Merge pull request 'bump example patch version' (#129 ) from prepare-example-release into main

Reviewed-on: #129
bump example patch version
2024-02-21 13:51:49 +01:00 · 2024-02-21 11:34:35 +01:00 · 2024-02-21 11:34:07 +01:00 · 2024-02-21 11:22:16 +01:00 · 2024-02-21 11:13:05 +01:00 · 2024-02-21 11:08:22 +01:00
126 changed files with 7488 additions and 1895 deletions
--- a/Cargo.toml
+++ b/Cargo.toml
@ -1,9 +1,10 @@
 [workspace]
 resolver = "2"
 members = [
-    "satrs-core",
+    "satrs",
    "satrs-mib",
    "satrs-example",
+    "satrs-shared",
 ]

 exclude = [
--- a/README.md
+++ b/README.md
@ -1,5 +1,10 @@
 <p align="center"> <img src="misc/satrs-logo.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
 =========

@ -7,7 +12,7 @@ This is the repository of the sat-rs framework. Its primary goal is to provide r
 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/).

 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
@ -22,12 +27,12 @@ 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
@ -41,7 +46,7 @@ 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
--- a/automation/Dockerfile
+++ b/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 && \
--- a/automation/Jenkinsfile
+++ b/automation/Jenkinsfile
@ -32,7 +32,7 @@ pipeline {
    }
    stage('Test') {
      steps {
-        sh 'cargo test --all-features'
+        sh 'cargo nextest r --all-features'
      }
    }
    stage('Check with all features') {
@ -47,7 +47,7 @@ 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') {
--- a/coverage.py
+++ b/coverage.py
@ -43,8 +43,8 @@ def main():
    parser.add_argument(
        "-p",
        "--package",
-        choices=["satrs-core"],
-        default="satrs-core",
+        choices=["satrs"],
+        default="satrs",
        help="Choose project to generate coverage for",
    )
    parser.add_argument(
--- a/images/mode-tree/mode-tree.graphml
+++ b/images/mode-tree/mode-tree.graphml
@ -0,0 +1,650 @@
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--- a/images/mode-tree/mode-tree.pdf
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--- a/images/satrs-example-dataflow/satrs-example-dataflow.pdf
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--- a/satrs-book/README.md
+++ b/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
--- a/satrs-book/src/communication.md
+++ b/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/host/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).
+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 framework 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).

--- a/satrs-book/src/constrained-systems.md
+++ b/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
--- a/satrs-book/src/example.md
+++ b/satrs-book/src/example.md
@ -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.

--- a/satrs-book/src/images/pools/static-pools.png
+++ b/satrs-book/src/images/pools/static-pools.png
--- a/satrs-core/README.md
+++ b/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).
-
--- a/satrs-core/src/hk.rs
+++ b/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,
-}
--- a/satrs-core/src/pus/hk.rs
+++ b/satrs-core/src/pus/hk.rs
@ -1 +0,0 @@
-pub use spacepackets::ecss::hk::*;
--- a/satrs-core/src/request.rs
+++ b/satrs-core/src/request.rs
@ -1 +0,0 @@
-
--- a/satrs-example/Cargo.toml
+++ b/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"
@ -19,13 +19,13 @@ num_enum = "0.7"
 thiserror = "1"
 derive-new = "0.5"

-[dependencies.satrs-core]
-# version = "0.1.0-alpha.1"
-path = "../satrs-core"
+[dependencies.satrs]
+version = "0.2.0-rc.0"
+# path = "../satrs"

 [dependencies.satrs-mib]
-# version = "0.1.0-alpha.1"
-path = "../satrs-mib"
+version = "0.1.1"
+# path = "../satrs-mib"

 [features]
 dyn_tmtc = []
--- a/satrs-example/satrs-tmtc/.gitignore
+++ b/satrs-example/satrs-tmtc/.gitignore
--- a/satrs-example/satrs-tmtc/common.py
+++ b/satrs-example/satrs-tmtc/common.py
--- a/satrs-example/satrs-tmtc/main.py
+++ b/satrs-example/satrs-tmtc/main.py
--- a/satrs-example/satrs-tmtc/pus_tc.py
+++ b/satrs-example/satrs-tmtc/pus_tc.py
--- a/satrs-example/satrs-tmtc/pus_tm.py
+++ b/satrs-example/satrs-tmtc/pus_tm.py
--- a/satrs-example/satrs-tmtc/requirements.txt
+++ b/satrs-example/satrs-tmtc/requirements.txt
--- a/satrs-example/satrs-tmtc/tc_definitions.py
+++ b/satrs-example/satrs-tmtc/tc_definitions.py
--- a/satrs-example/satrs-tmtc/tmtc_conf.json
+++ b/satrs-example/satrs-tmtc/tmtc_conf.json
--- a/satrs-example/src/acs.rs
+++ b/satrs-example/src/acs.rs
@ -1,10 +1,11 @@
 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::{
+use satrs::pus::verification::{VerificationReporterWithSender, VerificationReportingProvider};
+use satrs::pus::{EcssTmSender, PusTmWrapper};
+use satrs::request::TargetAndApidId;
+use satrs::spacepackets::ecss::hk::Subservice as HkSubservice;
+use satrs::{
    hk::HkRequest,
    spacepackets::{
        ecss::tm::{PusTmCreator, PusTmSecondaryHeader},
@ -70,12 +71,12 @@ impl AcsTask {
                    "ACS thread: Received HK request {:?}",
                    request.targeted_request
                );
+                let target_and_apid_id = TargetAndApidId::from(request.targeted_request.target_id);
                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::OneShot(unique_id) => {
+                            self.handle_hk_request(target_and_apid_id.target(), unique_id)
+                        }
                        HkRequest::Enable(_) => {}
                        HkRequest::Disable(_) => {}
                        HkRequest::ModifyCollectionInterval(_, _) => {}
@ -89,10 +90,10 @@ impl AcsTask {
                }
                let started_token = self
                    .verif_reporter
-                    .start_success(request.token, Some(&self.timestamp))
+                    .start_success(request.token, &self.timestamp)
                    .expect("Sending start success failed");
                self.verif_reporter
-                    .completion_success(started_token, Some(&self.timestamp))
+                    .completion_success(started_token, &self.timestamp)
                    .expect("Sending completion success failed");
                true
            }
--- a/satrs-example/src/bin/simpleclient.rs
+++ b/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,
 };
--- a/satrs-example/src/ccsds.rs
+++ b/satrs-example/src/ccsds.rs
@ -1,6 +1,6 @@
-use satrs_core::pus::ReceivesEcssPusTc;
-use satrs_core::spacepackets::{CcsdsPacket, SpHeader};
-use satrs_core::tmtc::{CcsdsPacketHandler, ReceivesCcsdsTc};
+use satrs::pus::ReceivesEcssPusTc;
+use satrs::spacepackets::{CcsdsPacket, SpHeader};
+use satrs::tmtc::{CcsdsPacketHandler, ReceivesCcsdsTc};
 use satrs_example::config::PUS_APID;

 #[derive(Clone)]
--- a/satrs-example/src/config.rs
+++ b/satrs-example/src/config.rs
@ -1,10 +1,10 @@
-use satrs_core::res_code::ResultU16;
+use satrs::res_code::ResultU16;
 use satrs_mib::res_code::ResultU16Info;
 use satrs_mib::resultcode;
 use std::net::Ipv4Addr;

 use num_enum::{IntoPrimitive, TryFromPrimitive};
-use satrs_core::{
+use satrs::{
    events::{EventU32TypedSev, SeverityInfo},
    pool::{StaticMemoryPool, StaticPoolConfig},
 };
@ -42,24 +42,31 @@ 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 = "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,
    ];
 }
@ -69,13 +76,20 @@ 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)]
@ -103,34 +117,43 @@ pub mod pool {
    use super::*;
    pub fn create_static_pools() -> (StaticMemoryPool, StaticMemoryPool) {
        (
-            StaticMemoryPool::new(StaticPoolConfig::new(vec![
+            StaticMemoryPool::new(StaticPoolConfig::new(
+                vec![
                    (30, 32),
                    (15, 64),
                    (15, 128),
                    (15, 256),
                    (15, 1024),
                    (15, 2048),
-            ])),
-            StaticMemoryPool::new(StaticPoolConfig::new(vec![
+                ],
+                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![
+        StaticMemoryPool::new(StaticPoolConfig::new(
+            vec![
                (30, 32),
                (15, 64),
                (15, 128),
                (15, 256),
                (15, 1024),
                (15, 2048),
-        ]))
+            ],
+            true,
+        ))
    }
 }

--- a/satrs-example/src/events.rs
+++ b/satrs-example/src/events.rs
@ -1,6 +1,6 @@
 use std::sync::mpsc::{self, SendError};

-use satrs_core::{
+use satrs::{
    event_man::{
        EventManager, EventManagerWithMpscQueue, MpscEventReceiver, MpscEventU32SendProvider,
        SendEventProvider,
@ -12,7 +12,10 @@ use satrs_core::{
            DefaultPusMgmtBackendProvider, EventReporter, EventRequest, EventRequestWithToken,
            PusEventDispatcher,
        },
-        verification::{TcStateStarted, VerificationReporterWithSender, VerificationToken},
+        verification::{
+            TcStateStarted, VerificationReporterWithSender, VerificationReportingProvider,
+            VerificationToken,
+        },
        EcssTmSender,
    },
    spacepackets::time::cds::{self, TimeProvider},
@ -73,7 +76,7 @@ impl PusEventHandler {
                .try_into()
                .expect("expected start verification token");
            self.verif_handler
-                .completion_success(started_token, Some(timestamp))
+                .completion_success(started_token, timestamp)
                .expect("Sending completion success failed");
        };
        // handle event requests
--- a/satrs-example/src/hk.rs
+++ b/satrs-example/src/hk.rs
@ -1,5 +1,5 @@
 use derive_new::new;
-use satrs_core::spacepackets::ByteConversionError;
+use satrs::spacepackets::ByteConversionError;

 #[derive(Debug, Copy, Clone, PartialEq, Eq)]
 pub enum AcsHkIds {
--- a/satrs-example/src/lib.rs
+++ b/satrs-example/src/lib.rs
@ -1,59 +1 @@
-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;
-
 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),
-}
-
-// TODO: can these stay pub?
-#[derive(Copy, Clone, PartialEq, Eq, Hash, Debug, new)]
-pub struct TargetIdWithApid {
-    pub apid: Apid,
-    pub target: TargetId,
-}
-
-impl fmt::Display for TargetIdWithApid {
-    fn fmt(&self, f: &mut fmt::Formatter) -> fmt::Result {
-        write!(f, "{}, {}", self.apid, self.target)
-    }
-}
-
-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());
-        }
-        Ok(Self {
-            apid: tc.apid(),
-            target: u32::from_be_bytes(tc.user_data()[0..4].try_into().unwrap()),
-        })
-    }
-}
--- a/satrs-example/src/main.rs
+++ b/satrs-example/src/main.rs
@ -15,9 +15,10 @@ use crate::pus::stack::PusStack;
 use crate::tm_funnel::{TmFunnelDynamic, TmFunnelStatic};
 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::TargetAndApidId;
+use satrs::tmtc::tm_helper::SharedTmPool;
 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,
@ -35,20 +36,18 @@ use crate::pus::hk::{create_hk_service_dynamic, create_hk_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::requests::{GenericRequestRouter, 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 satrs::pus::event_man::EventRequestWithToken;
+use satrs::pus::verification::{VerificationReporterCfg, VerificationReporterWithSender};
+use satrs::pus::{EcssTmSender, MpscTmAsVecSender, MpscTmInSharedPoolSender};
+use satrs::spacepackets::{time::cds::TimeProvider, time::TimeWriter};
+use satrs::tmtc::CcsdsDistributor;
+use satrs::ChannelId;
 use std::net::{IpAddr, SocketAddr};
 use std::sync::mpsc::{self, channel};
 use std::sync::{Arc, RwLock};
@ -82,11 +81,11 @@ fn static_tmtc_pool_main() {
        tm_funnel_tx.clone(),
    ));

