();
-        let action_id = u32::from_be_bytes(user_data[4..8].try_into().unwrap());
-        if let Some(sender) = self.request_handlers.get(&target_id) {
-            sender
-                .send(RequestWithToken::new(
-                    target_id,
-                    Request::Action(ActionRequest::CmdWithU32Id((
-                        action_id,
-                        Vec::from(&user_data[8..]),
-                    ))),
-                    token,
-                ))
-                .expect("Forwarding action request failed");
-        } else {
-            let mut fail_data: [u8; 4] = [0; 4];
-            fail_data.copy_from_slice(&target_id.target.to_be_bytes());
-            self.service_helper
-                .common
-                .verification_handler
-                .borrow_mut()
-                .start_failure(
-                    token,
-                    FailParams::new(
-                        Some(time_stamp),
-                        &tmtc_err::UNKNOWN_TARGET_ID,
-                        Some(&fail_data),
-                    ),
-                )
-                .expect("Sending start failure failed");
-            return Err(PusPacketHandlingError::Other(format!(
-                "Unknown target ID {target_id}"
-            )));
-        }
+impl PusReplyHandler<ActivePusActionRequestStd, ActionReplyPus> for ActionReplyHandler {
+    type Error = EcssTmtcError;
+
+    fn handle_unrequested_reply(
+        &mut self,
+        reply: &GenericMessage<ActionReplyPus>,
+        _tm_sender: &impl EcssTmSender,
+    ) -> Result<(), Self::Error> {
+        warn!("received unexpected reply for service 8: {reply:?}");
         Ok(())
     }
 
-    fn handle_one_tc(&mut self) -> Result<PusPacketHandlerResult, PusPacketHandlingError> {
-        let possible_packet = self.service_helper.retrieve_and_accept_next_packet()?;
-        if possible_packet.is_none() {
-            return Ok(PusPacketHandlerResult::Empty);
-        }
-        let ecss_tc_and_token = possible_packet.unwrap();
-        self.service_helper
-            .tc_in_mem_converter
-            .cache_ecss_tc_in_memory(&ecss_tc_and_token.tc_in_memory)?;
-        let tc = PusTcReader::new(self.service_helper.tc_in_mem_converter.tc_slice_raw())?.0;
+    fn handle_reply(
+        &mut self,
+        reply: &GenericMessage<ActionReplyPus>,
+        active_request: &ActivePusActionRequestStd,
+        tm_sender: &(impl EcssTmSender + ?Sized),
+        verification_handler: &impl VerificationReportingProvider,
+        timestamp: &[u8],
+    ) -> Result<bool, Self::Error> {
+        let verif_token: VerificationToken<TcStateStarted> = active_request
+            .token()
+            .try_into()
+            .expect("invalid token state");
+        let remove_entry = match &reply.message.variant {
+            ActionReplyVariant::CompletionFailed { error_code, params } => {
+                let error_propagated = handle_completion_failure_with_generic_params(
+                    tm_sender,
+                    verif_token,
+                    verification_handler,
+                    FailParamHelper {
+                        error_code,
+                        params: params.as_ref(),
+                        timestamp,
+                        small_data_buf: &mut self.fail_data_buf,
+                    },
+                )?;
+                if !error_propagated {
+                    log::warn!(
+                        "error params for completion failure were not propated: {:?}",
+                        params.as_ref()
+                    );
+                }
+                true
+            }
+            ActionReplyVariant::StepFailed {
+                error_code,
+                step,
+                params,
+            } => {
+                let error_propagated = handle_step_failure_with_generic_params(
+                    tm_sender,
+                    verif_token,
+                    verification_handler,
+                    FailParamHelper {
+                        error_code,
+                        params: params.as_ref(),
+                        timestamp,
+                        small_data_buf: &mut self.fail_data_buf,
+                    },
+                    &EcssEnumU16::new(*step),
+                )?;
+                if !error_propagated {
+                    log::warn!(
+                        "error params for completion failure were not propated: {:?}",
+                        params.as_ref()
+                    );
+                }
+                true
+            }
+            ActionReplyVariant::Completed => {
+                verification_handler.completion_success(tm_sender, verif_token, timestamp)?;
+                true
+            }
+            ActionReplyVariant::StepSuccess { step } => {
+                verification_handler.step_success(
+                    tm_sender,
+                    &verif_token,
+                    timestamp,
+                    EcssEnumU16::new(*step),
+                )?;
+                false
+            }
+            _ => false,
+        };
+        Ok(remove_entry)
+    }
+
+    fn handle_request_timeout(
+        &mut self,
+        active_request: &ActivePusActionRequestStd,
+        tm_sender: &impl EcssTmSender,
+        verification_handler: &impl VerificationReportingProvider,
+        time_stamp: &[u8],
+    ) -> Result<(), Self::Error> {
+        generic_pus_request_timeout_handler(
+            tm_sender,
+            active_request,
+            verification_handler,
+            time_stamp,
+            "action",
+        )
+    }
+}
+
+#[derive(Default)]
+pub struct ActionRequestConverter {}
+
+impl PusTcToRequestConverter<ActivePusActionRequestStd, ActionRequest> for ActionRequestConverter {
+    type Error = GenericConversionError;
+
+    fn convert(
+        &mut self,
+        token: VerificationToken<TcStateAccepted>,
+        tc: &PusTcReader,
+        tm_sender: &(impl EcssTmSender + ?Sized),
+        verif_reporter: &impl VerificationReportingProvider,
+        time_stamp: &[u8],
+    ) -> Result<(ActivePusActionRequestStd, ActionRequest), Self::Error> {
         let subservice = tc.subservice();
-        let mut partial_error = None;
-        let time_stamp = PusServiceBase::get_current_timestamp(&mut partial_error);
-        match subservice {
-            128 => {
-                self.handle_action_request_with_id(ecss_tc_and_token.token, &tc, &time_stamp)?;
-            }
-            _ => {
-                let fail_data = [subservice];
-                self.service_helper
-                    .common
-                    .verification_handler
-                    .get_mut()
-                    .start_failure(
-                        ecss_tc_and_token.token,
-                        FailParams::new(
-                            Some(&time_stamp),
-                            &tmtc_err::INVALID_PUS_SUBSERVICE,
-                            Some(&fail_data),
-                        ),
-                    )
-                    .expect("Sending start failure failed");
-                return Err(PusPacketHandlingError::InvalidSubservice(subservice));
-            }
+        let user_data = tc.user_data();
+        if user_data.len() < 8 {
+            verif_reporter
+                .start_failure(
+                    tm_sender,
+                    token,
+                    FailParams::new_no_fail_data(time_stamp, &tmtc_err::NOT_ENOUGH_APP_DATA),
+                )
+                .expect("Sending start failure failed");
+            return Err(GenericConversionError::NotEnoughAppData {
+                expected: 8,
+                found: user_data.len(),
+            });
         }
-        if let Some(partial_error) = partial_error {
-            return Ok(PusPacketHandlerResult::RequestHandledPartialSuccess(
-                partial_error,
-            ));
+        let target_id_and_apid = UniqueApidTargetId::from_pus_tc(tc).unwrap();
+        let action_id = u32::from_be_bytes(user_data[4..8].try_into().unwrap());
+        if subservice == 128 {
+            let req_variant = if user_data.len() == 8 {
+                ActionRequestVariant::NoData
+            } else {
+                ActionRequestVariant::VecData(user_data[8..].to_vec())
+            };
+            Ok((
+                ActivePusActionRequestStd::new(
+                    action_id,
+                    target_id_and_apid.into(),
+                    token.into(),
+                    Duration::from_secs(30),
+                ),
+                ActionRequest::new(action_id, req_variant),
+            ))
+        } else {
+            verif_reporter
+                .start_failure(
+                    tm_sender,
+                    token,
+                    FailParams::new_no_fail_data(time_stamp, &tmtc_err::INVALID_PUS_SUBSERVICE),
+                )
+                .expect("Sending start failure failed");
+            Err(GenericConversionError::InvalidSubservice(subservice))
         }
-        Ok(PusPacketHandlerResult::RequestHandled)
     }
 }
 
-pub struct Pus8Wrapper<TcInMemConverter: EcssTcInMemConverter> {
-    pub(crate) pus_8_handler: PusService8ActionHandler<TcInMemConverter>,
+pub fn create_action_service_static(
+    tm_sender: PacketSenderWithSharedPool,
+    tc_pool: SharedStaticMemoryPool,
+    pus_action_rx: mpsc::Receiver<EcssTcAndToken>,
+    action_router: GenericRequestRouter,
+    reply_receiver: mpsc::Receiver<GenericMessage<ActionReplyPus>>,
+) -> ActionServiceWrapper<PacketSenderWithSharedPool, EcssTcInSharedStoreConverter> {
+    let action_request_handler = PusTargetedRequestService::new(
+        PusServiceHelper::new(
+            PUS_ACTION_SERVICE.id(),
+            pus_action_rx,
+            tm_sender,
+            create_verification_reporter(PUS_ACTION_SERVICE.id(), PUS_ACTION_SERVICE.apid),
+            EcssTcInSharedStoreConverter::new(tc_pool.clone(), 2048),
+        ),
+        ActionRequestConverter::default(),
+        // TODO: Implementation which does not use run-time allocation? Maybe something like
+        // a bounded wrapper which pre-allocates using [HashMap::with_capacity]..
+        DefaultActiveActionRequestMap::default(),
+        ActionReplyHandler::default(),
+        action_router,
+        reply_receiver,
+    );
+    ActionServiceWrapper {
+        service: action_request_handler,
+    }
 }
 