-    let acs_target_id = TargetIdWithApid::new(PUS_APID, RequestTargetId::AcsSubsystem as TargetId);
+    let acs_target_id = TargetAndApidId::new(PUS_APID, RequestTargetId::AcsSubsystem as u32);
    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.0.insert(acs_target_id.into(), acs_thread_tx);

    // This helper structure is used by all telecommand providers which need to send telecommands
    // to the TC source.
@ -310,11 +309,11 @@ fn dyn_tmtc_pool_main() {
        tm_funnel_tx.clone(),
    ));

-    let acs_target_id = TargetIdWithApid::new(PUS_APID, RequestTargetId::AcsSubsystem as TargetId);
+    let acs_target_id = TargetAndApidId::new(PUS_APID, RequestTargetId::AcsSubsystem as u32);
    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.0.insert(acs_target_id.into(), acs_thread_tx);

    let tc_source = PusTcSourceProviderDynamic(tc_source_tx);

--- a/satrs-example/src/pus/action.rs
+++ b/satrs-example/src/pus/action.rs
@ -1,22 +1,76 @@
-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 satrs::action::ActionRequest;
+use satrs::pool::{SharedStaticMemoryPool, StoreAddr};
+use satrs::pus::action::{PusActionToRequestConverter, PusService8ActionHandler};
+use satrs::pus::verification::{
+    FailParams, TcStateAccepted, VerificationReporterWithSender, VerificationReportingProvider,
+    VerificationToken,
 };
-use satrs_core::pus::{
+use satrs::pus::{
    EcssTcAndToken, EcssTcInMemConverter, EcssTcInSharedStoreConverter, EcssTcInVecConverter,
-    EcssTcReceiver, EcssTmSender, MpscTcReceiver, MpscTmAsVecSender, MpscTmInSharedPoolSender,
-    PusPacketHandlerResult, PusPacketHandlingError, PusServiceBase, PusServiceHelper,
+    MpscTcReceiver, MpscTmAsVecSender, MpscTmInSharedPoolSender, PusPacketHandlerResult,
+    PusPacketHandlingError, PusServiceHelper,
 };
-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::request::TargetAndApidId;
+use satrs::spacepackets::ecss::tc::PusTcReader;
+use satrs::spacepackets::ecss::PusPacket;
+use satrs::tmtc::tm_helper::SharedTmPool;
+use satrs::{ChannelId, TargetId};
 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 std::sync::mpsc::{self};
+
+use crate::requests::GenericRequestRouter;
+
+use super::GenericRoutingErrorHandler;
+
+#[derive(Default)]
+pub struct ExampleActionRequestConverter {}
+
+impl PusActionToRequestConverter for ExampleActionRequestConverter {
+    type Error = PusPacketHandlingError;
+
+    fn convert(
+        &mut self,
+        token: VerificationToken<TcStateAccepted>,
+        tc: &PusTcReader,
+        time_stamp: &[u8],
+        verif_reporter: &impl VerificationReportingProvider,
+    ) -> Result<(TargetId, ActionRequest), Self::Error> {
+        let subservice = tc.subservice();
+        let user_data = tc.user_data();
+        if user_data.len() < 8 {
+            verif_reporter
+                .start_failure(
+                    token,
+                    FailParams::new_no_fail_data(time_stamp, &tmtc_err::NOT_ENOUGH_APP_DATA),
+                )
+                .expect("Sending start failure failed");
+            return Err(PusPacketHandlingError::NotEnoughAppData {
+                expected: 8,
+                found: user_data.len(),
+            });
+        }
+        let target_id = TargetAndApidId::from_pus_tc(tc).unwrap();
+        let action_id = u32::from_be_bytes(user_data[4..8].try_into().unwrap());
+        if subservice == 128 {
+            Ok((
+                target_id.raw(),
+                ActionRequest::UnsignedIdAndVecData {
+                    action_id,
+                    data: user_data[8..].to_vec(),
+                },
+            ))
+        } else {
+            verif_reporter
+                .start_failure(
+                    token,
+                    FailParams::new_no_fail_data(time_stamp, &tmtc_err::INVALID_PUS_SUBSERVICE),
+                )
+                .expect("Sending start failure failed");
+            Err(PusPacketHandlingError::InvalidSubservice(subservice))
+        }
+    }
+}

 pub fn create_action_service_static(
    shared_tm_store: SharedTmPool,
@ -24,7 +78,7 @@ pub fn create_action_service_static(
    verif_reporter: VerificationReporterWithSender,
    tc_pool: SharedStaticMemoryPool,
    pus_action_rx: mpsc::Receiver<EcssTcAndToken>,
-    request_map: HashMap<TargetIdWithApid, mpsc::Sender<RequestWithToken>>,
+    action_router: GenericRequestRouter,
 ) -> Pus8Wrapper<EcssTcInSharedStoreConverter> {
    let action_srv_tm_sender = MpscTmInSharedPoolSender::new(
        TmSenderId::PusAction as ChannelId,
@ -38,12 +92,16 @@ pub fn create_action_service_static(
        pus_action_rx,
    );
    let pus_8_handler = PusService8ActionHandler::new(
+        PusServiceHelper::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(),
+        ),
+        ExampleActionRequestConverter::default(),
+        action_router,
+        GenericRoutingErrorHandler::<8>::default(),
    );
    Pus8Wrapper { pus_8_handler }
 }
@ -52,7 +110,7 @@ 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>>,
+    action_router: GenericRequestRouter,
 ) -> Pus8Wrapper<EcssTcInVecConverter> {
    let action_srv_tm_sender = MpscTmAsVecSender::new(
        TmSenderId::PusAction as ChannelId,
@ -65,146 +123,28 @@ pub fn create_action_service_dynamic(
        pus_action_rx,
    );
    let pus_8_handler = PusService8ActionHandler::new(
+        PusServiceHelper::new(
            Box::new(action_srv_receiver),
            Box::new(action_srv_tm_sender),
            PUS_APID,
            verif_reporter.clone(),
            EcssTcInVecConverter::default(),
-        request_map.clone(),
+        ),
+        ExampleActionRequestConverter::default(),
+        action_router,
+        GenericRoutingErrorHandler::<8>::default(),
    );
    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 {
-        Self {
-            service_helper: PusServiceHelper::new(
-                tc_receiver,
-                tm_sender,
-                tm_apid,
-                verification_handler,
-                tc_in_mem_converter,
-            ),
-            request_handlers,
-        }
-    }
-
-    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}"
-            )));
-        }
-        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;
-        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));
-            }
-        }
-        if let Some(partial_error) = partial_error {
-            return Ok(PusPacketHandlerResult::RequestHandledPartialSuccess(
-                partial_error,
-            ));
-        }
-        Ok(PusPacketHandlerResult::RequestHandled)
-    }
-}
-
 pub struct Pus8Wrapper<TcInMemConverter: EcssTcInMemConverter> {
-    pub(crate) pus_8_handler: PusService8ActionHandler<TcInMemConverter>,
+    pub(crate) pus_8_handler: PusService8ActionHandler<
+        TcInMemConverter,
+        VerificationReporterWithSender,
+        ExampleActionRequestConverter,
+        GenericRequestRouter,
+        GenericRoutingErrorHandler<8>,
+    >,
 }

 impl<TcInMemConverter: EcssTcInMemConverter> Pus8Wrapper<TcInMemConverter> {
--- a/satrs-example/src/pus/event.rs
+++ b/satrs-example/src/pus/event.rs
@ -1,17 +1,17 @@
 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::{
+use satrs::pool::{SharedStaticMemoryPool, StoreAddr};
+use satrs::pus::event_man::EventRequestWithToken;
+use satrs::pus::event_srv::PusService5EventHandler;
+use satrs::pus::verification::VerificationReporterWithSender;
+use satrs::pus::{
    EcssTcAndToken, EcssTcInMemConverter, EcssTcInSharedStoreConverter, EcssTcInVecConverter,
    MpscTcReceiver, MpscTmAsVecSender, MpscTmInSharedPoolSender, PusPacketHandlerResult,
    PusServiceHelper,
 };
-use satrs_core::tmtc::tm_helper::SharedTmPool;
-use satrs_core::ChannelId;
+use satrs::tmtc::tm_helper::SharedTmPool;
+use satrs::ChannelId;
 use satrs_example::config::{TcReceiverId, TmSenderId, PUS_APID};

 pub fn create_event_service_static(
@ -76,7 +76,7 @@ pub fn create_event_service_dynamic(
 }

 pub struct Pus5Wrapper<TcInMemConverter: EcssTcInMemConverter> {
-    pub pus_5_handler: PusService5EventHandler<TcInMemConverter>,
+    pub pus_5_handler: PusService5EventHandler<TcInMemConverter, VerificationReporterWithSender>,
 }

 impl<TcInMemConverter: EcssTcInMemConverter> Pus5Wrapper<TcInMemConverter> {
--- a/satrs-example/src/pus/hk.rs
+++ b/satrs-example/src/pus/hk.rs
@ -1,22 +1,145 @@
-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 satrs::hk::{CollectionIntervalFactor, HkRequest};
+use satrs::pool::{SharedStaticMemoryPool, StoreAddr};
+use satrs::pus::hk::{PusHkToRequestConverter, PusService3HkHandler};
+use satrs::pus::verification::{
+    FailParams, TcStateAccepted, VerificationReporterWithSender, VerificationReportingProvider,
+    VerificationToken,
 };
-use satrs_core::pus::{
+use satrs::pus::{
    EcssTcAndToken, EcssTcInMemConverter, EcssTcInSharedStoreConverter, EcssTcInVecConverter,
-    EcssTcReceiver, EcssTmSender, MpscTcReceiver, MpscTmAsVecSender, MpscTmInSharedPoolSender,
-    PusPacketHandlerResult, PusPacketHandlingError, PusServiceBase, PusServiceHelper,
+    MpscTcReceiver, MpscTmAsVecSender, MpscTmInSharedPoolSender, PusPacketHandlerResult,
+    PusPacketHandlingError, PusServiceHelper,
 };
-use satrs_core::spacepackets::ecss::{hk, PusPacket};
-use satrs_core::tmtc::tm_helper::SharedTmPool;
-use satrs_core::ChannelId;
+use satrs::request::TargetAndApidId;
+use satrs::spacepackets::ecss::tc::PusTcReader;
+use satrs::spacepackets::ecss::{hk, PusPacket};
+use satrs::tmtc::tm_helper::SharedTmPool;
+use satrs::{ChannelId, TargetId};
 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 std::sync::mpsc::{self};
+
+use crate::requests::GenericRequestRouter;
+
+use super::GenericRoutingErrorHandler;
+
+#[derive(Default)]
+pub struct ExampleHkRequestConverter {}
+
+impl PusHkToRequestConverter for ExampleHkRequestConverter {
+    type Error = PusPacketHandlingError;
+
+    fn convert(
+        &mut self,
+        token: VerificationToken<TcStateAccepted>,
+        tc: &PusTcReader,
+        time_stamp: &[u8],
+        verif_reporter: &impl VerificationReportingProvider,
+    ) -> Result<(TargetId, HkRequest), Self::Error> {
+        let user_data = tc.user_data();
+        if user_data.is_empty() {
+            let user_data_len = user_data.len() as u32;
+            let user_data_len_raw = user_data_len.to_be_bytes();
+            verif_reporter
+                .start_failure(
+                    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: 4,
+                found: 0,
+            });
+        }
+        if user_data.len() < 8 {
+            let err = if user_data.len() < 4 {
+                &hk_err::TARGET_ID_MISSING
+            } else {
+                &hk_err::UNIQUE_ID_MISSING
+            };
+            let user_data_len = user_data.len() as u32;
+            let user_data_len_raw = user_data_len.to_be_bytes();
+            verif_reporter
+                .start_failure(token, FailParams::new(time_stamp, err, &user_data_len_raw))
+                .expect("Sending start failure TM failed");
+            return Err(PusPacketHandlingError::NotEnoughAppData {
+                expected: 8,
+                found: 4,
+            });
+        }
+        let subservice = tc.subservice();
+        let target_id = TargetAndApidId::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(
+                    token,
+                    FailParams::new(time_stamp, &tmtc_err::INVALID_PUS_SUBSERVICE, &[subservice]),
+                )
+                .expect("Sending start failure TM failed");
+            return Err(PusPacketHandlingError::InvalidSubservice(subservice));
+        }
+        Ok((
+            target_id.into(),
+            match standard_subservice.unwrap() {
+                hk::Subservice::TcEnableHkGeneration | hk::Subservice::TcEnableDiagGeneration => {
+                    HkRequest::Enable(unique_id)
+                }
+                hk::Subservice::TcDisableHkGeneration | hk::Subservice::TcDisableDiagGeneration => {
+                    HkRequest::Disable(unique_id)
+                }
+                hk::Subservice::TcReportHkReportStructures => todo!(),
+                hk::Subservice::TmHkPacket => todo!(),
+                hk::Subservice::TcGenerateOneShotHk | hk::Subservice::TcGenerateOneShotDiag => {
+                    HkRequest::OneShot(unique_id)
+                }
+                hk::Subservice::TcModifyDiagCollectionInterval
+                | hk::Subservice::TcModifyHkCollectionInterval => {
+                    if user_data.len() < 12 {
+                        verif_reporter
+                            .start_failure(
+                                token,
+                                FailParams::new_no_fail_data(
+                                    time_stamp,
+                                    &tmtc_err::NOT_ENOUGH_APP_DATA,
+                                ),
+                            )
+                            .expect("Sending start failure TM failed");
+                        return Err(PusPacketHandlingError::NotEnoughAppData {
+                            expected: 12,
+                            found: user_data.len(),
+                        });
+                    }
+                    HkRequest::ModifyCollectionInterval(
+                        unique_id,
+                        CollectionIntervalFactor::from_be_bytes(
+                            user_data[8..12].try_into().unwrap(),
+                        ),
+                    )
+                }
+                _ => {
+                    verif_reporter
+                        .start_failure(
+                            token,
+                            FailParams::new(
+                                time_stamp,
+                                &tmtc_err::PUS_SUBSERVICE_NOT_IMPLEMENTED,
+                                &[subservice],
+                            ),
+                        )
+                        .expect("Sending start failure TM failed");
+                    return Err(PusPacketHandlingError::InvalidSubservice(subservice));
+                }
+            },
+        ))
+    }
+}

 pub fn create_hk_service_static(
    shared_tm_store: SharedTmPool,
@ -24,7 +147,7 @@ pub fn create_hk_service_static(
    verif_reporter: VerificationReporterWithSender,
    tc_pool: SharedStaticMemoryPool,
    pus_hk_rx: mpsc::Receiver<EcssTcAndToken>,
-    request_map: HashMap<TargetIdWithApid, mpsc::Sender<RequestWithToken>>,
+    request_router: GenericRequestRouter,
 ) -> Pus3Wrapper<EcssTcInSharedStoreConverter> {
    let hk_srv_tm_sender = MpscTmInSharedPoolSender::new(
        TmSenderId::PusHk as ChannelId,
@ -35,12 +158,16 @@ pub fn create_hk_service_static(
    let hk_srv_receiver =
        MpscTcReceiver::new(TcReceiverId::PusHk as ChannelId, "PUS_8_TC_RECV", pus_hk_rx);
    let pus_3_handler = PusService3HkHandler::new(
+        PusServiceHelper::new(
            Box::new(hk_srv_receiver),
            Box::new(hk_srv_tm_sender),
            PUS_APID,
            verif_reporter.clone(),
            EcssTcInSharedStoreConverter::new(tc_pool, 2048),
-        request_map,
+        ),
+        ExampleHkRequestConverter::default(),
+        request_router,
+        GenericRoutingErrorHandler::default(),
    );
    Pus3Wrapper { pus_3_handler }
 }
@ -49,7 +176,7 @@ 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>>,
+    request_router: GenericRequestRouter,
 ) -> Pus3Wrapper<EcssTcInVecConverter> {
    let hk_srv_tm_sender = MpscTmAsVecSender::new(
        TmSenderId::PusHk as ChannelId,
@ -59,154 +186,28 @@ pub fn create_hk_service_dynamic(
    let hk_srv_receiver =
        MpscTcReceiver::new(TcReceiverId::PusHk as ChannelId, "PUS_8_TC_RECV", pus_hk_rx);
    let pus_3_handler = PusService3HkHandler::new(
+        PusServiceHelper::new(
            Box::new(hk_srv_receiver),
            Box::new(hk_srv_tm_sender),
            PUS_APID,
            verif_reporter.clone(),
            EcssTcInVecConverter::default(),
-        request_map,
+        ),
+        ExampleHkRequestConverter::default(),
+        request_router,
+        GenericRoutingErrorHandler::default(),
    );
    Pus3Wrapper { pus_3_handler }
 }

-pub struct PusService3HkHandler<TcInMemConverter: EcssTcInMemConverter> {
-    psb: PusServiceHelper<TcInMemConverter>,
-    request_handlers: HashMap<TargetIdWithApid, Sender<RequestWithToken>>,
-}
-
-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,
-        }
-    }
-
-    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);
-        }
-        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);
-        let user_data = tc.user_data();
-        if user_data.is_empty() {
-            self.psb
-                .common
-                .verification_handler
-                .borrow_mut()
-                .start_failure(
-                    ecss_tc_and_token.token,
-                    FailParams::new(Some(&time_stamp), &tmtc_err::NOT_ENOUGH_APP_DATA, None),
-                )
-                .expect("Sending start failure TM failed");
-            return Err(PusPacketHandlingError::NotEnoughAppData(
-                "Expected at least 8 bytes of app data".into(),
-            ));
-        }
-        if user_data.len() < 8 {
-            let err = if user_data.len() < 4 {
-                &hk_err::TARGET_ID_MISSING
-            } else {
-                &hk_err::UNIQUE_ID_MISSING
-            };
-            self.psb
-                .common
-                .verification_handler
-                .borrow_mut()
-                .start_failure(
-                    ecss_tc_and_token.token,
-                    FailParams::new(Some(&time_stamp), err, None),
-                )
-                .expect("Sending start failure TM failed");
-            return Err(PusPacketHandlingError::NotEnoughAppData(
-                "Expected at least 8 bytes of app data".into(),
-            ));
-        }
-        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()
-                .start_failure(
-                    ecss_tc_and_token.token,
-                    FailParams::new(Some(&time_stamp), &hk_err::UNKNOWN_TARGET_ID, None),
-                )
-                .expect("Sending start failure TM failed");
-            return Err(PusPacketHandlingError::NotEnoughAppData(format!(
-                "Unknown target ID {target_id}"
-            )));
-        }
-        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()
-                    .start_failure(
-                        ecss_tc_and_token.token,
-                        FailParams::new(
-                            Some(&time_stamp),
-                            &hk_err::COLLECTION_INTERVAL_MISSING,
-                            None,
-                        ),
-                    )
-                    .expect("Sending start failure TM failed");
-                return Err(PusPacketHandlingError::NotEnoughAppData(
-                    "Collection interval missing".into(),
-                ));
-            }
-            send_request(
-                target_id,
-                HkRequest::ModifyCollectionInterval(
-                    unique_id,
-                    CollectionIntervalFactor::from_be_bytes(user_data[8..12].try_into().unwrap()),
-                ),
-            );
-        }
-        Ok(PusPacketHandlerResult::RequestHandled)
-    }
-}
-
 pub struct Pus3Wrapper<TcInMemConverter: EcssTcInMemConverter> {
-    pub(crate) pus_3_handler: PusService3HkHandler<TcInMemConverter>,
+    pub(crate) pus_3_handler: PusService3HkHandler<
+        TcInMemConverter,
+        VerificationReporterWithSender,
+        ExampleHkRequestConverter,
+        GenericRequestRouter,
+        GenericRoutingErrorHandler<3>,
+    >,
 }

 impl<TcInMemConverter: EcssTcInMemConverter> Pus3Wrapper<TcInMemConverter> {
--- a/satrs-example/src/pus/mod.rs
+++ b/satrs-example/src/pus/mod.rs
@ -1,11 +1,15 @@
 use crate::tmtc::MpscStoreAndSendError;
 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::pus::verification::{
+    FailParams, StdVerifReporterWithSender, VerificationReportingProvider,
+};
+use satrs::pus::{
+    EcssTcAndToken, GenericRoutingError, PusPacketHandlerResult, PusRoutingErrorHandler, TcInMemory,
+};
+use satrs::spacepackets::ecss::tc::PusTcReader;
+use satrs::spacepackets::ecss::PusServiceId;
+use satrs::spacepackets::time::cds::TimeProvider;
+use satrs::spacepackets::time::TimeWriter;
 use satrs_example::config::{tmtc_err, CustomPusServiceId};
 use std::sync::mpsc::Sender;