-impl<TcInMemConverter: EcssTcInMemConverter> Pus8Wrapper<TcInMemConverter> {
-    pub fn handle_next_packet(&mut self) -> bool {
-        match self.pus_8_handler.handle_one_tc() {
-            Ok(result) => match result {
-                PusPacketHandlerResult::RequestHandled => {}
-                PusPacketHandlerResult::RequestHandledPartialSuccess(e) => {
-                    warn!("PUS 8 partial packet handling success: {e:?}")
-                }
-                PusPacketHandlerResult::CustomSubservice(invalid, _) => {
-                    warn!("PUS 8 invalid subservice {invalid}");
-                }
-                PusPacketHandlerResult::SubserviceNotImplemented(subservice, _) => {
-                    warn!("PUS 8 subservice {subservice} not implemented");
-                }
-                PusPacketHandlerResult::Empty => {
-                    return true;
-                }
+pub fn create_action_service_dynamic(
+    tm_funnel_tx: mpsc::Sender<PacketAsVec>,
+    pus_action_rx: mpsc::Receiver<EcssTcAndToken>,
+    action_router: GenericRequestRouter,
+    reply_receiver: mpsc::Receiver<GenericMessage<ActionReplyPus>>,
+) -> ActionServiceWrapper<MpscTmAsVecSender, EcssTcInVecConverter> {
+    let action_request_handler = PusTargetedRequestService::new(
+        PusServiceHelper::new(
+            PUS_ACTION_SERVICE.id(),
+            pus_action_rx,
+            tm_funnel_tx,
+            create_verification_reporter(PUS_ACTION_SERVICE.id(), PUS_ACTION_SERVICE.apid),
+            EcssTcInVecConverter::default(),
+        ),
+        ActionRequestConverter::default(),
+        DefaultActiveActionRequestMap::default(),
+        ActionReplyHandler::default(),
+        action_router,
+        reply_receiver,
+    );
+    ActionServiceWrapper {
+        service: action_request_handler,
+    }
+}
+
+pub struct ActionServiceWrapper<TmSender: EcssTmSender, TcInMemConverter: EcssTcInMemConverter> {
+    pub(crate) service: PusTargetedRequestService<
+        MpscTcReceiver,
+        TmSender,
+        TcInMemConverter,
+        VerificationReporter,
+        ActionRequestConverter,
+        ActionReplyHandler,
+        DefaultActiveActionRequestMap,
+        ActivePusActionRequestStd,
+        ActionRequest,
+        ActionReplyPus,
+    >,
+}
+
+impl<TmSender: EcssTmSender, TcInMemConverter: EcssTcInMemConverter> TargetedPusService
+    for ActionServiceWrapper<TmSender, TcInMemConverter>
+{
+    const SERVICE_ID: u8 = PusServiceId::Action as u8;
+    const SERVICE_STR: &'static str = "action";
+
+    delegate::delegate! {
+        to self.service {
+            fn poll_and_handle_next_tc(
+                &mut self,
+                time_stamp: &[u8],
+            ) -> Result<HandlingStatus, PusPacketHandlingError>;
+
+            fn poll_and_handle_next_reply(
+                &mut self,
+                time_stamp: &[u8],
+            ) -> Result<HandlingStatus, EcssTmtcError>;
+
+            fn check_for_request_timeouts(&mut self);
+        }
+    }
+}
+
+#[cfg(test)]
+mod tests {
+    use satrs::pus::test_util::{
+        TEST_APID, TEST_COMPONENT_ID_0, TEST_COMPONENT_ID_1, TEST_UNIQUE_ID_0, TEST_UNIQUE_ID_1,
+    };
+    use satrs::pus::verification;
+    use satrs::pus::verification::test_util::TestVerificationReporter;
+    use satrs::request::MessageMetadata;
+    use satrs::ComponentId;
+    use satrs::{
+        res_code::ResultU16,
+        spacepackets::{
+            ecss::{
+                tc::{PusTcCreator, PusTcSecondaryHeader},
+                tm::PusTmReader,
+                WritablePusPacket,
             },
-            Err(error) => {
-                error!("PUS packet handling error: {error:?}")
+            SpHeader,
+        },
+    };
+
+    use crate::{
+        pus::tests::{PusConverterTestbench, ReplyHandlerTestbench, TargetedPusRequestTestbench},
+        requests::CompositeRequest,
+    };
+
+    use super::*;
+
+    impl
+        TargetedPusRequestTestbench<
+            ActionRequestConverter,
+            ActionReplyHandler,
+            DefaultActiveActionRequestMap,
+            ActivePusActionRequestStd,
+            ActionRequest,
+            ActionReplyPus,
+        >
+    {
+        pub fn new_for_action(owner_id: ComponentId, target_id: ComponentId) -> Self {
+            let _ = env_logger::builder().is_test(true).try_init();
+            let (tm_funnel_tx, tm_funnel_rx) = mpsc::channel();
+            let (pus_action_tx, pus_action_rx) = mpsc::channel();
+            let (action_reply_tx, action_reply_rx) = mpsc::channel();
+            let (action_req_tx, action_req_rx) = mpsc::channel();
+            let verif_reporter = TestVerificationReporter::new(owner_id);
+            let mut generic_req_router = GenericRequestRouter::default();
+            generic_req_router
+                .composite_router_map
+                .insert(target_id, action_req_tx);
+            Self {
+                service: PusTargetedRequestService::new(
+                    PusServiceHelper::new(
+                        owner_id,
+                        pus_action_rx,
+                        tm_funnel_tx.clone(),
+                        verif_reporter,
+                        EcssTcInVecConverter::default(),
+                    ),
+                    ActionRequestConverter::default(),
+                    DefaultActiveActionRequestMap::default(),
+                    ActionReplyHandler::default(),
+                    generic_req_router,
+                    action_reply_rx,
+                ),
+                request_id: None,
+                pus_packet_tx: pus_action_tx,
+                tm_funnel_rx,
+                reply_tx: action_reply_tx,
+                request_rx: action_req_rx,
             }
         }
-        false
+
+        pub fn verify_packet_started(&self) {
+            self.service
+                .service_helper
+                .common
+                .verif_reporter
+                .check_next_is_started_success(
+                    self.service.service_helper.id(),
+                    self.request_id.expect("request ID not set").into(),
+                );
+        }
+
+        pub fn verify_packet_completed(&self) {
+            self.service
+                .service_helper
+                .common
+                .verif_reporter
+                .check_next_is_completion_success(
+                    self.service.service_helper.id(),
+                    self.request_id.expect("request ID not set").into(),
+                );
+        }
+
+        pub fn verify_tm_empty(&self) {
+            let packet = self.tm_funnel_rx.try_recv();
+            if let Err(mpsc::TryRecvError::Empty) = packet {
+            } else {
+                let tm = packet.unwrap();
+                let unexpected_tm = PusTmReader::new(&tm.packet, 7).unwrap().0;
+                panic!("unexpected TM packet {unexpected_tm:?}");
+            }
+        }
+
+        pub fn verify_next_tc_is_handled_properly(&mut self, time_stamp: &[u8]) {
+            let result = self.service.poll_and_handle_next_tc(time_stamp);
+            if let Err(e) = result {
+                panic!("unexpected error {:?}", e);
+            }
+            let result = result.unwrap();
+            match result {
+                HandlingStatus::HandledOne => (),
+                _ => panic!("unexpected result {result:?}"),
+            }
+        }
+
+        pub fn verify_all_tcs_handled(&mut self, time_stamp: &[u8]) {
+            let result = self.service.poll_and_handle_next_tc(time_stamp);
+            if let Err(e) = result {
+                panic!("unexpected error {:?}", e);
+            }
+            let result = result.unwrap();
+            match result {
+                HandlingStatus::Empty => (),
+                _ => panic!("unexpected result {result:?}"),
+            }
+        }
+
+        pub fn verify_next_reply_is_handled_properly(&mut self, time_stamp: &[u8]) {
+            let result = self.service.poll_and_handle_next_reply(time_stamp);
+            assert!(result.is_ok());
+            assert_eq!(result.unwrap(), HandlingStatus::HandledOne);
+        }
+
+        pub fn verify_all_replies_handled(&mut self, time_stamp: &[u8]) {
+            let result = self.service.poll_and_handle_next_reply(time_stamp);
+            assert!(result.is_ok());
+            assert_eq!(result.unwrap(), HandlingStatus::Empty);
+        }
+
+        pub fn add_tc(&mut self, tc: &PusTcCreator) {
+            self.request_id = Some(verification::RequestId::new(tc).into());
+            let token = self.service.service_helper.verif_reporter_mut().add_tc(tc);
+            let accepted_token = self
+                .service
+                .service_helper
+                .verif_reporter()
+                .acceptance_success(self.service.service_helper.tm_sender(), token, &[0; 7])
+                .expect("TC acceptance failed");
+            self.service
+                .service_helper
+                .verif_reporter()
+                .check_next_was_added(accepted_token.request_id());
+            let id = self.service.service_helper.id();
+            self.service
+                .service_helper
+                .verif_reporter()
+                .check_next_is_acceptance_success(id, accepted_token.request_id());
+            self.pus_packet_tx
+                .send(EcssTcAndToken::new(
+                    PacketAsVec::new(self.service.service_helper.id(), tc.to_vec().unwrap()),
+                    accepted_token,
+                ))
+                .unwrap();
+        }
+    }
+
+    #[test]
+    fn basic_request() {
+        let mut testbench = TargetedPusRequestTestbench::new_for_action(
+            TEST_COMPONENT_ID_0.id(),
+            TEST_COMPONENT_ID_1.id(),
+        );
+        // Create a basic action request and verify forwarding.
+        let sp_header = SpHeader::new_from_apid(TEST_APID);
+        let sec_header = PusTcSecondaryHeader::new_simple(8, 128);
+        let action_id = 5_u32;
+        let mut app_data: [u8; 8] = [0; 8];
+        app_data[0..4].copy_from_slice(&TEST_UNIQUE_ID_1.to_be_bytes());
+        app_data[4..8].copy_from_slice(&action_id.to_be_bytes());
+        let pus8_packet = PusTcCreator::new(sp_header, sec_header, &app_data, true);
+        testbench.add_tc(&pus8_packet);
+        let time_stamp: [u8; 7] = [0; 7];
+        testbench.verify_next_tc_is_handled_properly(&time_stamp);
+        testbench.verify_all_tcs_handled(&time_stamp);
+
+        testbench.verify_packet_started();
+
+        let possible_req = testbench.request_rx.try_recv();
+        assert!(possible_req.is_ok());
+        let req = possible_req.unwrap();
+        if let CompositeRequest::Action(action_req) = req.message {
+            assert_eq!(action_req.action_id, action_id);
+            assert_eq!(action_req.variant, ActionRequestVariant::NoData);
+            let action_reply = ActionReplyPus::new(action_id, ActionReplyVariant::Completed);
+            testbench
+                .reply_tx
+                .send(GenericMessage::new(req.requestor_info, action_reply))
+                .unwrap();
+        } else {
+            panic!("unexpected request type");
+        }
+        testbench.verify_next_reply_is_handled_properly(&time_stamp);
+        testbench.verify_all_replies_handled(&time_stamp);
+
+        testbench.verify_packet_completed();
+        testbench.verify_tm_empty();
+    }
+
+    #[test]
+    fn basic_request_routing_error() {
+        let mut testbench = TargetedPusRequestTestbench::new_for_action(
+            TEST_COMPONENT_ID_0.id(),
+            TEST_COMPONENT_ID_1.id(),
+        );
+        // Create a basic action request and verify forwarding.
+        let sec_header = PusTcSecondaryHeader::new_simple(8, 128);
+        let action_id = 5_u32;
+        let mut app_data: [u8; 8] = [0; 8];
+        // Invalid ID, routing should fail.
+        app_data[0..4].copy_from_slice(&0_u32.to_be_bytes());
+        app_data[4..8].copy_from_slice(&action_id.to_be_bytes());
+        let pus8_packet = PusTcCreator::new(
+            SpHeader::new_from_apid(TEST_APID),
+            sec_header,
+            &app_data,
+            true,
+        );
+        testbench.add_tc(&pus8_packet);
+        let time_stamp: [u8; 7] = [0; 7];
+
+        let result = testbench.service.poll_and_handle_next_tc(&time_stamp);
+        assert!(result.is_err());
+        // Verify the correct result and completion failure.
+    }
+
+    #[test]
+    fn converter_action_req_no_data() {
+        let mut testbench = PusConverterTestbench::new(
+            TEST_COMPONENT_ID_0.raw(),
+            ActionRequestConverter::default(),
+        );
+        let sec_header = PusTcSecondaryHeader::new_simple(8, 128);
+        let action_id = 5_u32;
+        let mut app_data: [u8; 8] = [0; 8];
+        // Invalid ID, routing should fail.
+        app_data[0..4].copy_from_slice(&TEST_UNIQUE_ID_0.to_be_bytes());
+        app_data[4..8].copy_from_slice(&action_id.to_be_bytes());
+        let pus8_packet = PusTcCreator::new(
+            SpHeader::new_from_apid(TEST_APID),
+            sec_header,
+            &app_data,
+            true,
+        );
+        let token = testbench.add_tc(&pus8_packet);
+        let result = testbench.convert(token, &[], TEST_APID, TEST_UNIQUE_ID_0);
+        assert!(result.is_ok());
+        let (active_req, request) = result.unwrap();
+        if let ActionRequestVariant::NoData = request.variant {
+            assert_eq!(request.action_id, action_id);
+            assert_eq!(active_req.action_id, action_id);
+            assert_eq!(
+                active_req.target_id(),
+                UniqueApidTargetId::new(TEST_APID, TEST_UNIQUE_ID_0).raw()
+            );
+            assert_eq!(
+                active_req.token().request_id(),
+                testbench.request_id().unwrap()
+            );
+        } else {
+            panic!("unexpected action request variant");
+        }
+    }
+
+    #[test]
+    fn converter_action_req_with_data() {
+        let mut testbench =
+            PusConverterTestbench::new(TEST_COMPONENT_ID_0.id(), ActionRequestConverter::default());
+        let sec_header = PusTcSecondaryHeader::new_simple(8, 128);
+        let action_id = 5_u32;
+        let mut app_data: [u8; 16] = [0; 16];
+        // Invalid ID, routing should fail.
+        app_data[0..4].copy_from_slice(&TEST_UNIQUE_ID_0.to_be_bytes());
+        app_data[4..8].copy_from_slice(&action_id.to_be_bytes());
+        for i in 0..8 {
+            app_data[i + 8] = i as u8;
+        }
+        let pus8_packet = PusTcCreator::new(
+            SpHeader::new_from_apid(TEST_APID),
+            sec_header,
+            &app_data,
+            true,
+        );
+        let token = testbench.add_tc(&pus8_packet);
+        let result = testbench.convert(token, &[], TEST_APID, TEST_UNIQUE_ID_0);
+        assert!(result.is_ok());
+        let (active_req, request) = result.unwrap();
+        if let ActionRequestVariant::VecData(vec) = request.variant {
+            assert_eq!(request.action_id, action_id);
+            assert_eq!(active_req.action_id, action_id);
+            assert_eq!(vec, app_data[8..].to_vec());
+        } else {
+            panic!("unexpected action request variant");
+        }
+    }
+
+    #[test]
+    fn reply_handling_completion_success() {
+        let mut testbench =
+            ReplyHandlerTestbench::new(TEST_COMPONENT_ID_0.id(), ActionReplyHandler::default());
+        let action_id = 5_u32;
+        let (req_id, active_req) = testbench.add_tc(TEST_APID, TEST_UNIQUE_ID_0, &[]);
+        let active_action_req =
+            ActivePusActionRequestStd::new_from_common_req(action_id, active_req);
+        let reply = ActionReplyPus::new(action_id, ActionReplyVariant::Completed);
+        let generic_reply = GenericMessage::new(MessageMetadata::new(req_id.into(), 0), reply);
+        let result = testbench.handle_reply(&generic_reply, &active_action_req, &[]);
+        assert!(result.is_ok());
+        assert!(result.unwrap());
+        testbench.verif_reporter.assert_full_completion_success(
+            TEST_COMPONENT_ID_0.id(),
+            req_id,
+            None,
+        );
+    }
+
+    #[test]
+    fn reply_handling_completion_failure() {
+        let mut testbench =
+            ReplyHandlerTestbench::new(TEST_COMPONENT_ID_0.id(), ActionReplyHandler::default());
+        let action_id = 5_u32;
+        let (req_id, active_req) = testbench.add_tc(TEST_APID, TEST_UNIQUE_ID_0, &[]);
+        let active_action_req =
+            ActivePusActionRequestStd::new_from_common_req(action_id, active_req);
+        let error_code = ResultU16::new(2, 3);
+        let reply = ActionReplyPus::new(
+            action_id,
+            ActionReplyVariant::CompletionFailed {
+                error_code,
+                params: None,
+            },
+        );
+        let generic_reply = GenericMessage::new(MessageMetadata::new(req_id.into(), 0), reply);
+        let result = testbench.handle_reply(&generic_reply, &active_action_req, &[]);
+        assert!(result.is_ok());
+        assert!(result.unwrap());
+        testbench.verif_reporter.assert_completion_failure(
+            TEST_COMPONENT_ID_0.into(),
+            req_id,
+            None,
+            error_code.raw() as u64,
+        );
+    }
+
+    #[test]
+    fn reply_handling_step_success() {
+        let mut testbench =
+            ReplyHandlerTestbench::new(TEST_COMPONENT_ID_0.id(), ActionReplyHandler::default());
+        let action_id = 5_u32;
+        let (req_id, active_req) = testbench.add_tc(TEST_APID, TEST_UNIQUE_ID_0, &[]);
+        let active_action_req =
+            ActivePusActionRequestStd::new_from_common_req(action_id, active_req);
+        let reply = ActionReplyPus::new(action_id, ActionReplyVariant::StepSuccess { step: 1 });
+        let generic_reply = GenericMessage::new(MessageMetadata::new(req_id.into(), 0), reply);
+        let result = testbench.handle_reply(&generic_reply, &active_action_req, &[]);
+        assert!(result.is_ok());
+        // Entry should not be removed, completion not done yet.
+        assert!(!result.unwrap());
+        testbench.verif_reporter.check_next_was_added(req_id);
+        testbench
+            .verif_reporter
+            .check_next_is_acceptance_success(TEST_COMPONENT_ID_0.raw(), req_id);
+        testbench
+            .verif_reporter
+            .check_next_is_started_success(TEST_COMPONENT_ID_0.raw(), req_id);
+        testbench
+            .verif_reporter
+            .check_next_is_step_success(TEST_COMPONENT_ID_0.raw(), req_id, 1);
+    }
+
+    #[test]
+    fn reply_handling_step_failure() {
+        let mut testbench =
+            ReplyHandlerTestbench::new(TEST_COMPONENT_ID_0.id(), ActionReplyHandler::default());
+        let action_id = 5_u32;
+        let (req_id, active_req) = testbench.add_tc(TEST_APID, TEST_UNIQUE_ID_0, &[]);
+        let active_action_req =
+            ActivePusActionRequestStd::new_from_common_req(action_id, active_req);
+        let error_code = ResultU16::new(2, 3);
+        let reply = ActionReplyPus::new(
+            action_id,
+            ActionReplyVariant::StepFailed {
+                error_code,
+                step: 1,
+                params: None,
+            },
+        );
+        let generic_reply = GenericMessage::new(MessageMetadata::new(req_id.into(), 0), reply);
+        let result = testbench.handle_reply(&generic_reply, &active_action_req, &[]);
+        assert!(result.is_ok());
+        assert!(result.unwrap());
+        testbench.verif_reporter.check_next_was_added(req_id);
+        testbench
+            .verif_reporter
+            .check_next_is_acceptance_success(TEST_COMPONENT_ID_0.id(), req_id);
+        testbench
+            .verif_reporter
+            .check_next_is_started_success(TEST_COMPONENT_ID_0.id(), req_id);
+        testbench.verif_reporter.check_next_is_step_failure(
+            TEST_COMPONENT_ID_0.id(),
+            req_id,
+            error_code.raw().into(),
+        );
+    }
+
+    #[test]
+    fn reply_handling_unrequested_reply() {
+        let mut testbench =
+            ReplyHandlerTestbench::new(TEST_COMPONENT_ID_0.id(), ActionReplyHandler::default());
+        let action_reply = ActionReplyPus::new(5_u32, ActionReplyVariant::Completed);
+        let unrequested_reply =
+            GenericMessage::new(MessageMetadata::new(10_u32, 15_u64), action_reply);
+        // Right now this function does not do a lot. We simply check that it does not panic or do
+        // weird stuff.
+        let result = testbench.handle_unrequested_reply(&unrequested_reply);
+        assert!(result.is_ok());
+    }
+
+    #[test]
+    fn reply_handling_reply_timeout() {
+        let mut testbench =
+            ReplyHandlerTestbench::new(TEST_COMPONENT_ID_0.id(), ActionReplyHandler::default());
+        let action_id = 5_u32;
+        let (req_id, active_request) = testbench.add_tc(TEST_APID, TEST_UNIQUE_ID_0, &[]);
+        let result = testbench.handle_request_timeout(
+            &ActivePusActionRequestStd::new_from_common_req(action_id, active_request),
+            &[],
+        );
+        assert!(result.is_ok());
+        testbench.verif_reporter.assert_completion_failure(
+            TEST_COMPONENT_ID_0.raw(),
+            req_id,
+            None,
+            tmtc_err::REQUEST_TIMEOUT.raw() as u64,
+        );
     }
 }

satrs-example/src/pus/event.rs

@@ -1,106 +1,115 @@
 use std::sync::mpsc;
 