@ -78,7 +82,7 @@ impl PusReceiver {
        self.stamp_helper.update_from_now();
        let accepted_token = self
            .verif_reporter
-            .acceptance_success(init_token, Some(self.stamp_helper.stamp()))
+            .acceptance_success(init_token, self.stamp_helper.stamp())
            .expect("Acceptance success failure");
        let service = PusServiceId::try_from(service);
        match service {
@ -115,9 +119,9 @@ impl PusReceiver {
                    let result = self.verif_reporter.start_failure(
                        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() {
@ -139,9 +143,9 @@ impl PusReceiver {
                        .start_failure(
                            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")
@ -151,3 +155,56 @@ impl PusReceiver {
        Ok(PusPacketHandlerResult::RequestHandled)
    }
 }
+
+#[derive(Default)]
+pub struct GenericRoutingErrorHandler<const SERVICE_ID: u8> {}
+
+impl<const SERVICE_ID: u8> PusRoutingErrorHandler for GenericRoutingErrorHandler<SERVICE_ID> {
+    type Error = satrs::pus::GenericRoutingError;
+
+    fn handle_error(
+        &self,
+        target_id: satrs::TargetId,
+        token: satrs::pus::verification::VerificationToken<
+            satrs::pus::verification::TcStateAccepted,
+        >,
+        _tc: &PusTcReader,
+        error: Self::Error,
+        time_stamp: &[u8],
+        verif_reporter: &impl VerificationReportingProvider,
+    ) {
+        warn!("Routing request for service {SERVICE_ID} failed: {error:?}");
+        match error {
+            GenericRoutingError::UnknownTargetId(id) => {
+                let mut fail_data: [u8; 8] = [0; 8];
+                fail_data.copy_from_slice(&id.to_be_bytes());
+                verif_reporter
+                    .start_failure(
+                        token,
+                        FailParams::new(time_stamp, &tmtc_err::UNKNOWN_TARGET_ID, &fail_data),
+                    )
+                    .expect("Sending start failure failed");
+            }
+            GenericRoutingError::SendError(_) => {
+                let mut fail_data: [u8; 8] = [0; 8];
+                fail_data.copy_from_slice(&target_id.to_be_bytes());
+                verif_reporter
+                    .start_failure(
+                        token,
+                        FailParams::new(time_stamp, &tmtc_err::ROUTING_ERROR, &fail_data),
+                    )
+                    .expect("Sending start failure failed");
+            }
+            GenericRoutingError::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());
+                verif_reporter
+                    .start_failure(
+                        token,
+                        FailParams::new(time_stamp, &tmtc_err::NOT_ENOUGH_APP_DATA, &context_info),
+                    )
+                    .expect("Sending start failure failed");
+            }
+        }
+    }
+}
--- a/satrs-example/src/pus/scheduler.rs
+++ b/satrs-example/src/pus/scheduler.rs
@ -2,17 +2,17 @@ use std::sync::mpsc;
 use std::time::Duration;

 use log::{error, info, warn};
-use satrs_core::pool::{PoolProvider, StaticMemoryPool, StoreAddr};
-use satrs_core::pus::scheduler::{PusScheduler, TcInfo};
-use satrs_core::pus::scheduler_srv::PusService11SchedHandler;
-use satrs_core::pus::verification::VerificationReporterWithSender;
-use satrs_core::pus::{
+use satrs::pool::{PoolProvider, StaticMemoryPool, StoreAddr};
+use satrs::pus::scheduler::{PusScheduler, TcInfo};
+use satrs::pus::scheduler_srv::PusService11SchedHandler;
+use satrs::pus::verification::VerificationReporterWithSender;
+use satrs::pus::{
    EcssTcAndToken, EcssTcInMemConverter, EcssTcInSharedStoreConverter, EcssTcInVecConverter,
    MpscTcReceiver, MpscTmAsVecSender, MpscTmInSharedPoolSender, PusPacketHandlerResult,
    PusServiceHelper,
 };
-use satrs_core::tmtc::tm_helper::SharedTmPool;
-use satrs_core::ChannelId;
+use satrs::tmtc::tm_helper::SharedTmPool;
+use satrs::ChannelId;
 use satrs_example::config::{TcReceiverId, TmSenderId, PUS_APID};

 use crate::tmtc::PusTcSourceProviderSharedPool;
@ -52,7 +52,8 @@ impl TcReleaser for mpsc::Sender<Vec<u8>> {
 }

 pub struct Pus11Wrapper<TcInMemConverter: EcssTcInMemConverter> {
-    pub pus_11_handler: PusService11SchedHandler<TcInMemConverter, PusScheduler>,
+    pub pus_11_handler:
+        PusService11SchedHandler<TcInMemConverter, VerificationReporterWithSender, PusScheduler>,
    pub sched_tc_pool: StaticMemoryPool,
    pub releaser_buf: [u8; 4096],
    pub tc_releaser: Box<dyn TcReleaser + Send>,
--- a/satrs-example/src/pus/stack.rs
+++ b/satrs-example/src/pus/stack.rs
@ -1,4 +1,4 @@
-use satrs_core::pus::EcssTcInMemConverter;
+use satrs::pus::EcssTcInMemConverter;

 use super::{
    action::Pus8Wrapper, event::Pus5Wrapper, hk::Pus3Wrapper, scheduler::Pus11Wrapper,
--- a/satrs-example/src/pus/test.rs
+++ b/satrs-example/src/pus/test.rs
@ -1,19 +1,21 @@
 use log::{info, warn};
-use satrs_core::params::Params;
-use satrs_core::pool::{SharedStaticMemoryPool, StoreAddr};
-use satrs_core::pus::test::PusService17TestHandler;
-use satrs_core::pus::verification::{FailParams, VerificationReporterWithSender};
-use satrs_core::pus::{
+use satrs::params::Params;
+use satrs::pool::{SharedStaticMemoryPool, StoreAddr};
+use satrs::pus::test::PusService17TestHandler;
+use satrs::pus::verification::{
+    FailParams, VerificationReporterWithSender, VerificationReportingProvider,
+};
+use satrs::pus::{
    EcssTcAndToken, EcssTcInMemConverter, EcssTcInVecConverter, MpscTcReceiver, MpscTmAsVecSender,
    MpscTmInSharedPoolSender, PusPacketHandlerResult, PusServiceHelper,
 };
-use satrs_core::spacepackets::ecss::tc::PusTcReader;
-use satrs_core::spacepackets::ecss::PusPacket;
-use satrs_core::spacepackets::time::cds::TimeProvider;
-use satrs_core::spacepackets::time::TimeWriter;
-use satrs_core::tmtc::tm_helper::SharedTmPool;
-use satrs_core::ChannelId;
-use satrs_core::{events::EventU32, pus::EcssTcInSharedStoreConverter};
+use satrs::spacepackets::ecss::tc::PusTcReader;
+use satrs::spacepackets::ecss::PusPacket;
+use satrs::spacepackets::time::cds::TimeProvider;
+use satrs::spacepackets::time::TimeWriter;
+use satrs::tmtc::tm_helper::SharedTmPool;
+use satrs::ChannelId;
+use satrs::{events::EventU32, pus::EcssTcInSharedStoreConverter};
 use satrs_example::config::{tmtc_err, TcReceiverId, TmSenderId, PUS_APID, TEST_EVENT};
 use std::sync::mpsc::{self, Sender};

@ -79,7 +81,7 @@ pub fn create_test_service_dynamic(
 }

 pub struct Service17CustomWrapper<TcInMemConverter: EcssTcInMemConverter> {
-    pub pus17_handler: PusService17TestHandler<TcInMemConverter>,
+    pub pus17_handler: PusService17TestHandler<TcInMemConverter, VerificationReporterWithSender>,
    pub test_srv_event_sender: Sender<(EventU32, Option<Params>)>,
 }

@ -125,15 +127,13 @@ impl<TcInMemConverter: EcssTcInMemConverter> Service17CustomWrapper<TcInMemConve
                        .service_helper
                        .common
                        .verification_handler
-                        .get_mut()
-                        .start_success(token, Some(&stamp_buf))
+                        .start_success(token, &stamp_buf)
                        .expect("Error sending start success");
                    self.pus17_handler
                        .service_helper
                        .common
                        .verification_handler
-                        .get_mut()
-                        .completion_success(start_token, Some(&stamp_buf))
+                        .completion_success(start_token, &stamp_buf)
                        .expect("Error sending completion success");
                } else {
                    let fail_data = [tc.subservice()];
@ -141,13 +141,12 @@ impl<TcInMemConverter: EcssTcInMemConverter> Service17CustomWrapper<TcInMemConve
                        .service_helper
                        .common
                        .verification_handler
-                        .get_mut()
                        .start_failure(
                            token,
                            FailParams::new(
-                                Some(&stamp_buf),
+                                &stamp_buf,
                                &tmtc_err::INVALID_PUS_SUBSERVICE,
-                                Some(&fail_data),
+                                &fail_data,
                            ),
                        )
                        .expect("Sending start failure verification failed");
--- a/satrs-example/src/queue.rs
+++ b/satrs-example/src/queue.rs
@ -0,0 +1,45 @@
+/// Generic error type for sending something via a message queue.
+#[derive(Debug, Copy, Clone)]
+pub enum GenericSendError {
+    RxDisconnected,
+    QueueFull(Option<u32>),
+}
+
+impl Display for GenericSendError {
+    fn fmt(&self, f: &mut Formatter<'_>) -> core::fmt::Result {
+        match self {
+            GenericSendError::RxDisconnected => {
+                write!(f, "rx side has disconnected")
+            }
+            GenericSendError::QueueFull(max_cap) => {
+                write!(f, "queue with max capacity of {max_cap:?} is full")
+            }
+        }
+    }
+}
+
+#[cfg(feature = "std")]
+impl Error for GenericSendError {}
+
+/// Generic error type for sending something via a message queue.
+#[derive(Debug, Copy, Clone)]
+pub enum GenericRecvError {
+    Empty,
+    TxDisconnected,
+}
+
+impl Display for GenericRecvError {
+    fn fmt(&self, f: &mut Formatter<'_>) -> core::fmt::Result {
+        match self {
+            Self::TxDisconnected => {
+                write!(f, "tx side has disconnected")
+            }
+            Self::Empty => {
+                write!(f, "nothing to receive")
+            }
+        }
+    }
+}
+
+#[cfg(feature = "std")]
+impl Error for GenericRecvError {}
--- a/satrs-example/src/requests.rs
+++ b/satrs-example/src/requests.rs
@ -1,15 +1,16 @@
-use derive_new::new;
-use satrs_core::hk::HkRequest;
-use satrs_core::mode::ModeRequest;
-use satrs_core::pus::verification::{TcStateAccepted, VerificationToken};
-use satrs_example::TargetIdWithApid;
+use std::collections::HashMap;
+use std::sync::mpsc;

-#[allow(dead_code)]
-#[derive(Clone, Eq, PartialEq, Debug)]
-pub enum ActionRequest {
-    CmdWithU32Id((u32, Vec<u8>)),
-    CmdWithStringId((String, Vec<u8>)),
-}
+use derive_new::new;
+use satrs::action::ActionRequest;
+use satrs::hk::HkRequest;
+use satrs::mode::ModeRequest;
+use satrs::pus::action::PusActionRequestRouter;
+use satrs::pus::hk::PusHkRequestRouter;
+use satrs::pus::verification::{TcStateAccepted, VerificationToken};
+use satrs::pus::GenericRoutingError;
+use satrs::queue::GenericSendError;
+use satrs::TargetId;