-use log::{error, warn};
-use satrs_core::pool::{SharedStaticMemoryPool, StoreAddr};
-use satrs_core::pus::event_man::EventRequestWithToken;
-use satrs_core::pus::event_srv::PusService5EventHandler;
-use satrs_core::pus::verification::VerificationReporterWithSender;
-use satrs_core::pus::{
-    EcssTcAndToken, EcssTcInMemConverter, EcssTcInSharedStoreConverter, EcssTcInVecConverter,
-    MpscTcReceiver, MpscTmAsVecSender, MpscTmInSharedPoolSender, PusPacketHandlerResult,
-    PusServiceHelper,
+use crate::pus::create_verification_reporter;
+use satrs::pool::SharedStaticMemoryPool;
+use satrs::pus::event_man::EventRequestWithToken;
+use satrs::pus::event_srv::PusEventServiceHandler;
+use satrs::pus::verification::VerificationReporter;
+use satrs::pus::{
+    DirectPusPacketHandlerResult, EcssTcAndToken, EcssTcInMemConverter,
+    EcssTcInSharedStoreConverter, EcssTcInVecConverter, EcssTmSender, MpscTcReceiver,
+    MpscTmAsVecSender, PartialPusHandlingError, PusServiceHelper,
 };
-use satrs_core::tmtc::tm_helper::SharedTmPool;
-use satrs_core::ChannelId;
-use satrs_example::config::{TcReceiverId, TmSenderId, PUS_APID};
+use satrs::spacepackets::ecss::PusServiceId;
+use satrs::tmtc::{PacketAsVec, PacketSenderWithSharedPool};
+use satrs_example::config::components::PUS_EVENT_MANAGEMENT;
+
+use super::{DirectPusService, HandlingStatus};
 
 pub fn create_event_service_static(
-    shared_tm_store: SharedTmPool,
-    tm_funnel_tx: mpsc::Sender<StoreAddr>,
-    verif_reporter: VerificationReporterWithSender,
+    tm_sender: PacketSenderWithSharedPool,
     tc_pool: SharedStaticMemoryPool,
     pus_event_rx: mpsc::Receiver<EcssTcAndToken>,
     event_request_tx: mpsc::Sender<EventRequestWithToken>,
-) -> Pus5Wrapper<EcssTcInSharedStoreConverter> {
-    let event_srv_tm_sender = MpscTmInSharedPoolSender::new(
-        TmSenderId::PusEvent as ChannelId,
-        "PUS_5_TM_SENDER",
-        shared_tm_store.clone(),
-        tm_funnel_tx.clone(),
-    );
-    let event_srv_receiver = MpscTcReceiver::new(
-        TcReceiverId::PusEvent as ChannelId,
-        "PUS_5_TC_RECV",
-        pus_event_rx,
-    );
-    let pus_5_handler = PusService5EventHandler::new(
+) -> EventServiceWrapper<PacketSenderWithSharedPool, EcssTcInSharedStoreConverter> {
+    let pus_5_handler = PusEventServiceHandler::new(
         PusServiceHelper::new(
-            Box::new(event_srv_receiver),
-            Box::new(event_srv_tm_sender),
-            PUS_APID,
-            verif_reporter.clone(),
+            PUS_EVENT_MANAGEMENT.id(),
+            pus_event_rx,
+            tm_sender,
+            create_verification_reporter(PUS_EVENT_MANAGEMENT.id(), PUS_EVENT_MANAGEMENT.apid),
             EcssTcInSharedStoreConverter::new(tc_pool.clone(), 2048),
         ),
         event_request_tx,
     );
-    Pus5Wrapper { pus_5_handler }
+    EventServiceWrapper {
+        handler: pus_5_handler,
+    }
 }
 
 pub fn create_event_service_dynamic(
-    tm_funnel_tx: mpsc::Sender<Vec<u8>>,
-    verif_reporter: VerificationReporterWithSender,
+    tm_funnel_tx: mpsc::Sender<PacketAsVec>,
     pus_event_rx: mpsc::Receiver<EcssTcAndToken>,
     event_request_tx: mpsc::Sender<EventRequestWithToken>,
-) -> Pus5Wrapper<EcssTcInVecConverter> {
-    let event_srv_tm_sender = MpscTmAsVecSender::new(
-        TmSenderId::PusEvent as ChannelId,
-        "PUS_5_TM_SENDER",
-        tm_funnel_tx,
-    );
-    let event_srv_receiver = MpscTcReceiver::new(
-        TcReceiverId::PusEvent as ChannelId,
-        "PUS_5_TC_RECV",
-        pus_event_rx,
-    );
-    let pus_5_handler = PusService5EventHandler::new(
+) -> EventServiceWrapper<MpscTmAsVecSender, EcssTcInVecConverter> {
+    let pus_5_handler = PusEventServiceHandler::new(
         PusServiceHelper::new(
-            Box::new(event_srv_receiver),
-            Box::new(event_srv_tm_sender),
-            PUS_APID,
-            verif_reporter.clone(),
+            PUS_EVENT_MANAGEMENT.id(),
+            pus_event_rx,
+            tm_funnel_tx,
+            create_verification_reporter(PUS_EVENT_MANAGEMENT.id(), PUS_EVENT_MANAGEMENT.apid),
             EcssTcInVecConverter::default(),
         ),
         event_request_tx,
     );
-    Pus5Wrapper { pus_5_handler }
-}
-
-pub struct Pus5Wrapper<TcInMemConverter: EcssTcInMemConverter> {
-    pub pus_5_handler: PusService5EventHandler<TcInMemConverter>,
-}
-
-impl<TcInMemConverter: EcssTcInMemConverter> Pus5Wrapper<TcInMemConverter> {
-    pub fn handle_next_packet(&mut self) -> bool {
-        match self.pus_5_handler.handle_one_tc() {
-            Ok(result) => match result {
-                PusPacketHandlerResult::RequestHandled => {}
-                PusPacketHandlerResult::RequestHandledPartialSuccess(e) => {
-                    warn!("PUS 5 partial packet handling success: {e:?}")
-                }
-                PusPacketHandlerResult::CustomSubservice(invalid, _) => {
-                    warn!("PUS 5 invalid subservice {invalid}");
-                }
-                PusPacketHandlerResult::SubserviceNotImplemented(subservice, _) => {
-                    warn!("PUS 5 subservice {subservice} not implemented");
-                }
-                PusPacketHandlerResult::Empty => {
-                    return true;
-                }
-            },
-            Err(error) => {
-                error!("PUS packet handling error: {error:?}")
-            }
-        }
-        false
+    EventServiceWrapper {
+        handler: pus_5_handler,
+    }
+}
+
+pub struct EventServiceWrapper<TmSender: EcssTmSender, TcInMemConverter: EcssTcInMemConverter> {
+    pub handler:
+        PusEventServiceHandler<MpscTcReceiver, TmSender, TcInMemConverter, VerificationReporter>,
+}
+
+impl<TmSender: EcssTmSender, TcInMemConverter: EcssTcInMemConverter> DirectPusService
+    for EventServiceWrapper<TmSender, TcInMemConverter>
+{
+    const SERVICE_ID: u8 = PusServiceId::Event as u8;
+
+    const SERVICE_STR: &'static str = "events";
+
+    fn poll_and_handle_next_tc(&mut self, time_stamp: &[u8]) -> HandlingStatus {
+        let error_handler = |partial_error: &PartialPusHandlingError| {
+            log::warn!(
+                "PUS {}({}) partial error: {:?}",
+                Self::SERVICE_ID,
+                Self::SERVICE_STR,
+                partial_error
+            );
+        };
+        let result = self
+            .handler
+            .poll_and_handle_next_tc(error_handler, time_stamp);
+        if let Err(e) = result {
+            log::warn!(
+                "PUS {}({}) error: {:?}",
+                Self::SERVICE_ID,
+                Self::SERVICE_STR,
+                e
+            );
+            // To avoid permanent loops on continuous errors.
+            return HandlingStatus::Empty;
+        }
+        match result.unwrap() {
+            DirectPusPacketHandlerResult::Handled(handling_status) => return handling_status,
+            DirectPusPacketHandlerResult::CustomSubservice(subservice, _) => {
+                log::warn!(
+                    "PUS {}({}) subservice {} not implemented",
+                    Self::SERVICE_ID,
+                    Self::SERVICE_STR,
+                    subservice
+                );
+            }
+            DirectPusPacketHandlerResult::SubserviceNotImplemented(subservice, _) => {
+                log::warn!(
+                    "PUS {}({}) subservice {} not implemented",
+                    Self::SERVICE_ID,
+                    Self::SERVICE_STR,
+                    subservice
+                );
+            }
+        }
+        HandlingStatus::HandledOne
     }
 }

satrs-example/src/pus/hk.rs

@@ -1,127 +1,138 @@
-use crate::requests::{Request, RequestWithToken};
-use log::{error, warn};
-use satrs_core::hk::{CollectionIntervalFactor, HkRequest};
-use satrs_core::pool::{SharedStaticMemoryPool, StoreAddr};
-use satrs_core::pus::verification::{
-    FailParams, StdVerifReporterWithSender, VerificationReporterWithSender,
+use derive_new::new;
+use satrs::hk::{CollectionIntervalFactor, HkRequest, HkRequestVariant, UniqueId};
+use satrs::pool::SharedStaticMemoryPool;
+use satrs::pus::verification::{
+    FailParams, TcStateAccepted, TcStateStarted, VerificationReporter,
+    VerificationReportingProvider, VerificationToken,
 };
-use satrs_core::pus::{
-    EcssTcAndToken, EcssTcInMemConverter, EcssTcInSharedStoreConverter, EcssTcInVecConverter,
-    EcssTcReceiver, EcssTmSender, MpscTcReceiver, MpscTmAsVecSender, MpscTmInSharedPoolSender,
-    PusPacketHandlerResult, PusPacketHandlingError, PusServiceBase, PusServiceHelper,
+use satrs::pus::{
+    ActivePusRequestStd, ActiveRequestProvider, DefaultActiveRequestMap, EcssTcAndToken,
+    EcssTcInMemConverter, EcssTcInSharedStoreConverter, EcssTcInVecConverter, EcssTmSender,
+    EcssTmtcError, GenericConversionError, MpscTcReceiver, MpscTmAsVecSender,
+    PusPacketHandlingError, PusReplyHandler, PusServiceHelper, PusTcToRequestConverter,
 };
-use satrs_core::spacepackets::ecss::{hk, PusPacket};
-use satrs_core::tmtc::tm_helper::SharedTmPool;
-use satrs_core::ChannelId;
-use satrs_example::config::{hk_err, tmtc_err, TcReceiverId, TmSenderId, PUS_APID};
-use satrs_example::TargetIdWithApid;
-use std::collections::HashMap;
-use std::sync::mpsc::{self, Sender};
+use satrs::request::{GenericMessage, UniqueApidTargetId};
+use satrs::spacepackets::ecss::tc::PusTcReader;
+use satrs::spacepackets::ecss::{hk, PusPacket, PusServiceId};
+use satrs::tmtc::{PacketAsVec, PacketSenderWithSharedPool};
+use satrs_example::config::components::PUS_HK_SERVICE;
+use satrs_example::config::{hk_err, tmtc_err};
+use std::sync::mpsc;
+use std::time::Duration;
 
-pub fn create_hk_service_static(
-    shared_tm_store: SharedTmPool,
-    tm_funnel_tx: mpsc::Sender<StoreAddr>,
-    verif_reporter: VerificationReporterWithSender,
-    tc_pool: SharedStaticMemoryPool,
-    pus_hk_rx: mpsc::Receiver<EcssTcAndToken>,
-    request_map: HashMap<TargetIdWithApid, mpsc::Sender<RequestWithToken>>,
-) -> Pus3Wrapper<EcssTcInSharedStoreConverter> {
-    let hk_srv_tm_sender = MpscTmInSharedPoolSender::new(
-        TmSenderId::PusHk as ChannelId,
-        "PUS_3_TM_SENDER",
-        shared_tm_store.clone(),
-        tm_funnel_tx.clone(),
-    );
-    let hk_srv_receiver =
-        MpscTcReceiver::new(TcReceiverId::PusHk as ChannelId, "PUS_8_TC_RECV", pus_hk_rx);
-    let pus_3_handler = PusService3HkHandler::new(
-        Box::new(hk_srv_receiver),
-        Box::new(hk_srv_tm_sender),
-        PUS_APID,
-        verif_reporter.clone(),
-        EcssTcInSharedStoreConverter::new(tc_pool, 2048),
-        request_map,
-    );
-    Pus3Wrapper { pus_3_handler }
+use crate::pus::{create_verification_reporter, generic_pus_request_timeout_handler};
+use crate::requests::GenericRequestRouter;
+
+use super::{HandlingStatus, PusTargetedRequestService, TargetedPusService};
+
+#[derive(Clone, PartialEq, Debug, new)]
+pub struct HkReply {
+    pub unique_id: UniqueId,
+    pub variant: HkReplyVariant,
 }
 
-pub fn create_hk_service_dynamic(
-    tm_funnel_tx: mpsc::Sender<Vec<u8>>,
-    verif_reporter: VerificationReporterWithSender,
-    pus_hk_rx: mpsc::Receiver<EcssTcAndToken>,
-    request_map: HashMap<TargetIdWithApid, mpsc::Sender<RequestWithToken>>,
-) -> Pus3Wrapper<EcssTcInVecConverter> {
-    let hk_srv_tm_sender = MpscTmAsVecSender::new(
-        TmSenderId::PusHk as ChannelId,
-        "PUS_3_TM_SENDER",
-        tm_funnel_tx.clone(),
-    );
-    let hk_srv_receiver =
-        MpscTcReceiver::new(TcReceiverId::PusHk as ChannelId, "PUS_8_TC_RECV", pus_hk_rx);
-    let pus_3_handler = PusService3HkHandler::new(
-        Box::new(hk_srv_receiver),
-        Box::new(hk_srv_tm_sender),
-        PUS_APID,
-        verif_reporter.clone(),
-        EcssTcInVecConverter::default(),
-        request_map,
-    );
-    Pus3Wrapper { pus_3_handler }
+#[derive(Clone, PartialEq, Debug)]
+pub enum HkReplyVariant {
+    Ack,
 }
 
-pub struct PusService3HkHandler<TcInMemConverter: EcssTcInMemConverter> {
-    psb: PusServiceHelper<TcInMemConverter>,
-    request_handlers: HashMap<TargetIdWithApid, Sender<RequestWithToken>>,
-}
+#[derive(Default)]
+pub struct HkReplyHandler {}
 
-impl<TcInMemConverter: EcssTcInMemConverter> PusService3HkHandler<TcInMemConverter> {
-    pub fn new(
-        tc_receiver: Box<dyn EcssTcReceiver>,
-        tm_sender: Box<dyn EcssTmSender>,
-        tm_apid: u16,
-        verification_handler: StdVerifReporterWithSender,
-        tc_in_mem_converter: TcInMemConverter,
-        request_handlers: HashMap<TargetIdWithApid, Sender<RequestWithToken>>,
-    ) -> Self {
-        Self {
-            psb: PusServiceHelper::new(
-                tc_receiver,
-                tm_sender,
-                tm_apid,
-                verification_handler,
-                tc_in_mem_converter,
-            ),
-            request_handlers,
-        }
+impl PusReplyHandler<ActivePusRequestStd, HkReply> for HkReplyHandler {
+    type Error = EcssTmtcError;
+
+    fn handle_unrequested_reply(
+        &mut self,
+        reply: &GenericMessage<HkReply>,
+        _tm_sender: &impl EcssTmSender,
+    ) -> Result<(), Self::Error> {
+        log::warn!("received unexpected reply for service 3: {reply:?}");
+        Ok(())
     }
 
-    fn handle_one_tc(&mut self) -> Result<PusPacketHandlerResult, PusPacketHandlingError> {
-        let possible_packet = self.psb.retrieve_and_accept_next_packet()?;
-        if possible_packet.is_none() {
-            return Ok(PusPacketHandlerResult::Empty);
+    fn handle_reply(
+        &mut self,
+        reply: &GenericMessage<HkReply>,
+        active_request: &ActivePusRequestStd,
+        tm_sender: &impl EcssTmSender,
+        verification_handler: &impl VerificationReportingProvider,
+        time_stamp: &[u8],
+    ) -> Result<bool, Self::Error> {
+        let started_token: VerificationToken<TcStateStarted> = active_request
+            .token()
+            .try_into()
+            .expect("invalid token state");
+        match reply.message.variant {
+            HkReplyVariant::Ack => {
+                verification_handler
+                    .completion_success(tm_sender, started_token, time_stamp)
+                    .expect("sending completion success verification failed");
+            }
+        };
+        Ok(true)
+    }
+
+    fn handle_request_timeout(
+        &mut self,
+        active_request: &ActivePusRequestStd,
+        tm_sender: &impl EcssTmSender,
+        verification_handler: &impl VerificationReportingProvider,
+        time_stamp: &[u8],
+    ) -> Result<(), Self::Error> {
+        generic_pus_request_timeout_handler(
+            tm_sender,
+            active_request,
+            verification_handler,
+            time_stamp,
+            "HK",
+        )?;
+        Ok(())
+    }
+}
+
+pub struct HkRequestConverter {
+    timeout: Duration,
+}
+
+impl Default for HkRequestConverter {
+    fn default() -> Self {
+        Self {
+            timeout: Duration::from_secs(60),
         }
-        let ecss_tc_and_token = possible_packet.unwrap();
-        let tc = self
-            .psb
-            .tc_in_mem_converter
-            .convert_ecss_tc_in_memory_to_reader(&ecss_tc_and_token.tc_in_memory)?;
-        let subservice = tc.subservice();
-        let mut partial_error = None;
-        let time_stamp = PusServiceBase::get_current_timestamp(&mut partial_error);
+    }
+}
+
+impl PusTcToRequestConverter<ActivePusRequestStd, HkRequest> for HkRequestConverter {
+    type Error = GenericConversionError;
+
+    fn convert(
+        &mut self,
+        token: VerificationToken<TcStateAccepted>,
+        tc: &PusTcReader,
+        tm_sender: &(impl EcssTmSender + ?Sized),
+        verif_reporter: &impl VerificationReportingProvider,
+        time_stamp: &[u8],
+    ) -> Result<(ActivePusRequestStd, HkRequest), Self::Error> {
         let user_data = tc.user_data();
         if user_data.is_empty() {
-            self.psb
-                .common
-                .verification_handler
-                .borrow_mut()
+            let user_data_len = user_data.len() as u32;
+            let user_data_len_raw = user_data_len.to_be_bytes();
+            verif_reporter
                 .start_failure(
-                    ecss_tc_and_token.token,
-                    FailParams::new(Some(&time_stamp), &tmtc_err::NOT_ENOUGH_APP_DATA, None),
+                    tm_sender,
+                    token,
+                    FailParams::new(
+                        time_stamp,
+                        &tmtc_err::NOT_ENOUGH_APP_DATA,
+                        &user_data_len_raw,
+                    ),
                 )
                 .expect("Sending start failure TM failed");
-            return Err(PusPacketHandlingError::NotEnoughAppData(
-                "Expected at least 8 bytes of app data".into(),
-            ));
+            return Err(GenericConversionError::NotEnoughAppData {
+                expected: 4,
+                found: 0,
+            });
         }
         if user_data.len() < 8 {
             let err = if user_data.len() < 4 {
@@ -129,108 +140,405 @@ impl<TcInMemConverter: EcssTcInMemConverter> PusService3HkHandler<TcInMemConvert
             } else {
                 &hk_err::UNIQUE_ID_MISSING
             };
-            self.psb
-                .common
-                .verification_handler
-                .borrow_mut()
+            let user_data_len = user_data.len() as u32;
+            let user_data_len_raw = user_data_len.to_be_bytes();
+            verif_reporter
                 .start_failure(
-                    ecss_tc_and_token.token,
-                    FailParams::new(Some(&time_stamp), err, None),
+                    tm_sender,
+                    token,
+                    FailParams::new(time_stamp, err, &user_data_len_raw),
                 )
                 .expect("Sending start failure TM failed");
-            return Err(PusPacketHandlingError::NotEnoughAppData(
-                "Expected at least 8 bytes of app data".into(),
-            ));
+            return Err(GenericConversionError::NotEnoughAppData {
+                expected: 8,
+                found: 4,
+            });
         }
-        let target_id = TargetIdWithApid::from_tc(&tc).expect("invalid tc format");
-        let unique_id = u32::from_be_bytes(tc.user_data()[0..4].try_into().unwrap());
-        if !self.request_handlers.contains_key(&target_id) {
-            self.psb
-                .common
-                .verification_handler
-                .borrow_mut()
+        let subservice = tc.subservice();
+        let target_id_and_apid = UniqueApidTargetId::from_pus_tc(tc).expect("invalid tc format");
+        let unique_id = u32::from_be_bytes(tc.user_data()[4..8].try_into().unwrap());
+
+        let standard_subservice = hk::Subservice::try_from(subservice);
+        if standard_subservice.is_err() {
+            verif_reporter
                 .start_failure(
-                    ecss_tc_and_token.token,
-                    FailParams::new(Some(&time_stamp), &hk_err::UNKNOWN_TARGET_ID, None),
+                    tm_sender,
+                    token,
+                    FailParams::new(time_stamp, &tmtc_err::INVALID_PUS_SUBSERVICE, &[subservice]),
                 )
                 .expect("Sending start failure TM failed");
-            return Err(PusPacketHandlingError::NotEnoughAppData(format!(
-                "Unknown target ID {target_id}"
-            )));
+            return Err(GenericConversionError::InvalidSubservice(subservice));
         }
-        let send_request = |target: TargetIdWithApid, request: HkRequest| {
-            let sender = self.request_handlers.get(&target).unwrap();
-            sender
-                .send(RequestWithToken::new(
-                    target,
-                    Request::Hk(request),
-                    ecss_tc_and_token.token,
-                ))
-                .unwrap_or_else(|_| panic!("Sending HK request {request:?} failed"));
-        };
-        if subservice == hk::Subservice::TcEnableHkGeneration as u8 {
-            send_request(target_id, HkRequest::Enable(unique_id));
-        } else if subservice == hk::Subservice::TcDisableHkGeneration as u8 {
-            send_request(target_id, HkRequest::Disable(unique_id));
-        } else if subservice == hk::Subservice::TcGenerateOneShotHk as u8 {
-            send_request(target_id, HkRequest::OneShot(unique_id));
-        } else if subservice == hk::Subservice::TcModifyHkCollectionInterval as u8 {
-            if user_data.len() < 12 {
-                self.psb
-                    .common
-                    .verification_handler
-                    .borrow_mut()
+        let request = match standard_subservice.unwrap() {
+            hk::Subservice::TcEnableHkGeneration | hk::Subservice::TcEnableDiagGeneration => {
+                HkRequest::new(unique_id, HkRequestVariant::EnablePeriodic)
+            }
+            hk::Subservice::TcDisableHkGeneration | hk::Subservice::TcDisableDiagGeneration => {
+                HkRequest::new(unique_id, HkRequestVariant::DisablePeriodic)
+            }
+            hk::Subservice::TcReportHkReportStructures => todo!(),
+            hk::Subservice::TmHkPacket => todo!(),
+            hk::Subservice::TcGenerateOneShotHk | hk::Subservice::TcGenerateOneShotDiag => {
+                HkRequest::new(unique_id, HkRequestVariant::OneShot)
+            }
+            hk::Subservice::TcModifyDiagCollectionInterval
+            | hk::Subservice::TcModifyHkCollectionInterval => {
+                if user_data.len() < 12 {
+                    verif_reporter
+                        .start_failure(
+                            tm_sender,
+                            token,
+                            FailParams::new_no_fail_data(
+                                time_stamp,
+                                &tmtc_err::NOT_ENOUGH_APP_DATA,
+                            ),
+                        )
+                        .expect("Sending start failure TM failed");
+                    return Err(GenericConversionError::NotEnoughAppData {
+                        expected: 12,
+                        found: user_data.len(),
+                    });
+                }
+                HkRequest::new(
+                    unique_id,
+                    HkRequestVariant::ModifyCollectionInterval(
+                        CollectionIntervalFactor::from_be_bytes(
+                            user_data[8..12].try_into().unwrap(),
+                        ),
+                    ),
+                )
+            }
+            _ => {
+                verif_reporter
                     .start_failure(
-                        ecss_tc_and_token.token,
+                        tm_sender,
+                        token,
                         FailParams::new(
-                            Some(&time_stamp),
-                            &hk_err::COLLECTION_INTERVAL_MISSING,
-                            None,
+                            time_stamp,
+                            &tmtc_err::PUS_SUBSERVICE_NOT_IMPLEMENTED,
+                            &[subservice],
                         ),
                     )
                     .expect("Sending start failure TM failed");
-                return Err(PusPacketHandlingError::NotEnoughAppData(
-                    "Collection interval missing".into(),
-                ));
+                return Err(GenericConversionError::InvalidSubservice(subservice));
             }
-            send_request(
-                target_id,
-                HkRequest::ModifyCollectionInterval(
-                    unique_id,
-                    CollectionIntervalFactor::from_be_bytes(user_data[8..12].try_into().unwrap()),
-                ),
-            );
-        }
-        Ok(PusPacketHandlerResult::RequestHandled)
+        };
+        Ok((
+            ActivePusRequestStd::new(target_id_and_apid.into(), token, self.timeout),
+            request,
+        ))
     }
 }
 