 #[allow(dead_code)]
 #[derive(Clone, Eq, PartialEq, Debug)]
@ -22,7 +23,7 @@ pub enum Request {

 #[derive(Clone, Eq, PartialEq, Debug, new)]
 pub struct TargetedRequest {
-    pub(crate) target_id_with_apid: TargetIdWithApid,
+    pub(crate) target_id: TargetId,
    pub(crate) request: Request,
 }

@ -34,7 +35,7 @@ pub struct RequestWithToken {

 impl RequestWithToken {
    pub fn new(
-        target_id: TargetIdWithApid,
+        target_id: TargetId,
        request: Request,
        token: VerificationToken<TcStateAccepted>,
    ) -> Self {
@ -44,3 +45,50 @@ impl RequestWithToken {
        }
    }
 }
+
+#[derive(Default, Clone)]
+pub struct GenericRequestRouter(pub HashMap<TargetId, mpsc::Sender<RequestWithToken>>);
+
+impl PusHkRequestRouter for GenericRequestRouter {
+    type Error = GenericRoutingError;
+
+    fn route(
+        &self,
+        target_id: TargetId,
+        hk_request: HkRequest,
+        token: VerificationToken<TcStateAccepted>,
+    ) -> Result<(), Self::Error> {
+        if let Some(sender) = self.0.get(&target_id) {
+            sender
+                .send(RequestWithToken::new(
+                    target_id,
+                    Request::Hk(hk_request),
+                    token,
+                ))
+                .map_err(|_| GenericRoutingError::SendError(GenericSendError::RxDisconnected))?;
+        }
+        Ok(())
+    }
+}
+
+impl PusActionRequestRouter for GenericRequestRouter {
+    type Error = GenericRoutingError;
+
+    fn route(
+        &self,
+        target_id: TargetId,
+        action_request: ActionRequest,
+        token: VerificationToken<TcStateAccepted>,
+    ) -> Result<(), Self::Error> {
+        if let Some(sender) = self.0.get(&target_id) {
+            sender
+                .send(RequestWithToken::new(
+                    target_id,
+                    Request::Action(action_request),
+                    token,
+                ))
+                .map_err(|_| GenericRoutingError::SendError(GenericSendError::RxDisconnected))?;
+        }
+        Ok(())
+    }
+}
--- a/satrs-example/src/tcp.rs
+++ b/satrs-example/src/tcp.rs
@ -4,7 +4,7 @@ use std::{
 };

 use log::{info, warn};
-use satrs_core::{
+use satrs::{
    hal::std::tcp_server::{ServerConfig, TcpSpacepacketsServer},
    spacepackets::PacketId,
    tmtc::{CcsdsDistributor, CcsdsError, TmPacketSourceCore},
--- a/satrs-example/src/tm_funnel.rs
+++ b/satrs-example/src/tm_funnel.rs
@ -4,7 +4,7 @@ use std::{
 };

 use log::info;
-use satrs_core::{
+use satrs::{
    pool::{PoolProvider, StoreAddr},
    seq_count::{CcsdsSimpleSeqCountProvider, SequenceCountProviderCore},
    spacepackets::{
--- a/satrs-example/src/tmtc.rs
+++ b/satrs-example/src/tmtc.rs
@ -1,14 +1,14 @@
 use log::warn;
-use satrs_core::pus::{EcssTcAndToken, ReceivesEcssPusTc};
-use satrs_core::spacepackets::SpHeader;
+use satrs::pus::{EcssTcAndToken, ReceivesEcssPusTc};
+use satrs::spacepackets::SpHeader;
 use std::sync::mpsc::{self, Receiver, SendError, Sender, TryRecvError};
 use thiserror::Error;

 use crate::pus::PusReceiver;
-use satrs_core::pool::{PoolProvider, SharedStaticMemoryPool, StoreAddr, StoreError};
-use satrs_core::spacepackets::ecss::tc::PusTcReader;
-use satrs_core::spacepackets::ecss::PusPacket;
-use satrs_core::tmtc::ReceivesCcsdsTc;
+use satrs::pool::{PoolProvider, SharedStaticMemoryPool, StoreAddr, StoreError};
+use satrs::spacepackets::ecss::tc::PusTcReader;
+use satrs::spacepackets::ecss::PusPacket;
+use satrs::tmtc::ReceivesCcsdsTc;

 #[derive(Debug, Clone, PartialEq, Eq, Error)]
 pub enum MpscStoreAndSendError {
@ -133,7 +133,7 @@ impl TcSourceTaskStatic {
                    Ok((pus_tc, _)) => {
                        self.pus_receiver
                            .handle_tc_packet(
-                                satrs_core::pus::TcInMemory::StoreAddr(addr),
+                                satrs::pus::TcInMemory::StoreAddr(addr),
                                pus_tc.service(),
                                &pus_tc,
                            )
@ -182,7 +182,7 @@ impl TcSourceTaskDynamic {
                Ok((pus_tc, _)) => {
                    self.pus_receiver
                        .handle_tc_packet(
-                            satrs_core::pus::TcInMemory::Vec(tc.clone()),
+                            satrs::pus::TcInMemory::Vec(tc.clone()),
                            pus_tc.service(),
                            &pus_tc,
                        )
--- a/satrs-example/src/udp.rs
+++ b/satrs-example/src/udp.rs
@ -4,7 +4,7 @@ use std::{
 };

 use log::{info, warn};
-use satrs_core::{
+use satrs::{
    hal::std::udp_server::{ReceiveResult, UdpTcServer},
    pool::{PoolProviderWithGuards, SharedStaticMemoryPool, StoreAddr},
    tmtc::CcsdsError,
@ -113,7 +113,7 @@ mod tests {
        sync::{Arc, Mutex},
    };

-    use satrs_core::{
+    use satrs::{
        spacepackets::{
            ecss::{tc::PusTcCreator, WritablePusPacket},
            SpHeader,
--- a/satrs-mib/CHANGELOG.md
+++ b/satrs-mib/CHANGELOG.md
@ -7,3 +7,11 @@ The format is based on [Keep a Changelog](http://keepachangelog.com/)
 and this project adheres to [Semantic Versioning](http://semver.org/).

 # [unreleased]
+
+# [v0.1.1] 2024-02-17
+
+- Bumped `spacepackets` to v0.10.0
+
+# [v0.1.0] 2024-02-12
+
+Initial release containing the `resultcode` macro.
--- a/satrs-mib/Cargo.toml
+++ b/satrs-mib/Cargo.toml
@ -1,13 +1,13 @@
 [package]
 name = "satrs-mib"
-version = "0.1.0-alpha.1"
+version = "0.1.1"
 edition = "2021"
 rust-version = "1.61"
 authors = ["Robin Mueller <muellerr@irs.uni-stuttgart.de>"]
 description = """
 Helper crate of the sat-rs framework to build a mission information base (MIB) from the
 On-Board Software (OBSW) code directly."""
-homepage = "https://egit.irs.uni-stuttgart.de/rust/sat-rs"
+homepage = "https://absatsw.irs.uni-stuttgart.de/projects/sat-rs/"
 repository = "https://egit.irs.uni-stuttgart.de/rust/sat-rs"
 license = "Apache-2.0"
 keywords = ["no-std", "space", "aerospace"]
@ -22,16 +22,13 @@ serde-hex = "0.1.0"
 version = "1"
 optional = true

-[dependencies.satrs-core]
-path = "../satrs-core"
-# version = "0.1.0-alpha.1"
-# git = "https://egit.irs.uni-stuttgart.de/rust/sat-rs.git"
-# branch = "main"
-# rev = "35e1f7a983f6535c5571186e361fe101d4306b89"
+[dependencies.satrs-shared]
+version = "0.1.2"
+features = ["serde"]

 [dependencies.satrs-mib-codegen]
 path = "codegen"
-version = "0.1.0-alpha.1"
+version = "0.1.1"

 [dependencies.serde]
 version = "1"
--- a/satrs-mib/README.md
+++ b/satrs-mib/README.md
@ -1,2 +1,8 @@
+[![Crates.io](https://img.shields.io/crates/v/satrs-mib)](https://crates.io/crates/satrs-mib)
+[![docs.rs](https://img.shields.io/docsrs/satrs-mib)](https://docs.rs/satrs-mib)
+
 satrs-mib
 =========
+
+This helper crate contains the procedural macros for the sat-rs framework.
+You can find more information on the [homepage](https://egit.irs.uni-stuttgart.de/rust/sat-rs).
--- a/satrs-mib/codegen/Cargo.toml
+++ b/satrs-mib/codegen/Cargo.toml
@ -1,6 +1,6 @@
 [package]
 name = "satrs-mib-codegen"
-version = "0.1.0-alpha.1"
+version = "0.1.1"
 edition = "2021"
 description = "satrs-mib proc macro implementation"
 homepage = "https://egit.irs.uni-stuttgart.de/rust/sat-rs"
@ -19,19 +19,14 @@ path = "tests/tests.rs"
 quote = "1"
 proc-macro2 = "1"

-[dependencies.satrs-core]
-path = "../../satrs-core"
-# version = "0.1.0-alpha.1"
-# git = "https://egit.irs.uni-stuttgart.de/rust/sat-rs.git"
-# branch = "main"
-# rev = "35e1f7a983f6535c5571186e361fe101d4306b89"
-
-[dev-dependencies]
-trybuild = { version = "1", features = ["diff"] }
-
-[dev-dependencies.satrs-mib]
-path = ".."
-
 [dependencies.syn]
 version = "2"
 features = ["full"]
+
+
+[dev-dependencies]
+trybuild = { version = "1", features = ["diff"] }
+satrs-shared = "0.1.2"
+
+[dev-dependencies.satrs-mib]
+path = ".."
--- a/satrs-mib/codegen/src/lib.rs
+++ b/satrs-mib/codegen/src/lib.rs
@ -1,6 +1,14 @@
 use quote::{format_ident, quote, ToTokens};
 use syn::{parse_macro_input, ItemConst, LitStr};

+/// This macro can be used to automatically generate introspection information for return codes.
+///
+/// For example, it can be applied to types like the
+/// [`satrs_mib::res_code::ResultU16`](https://docs.rs/satrs-mib/latest/satrs_mib/res_code/struct.ResultU16.html#) type
+/// to automatically generate
+/// [`satrs_mib::res_code::ResultU16Info`](https://docs.rs/satrs-mib/latest/satrs_mib/res_code/struct.ResultU16Info.html)
+/// instances. These instances can then be used for tasks like generating CSVs or YAML files with
+/// the list of all result codes. This information is valuable for both operators and developers.
 #[proc_macro_attribute]
 pub fn resultcode(
    args: proc_macro::TokenStream,
--- a/satrs-mib/codegen/tests/basic.rs
+++ b/satrs-mib/codegen/tests/basic.rs
@ -1,8 +1,8 @@
 //! Basic check which just verifies that everything compiles
-use satrs_core::res_code::ResultU16;
 use satrs_mib::resultcode;
+use satrs_shared::res_code::ResultU16;