-pub struct Pus3Wrapper<TcInMemConverter: EcssTcInMemConverter> {
-    pub(crate) pus_3_handler: PusService3HkHandler<TcInMemConverter>,
-}
-
-impl<TcInMemConverter: EcssTcInMemConverter> Pus3Wrapper<TcInMemConverter> {
-    pub fn handle_next_packet(&mut self) -> bool {
-        match self.pus_3_handler.handle_one_tc() {
-            Ok(result) => match result {
-                PusPacketHandlerResult::RequestHandled => {}
-                PusPacketHandlerResult::RequestHandledPartialSuccess(e) => {
-                    warn!("PUS 3 partial packet handling success: {e:?}")
-                }
-                PusPacketHandlerResult::CustomSubservice(invalid, _) => {
-                    warn!("PUS 3 invalid subservice {invalid}");
-                }
-                PusPacketHandlerResult::SubserviceNotImplemented(subservice, _) => {
-                    warn!("PUS 3 subservice {subservice} not implemented");
-                }
-                PusPacketHandlerResult::Empty => {
-                    return true;
-                }
-            },
-            Err(error) => {
-                error!("PUS packet handling error: {error:?}")
-            }
-        }
-        false
+pub fn create_hk_service_static(
+    tm_sender: PacketSenderWithSharedPool,
+    tc_pool: SharedStaticMemoryPool,
+    pus_hk_rx: mpsc::Receiver<EcssTcAndToken>,
+    request_router: GenericRequestRouter,
+    reply_receiver: mpsc::Receiver<GenericMessage<HkReply>>,
+) -> HkServiceWrapper<PacketSenderWithSharedPool, EcssTcInSharedStoreConverter> {
+    let pus_3_handler = PusTargetedRequestService::new(
+        PusServiceHelper::new(
+            PUS_HK_SERVICE.id(),
+            pus_hk_rx,
+            tm_sender,
+            create_verification_reporter(PUS_HK_SERVICE.id(), PUS_HK_SERVICE.apid),
+            EcssTcInSharedStoreConverter::new(tc_pool, 2048),
+        ),
+        HkRequestConverter::default(),
+        DefaultActiveRequestMap::default(),
+        HkReplyHandler::default(),
+        request_router,
+        reply_receiver,
+    );
+    HkServiceWrapper {
+        service: pus_3_handler,
+    }
+}
+
+pub fn create_hk_service_dynamic(
+    tm_funnel_tx: mpsc::Sender<PacketAsVec>,
+    pus_hk_rx: mpsc::Receiver<EcssTcAndToken>,
+    request_router: GenericRequestRouter,
+    reply_receiver: mpsc::Receiver<GenericMessage<HkReply>>,
+) -> HkServiceWrapper<MpscTmAsVecSender, EcssTcInVecConverter> {
+    let pus_3_handler = PusTargetedRequestService::new(
+        PusServiceHelper::new(
+            PUS_HK_SERVICE.id(),
+            pus_hk_rx,
+            tm_funnel_tx,
+            create_verification_reporter(PUS_HK_SERVICE.id(), PUS_HK_SERVICE.apid),
+            EcssTcInVecConverter::default(),
+        ),
+        HkRequestConverter::default(),
+        DefaultActiveRequestMap::default(),
+        HkReplyHandler::default(),
+        request_router,
+        reply_receiver,
+    );
+    HkServiceWrapper {
+        service: pus_3_handler,
+    }
+}
+
+pub struct HkServiceWrapper<TmSender: EcssTmSender, TcInMemConverter: EcssTcInMemConverter> {
+    pub(crate) service: PusTargetedRequestService<
+        MpscTcReceiver,
+        TmSender,
+        TcInMemConverter,
+        VerificationReporter,
+        HkRequestConverter,
+        HkReplyHandler,
+        DefaultActiveRequestMap<ActivePusRequestStd>,
+        ActivePusRequestStd,
+        HkRequest,
+        HkReply,
+    >,
+}
+
+impl<TmSender: EcssTmSender, TcInMemConverter: EcssTcInMemConverter> TargetedPusService
+    for HkServiceWrapper<TmSender, TcInMemConverter>
+{
+    const SERVICE_ID: u8 = PusServiceId::Housekeeping as u8;
+    const SERVICE_STR: &'static str = "housekeeping";
+
+    delegate::delegate! {
+        to self.service {
+            fn poll_and_handle_next_tc(
+                &mut self,
+                time_stamp: &[u8],
+            ) -> Result<HandlingStatus, PusPacketHandlingError>;
+
+            fn poll_and_handle_next_reply(
+                &mut self,
+                time_stamp: &[u8],
+            ) -> Result<HandlingStatus, EcssTmtcError>;
+
+            fn check_for_request_timeouts(&mut self);
+        }
+    }
+}
+
+#[cfg(test)]
+mod tests {
+    use satrs::pus::test_util::{
+        TEST_COMPONENT_ID_0, TEST_COMPONENT_ID_1, TEST_UNIQUE_ID_0, TEST_UNIQUE_ID_1,
+    };
+    use satrs::request::MessageMetadata;
+    use satrs::{
+        hk::HkRequestVariant,
+        pus::test_util::TEST_APID,
+        request::GenericMessage,
+        spacepackets::{
+            ecss::{hk::Subservice, tc::PusTcCreator},
+            SpHeader,
+        },
+    };
+    use satrs_example::config::tmtc_err;
+
+    use crate::pus::{
+        hk::HkReplyVariant,
+        tests::{PusConverterTestbench, ReplyHandlerTestbench},
+    };
+
+    use super::{HkReply, HkReplyHandler, HkRequestConverter};
+
+    #[test]
+    fn hk_converter_one_shot_req() {
+        let mut hk_bench =
+            PusConverterTestbench::new(TEST_COMPONENT_ID_0.id(), HkRequestConverter::default());
+        let sp_header = SpHeader::new_for_unseg_tc(TEST_APID, 0, 0);
+        let target_id = TEST_UNIQUE_ID_0;
+        let unique_id = 5_u32;
+        let mut app_data: [u8; 8] = [0; 8];
+        app_data[0..4].copy_from_slice(&target_id.to_be_bytes());
+        app_data[4..8].copy_from_slice(&unique_id.to_be_bytes());
+
+        let hk_req = PusTcCreator::new_simple(
+            sp_header,
+            3,
+            Subservice::TcGenerateOneShotHk as u8,
+            &app_data,
+            true,
+        );
+        let accepted_token = hk_bench.add_tc(&hk_req);
+        let (_active_req, req) = hk_bench
+            .convert(accepted_token, &[], TEST_APID, TEST_UNIQUE_ID_0)
+            .expect("conversion failed");
+
+        assert_eq!(req.unique_id, unique_id);
+        if let HkRequestVariant::OneShot = req.variant {
+        } else {
+            panic!("unexpected HK request")
+        }
+    }
+
+    #[test]
+    fn hk_converter_enable_periodic_generation() {
+        let mut hk_bench =
+            PusConverterTestbench::new(TEST_COMPONENT_ID_0.id(), HkRequestConverter::default());
+        let sp_header = SpHeader::new_for_unseg_tc(TEST_APID, 0, 0);
+        let target_id = TEST_UNIQUE_ID_0;
+        let unique_id = 5_u32;
+        let mut app_data: [u8; 8] = [0; 8];
+        app_data[0..4].copy_from_slice(&target_id.to_be_bytes());
+        app_data[4..8].copy_from_slice(&unique_id.to_be_bytes());
+        let mut generic_check = |tc: &PusTcCreator| {
+            let accepted_token = hk_bench.add_tc(tc);
+            let (_active_req, req) = hk_bench
+                .convert(accepted_token, &[], TEST_APID, TEST_UNIQUE_ID_0)
+                .expect("conversion failed");
+            assert_eq!(req.unique_id, unique_id);
+            if let HkRequestVariant::EnablePeriodic = req.variant {
+            } else {
+                panic!("unexpected HK request")
+            }
+        };
+        let tc0 = PusTcCreator::new_simple(
+            sp_header,
+            3,
+            Subservice::TcEnableHkGeneration as u8,
+            &app_data,
+            true,
+        );
+        generic_check(&tc0);
+        let tc1 = PusTcCreator::new_simple(
+            sp_header,
+            3,
+            Subservice::TcEnableDiagGeneration as u8,
+            &app_data,
+            true,
+        );
+        generic_check(&tc1);
+    }
+
+    #[test]
+    fn hk_conversion_disable_periodic_generation() {
+        let mut hk_bench =
+            PusConverterTestbench::new(TEST_COMPONENT_ID_0.id(), HkRequestConverter::default());
+        let sp_header = SpHeader::new_for_unseg_tc(TEST_APID, 0, 0);
+        let target_id = TEST_UNIQUE_ID_0;
+        let unique_id = 5_u32;
+        let mut app_data: [u8; 8] = [0; 8];
+        app_data[0..4].copy_from_slice(&target_id.to_be_bytes());
+        app_data[4..8].copy_from_slice(&unique_id.to_be_bytes());
+        let mut generic_check = |tc: &PusTcCreator| {
+            let accepted_token = hk_bench.add_tc(tc);
+            let (_active_req, req) = hk_bench
+                .convert(accepted_token, &[], TEST_APID, TEST_UNIQUE_ID_0)
+                .expect("conversion failed");
+            assert_eq!(req.unique_id, unique_id);
+            if let HkRequestVariant::DisablePeriodic = req.variant {
+            } else {
+                panic!("unexpected HK request")
+            }
+        };
+        let tc0 = PusTcCreator::new_simple(
+            sp_header,
+            3,
+            Subservice::TcDisableHkGeneration as u8,
+            &app_data,
+            true,
+        );
+        generic_check(&tc0);
+        let tc1 = PusTcCreator::new_simple(
+            sp_header,
+            3,
+            Subservice::TcDisableDiagGeneration as u8,
+            &app_data,
+            true,
+        );
+        generic_check(&tc1);
+    }
+
+    #[test]
+    fn hk_conversion_modify_interval() {
+        let mut hk_bench =
+            PusConverterTestbench::new(TEST_COMPONENT_ID_0.id(), HkRequestConverter::default());
+        let sp_header = SpHeader::new_for_unseg_tc(TEST_APID, 0, 0);
+        let target_id = TEST_UNIQUE_ID_0;
+        let unique_id = 5_u32;
+        let mut app_data: [u8; 12] = [0; 12];
+        let collection_interval_factor = 5_u32;
+        app_data[0..4].copy_from_slice(&target_id.to_be_bytes());
+        app_data[4..8].copy_from_slice(&unique_id.to_be_bytes());
+        app_data[8..12].copy_from_slice(&collection_interval_factor.to_be_bytes());
+
+        let mut generic_check = |tc: &PusTcCreator| {
+            let accepted_token = hk_bench.add_tc(tc);
+            let (_active_req, req) = hk_bench
+                .convert(accepted_token, &[], TEST_APID, TEST_UNIQUE_ID_0)
+                .expect("conversion failed");
+            assert_eq!(req.unique_id, unique_id);
+            if let HkRequestVariant::ModifyCollectionInterval(interval_factor) = req.variant {
+                assert_eq!(interval_factor, collection_interval_factor);
+            } else {
+                panic!("unexpected HK request")
+            }
+        };
+        let tc0 = PusTcCreator::new_simple(
+            sp_header,
+            3,
+            Subservice::TcModifyHkCollectionInterval as u8,
+            &app_data,
+            true,
+        );
+        generic_check(&tc0);
+        let tc1 = PusTcCreator::new_simple(
+            sp_header,
+            3,
+            Subservice::TcModifyDiagCollectionInterval as u8,
+            &app_data,
+            true,
+        );
+        generic_check(&tc1);
+    }
+
+    #[test]
+    fn hk_reply_handler() {
+        let mut reply_testbench =
+            ReplyHandlerTestbench::new(TEST_COMPONENT_ID_0.id(), HkReplyHandler::default());
+        let sender_id = 2_u64;
+        let apid_target_id = 3_u32;
+        let unique_id = 5_u32;
+        let (req_id, active_req) = reply_testbench.add_tc(TEST_APID, apid_target_id, &[]);
+        let reply = GenericMessage::new(
+            MessageMetadata::new(req_id.into(), sender_id),
+            HkReply::new(unique_id, HkReplyVariant::Ack),
+        );
+        let result = reply_testbench.handle_reply(&reply, &active_req, &[]);
+        assert!(result.is_ok());
+        assert!(result.unwrap());
+        reply_testbench
+            .verif_reporter
+            .assert_full_completion_success(TEST_COMPONENT_ID_0.raw(), req_id, None);
+    }
+
+    #[test]
+    fn reply_handling_unrequested_reply() {
+        let mut testbench =
+            ReplyHandlerTestbench::new(TEST_COMPONENT_ID_1.id(), HkReplyHandler::default());
+        let action_reply = HkReply::new(5_u32, HkReplyVariant::Ack);
+        let unrequested_reply =
+            GenericMessage::new(MessageMetadata::new(10_u32, 15_u64), action_reply);
+        // Right now this function does not do a lot. We simply check that it does not panic or do
+        // weird stuff.
+        let result = testbench.handle_unrequested_reply(&unrequested_reply);
+        assert!(result.is_ok());
+    }
+
+    #[test]
+    fn reply_handling_reply_timeout() {
+        let mut testbench =
+            ReplyHandlerTestbench::new(TEST_COMPONENT_ID_1.id(), HkReplyHandler::default());
+        let (req_id, active_request) = testbench.add_tc(TEST_APID, TEST_UNIQUE_ID_1, &[]);
+        let result = testbench.handle_request_timeout(&active_request, &[]);
+        assert!(result.is_ok());
+        testbench.verif_reporter.assert_completion_failure(
+            TEST_COMPONENT_ID_1.raw(),
+            req_id,
+            None,
+            tmtc_err::REQUEST_TIMEOUT.raw() as u64,
+        );
     }
 }

satrs-example/src/pus/mod.rs

@@ -1,123 +1,154 @@
-use crate::tmtc::MpscStoreAndSendError;
+use crate::requests::GenericRequestRouter;
 use log::warn;
-use satrs_core::pus::verification::{FailParams, StdVerifReporterWithSender};
-use satrs_core::pus::{EcssTcAndToken, PusPacketHandlerResult, TcInMemory};
-use satrs_core::spacepackets::ecss::tc::PusTcReader;
-use satrs_core::spacepackets::ecss::PusServiceId;
-use satrs_core::spacepackets::time::cds::TimeProvider;
-use satrs_core::spacepackets::time::TimeWriter;
+use satrs::pool::PoolAddr;
+use satrs::pus::verification::{
+    self, FailParams, TcStateAccepted, TcStateStarted, VerificationReporter,
+    VerificationReporterCfg, VerificationReportingProvider, VerificationToken,
+};
+use satrs::pus::{
+    ActiveRequestMapProvider, ActiveRequestProvider, EcssTcAndToken, EcssTcInMemConverter,
+    EcssTcReceiver, EcssTmSender, EcssTmtcError, GenericConversionError, GenericRoutingError,
+    HandlingStatus, PusPacketHandlingError, PusReplyHandler, PusRequestRouter, PusServiceHelper,
+    PusTcToRequestConverter, TcInMemory,
+};
+use satrs::queue::{GenericReceiveError, GenericSendError};
+use satrs::request::{Apid, GenericMessage, MessageMetadata};
+use satrs::spacepackets::ecss::tc::PusTcReader;
+use satrs::spacepackets::ecss::{PusPacket, PusServiceId};
+use satrs::tmtc::{PacketAsVec, PacketInPool};
+use satrs::ComponentId;
+use satrs_example::config::components::PUS_ROUTING_SERVICE;
 use satrs_example::config::{tmtc_err, CustomPusServiceId};
-use std::sync::mpsc::Sender;
+use satrs_example::TimeStampHelper;
+use std::fmt::Debug;
+use std::sync::mpsc::{self, Sender};
 
 pub mod action;
 pub mod event;
 pub mod hk;
+pub mod mode;
 pub mod scheduler;
 pub mod stack;
 pub mod test;
 
-pub struct PusTcMpscRouter {
-    pub test_service_receiver: Sender<EcssTcAndToken>,
-    pub event_service_receiver: Sender<EcssTcAndToken>,
-    pub sched_service_receiver: Sender<EcssTcAndToken>,
-    pub hk_service_receiver: Sender<EcssTcAndToken>,
-    pub action_service_receiver: Sender<EcssTcAndToken>,
+pub fn create_verification_reporter(owner_id: ComponentId, apid: Apid) -> VerificationReporter {
+    let verif_cfg = VerificationReporterCfg::new(apid, 1, 2, 8).unwrap();
+    // Every software component which needs to generate verification telemetry, gets a cloned
+    // verification reporter.
+    VerificationReporter::new(owner_id, &verif_cfg)
 }
 
-pub struct PusReceiver {
-    pub verif_reporter: StdVerifReporterWithSender,
+/// Simple router structure which forwards PUS telecommands to dedicated handlers.
+pub struct PusTcMpscRouter {
+    pub test_tc_sender: Sender<EcssTcAndToken>,
+    pub event_tc_sender: Sender<EcssTcAndToken>,
+    pub sched_tc_sender: Sender<EcssTcAndToken>,
+    pub hk_tc_sender: Sender<EcssTcAndToken>,
+    pub action_tc_sender: Sender<EcssTcAndToken>,
+    pub mode_tc_sender: Sender<EcssTcAndToken>,
+}
+
+pub struct PusTcDistributor<TmSender: EcssTmSender> {
+    pub id: ComponentId,
+    pub tm_sender: TmSender,
+    pub verif_reporter: VerificationReporter,
     pub pus_router: PusTcMpscRouter,
     stamp_helper: TimeStampHelper,
 }
 
-struct TimeStampHelper {
-    stamper: TimeProvider,
-    time_stamp: [u8; 7],
-}
-
-impl TimeStampHelper {
-    pub fn new() -> Self {
+impl<TmSender: EcssTmSender> PusTcDistributor<TmSender> {
+    pub fn new(tm_sender: TmSender, pus_router: PusTcMpscRouter) -> Self {
         Self {
-            stamper: TimeProvider::new_with_u16_days(0, 0),
-            time_stamp: [0; 7],
-        }
-    }
-
-    pub fn stamp(&self) -> &[u8] {
-        &self.time_stamp
-    }
-
-    pub fn update_from_now(&mut self) {
-        self.stamper
-            .update_from_now()
-            .expect("Updating timestamp failed");
-        self.stamper
-            .write_to_bytes(&mut self.time_stamp)
-            .expect("Writing timestamp failed");
-    }
-}
-
-impl PusReceiver {
-    pub fn new(verif_reporter: StdVerifReporterWithSender, pus_router: PusTcMpscRouter) -> Self {
-        Self {
-            verif_reporter,
+            id: PUS_ROUTING_SERVICE.raw(),
+            tm_sender,
+            verif_reporter: create_verification_reporter(
+                PUS_ROUTING_SERVICE.id(),
+                PUS_ROUTING_SERVICE.apid,
+            ),
             pus_router,
-            stamp_helper: TimeStampHelper::new(),
+            stamp_helper: TimeStampHelper::default(),
         }
     }
-}
 