 #[resultcode]
-const _TEST_RESULT: ResultU16 = ResultU16::const_new(0, 1);
+const _TEST_RESULT: ResultU16 = ResultU16::new(0, 1);

 fn main() {}
--- a/satrs-mib/codegen/tests/basic_with_info.rs
+++ b/satrs-mib/codegen/tests/basic_with_info.rs
@ -1,8 +1,8 @@
 //! Basic check which just verifies that everything compiles
-use satrs_core::res_code::ResultU16;
 use satrs_mib::resultcode;
+use satrs_shared::res_code::ResultU16;

 #[resultcode(info = "This is a test result where the first parameter is foo")]
-const _TEST_RESULT: ResultU16 = ResultU16::const_new(0, 1);
+const _TEST_RESULT: ResultU16 = ResultU16::new(0, 1);

 fn main() {}
--- a/satrs-mib/codegen/tests/verify_gen_struct.rs
+++ b/satrs-mib/codegen/tests/verify_gen_struct.rs
@ -1,9 +1,9 @@
-use satrs_core::res_code::ResultU16;
 use satrs_mib::res_code::ResultU16Info;
 use satrs_mib::resultcode;
+use satrs_shared::res_code::ResultU16;

 #[resultcode(info = "This is a test result where the first parameter is foo")]
-const TEST_RESULT: ResultU16 = ResultU16::const_new(0, 1);
+const TEST_RESULT: ResultU16 = ResultU16::new(0, 1);
 // Create named reference of auto-generated struct, which can be used by IDEs etc.
 const TEST_RESULT_EXT_REF: &ResultU16Info = &TEST_RESULT_EXT;

--- a/satrs-mib/release-checklist.md
+++ b/satrs-mib/release-checklist.md
@ -19,7 +19,4 @@ Checklist for new releases

 # Post-Release

-1. Create a new annotaged tag and push it with `git tag -a satrs-mib-<version>` and
-   `git push -u origin satrs-mib-<version>`
-2. Create a new release on `EGit` based on the tag.
-
+1. Create a new release on `EGit` with the name `satrs-mib-<version>`.
--- a/satrs-mib/src/res_code.rs
+++ b/satrs-mib/src/res_code.rs
@ -1,7 +1,7 @@
 #[cfg(feature = "std")]
 pub use stdmod::*;

-pub use satrs_core::res_code::ResultU16;
+pub use satrs_shared::res_code::ResultU16;

 use serde::{Deserialize, Serialize};
 use serde_hex::{SerHex, StrictCapPfx};
@ -73,6 +73,7 @@ pub mod stdmod {
        Ok(())
    }

+    /// This function exports a slice of result code information objects to a CSV file.
    pub fn write_resultcodes_to_csv(
        writer_builder: csv::WriterBuilder,
        results: &[ResultU16Info],
@ -96,8 +97,8 @@ mod tests {
    // Special solution for this crate because the code generated by a macro will use
    // satrs_mib::res_code::*
    use crate as satrs_mib;
-    use satrs_core::res_code::ResultU16;
    use satrs_mib::resultcode;
+    use satrs_shared::res_code::ResultU16;

    #[derive(Debug)]
    #[allow(dead_code)]
@ -106,12 +107,12 @@ mod tests {
    }

    #[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(info = "Not enough data inside the TC application data field")]
-    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,
@ -119,12 +120,12 @@ mod tests {
        NOT_ENOUGH_APP_DATA_EXT,
    ];

-    const CSV_NAME: &'static str = "dummy.csv";
+    const CSV_NAME: &str = "dummy.csv";

    #[test]
    fn test_printout() {
        let mut wtrb = csv::WriterBuilder::new();
-        wtrb.delimiter(';' as u8);
+        wtrb.delimiter(b';');
        print_resultcodes_as_csv(wtrb, TMTC_RESULTS).expect("Priting result codes failed");
    }

@ -133,7 +134,7 @@ mod tests {
        let csvpath = Path::new(CSV_NAME);
        let mut wtrb = csv::WriterBuilder::new();
        let file = File::create(csvpath).expect("Creating CSV file failed");
-        wtrb.delimiter(';' as u8);
+        wtrb.delimiter(b';');
        write_resultcodes_to_csv(wtrb, TMTC_RESULTS, file).expect("CSV export failed");
        assert!(csvpath.exists());
        let file = File::open(csvpath).expect("Opening CSV file failed");
--- a/satrs-shared/CHANGELOG.md
+++ b/satrs-shared/CHANGELOG.md
@ -7,3 +7,16 @@ The format is based on [Keep a Changelog](http://keepachangelog.com/)
 and this project adheres to [Semantic Versioning](http://semver.org/).

 # [unreleased]
+
+# [v0.1.2] 2024-02-17
+
+- Bumped `spacepackets` to v0.10.0 for `UnsignedEnum` trait change.
+
+# [v0.1.1] 2024-02-12
+
+- Added missing `#![no_std]` attribute for library
+- Fixed unit tests
+
+# [v0.1.0] 2024-02-12
+
+Initial release.
--- a/satrs-shared/Cargo.toml
+++ b/satrs-shared/Cargo.toml
@ -0,0 +1,28 @@
+[package]
+name = "satrs-shared"
+description = "Components shared by multiple sat-rs crates"
+version = "0.1.2"
+edition = "2021"
+authors = ["Robin Mueller <muellerr@irs.uni-stuttgart.de>"]
+homepage = "https://absatsw.irs.uni-stuttgart.de/projects/sat-rs/"
+repository = "https://egit.irs.uni-stuttgart.de/rust/sat-rs"
+license = "Apache-2.0"
+
+# See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
+
+[dependencies]
+
+[dependencies.serde]
+version = "1"
+default-features = false
+optional = true
+
+[dependencies.spacepackets]
+version = "0.10"
+default-features = false
+
+[features]
+serde = ["dep:serde", "spacepackets/serde"]
+
+[package.metadata.docs.rs]
+rustdoc-args = ["--cfg", "doc_cfg", "--generate-link-to-definition"]
--- a/satrs-shared/LICENSE-APACHE
+++ b/satrs-shared/LICENSE-APACHE
--- a/satrs-shared/NOTICE
+++ b/satrs-shared/NOTICE
--- a/satrs-shared/README.md
+++ b/satrs-shared/README.md
@ -0,0 +1,5 @@
+satrs-shared
+=========
+
+Subcrate for some shared sat-rs framework components not expected to change very often.
+You can find more information on the [homepage](https://egit.irs.uni-stuttgart.de/rust/sat-rs).
--- a/satrs-shared/src/lib.rs
+++ b/satrs-shared/src/lib.rs
@ -0,0 +1,3 @@
+//! This crates contains modules shared among other sat-rs framework crates.
+#![no_std]
+pub mod res_code;
--- a/satrs-shared/src/res_code.rs
+++ b/satrs-shared/src/res_code.rs
@ -4,6 +4,7 @@ use spacepackets::ecss::{EcssEnumU16, EcssEnumeration};
 use spacepackets::util::UnsignedEnum;
 use spacepackets::ByteConversionError;

+/// Simple [u16] based result code type which also allows to group related resultcodes.
 #[derive(Debug, Copy, Clone, PartialEq, Eq)]
 #[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
 pub struct ResultU16 {
@ -12,7 +13,7 @@ pub struct ResultU16 {
 }

 impl ResultU16 {
-    pub const fn const_new(group_id: u8, unique_id: u8) -> Self {
+    pub const fn new(group_id: u8, unique_id: u8) -> Self {
        Self {
            group_id,
            unique_id,
@ -51,6 +52,10 @@ impl UnsignedEnum for ResultU16 {
        buf[1] = self.unique_id;
        Ok(self.size())
    }
+
+    fn value(&self) -> u64 {
+        self.raw() as u64
+    }
 }

 impl EcssEnumeration for ResultU16 {
@ -58,3 +63,26 @@ impl EcssEnumeration for ResultU16 {
        16
    }
 }
+
+#[cfg(test)]
+mod tests {
+    use super::*;
+
+    const RESULT_CODE_CONST: ResultU16 = ResultU16::new(1, 1);
+
+    #[test]
+    pub fn test_basic() {
+        let result_code = ResultU16::new(1, 1);
+        assert_eq!(result_code.unique_id(), 1);
+        assert_eq!(result_code.group_id(), 1);
+        assert_eq!(result_code, RESULT_CODE_CONST);
+        assert_eq!(result_code.raw(), (1_u16 << 8) | 1);
+        assert_eq!(result_code.pfc(), 16);
+        assert_eq!(result_code.size(), 2);
+        let mut buf: [u8; 2] = [0; 2];
+        let written = result_code.write_to_be_bytes(&mut buf).unwrap();
+        assert_eq!(written, 2);
+        assert_eq!(buf[0], 1);
+        assert_eq!(buf[1], 1);
+    }
+}
--- a/satrs-core/.gitignore
+++ b/satrs-core/.gitignore
--- a/satrs/CHANGELOG.md
+++ b/satrs/CHANGELOG.md
@ -0,0 +1,31 @@
+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]
+
+# [v0.2.0-rc.0] 2024-02-21
+
+## Added
+
+- New PUS service abstractions for HK (PUS 3) and actions (PUS 8). Introducing new abstractions
+  allows to move some boilerplate code into the framework.
+- New `VerificationReportingProvider` abstraction to avoid relying on a concrete verification
+  reporting provider.
+
+## Changed
+
+- Verification reporter API timestamp arguments are not `Option`al anymore. Empty timestamps
+  can be passed by simply specifying the `&[]` empty slice argument.
+
+# [v0.1.1] 2024-02-12
+
+- Minor fixes for crate config `homepage` entries and links in documentation.
+
+# [v0.1.0] 2024-02-12
+
+Initial release.
--- a/satrs-core/Cargo.toml
+++ b/satrs-core/Cargo.toml
@ -1,31 +1,28 @@
 [package]
-name = "satrs-core"
-version = "0.1.0-alpha.2"
+name = "satrs"
+version = "0.2.0-rc.0"
 edition = "2021"
 rust-version = "1.61"
 authors = ["Robin Mueller <muellerr@irs.uni-stuttgart.de>"]
-description = "Core components of the sat-rs framework to build software for remote systems"
-homepage = "https://egit.irs.uni-stuttgart.de/rust/sat-rs"
+description = "A framework to build software for remote systems"
+homepage = "https://absatsw.irs.uni-stuttgart.de/projects/sat-rs/"
 repository = "https://egit.irs.uni-stuttgart.de/rust/sat-rs"
 license = "Apache-2.0"
 keywords = ["no-std", "space", "aerospace"]
-categories = ["aerospace", "aerospace::space-protocols", "no-std", "hardware-support", "embedded"]
 # See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
+categories = ["aerospace", "aerospace::space-protocols", "no-std", "hardware-support", "embedded"]