-impl PusReceiver {
-    pub fn handle_tc_packet(
+    pub fn handle_tc_packet_vec(
         &mut self,
-        tc_in_memory: TcInMemory,
-        service: u8,
-        pus_tc: &PusTcReader,
-    ) -> Result<PusPacketHandlerResult, MpscStoreAndSendError> {
-        let init_token = self.verif_reporter.add_tc(pus_tc);
+        packet_as_vec: PacketAsVec,
+    ) -> Result<HandlingStatus, GenericSendError> {
+        self.handle_tc_generic(packet_as_vec.sender_id, None, &packet_as_vec.packet)
+    }
+
+    pub fn handle_tc_packet_in_store(
+        &mut self,
+        packet_in_pool: PacketInPool,
+        pus_tc_copy: &[u8],
+    ) -> Result<HandlingStatus, GenericSendError> {
+        self.handle_tc_generic(
+            packet_in_pool.sender_id,
+            Some(packet_in_pool.store_addr),
+            pus_tc_copy,
+        )
+    }
+
+    pub fn handle_tc_generic(
+        &mut self,
+        sender_id: ComponentId,
+        addr_opt: Option<PoolAddr>,
+        raw_tc: &[u8],
+    ) -> Result<HandlingStatus, GenericSendError> {
+        let pus_tc_result = PusTcReader::new(raw_tc);
+        if pus_tc_result.is_err() {
+            log::warn!(
+                "error creating PUS TC from raw data received from {}: {}",
+                sender_id,
+                pus_tc_result.unwrap_err()
+            );
+            log::warn!("raw data: {:x?}", raw_tc);
+            // TODO: Shouldn't this be an error?
+            return Ok(HandlingStatus::HandledOne);
+        }
+        let pus_tc = pus_tc_result.unwrap().0;
+        let init_token = self.verif_reporter.add_tc(&pus_tc);
         self.stamp_helper.update_from_now();
         let accepted_token = self
             .verif_reporter
-            .acceptance_success(init_token, Some(self.stamp_helper.stamp()))
+            .acceptance_success(&self.tm_sender, init_token, self.stamp_helper.stamp())
             .expect("Acceptance success failure");
-        let service = PusServiceId::try_from(service);
+        let service = PusServiceId::try_from(pus_tc.service());
+        let tc_in_memory: TcInMemory = if let Some(store_addr) = addr_opt {
+            PacketInPool::new(sender_id, store_addr).into()
+        } else {
+            PacketAsVec::new(sender_id, Vec::from(raw_tc)).into()
+        };
         match service {
             Ok(standard_service) => match standard_service {
-                PusServiceId::Test => {
-                    self.pus_router.test_service_receiver.send(EcssTcAndToken {
-                        tc_in_memory,
-                        token: Some(accepted_token.into()),
-                    })?
-                }
+                PusServiceId::Test => self.pus_router.test_tc_sender.send(EcssTcAndToken {
+                    tc_in_memory,
+                    token: Some(accepted_token.into()),
+                })?,
                 PusServiceId::Housekeeping => {
-                    self.pus_router.hk_service_receiver.send(EcssTcAndToken {
+                    self.pus_router.hk_tc_sender.send(EcssTcAndToken {
                         tc_in_memory,
                         token: Some(accepted_token.into()),
                     })?
                 }
-                PusServiceId::Event => {
-                    self.pus_router
-                        .event_service_receiver
-                        .send(EcssTcAndToken {
-                            tc_in_memory,
-                            token: Some(accepted_token.into()),
-                        })?
-                }
+                PusServiceId::Event => self.pus_router.event_tc_sender.send(EcssTcAndToken {
+                    tc_in_memory,
+                    token: Some(accepted_token.into()),
+                })?,
                 PusServiceId::Scheduling => {
-                    self.pus_router
-                        .sched_service_receiver
-                        .send(EcssTcAndToken {
-                            tc_in_memory,
-                            token: Some(accepted_token.into()),
-                        })?
+                    self.pus_router.sched_tc_sender.send(EcssTcAndToken {
+                        tc_in_memory,
+                        token: Some(accepted_token.into()),
+                    })?
                 }
                 _ => {
                     let result = self.verif_reporter.start_failure(
+                        &self.tm_sender,
                         accepted_token,
                         FailParams::new(
-                            Some(self.stamp_helper.stamp()),
+                            self.stamp_helper.stamp(),
                             &tmtc_err::PUS_SERVICE_NOT_IMPLEMENTED,
-                            Some(&[standard_service as u8]),
+                            &[standard_service as u8],
                         ),
                     );
                     if result.is_err() {
@@ -128,26 +159,625 @@ impl PusReceiver {
             Err(e) => {
                 if let Ok(custom_service) = CustomPusServiceId::try_from(e.number) {
                     match custom_service {
-                        CustomPusServiceId::Mode => {
-                            // TODO: Fix mode service.
-                            //self.handle_mode_service(pus_tc, accepted_token)
-                        }
+                        CustomPusServiceId::Mode => self
+                            .pus_router
+                            .mode_tc_sender
+                            .send(EcssTcAndToken {
+                                tc_in_memory,
+                                token: Some(accepted_token.into()),
+                            })
+                            .map_err(|_| GenericSendError::RxDisconnected)?,
                         CustomPusServiceId::Health => {}
                     }
                 } else {
                     self.verif_reporter
                         .start_failure(
+                            &self.tm_sender,
                             accepted_token,
                             FailParams::new(
-                                Some(self.stamp_helper.stamp()),
+                                self.stamp_helper.stamp(),
                                 &tmtc_err::INVALID_PUS_SUBSERVICE,
-                                Some(&[e.number]),
+                                &[e.number],
                             ),
                         )
                         .expect("Start failure verification failed")
                 }
             }
         }
-        Ok(PusPacketHandlerResult::RequestHandled)
+        Ok(HandlingStatus::HandledOne)
+    }
+}
+
+pub trait TargetedPusService {
+    const SERVICE_ID: u8;
+    const SERVICE_STR: &'static str;
+
+    fn poll_and_handle_next_tc_default_handler(&mut self, time_stamp: &[u8]) -> HandlingStatus {
+        let result = self.poll_and_handle_next_tc(time_stamp);
+        if let Err(e) = result {
+            log::error!(
+                "PUS service {}({})packet handling error: {:?}",
+                Self::SERVICE_ID,
+                Self::SERVICE_STR,
+                e
+            );
+            // To avoid permanent loops on error cases.
+            return HandlingStatus::Empty;
+        }
+        result.unwrap()
+    }
+
+    fn poll_and_handle_next_reply_default_handler(&mut self, time_stamp: &[u8]) -> HandlingStatus {
+        // This only fails if all senders disconnected. Treat it like an empty queue.
+        self.poll_and_handle_next_reply(time_stamp)
+            .unwrap_or_else(|e| {
+                warn!(
+                    "PUS servce {}({}): Handling reply failed with error {:?}",
+                    Self::SERVICE_ID,
+                    Self::SERVICE_STR,
+                    e
+                );
+                HandlingStatus::Empty
+            })
+    }
+
+    fn poll_and_handle_next_tc(
+        &mut self,
+        time_stamp: &[u8],
+    ) -> Result<HandlingStatus, PusPacketHandlingError>;
+
+    fn poll_and_handle_next_reply(
+        &mut self,
+        time_stamp: &[u8],
+    ) -> Result<HandlingStatus, EcssTmtcError>;
+
+    fn check_for_request_timeouts(&mut self);
+}
+
+/// Generic trait for services which handle packets directly. Kept minimal right now because
+/// of the difficulty to allow flexible user code for these services..
+pub trait DirectPusService {
+    const SERVICE_ID: u8;
+    const SERVICE_STR: &'static str;
+
+    fn poll_and_handle_next_tc(&mut self, timestamp: &[u8]) -> HandlingStatus;
+}
+
+/// This is a generic handler class for all PUS services where a PUS telecommand is converted
+/// to a targeted request.
+///
+/// The generic steps for this process are the following
+///
+///  1. Poll for TC packets
+///  2. Convert the raw packets to a [PusTcReader].
+///  3. Convert the PUS TC to a typed request using the [PusTcToRequestConverter].
+///  4. Route the requests using the [GenericRequestRouter].
+///  5. Add the request to the active request map using the [ActiveRequestMapProvider] abstraction.
+///  6. Check for replies which complete the forwarded request. The handler takes care of
+///     the verification process.
+///  7. Check for timeouts of active requests. Generally, the timeout on the service level should
+///     be highest expected timeout for the given target.
+///
+/// The handler exposes the following API:
+///
+///  1. [Self::poll_and_handle_next_tc] which tries to poll and handle one TC packet, covering
+///     steps 1-5.
+///  2. [Self::poll_and_check_next_reply] which tries to poll and handle one reply, covering step 6.
+///  3. [Self::check_for_request_timeouts] which checks for request timeouts, covering step 7.
+pub struct PusTargetedRequestService<
+    TcReceiver: EcssTcReceiver,
+    TmSender: EcssTmSender,
+    TcInMemConverter: EcssTcInMemConverter,
+    VerificationReporter: VerificationReportingProvider,
+    RequestConverter: PusTcToRequestConverter<ActiveRequestInfo, RequestType, Error = GenericConversionError>,
+    ReplyHandler: PusReplyHandler<ActiveRequestInfo, ReplyType, Error = EcssTmtcError>,
+    ActiveRequestMap: ActiveRequestMapProvider<ActiveRequestInfo>,
+    ActiveRequestInfo: ActiveRequestProvider,
+    RequestType,
+    ReplyType,
+> {
+    pub service_helper:
+        PusServiceHelper<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>,
+    pub request_router: GenericRequestRouter,
+    pub request_converter: RequestConverter,
+    pub active_request_map: ActiveRequestMap,
+    pub reply_handler: ReplyHandler,
+    pub reply_receiver: mpsc::Receiver<GenericMessage<ReplyType>>,
+    phantom: std::marker::PhantomData<(RequestType, ActiveRequestInfo, ReplyType)>,
+}
+
+impl<
+        TcReceiver: EcssTcReceiver,
+        TmSender: EcssTmSender,
+        TcInMemConverter: EcssTcInMemConverter,
+        VerificationReporter: VerificationReportingProvider,
+        RequestConverter: PusTcToRequestConverter<ActiveRequestInfo, RequestType, Error = GenericConversionError>,
+        ReplyHandler: PusReplyHandler<ActiveRequestInfo, ReplyType, Error = EcssTmtcError>,
+        ActiveRequestMap: ActiveRequestMapProvider<ActiveRequestInfo>,
+        ActiveRequestInfo: ActiveRequestProvider,
+        RequestType,
+        ReplyType,
+    >
+    PusTargetedRequestService<
+        TcReceiver,
+        TmSender,
+        TcInMemConverter,
+        VerificationReporter,
+        RequestConverter,
+        ReplyHandler,
+        ActiveRequestMap,
+        ActiveRequestInfo,
+        RequestType,
+        ReplyType,
+    >
+where
+    GenericRequestRouter: PusRequestRouter<RequestType, Error = GenericRoutingError>,
+{
+    pub fn new(
+        service_helper: PusServiceHelper<
+            TcReceiver,
+            TmSender,
+            TcInMemConverter,
+            VerificationReporter,
+        >,
+        request_converter: RequestConverter,
+        active_request_map: ActiveRequestMap,
+        reply_hook: ReplyHandler,
+        request_router: GenericRequestRouter,
+        reply_receiver: mpsc::Receiver<GenericMessage<ReplyType>>,
+    ) -> Self {
+        Self {
+            service_helper,
+            request_converter,
+            active_request_map,
+            reply_handler: reply_hook,
+            request_router,
+            reply_receiver,
+            phantom: std::marker::PhantomData,
+        }
+    }
+
+    pub fn poll_and_handle_next_tc(
+        &mut self,
+        time_stamp: &[u8],
+    ) -> Result<HandlingStatus, PusPacketHandlingError> {
+        let possible_packet = self.service_helper.retrieve_and_accept_next_packet()?;
+        if possible_packet.is_none() {
+            return Ok(HandlingStatus::Empty);
+        }
+        let ecss_tc_and_token = possible_packet.unwrap();
+        self.service_helper
+            .tc_in_mem_converter_mut()
+            .cache(&ecss_tc_and_token.tc_in_memory)?;
+        let tc = self.service_helper.tc_in_mem_converter().convert()?;
+        let (mut request_info, request) = match self.request_converter.convert(
+            ecss_tc_and_token.token,
+            &tc,
+            self.service_helper.tm_sender(),
+            &self.service_helper.common.verif_reporter,
+            time_stamp,
+        ) {
+            Ok((info, req)) => (info, req),
+            Err(e) => {
+                self.handle_conversion_to_request_error(&e, ecss_tc_and_token.token, time_stamp);
+                return Err(e.into());
+            }
+        };
+        let accepted_token: VerificationToken<TcStateAccepted> = request_info
+            .token()
+            .try_into()
+            .expect("token not in expected accepted state");
+        let verif_request_id = verification::RequestId::new(&tc).raw();
+        match self.request_router.route(
+            MessageMetadata::new(verif_request_id, self.service_helper.id()),
+            request_info.target_id(),
+            request,
+        ) {
+            Ok(()) => {
+                let started_token = self
+                    .service_helper
+                    .verif_reporter()
+                    .start_success(
+                        &self.service_helper.common.tm_sender,
+                        accepted_token,
+                        time_stamp,
+                    )
+                    .expect("Start success failure");
+                request_info.set_token(started_token.into());
+                self.active_request_map
+                    .insert(&verif_request_id, request_info);
+            }
+            Err(e) => {
+                self.request_router.handle_error_generic(
+                    &request_info,
+                    &tc,
+                    e.clone(),
+                    self.service_helper.tm_sender(),
+                    self.service_helper.verif_reporter(),
+                    time_stamp,
+                );
+                return Err(e.into());
+            }
+        }
+        Ok(HandlingStatus::HandledOne)
+    }
+
+    fn handle_conversion_to_request_error(
+        &mut self,
+        error: &GenericConversionError,
+        token: VerificationToken<TcStateAccepted>,
+        time_stamp: &[u8],
+    ) {
+        match error {
+            GenericConversionError::WrongService(service) => {
+                let service_slice: [u8; 1] = [*service];
+                self.service_helper
+                    .verif_reporter()
+                    .completion_failure(
+                        self.service_helper.tm_sender(),
+                        token,
+                        FailParams::new(time_stamp, &tmtc_err::INVALID_PUS_SERVICE, &service_slice),
+                    )
+                    .expect("Sending completion failure failed");
+            }
+            GenericConversionError::InvalidSubservice(subservice) => {
+                let subservice_slice: [u8; 1] = [*subservice];
+                self.service_helper
+                    .verif_reporter()
+                    .completion_failure(
+                        self.service_helper.tm_sender(),
+                        token,
+                        FailParams::new(
+                            time_stamp,
+                            &tmtc_err::INVALID_PUS_SUBSERVICE,
+                            &subservice_slice,
+                        ),
+                    )
+                    .expect("Sending completion failure failed");
+            }
+            GenericConversionError::NotEnoughAppData { expected, found } => {
+                let mut context_info = (*found as u32).to_be_bytes().to_vec();
+                context_info.extend_from_slice(&(*expected as u32).to_be_bytes());
+                self.service_helper
+                    .verif_reporter()
+                    .completion_failure(
+                        self.service_helper.tm_sender(),
+                        token,
+                        FailParams::new(time_stamp, &tmtc_err::NOT_ENOUGH_APP_DATA, &context_info),
+                    )
+                    .expect("Sending completion failure failed");
+            }
+            // Do nothing.. this is service-level and can not be handled generically here.
+            GenericConversionError::InvalidAppData(_) => (),
+        }
+    }
+
+    pub fn poll_and_handle_next_reply(
+        &mut self,
+        time_stamp: &[u8],
+    ) -> Result<HandlingStatus, EcssTmtcError> {
+        match self.reply_receiver.try_recv() {
+            Ok(reply) => {
+                self.handle_reply(&reply, time_stamp)?;
+                Ok(HandlingStatus::HandledOne)
+            }
+            Err(e) => match e {
+                mpsc::TryRecvError::Empty => Ok(HandlingStatus::Empty),
+                mpsc::TryRecvError::Disconnected => Err(EcssTmtcError::Receive(
+                    GenericReceiveError::TxDisconnected(None),
+                )),
+            },
+        }
+    }
+
+    pub fn handle_reply(
+        &mut self,
+        reply: &GenericMessage<ReplyType>,
+        time_stamp: &[u8],
+    ) -> Result<(), EcssTmtcError> {
+        let active_req_opt = self.active_request_map.get(reply.request_id());
+        if active_req_opt.is_none() {
+            self.reply_handler
+                .handle_unrequested_reply(reply, &self.service_helper.common.tm_sender)?;
+            return Ok(());
+        }
+        let active_request = active_req_opt.unwrap();
+        let result = self.reply_handler.handle_reply(
+            reply,
+            active_request,
+            &self.service_helper.common.tm_sender,
+            &self.service_helper.common.verif_reporter,
+            time_stamp,
+        );
+        if result.is_err() || (result.is_ok() && *result.as_ref().unwrap()) {
+            self.active_request_map.remove(reply.request_id());
+        }
+        result.map(|_| ())
+    }
+
+    pub fn check_for_request_timeouts(&mut self) {
+        let mut requests_to_delete = Vec::new();
+        self.active_request_map
+            .for_each(|request_id, request_info| {
+                if request_info.has_timed_out() {
+                    requests_to_delete.push(*request_id);
+                }
+            });
+        if !requests_to_delete.is_empty() {
+            for request_id in requests_to_delete {
+                self.active_request_map.remove(request_id);
+            }
+        }
+    }
+}
+
+/// Generic timeout handling: Handle the verification failure with a dedicated return code
+/// and also log the error.
+pub fn generic_pus_request_timeout_handler(
+    sender: &(impl EcssTmSender + ?Sized),
+    active_request: &(impl ActiveRequestProvider + Debug),
+    verification_handler: &impl VerificationReportingProvider,
+    time_stamp: &[u8],
+    service_str: &'static str,
+) -> Result<(), EcssTmtcError> {
+    log::warn!("timeout for active request {active_request:?} on {service_str} service");
+    let started_token: VerificationToken<TcStateStarted> = active_request
+        .token()
+        .try_into()
+        .expect("token not in expected started state");
+    verification_handler.completion_failure(
+        sender,
+        started_token,
+        FailParams::new(time_stamp, &tmtc_err::REQUEST_TIMEOUT, &[]),
+    )?;
+    Ok(())
+}
+
+#[cfg(test)]
+pub(crate) mod tests {
+    use std::time::Duration;
+
+    use satrs::pus::test_util::TEST_COMPONENT_ID_0;
+    use satrs::pus::{MpscTmAsVecSender, PusTmVariant};
+    use satrs::request::RequestId;
+    use satrs::{
+        pus::{
+            verification::test_util::TestVerificationReporter, ActivePusRequestStd,
+            ActiveRequestMapProvider, EcssTcInVecConverter, MpscTcReceiver,
+        },
+        request::UniqueApidTargetId,
+        spacepackets::{
+            ecss::{
+                tc::{PusTcCreator, PusTcSecondaryHeader},
+                WritablePusPacket,
+            },
+            SpHeader,
+        },
+    };
+
+    use crate::requests::CompositeRequest;
+
+    use super::*;
+
+    // Testbench dedicated to the testing of [PusReplyHandler]s
+    pub struct ReplyHandlerTestbench<
+        ReplyHandler: PusReplyHandler<ActiveRequestInfo, Reply, Error = EcssTmtcError>,
+        ActiveRequestInfo: ActiveRequestProvider,
+        Reply,
+    > {
+        pub id: ComponentId,
+        pub verif_reporter: TestVerificationReporter,
+        pub reply_handler: ReplyHandler,
+        pub tm_receiver: mpsc::Receiver<PacketAsVec>,
+        pub default_timeout: Duration,
+        tm_sender: MpscTmAsVecSender,
+        phantom: std::marker::PhantomData<(ActiveRequestInfo, Reply)>,
+    }
+
+    impl<
+            ReplyHandler: PusReplyHandler<ActiveRequestInfo, Reply, Error = EcssTmtcError>,
+            ActiveRequestInfo: ActiveRequestProvider,
+            Reply,
+        > ReplyHandlerTestbench<ReplyHandler, ActiveRequestInfo, Reply>
+    {
+        pub fn new(owner_id: ComponentId, reply_handler: ReplyHandler) -> Self {
+            let test_verif_reporter = TestVerificationReporter::new(owner_id);
+            let (tm_sender, tm_receiver) = mpsc::channel();
+            Self {
+                id: TEST_COMPONENT_ID_0.raw(),
+                verif_reporter: test_verif_reporter,
+                reply_handler,
+                default_timeout: Duration::from_secs(30),
+                tm_sender,
+                tm_receiver,
+                phantom: std::marker::PhantomData,
+            }
+        }
+
+        pub fn add_tc(
+            &mut self,
+            apid: u16,
+            apid_target: u32,
+            time_stamp: &[u8],
+        ) -> (verification::RequestId, ActivePusRequestStd) {
+            let sp_header = SpHeader::new_from_apid(apid);
+            let sec_header_dummy = PusTcSecondaryHeader::new_simple(0, 0);
+            let init = self.verif_reporter.add_tc(&PusTcCreator::new(
+                sp_header,
+                sec_header_dummy,
+                &[],
+                true,
+            ));
+            let accepted = self
+                .verif_reporter
+                .acceptance_success(&self.tm_sender, init, time_stamp)
+                .expect("acceptance failed");
+            let started = self
+                .verif_reporter
+                .start_success(&self.tm_sender, accepted, time_stamp)
+                .expect("start failed");
+            (
+                started.request_id(),
+                ActivePusRequestStd::new(
+                    UniqueApidTargetId::new(apid, apid_target).raw(),
+                    started,
+                    self.default_timeout,
+                ),
+            )
+        }
+
+        pub fn handle_reply(
+            &mut self,
+            reply: &GenericMessage<Reply>,
+            active_request: &ActiveRequestInfo,
+            time_stamp: &[u8],
+        ) -> Result<bool, ReplyHandler::Error> {
+            self.reply_handler.handle_reply(
+                reply,
+                active_request,
+                &self.tm_sender,
+                &self.verif_reporter,
+                time_stamp,
+            )
+        }
+
+        pub fn handle_unrequested_reply(
+            &mut self,
+            reply: &GenericMessage<Reply>,
+        ) -> Result<(), ReplyHandler::Error> {
+            self.reply_handler
+                .handle_unrequested_reply(reply, &self.tm_sender)
+        }
+        pub fn handle_request_timeout(
+            &mut self,
+            active_request_info: &ActiveRequestInfo,
+            time_stamp: &[u8],
+        ) -> Result<(), ReplyHandler::Error> {
+            self.reply_handler.handle_request_timeout(
+                active_request_info,
+                &self.tm_sender,
+                &self.verif_reporter,
+                time_stamp,
+            )
+        }
+    }
+
+    #[derive(Default)]
+    pub struct DummySender {}
+
+    /// Dummy sender component which does nothing on the [Self::send_tm] call.
+    ///
+    /// Useful for unit tests.
+    impl EcssTmSender for DummySender {
+        fn send_tm(&self, _source_id: ComponentId, _tm: PusTmVariant) -> Result<(), EcssTmtcError> {
+            Ok(())
+        }
+    }
+
+    // Testbench dedicated to the testing of [PusTcToRequestConverter]s
+    pub struct PusConverterTestbench<
+        Converter: PusTcToRequestConverter<ActiveRequestInfo, Request, Error = GenericConversionError>,
+        ActiveRequestInfo: ActiveRequestProvider,
+        Request,
+    > {
+        pub id: ComponentId,
+        pub verif_reporter: TestVerificationReporter,
+        pub converter: Converter,
+        dummy_sender: DummySender,
+        current_request_id: Option<verification::RequestId>,
+        current_packet: Option<Vec<u8>>,
+        phantom: std::marker::PhantomData<(ActiveRequestInfo, Request)>,
+    }
+
+    impl<
+            Converter: PusTcToRequestConverter<ActiveRequestInfo, Request, Error = GenericConversionError>,
+            ActiveRequestInfo: ActiveRequestProvider,
+            Request,
+        > PusConverterTestbench<Converter, ActiveRequestInfo, Request>
+    {
+        pub fn new(owner_id: ComponentId, converter: Converter) -> Self {
+            let test_verif_reporter = TestVerificationReporter::new(owner_id);
+            Self {
+                id: owner_id,
+                verif_reporter: test_verif_reporter,
+                converter,
+                dummy_sender: DummySender::default(),
+                current_request_id: None,
+                current_packet: None,
+                phantom: std::marker::PhantomData,
+            }
+        }
+
+        pub fn add_tc(&mut self, tc: &PusTcCreator) -> VerificationToken<TcStateAccepted> {
+            let token = self.verif_reporter.add_tc(tc);
+            self.current_request_id = Some(verification::RequestId::new(tc));
+            self.current_packet = Some(tc.to_vec().unwrap());
+            self.verif_reporter
+                .acceptance_success(&self.dummy_sender, token, &[])
+                .expect("acceptance failed")
+        }
+
+        pub fn request_id(&self) -> Option<verification::RequestId> {
+            self.current_request_id
+        }
+
+        pub fn convert(
+            &mut self,
+            token: VerificationToken<TcStateAccepted>,
+            time_stamp: &[u8],
+            expected_apid: u16,
+            expected_apid_target: u32,
+        ) -> Result<(ActiveRequestInfo, Request), Converter::Error> {
+            if self.current_packet.is_none() {
+                return Err(GenericConversionError::InvalidAppData(
+                    "call add_tc first".to_string(),
+                ));
+            }
+            let current_packet = self.current_packet.take().unwrap();
+            let tc_reader = PusTcReader::new(&current_packet).unwrap();
+            let (active_info, request) = self.converter.convert(
+                token,
+                &tc_reader.0,
+                &self.dummy_sender,
+                &self.verif_reporter,
+                time_stamp,
+            )?;
+            assert_eq!(
+                active_info.token().request_id(),
+                self.request_id().expect("no request id is set")
+            );
+            assert_eq!(
+                active_info.target_id(),
+                UniqueApidTargetId::new(expected_apid, expected_apid_target).raw()
+            );
+            Ok((active_info, request))
+        }
+    }
+
+    pub struct TargetedPusRequestTestbench<
+        RequestConverter: PusTcToRequestConverter<ActiveRequestInfo, RequestType, Error = GenericConversionError>,
+        ReplyHandler: PusReplyHandler<ActiveRequestInfo, ReplyType, Error = EcssTmtcError>,
+        ActiveRequestMap: ActiveRequestMapProvider<ActiveRequestInfo>,
+        ActiveRequestInfo: ActiveRequestProvider,
+        RequestType,
+        ReplyType,
+    > {
+        pub service: PusTargetedRequestService<
+            MpscTcReceiver,
+            MpscTmAsVecSender,
+            EcssTcInVecConverter,
+            TestVerificationReporter,
+            RequestConverter,
+            ReplyHandler,
+            ActiveRequestMap,
+            ActiveRequestInfo,
+            RequestType,
+            ReplyType,
+        >,
+        pub request_id: Option<RequestId>,
+        pub tm_funnel_rx: mpsc::Receiver<PacketAsVec>,
+        pub pus_packet_tx: mpsc::Sender<EcssTcAndToken>,
+        pub reply_tx: mpsc::Sender<GenericMessage<ReplyType>>,
+        pub request_rx: mpsc::Receiver<GenericMessage<CompositeRequest>>,
     }
 }