 [dependencies]
 delegate = ">0.7, <=0.10"
 paste = "1"
-
-[dependencies.smallvec]
-version = "1"
+smallvec = "1"
+crc = "3"
+satrs-shared = "0.1.2"

 [dependencies.num_enum]
 version = ">0.5, <=0.7"
 default-features = false

-[dependencies.crc]
-version = "3"
-
 [dependencies.dyn-clone]
 version = "1"
 optional = true
@ -71,11 +68,8 @@ features = ["all"]
 optional = true

 [dependencies.spacepackets]
-version = "0.9.0"
+version = "0.10"
 default-features = false
-# git = "https://egit.irs.uni-stuttgart.de/rust/spacepackets.git"
-# rev = "297cfad22637d3b07a1b27abe56d9a607b5b82a7"
-# branch = "main"

 [dependencies.cobs]
 git = "https://github.com/robamu/cobs.rs.git"
@ -115,7 +109,7 @@ alloc = [
    "dyn-clone",
    "downcast-rs"
 ]
-serde = ["dep:serde", "spacepackets/serde"]
+serde = ["dep:serde", "spacepackets/serde", "satrs-shared/serde"]
 crossbeam = ["crossbeam-channel"]
 heapless = ["dep:heapless"]
 doc-images = []
--- a/satrs/LICENSE-APACHE
+++ b/satrs/LICENSE-APACHE
@ -0,0 +1,201 @@
+                              Apache License
+                        Version 2.0, January 2004
+                     http://www.apache.org/licenses/
+
+TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION
+
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+
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+   the brackets!)  The text should be enclosed in the appropriate
+   comment syntax for the file format. We also recommend that a
+   file or class name and description of purpose be included on the
+   same "printed page" as the copyright notice for easier
+   identification within third-party archives.
+
+Copyright [yyyy] [name of copyright owner]
+
+Licensed under the Apache License, Version 2.0 (the "License");
+you may not use this file except in compliance with the License.
+You may obtain a copy of the License at
+
+	http://www.apache.org/licenses/LICENSE-2.0
+
+Unless required by applicable law or agreed to in writing, software
+distributed under the License is distributed on an "AS IS" BASIS,
+WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+See the License for the specific language governing permissions and
+limitations under the License.
--- a/satrs/NOTICE
+++ b/satrs/NOTICE
@ -0,0 +1 @@
+This software contains code developed at the University of Stuttgart's Institute of Space Systems.
--- a/satrs/README.md
+++ b/satrs/README.md
@ -0,0 +1,8 @@
+[![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 crate contains the primary components of the sat-rs framework.
+You can find more information on the [homepage](https://egit.irs.uni-stuttgart.de/rust/sat-rs).
--- a/satrs-core/release-checklist.md
+++ b/satrs-core/release-checklist.md
@ -19,7 +19,5 @@ Checklist for new releases

 # Post-Release

-1. Create a new annotaged tag and push it with `git tag -a satrs-core-<version>` and
-   `git push -u origin satrs-core-<version>`
-2. Create a new release on `EGit` based on the tag.
+1. Create a new release on `EGit` with the name `satrs-<version>`.

--- a/satrs/src/action.rs
+++ b/satrs/src/action.rs
@ -0,0 +1,42 @@
+use crate::{pool::StoreAddr, TargetId};
+
+pub type ActionId = u32;
+
+#[non_exhaustive]
+#[derive(Clone, Eq, PartialEq, Debug)]
+pub enum ActionRequest {
+    UnsignedIdAndStoreData {
+        action_id: ActionId,
+        data_addr: StoreAddr,
+    },
+    #[cfg(feature = "alloc")]
+    UnsignedIdAndVecData {
+        action_id: ActionId,
+        data: alloc::vec::Vec<u8>,
+    },
+    #[cfg(feature = "alloc")]
+    StringIdAndVecData {
+        action_id: alloc::string::String,
+        data: alloc::vec::Vec<u8>,
+    },
+    #[cfg(feature = "alloc")]
+    StringIdAndStoreData {
+        action_id: alloc::string::String,
+        data: StoreAddr,
+    },
+}
+
+#[derive(Debug, Clone, PartialEq, Eq)]
+pub struct TargetedActionRequest {
+    target: TargetId,
+    action_request: ActionRequest,
+}
+
+impl TargetedActionRequest {
+    pub fn new(target: TargetId, action_request: ActionRequest) -> Self {
+        Self {
+            target,
+            action_request,
+        }
+    }
+}
--- a/satrs-core/src/cfdp/dest.rs
+++ b/satrs-core/src/cfdp/dest.rs
@ -23,7 +23,7 @@ use spacepackets::{
        tlv::{msg_to_user::MsgToUserTlv, EntityIdTlv, GenericTlv, TlvType},
        ChecksumType, ConditionCode, FaultHandlerCode, PduType, TransmissionMode,
    },
-    util::UnsignedByteField,
+    util::{UnsignedByteField, UnsignedEnum},
 };
 use thiserror::Error;

--- a/satrs-core/src/cfdp/filestore.rs
+++ b/satrs-core/src/cfdp/filestore.rs
--- a/satrs-core/src/cfdp/mod.rs
+++ b/satrs-core/src/cfdp/mod.rs
@ -9,7 +9,7 @@ use spacepackets::{
        pdu::{FileDirectiveType, PduError, PduHeader},
        ChecksumType, ConditionCode, FaultHandlerCode, PduType, TransmissionMode,
    },
-    util::UnsignedByteField,
+    util::{UnsignedByteField, UnsignedEnum},
 };

 #[cfg(feature = "alloc")]
--- a/satrs-core/src/cfdp/source.rs
+++ b/satrs-core/src/cfdp/source.rs
--- a/satrs-core/src/cfdp/user.rs
+++ b/satrs-core/src/cfdp/user.rs
--- a/satrs-core/src/device.rs
+++ b/satrs-core/src/device.rs
--- a/satrs-core/src/encoding/ccsds.rs
+++ b/satrs-core/src/encoding/ccsds.rs
--- a/satrs-core/src/encoding/cobs.rs
+++ b/satrs-core/src/encoding/cobs.rs
@ -13,7 +13,7 @@ use cobs::{decode_in_place, encode, max_encoding_length};
 ///
 /// ```
 /// use cobs::decode_in_place_report;
-/// use satrs_core::encoding::{encode_packet_with_cobs};
+/// use satrs::encoding::{encode_packet_with_cobs};
 //
 /// const SIMPLE_PACKET: [u8; 5] = [1, 2, 3, 4, 5];
 /// const INVERTED_PACKET: [u8; 5] = [5, 4, 3, 2, 1];
--- a/satrs-core/src/encoding/mod.rs
+++ b/satrs-core/src/encoding/mod.rs
--- a/satrs-core/src/event_man.rs
+++ b/satrs-core/src/event_man.rs
--- a/satrs-core/src/events.rs
+++ b/satrs-core/src/events.rs
@ -18,7 +18,7 @@
 //! # Examples
 //!
 //! ```
-//! use satrs_core::events::{EventU16, EventU32, EventU32TypedSev, Severity, SeverityHigh, SeverityInfo};
+//! use satrs::events::{EventU16, EventU32, EventU32TypedSev, Severity, SeverityHigh, SeverityInfo};
 //!
 //! const MSG_RECVD: EventU32TypedSev<SeverityInfo> = EventU32TypedSev::const_new(1, 0);
 //! const MSG_FAILED: EventU32 = EventU32::const_new(Severity::LOW, 1, 1);
@ -412,6 +412,10 @@ impl UnsignedEnum for EventU32 {
    fn write_to_be_bytes(&self, buf: &mut [u8]) -> Result<usize, ByteConversionError> {
        self.base.write_to_bytes(self.raw(), buf, self.size())
    }
+
+    fn value(&self) -> u64 {
+        self.raw().into()
+    }
 }

 impl EcssEnumeration for EventU32 {
@ -425,6 +429,7 @@ impl<SEVERITY: HasSeverity> UnsignedEnum for EventU32TypedSev<SEVERITY> {
    delegate!(to self.event {
        fn size(&self) -> usize;
        fn write_to_be_bytes(&self, buf: &mut [u8]) -> Result<usize, ByteConversionError>;
+        fn value(&self) -> u64;
    });
 }

@ -560,6 +565,10 @@ impl UnsignedEnum for EventU16 {
    fn write_to_be_bytes(&self, buf: &mut [u8]) -> Result<usize, ByteConversionError> {
        self.base.write_to_bytes(self.raw(), buf, self.size())
    }
+
+    fn value(&self) -> u64 {
+        self.raw().into()
+    }
 }
 impl EcssEnumeration for EventU16 {
    #[inline]
@ -573,6 +582,7 @@ impl<SEVERITY: HasSeverity> UnsignedEnum for EventU16TypedSev<SEVERITY> {
    delegate!(to self.event {
        fn size(&self) -> usize;
        fn write_to_be_bytes(&self, buf: &mut [u8]) -> Result<usize, ByteConversionError>;
+        fn value(&self) -> u64;
    });
 }

--- a/satrs-core/src/executable.rs
+++ b/satrs-core/src/executable.rs
--- a/satrs-core/src/hal/mod.rs
+++ b/satrs-core/src/hal/mod.rs
--- a/satrs-core/src/hal/std/mod.rs
+++ b/satrs-core/src/hal/std/mod.rs
--- a/satrs-core/src/hal/std/tcp_cobs_server.rs
+++ b/satrs-core/src/hal/std/tcp_cobs_server.rs
--- a/satrs-core/src/hal/std/tcp_server.rs
+++ b/satrs-core/src/hal/std/tcp_server.rs
--- a/satrs-core/src/hal/std/tcp_spacepackets_server.rs
+++ b/satrs-core/src/hal/std/tcp_spacepackets_server.rs
--- a/satrs-core/src/hal/std/udp_server.rs
+++ b/satrs-core/src/hal/std/udp_server.rs
@ -20,8 +20,8 @@ use std::vec::Vec;
 /// ```
 /// use std::net::{IpAddr, Ipv4Addr, SocketAddr, UdpSocket};
 /// use spacepackets::ecss::WritablePusPacket;
-/// use satrs_core::hal::std::udp_server::UdpTcServer;
-/// use satrs_core::tmtc::{ReceivesTc, ReceivesTcCore};
+/// use satrs::hal::std::udp_server::UdpTcServer;
+/// use satrs::tmtc::{ReceivesTc, ReceivesTcCore};
 /// use spacepackets::SpHeader;
 /// use spacepackets::ecss::tc::PusTcCreator;
 ///
--- a/satrs/src/hk.rs
+++ b/satrs/src/hk.rs
@ -0,0 +1,40 @@
+use crate::{
+    pus::verification::{TcStateAccepted, VerificationToken},
+    TargetId,
+};
+
+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 {
+    pub target_id: TargetId,
+    pub hk_request: HkRequest,
+}
+
+impl TargetedHkRequest {
+    pub fn new(target_id: TargetId, hk_request: HkRequest) -> Self {
+        Self {
+            target_id,
+            hk_request,
+        }
+    }
+}
+
+pub trait PusHkRequestRouter {
+    type Error;
+    fn route(
+        &self,
+        target_id: TargetId,
+        hk_request: HkRequest,
+        token: VerificationToken<TcStateAccepted>,
+    ) -> Result<(), Self::Error>;
+}
--- a/satrs-core/src/lib.rs
+++ b/satrs-core/src/lib.rs
@ -1,7 +1,9 @@
-//! # Core components of the sat-rs framework
+//! # sat-rs: A framework to build on-board software for remote systems
 //!
 //! You can find more information about the sat-rs framework on the
-//! [homepage](https://egit.irs.uni-stuttgart.de/rust/sat-rs).
+//! [homepage](https://absatsw.irs.uni-stuttgart.de/projects/sat-rs/).
+//! The [satrs-book](https://absatsw.irs.uni-stuttgart.de/projects/sat-rs/book/) contains
+//! high-level information about this framework.
 //!
 //! ## Overview
 //!
@ -32,19 +34,25 @@ pub mod events;
 #[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 queue;
 pub mod request;
 pub mod res_code;
 pub mod seq_count;
 pub mod tmtc;