satrs-example/src/pus/mode.rs

@@ -0,0 +1,416 @@
+use derive_new::new;
+use satrs::tmtc::{PacketAsVec, PacketSenderWithSharedPool};
+use std::sync::mpsc;
+use std::time::Duration;
+
+use crate::requests::GenericRequestRouter;
+use satrs::pool::SharedStaticMemoryPool;
+use satrs::pus::verification::VerificationReporter;
+use satrs::pus::{
+    DefaultActiveRequestMap, EcssTcAndToken, EcssTcInMemConverter, EcssTcInSharedStoreConverter,
+    EcssTcInVecConverter, MpscTcReceiver, MpscTmAsVecSender, PusPacketHandlingError,
+    PusServiceHelper,
+};
+use satrs::request::GenericMessage;
+use satrs::{
+    mode::{ModeAndSubmode, ModeReply, ModeRequest},
+    pus::{
+        mode::Subservice,
+        verification::{
+            self, FailParams, TcStateAccepted, TcStateStarted, VerificationReportingProvider,
+            VerificationToken,
+        },
+        ActivePusRequestStd, ActiveRequestProvider, EcssTmSender, EcssTmtcError,
+        GenericConversionError, PusReplyHandler, PusTcToRequestConverter, PusTmVariant,
+    },
+    request::UniqueApidTargetId,
+    spacepackets::{
+        ecss::{
+            tc::PusTcReader,
+            tm::{PusTmCreator, PusTmSecondaryHeader},
+            PusPacket,
+        },
+        SpHeader,
+    },
+    ComponentId,
+};
+use satrs_example::config::components::PUS_MODE_SERVICE;
+use satrs_example::config::{mode_err, tmtc_err, CustomPusServiceId};
+
+use super::{
+    create_verification_reporter, generic_pus_request_timeout_handler, HandlingStatus,
+    PusTargetedRequestService, TargetedPusService,
+};
+
+#[derive(new)]
+pub struct ModeReplyHandler {
+    owner_id: ComponentId,
+}
+
+impl PusReplyHandler<ActivePusRequestStd, ModeReply> for ModeReplyHandler {
+    type Error = EcssTmtcError;
+
+    fn handle_unrequested_reply(
+        &mut self,
+        reply: &GenericMessage<ModeReply>,
+        _tm_sender: &impl EcssTmSender,
+    ) -> Result<(), Self::Error> {
+        log::warn!("received unexpected reply for mode service 5: {reply:?}");
+        Ok(())
+    }
+
+    fn handle_reply(
+        &mut self,
+        reply: &GenericMessage<ModeReply>,
+        active_request: &ActivePusRequestStd,
+        tm_sender: &impl EcssTmSender,
+        verification_handler: &impl VerificationReportingProvider,
+        time_stamp: &[u8],
+    ) -> Result<bool, Self::Error> {
+        let started_token: VerificationToken<TcStateStarted> = active_request
+            .token()
+            .try_into()
+            .expect("invalid token state");
+        match reply.message {
+            ModeReply::ModeReply(mode_reply) => {
+                let mut source_data: [u8; 12] = [0; 12];
+                mode_reply
+                    .write_to_be_bytes(&mut source_data)
+                    .expect("writing mode reply failed");
+                let req_id = verification::RequestId::from(reply.request_id());
+                let sp_header = SpHeader::new_for_unseg_tm(req_id.packet_id().apid(), 0, 0);
+                let sec_header =
+                    PusTmSecondaryHeader::new(200, Subservice::TmModeReply as u8, 0, 0, time_stamp);
+                let pus_tm = PusTmCreator::new(sp_header, sec_header, &source_data, true);
+                tm_sender.send_tm(self.owner_id, PusTmVariant::Direct(pus_tm))?;
+                verification_handler.completion_success(tm_sender, started_token, time_stamp)?;
+            }
+            ModeReply::CantReachMode(error_code) => {
+                verification_handler.completion_failure(
+                    tm_sender,
+                    started_token,
+                    FailParams::new(time_stamp, &error_code, &[]),
+                )?;
+            }
+            ModeReply::WrongMode { expected, reached } => {
+                let mut error_info: [u8; 24] = [0; 24];
+                let mut written_len = expected
+                    .write_to_be_bytes(&mut error_info[0..ModeAndSubmode::RAW_LEN])
+                    .expect("writing expected mode failed");
+                written_len += reached
+                    .write_to_be_bytes(&mut error_info[ModeAndSubmode::RAW_LEN..])
+                    .expect("writing reached mode failed");
+                verification_handler.completion_failure(
+                    tm_sender,
+                    started_token,
+                    FailParams::new(
+                        time_stamp,
+                        &mode_err::WRONG_MODE,
+                        &error_info[..written_len],
+                    ),
+                )?;
+            }
+        };
+        Ok(true)
+    }
+
+    fn handle_request_timeout(
+        &mut self,
+        active_request: &ActivePusRequestStd,
+        tm_sender: &impl EcssTmSender,
+        verification_handler: &impl VerificationReportingProvider,
+        time_stamp: &[u8],
+    ) -> Result<(), Self::Error> {
+        generic_pus_request_timeout_handler(
+            tm_sender,
+            active_request,
+            verification_handler,
+            time_stamp,
+            "HK",
+        )?;
+        Ok(())
+    }
+}
+
+#[derive(Default)]
+pub struct ModeRequestConverter {}
+
+impl PusTcToRequestConverter<ActivePusRequestStd, ModeRequest> for ModeRequestConverter {
+    type Error = GenericConversionError;
+
+    fn convert(
+        &mut self,
+        token: VerificationToken<TcStateAccepted>,
+        tc: &PusTcReader,
+        tm_sender: &(impl EcssTmSender + ?Sized),
+        verif_reporter: &impl VerificationReportingProvider,
+        time_stamp: &[u8],
+    ) -> Result<(ActivePusRequestStd, ModeRequest), Self::Error> {
+        let subservice = tc.subservice();
+        let user_data = tc.user_data();
+        let not_enough_app_data = |expected: usize| {
+            verif_reporter
+                .start_failure(
+                    tm_sender,
+                    token,
+                    FailParams::new_no_fail_data(time_stamp, &tmtc_err::NOT_ENOUGH_APP_DATA),
+                )
+                .expect("Sending start failure failed");
+            Err(GenericConversionError::NotEnoughAppData {
+                expected,
+                found: user_data.len(),
+            })
+        };
+        if user_data.len() < core::mem::size_of::<u32>() {
+            return not_enough_app_data(4);
+        }
+        let target_id_and_apid = UniqueApidTargetId::from_pus_tc(tc).unwrap();
+        let active_request =
+            ActivePusRequestStd::new(target_id_and_apid.into(), token, Duration::from_secs(30));
+        let subservice_typed = Subservice::try_from(subservice);
+        let invalid_subservice = || {
+            // Invalid subservice
+            verif_reporter
+                .start_failure(
+                    tm_sender,
+                    token,
+                    FailParams::new_no_fail_data(time_stamp, &tmtc_err::INVALID_PUS_SUBSERVICE),
+                )
+                .expect("Sending start failure failed");
+            Err(GenericConversionError::InvalidSubservice(subservice))
+        };
+        if subservice_typed.is_err() {
+            return invalid_subservice();
+        }
+        let subservice_typed = subservice_typed.unwrap();
+        match subservice_typed {
+            Subservice::TcSetMode => {
+                if user_data.len() < core::mem::size_of::<u32>() + ModeAndSubmode::RAW_LEN {
+                    return not_enough_app_data(4 + ModeAndSubmode::RAW_LEN);
+                }
+                let mode_and_submode = ModeAndSubmode::from_be_bytes(&tc.user_data()[4..])
+                    .expect("mode and submode extraction failed");
+                Ok((active_request, ModeRequest::SetMode(mode_and_submode)))
+            }
+            Subservice::TcReadMode => Ok((active_request, ModeRequest::ReadMode)),
+            Subservice::TcAnnounceMode => Ok((active_request, ModeRequest::AnnounceMode)),
+            Subservice::TcAnnounceModeRecursive => {
+                Ok((active_request, ModeRequest::AnnounceModeRecursive))
+            }
+            _ => invalid_subservice(),
+        }
+    }
+}
+
+pub fn create_mode_service_static(
+    tm_sender: PacketSenderWithSharedPool,
+    tc_pool: SharedStaticMemoryPool,
+    pus_action_rx: mpsc::Receiver<EcssTcAndToken>,
+    mode_router: GenericRequestRouter,
+    reply_receiver: mpsc::Receiver<GenericMessage<ModeReply>>,
+) -> ModeServiceWrapper<PacketSenderWithSharedPool, EcssTcInSharedStoreConverter> {
+    let mode_request_handler = PusTargetedRequestService::new(
+        PusServiceHelper::new(
+            PUS_MODE_SERVICE.id(),
+            pus_action_rx,
+            tm_sender,
+            create_verification_reporter(PUS_MODE_SERVICE.id(), PUS_MODE_SERVICE.apid),
+            EcssTcInSharedStoreConverter::new(tc_pool, 2048),
+        ),
+        ModeRequestConverter::default(),
+        DefaultActiveRequestMap::default(),
+        ModeReplyHandler::new(PUS_MODE_SERVICE.id()),
+        mode_router,
+        reply_receiver,
+    );
+    ModeServiceWrapper {
+        service: mode_request_handler,
+    }
+}
+
+pub fn create_mode_service_dynamic(
+    tm_funnel_tx: mpsc::Sender<PacketAsVec>,
+    pus_action_rx: mpsc::Receiver<EcssTcAndToken>,
+    mode_router: GenericRequestRouter,
+    reply_receiver: mpsc::Receiver<GenericMessage<ModeReply>>,
+) -> ModeServiceWrapper<MpscTmAsVecSender, EcssTcInVecConverter> {
+    let mode_request_handler = PusTargetedRequestService::new(
+        PusServiceHelper::new(
+            PUS_MODE_SERVICE.id(),
+            pus_action_rx,
+            tm_funnel_tx,
+            create_verification_reporter(PUS_MODE_SERVICE.id(), PUS_MODE_SERVICE.apid),
+            EcssTcInVecConverter::default(),
+        ),
+        ModeRequestConverter::default(),
+        DefaultActiveRequestMap::default(),
+        ModeReplyHandler::new(PUS_MODE_SERVICE.id()),
+        mode_router,
+        reply_receiver,
+    );
+    ModeServiceWrapper {
+        service: mode_request_handler,
+    }
+}
+
+pub struct ModeServiceWrapper<TmSender: EcssTmSender, TcInMemConverter: EcssTcInMemConverter> {
+    pub(crate) service: PusTargetedRequestService<
+        MpscTcReceiver,
+        TmSender,
+        TcInMemConverter,
+        VerificationReporter,
+        ModeRequestConverter,
+        ModeReplyHandler,
+        DefaultActiveRequestMap<ActivePusRequestStd>,
+        ActivePusRequestStd,
+        ModeRequest,
+        ModeReply,
+    >,
+}
+
+impl<TmSender: EcssTmSender, TcInMemConverter: EcssTcInMemConverter> TargetedPusService
+    for ModeServiceWrapper<TmSender, TcInMemConverter>
+{
+    const SERVICE_ID: u8 = CustomPusServiceId::Mode as u8;
+    const SERVICE_STR: &'static str = "mode";
+
+    delegate::delegate! {
+        to self.service {
+            fn poll_and_handle_next_tc(
+                &mut self,
+                time_stamp: &[u8],
+            ) -> Result<HandlingStatus, PusPacketHandlingError>;
+
+            fn poll_and_handle_next_reply(
+                &mut self,
+                time_stamp: &[u8],
+            ) -> Result<HandlingStatus, EcssTmtcError>;
+
+            fn check_for_request_timeouts(&mut self);
+        }
+    }
+}
+
+#[cfg(test)]
+mod tests {
+    use satrs::pus::test_util::{TEST_APID, TEST_COMPONENT_ID_0, TEST_UNIQUE_ID_0};
+    use satrs::request::MessageMetadata;
+    use satrs::{
+        mode::{ModeAndSubmode, ModeReply, ModeRequest},
+        pus::mode::Subservice,
+        request::GenericMessage,
+        spacepackets::{
+            ecss::tc::{PusTcCreator, PusTcSecondaryHeader},
+            SpHeader,
+        },
+    };
+    use satrs_example::config::tmtc_err;
+
+    use crate::pus::{
+        mode::ModeReplyHandler,
+        tests::{PusConverterTestbench, ReplyHandlerTestbench},
+    };
+
+    use super::ModeRequestConverter;
+
+    #[test]
+    fn mode_converter_read_mode_request() {
+        let mut testbench =
+            PusConverterTestbench::new(TEST_COMPONENT_ID_0.id(), ModeRequestConverter::default());
+        let sp_header = SpHeader::new_for_unseg_tc(TEST_APID, 0, 0);
+        let sec_header = PusTcSecondaryHeader::new_simple(200, Subservice::TcReadMode as u8);
+        let mut app_data: [u8; 4] = [0; 4];
+        app_data[0..4].copy_from_slice(&TEST_UNIQUE_ID_0.to_be_bytes());
+        let tc = PusTcCreator::new(sp_header, sec_header, &app_data, true);
+        let token = testbench.add_tc(&tc);
+        let (_active_req, req) = testbench
+            .convert(token, &[], TEST_APID, TEST_UNIQUE_ID_0)
+            .expect("conversion has failed");
+        assert_eq!(req, ModeRequest::ReadMode);
+    }
+
+    #[test]
+    fn mode_converter_set_mode_request() {
+        let mut testbench =
+            PusConverterTestbench::new(TEST_COMPONENT_ID_0.id(), ModeRequestConverter::default());
+        let sp_header = SpHeader::new_for_unseg_tc(TEST_APID, 0, 0);
+        let sec_header = PusTcSecondaryHeader::new_simple(200, Subservice::TcSetMode as u8);
+        let mut app_data: [u8; 4 + ModeAndSubmode::RAW_LEN] = [0; 4 + ModeAndSubmode::RAW_LEN];
+        let mode_and_submode = ModeAndSubmode::new(2, 1);
+        app_data[0..4].copy_from_slice(&TEST_UNIQUE_ID_0.to_be_bytes());
+        mode_and_submode
+            .write_to_be_bytes(&mut app_data[4..])
+            .unwrap();
+        let tc = PusTcCreator::new(sp_header, sec_header, &app_data, true);
+        let token = testbench.add_tc(&tc);
+        let (_active_req, req) = testbench
+            .convert(token, &[], TEST_APID, TEST_UNIQUE_ID_0)
+            .expect("conversion has failed");
+        assert_eq!(req, ModeRequest::SetMode(mode_and_submode));
+    }
+
+    #[test]
+    fn mode_converter_announce_mode() {
+        let mut testbench =
+            PusConverterTestbench::new(TEST_COMPONENT_ID_0.id(), ModeRequestConverter::default());
+        let sp_header = SpHeader::new_for_unseg_tc(TEST_APID, 0, 0);
+        let sec_header = PusTcSecondaryHeader::new_simple(200, Subservice::TcAnnounceMode as u8);
+        let mut app_data: [u8; 4] = [0; 4];
+        app_data[0..4].copy_from_slice(&TEST_UNIQUE_ID_0.to_be_bytes());
+        let tc = PusTcCreator::new(sp_header, sec_header, &app_data, true);
+        let token = testbench.add_tc(&tc);
+        let (_active_req, req) = testbench
+            .convert(token, &[], TEST_APID, TEST_UNIQUE_ID_0)
+            .expect("conversion has failed");
+        assert_eq!(req, ModeRequest::AnnounceMode);
+    }
+
+    #[test]
+    fn mode_converter_announce_mode_recursively() {
+        let mut testbench =
+            PusConverterTestbench::new(TEST_COMPONENT_ID_0.id(), ModeRequestConverter::default());
+        let sp_header = SpHeader::new_for_unseg_tc(TEST_APID, 0, 0);
+        let sec_header =
+            PusTcSecondaryHeader::new_simple(200, Subservice::TcAnnounceModeRecursive as u8);
+        let mut app_data: [u8; 4] = [0; 4];
+        app_data[0..4].copy_from_slice(&TEST_UNIQUE_ID_0.to_be_bytes());
+        let tc = PusTcCreator::new(sp_header, sec_header, &app_data, true);
+        let token = testbench.add_tc(&tc);
+        let (_active_req, req) = testbench
+            .convert(token, &[], TEST_APID, TEST_UNIQUE_ID_0)
+            .expect("conversion has failed");
+        assert_eq!(req, ModeRequest::AnnounceModeRecursive);
+    }
+
+    #[test]
+    fn reply_handling_unrequested_reply() {
+        let mut testbench = ReplyHandlerTestbench::new(
+            TEST_COMPONENT_ID_0.id(),
+            ModeReplyHandler::new(TEST_COMPONENT_ID_0.id()),
+        );
+        let mode_reply = ModeReply::ModeReply(ModeAndSubmode::new(5, 1));
+        let unrequested_reply =
+            GenericMessage::new(MessageMetadata::new(10_u32, 15_u64), mode_reply);
+        // Right now this function does not do a lot. We simply check that it does not panic or do
+        // weird stuff.
+        let result = testbench.handle_unrequested_reply(&unrequested_reply);
+        assert!(result.is_ok());
+    }
+
+    #[test]
+    fn reply_handling_reply_timeout() {
+        let mut testbench = ReplyHandlerTestbench::new(
+            TEST_COMPONENT_ID_0.id(),
+            ModeReplyHandler::new(TEST_COMPONENT_ID_0.id()),
+        );
+        let (req_id, active_request) = testbench.add_tc(TEST_APID, TEST_UNIQUE_ID_0, &[]);
+        let result = testbench.handle_request_timeout(&active_request, &[]);
+        assert!(result.is_ok());
+        testbench.verif_reporter.assert_completion_failure(
+            TEST_COMPONENT_ID_0.raw(),
+            req_id,
+            None,
+            tmtc_err::REQUEST_TIMEOUT.raw() as u64,
+        );
+    }
+}