+pub mod action;
+pub mod hk;
+pub mod mode;
+pub mod params;
+
 pub use spacepackets;

-// Generic channel ID type.
+/// Generic channel ID type.
 pub type ChannelId = u32;
+
+/// Generic target ID type.
+pub type TargetId = u64;
--- a/satrs-core/src/mode.rs
+++ b/satrs-core/src/mode.rs
@ -1,9 +1,10 @@
-use crate::tmtc::TargetId;
 use core::mem::size_of;
 #[cfg(feature = "serde")]
 use serde::{Deserialize, Serialize};
 use spacepackets::ByteConversionError;

+use crate::TargetId;
+
 #[derive(Debug, Copy, Clone, PartialEq, Eq)]
 #[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
 pub struct ModeAndSubmode {
@ -47,12 +48,12 @@ impl ModeAndSubmode {
 }
 #[derive(Debug, Copy, Clone, PartialEq, Eq)]
 #[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
-pub struct ModeCommand {
+pub struct TargetedModeCommand {
    pub address: TargetId,
    pub mode_submode: ModeAndSubmode,
 }

-impl ModeCommand {
+impl TargetedModeCommand {
    pub const fn new(address: TargetId, mode_submode: ModeAndSubmode) -> Self {
        Self {
            address,
--- a/satrs-core/src/objects.rs
+++ b/satrs-core/src/objects.rs
@ -10,7 +10,7 @@
 //! ```rust
 //! use std::any::Any;
 //! use std::error::Error;
-//! use satrs_core::objects::{ManagedSystemObject, ObjectId, ObjectManager, SystemObject};
+//! use satrs::objects::{ManagedSystemObject, ObjectId, ObjectManager, SystemObject};
 //!
 //! struct ExampleSysObj {
 //!     id: ObjectId,
@ -51,7 +51,6 @@
 //!  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")]
@ -63,6 +62,8 @@ use hashbrown::HashMap;
 #[cfg(feature = "std")]
 use std::error::Error;

+use crate::TargetId;
+
 #[derive(PartialEq, Eq, Hash, Copy, Clone, Debug)]
 pub struct ObjectId {
    pub id: TargetId,
--- a/satrs-core/src/params.rs
+++ b/satrs-core/src/params.rs
@ -13,7 +13,7 @@
 //! ## Example for primitive type wrapper
 //!
 //! ```
-//! use satrs_core::params::{ParamsRaw, ToBeBytes, U32Pair, WritableToBeBytes};
+//! use satrs::params::{ParamsRaw, ToBeBytes, U32Pair, WritableToBeBytes};
 //!
 //! let u32_pair = U32Pair(0x1010, 25);
 //! assert_eq!(u32_pair.0, 0x1010);
--- a/satrs-core/src/pool.rs
+++ b/satrs-core/src/pool.rs
@ -1,12 +1,19 @@
 //! # Pool implementation providing memory pools for packet storage.
 //!
+//! This module provides generic abstractions for memory pools which provide a storage
+//! machanism for variable sized data like Telemetry and Telecommand (TMTC) packets. The core
+//! abstraction for this is the [PoolProvider] trait.
+//!
+//! It also contains the [StaticMemoryPool] as a concrete implementation which can be used to avoid
+//! dynamic run-time allocations for the storage of TMTC packets.
+//!
 //! # Example for the [StaticMemoryPool]
 //!
 //! ```
-//! use satrs_core::pool::{PoolProvider, StaticMemoryPool, StaticPoolConfig};
+//! use satrs::pool::{PoolProvider, StaticMemoryPool, StaticPoolConfig};
 //!
 //! // 4 buckets of 4 bytes, 2 of 8 bytes and 1 of 16 bytes
-//! let pool_cfg = StaticPoolConfig::new(vec![(4, 4), (2, 8), (1, 16)]);
+//! let pool_cfg = StaticPoolConfig::new(vec![(4, 4), (2, 8), (1, 16)], false);
 //! let mut local_pool = StaticMemoryPool::new(pool_cfg);
 //! let mut read_buf: [u8; 16] = [0; 16];
 //! let mut addr;
@ -203,8 +210,12 @@ impl Error for StoreError {
    }
 }

-/// Generic trait for pool providers where the data can be modified and read in-place. This
-/// generally means that a shared pool structure has to be wrapped inside a lock structure.
+/// Generic trait for pool providers which provide memory pools for variable sized data.
+///
+/// It specifies a basic API to [Self::add], [Self::modify], [Self::read] and [Self::delete] data
+/// in the store at its core. The API was designed so internal optimizations can be performed
+/// more easily and that is is also possible to make the pool structure [Sync] without the whole
+/// pool structure being wrapped inside a lock.
 pub trait PoolProvider {
    /// Add new data to the pool. The provider should attempt to reserve a memory block with the
    /// appropriate size and then copy the given data to the block. Yields a [StoreAddr] which can
@ -251,6 +262,7 @@ pub trait PoolProvider {
    }
 }

+/// Extension trait which adds guarded pool access classes.
 pub trait PoolProviderWithGuards: PoolProvider {
    /// This function behaves like [PoolProvider::read], but consumes the provided address
    /// and returns a RAII conformant guard object.
@ -280,7 +292,8 @@ pub struct PoolGuard<'a, MemProvider: PoolProvider + ?Sized> {
    deletion_failed_error: Option<StoreError>,
 }

-/// This helper object
+/// This helper object can be used to safely access pool data without worrying about memory
+/// leaks.
 impl<'a, MemProvider: PoolProvider> PoolGuard<'a, MemProvider> {
    pub fn new(pool: &'a mut MemProvider, addr: StoreAddr) -> Self {
        Self {
@ -363,16 +376,24 @@ mod alloc_mod {
    ///
    /// # Parameters
    ///
-    /// * `cfg`: Vector of tuples which represent a subpool. The first entry in the tuple specifies the
-    ///       number of memory blocks in the subpool, the second entry the size of the blocks
+    /// * `cfg` - Vector of tuples which represent a subpool. The first entry in the tuple specifies
+    ///     the number of memory blocks in the subpool, the second entry the size of the blocks
+    /// * `spill_to_higher_subpools` - Specifies whether data will be spilled to higher subpools
+    ///     if the next fitting subpool is full. This is useful to ensure the pool remains useful
+    ///     for all data sizes as long as possible. However, an undesirable side-effect might be
+    ///     the chocking of larger subpools by underdimensioned smaller subpools.
    #[derive(Clone)]
    pub struct StaticPoolConfig {
        cfg: Vec<(NumBlocks, usize)>,
+        spill_to_higher_subpools: bool,
    }

    impl StaticPoolConfig {
-        pub fn new(cfg: Vec<(NumBlocks, usize)>) -> Self {
-            StaticPoolConfig { cfg }
+        pub fn new(cfg: Vec<(NumBlocks, usize)>, spill_to_higher_subpools: bool) -> Self {
+            StaticPoolConfig {
+                cfg,
+                spill_to_higher_subpools,
+            }
        }

        pub fn cfg(&self) -> &Vec<(NumBlocks, usize)> {
@ -390,16 +411,21 @@ mod alloc_mod {

    /// Pool implementation providing sub-pools with fixed size memory blocks.
    ///
-    /// This is a simple memory pool implementation which pre-allocates all sub-pools using a given pool
-    /// configuration. After the pre-allocation, no dynamic memory allocation will be performed
-    /// during run-time. This makes the implementation suitable for real-time applications and
-    /// embedded environments. The pool implementation will also track the size of the data stored
-    /// inside it.
+    /// This is a simple memory pool implementation which pre-allocates all subpools using a given
+    /// pool configuration. After the pre-allocation, no dynamic memory allocation will be
+    /// performed during run-time. This makes the implementation suitable for real-time
+    /// applications and embedded environments.
+    ///
+    /// The subpool bucket sizes only denote the maximum possible data size being stored inside
+    /// them and the pool implementation will still track the size of the data stored inside it.
+    /// The implementation will generally determine the best fitting subpool for given data to
+    /// add. Currently, the pool does not support spilling to larger subpools if the closest
+    /// fitting subpool is full. This might be added in the future.
    ///
    /// Transactions with the [pool][StaticMemoryPool] are done using a generic
-    /// [address][StoreAddr] type.
-    /// Adding any data to the pool will yield a store address. Modification and read operations are
-    /// done using a reference to a store address. Deletion will consume the store address.
+    /// [address][StoreAddr] type. Adding any data to the pool will yield a store address.
+    /// Modification and read operations are done using a reference to a store address. Deletion
+    /// will consume the store address.
    pub struct StaticMemoryPool {
        pool_cfg: StaticPoolConfig,
        pool: Vec<Vec<u8>>,
@ -456,7 +482,17 @@ mod alloc_mod {
        }

        fn reserve(&mut self, data_len: usize) -> Result<StaticPoolAddr, StoreError> {
-            let subpool_idx = self.find_subpool(data_len, 0)?;
+            let mut subpool_idx = self.find_subpool(data_len, 0)?;
+
+            if self.pool_cfg.spill_to_higher_subpools {
+                while let Err(StoreError::StoreFull(_)) = self.find_empty(subpool_idx) {
+                    if (subpool_idx + 1) as usize == self.sizes_lists.len() {
+                        return Err(StoreError::StoreFull(subpool_idx));
+                    }
+                    subpool_idx += 1;
+                }
+            }
+
            let (slot, size_slot_ref) = self.find_empty(subpool_idx)?;
            *size_slot_ref = data_len;
            Ok(StaticPoolAddr {
@ -628,22 +664,22 @@ mod tests {

    fn basic_small_pool() -> StaticMemoryPool {
        // 4 buckets of 4 bytes, 2 of 8 bytes and 1 of 16 bytes
-        let pool_cfg = StaticPoolConfig::new(vec![(4, 4), (2, 8), (1, 16)]);
+        let pool_cfg = StaticPoolConfig::new(vec![(4, 4), (2, 8), (1, 16)], false);
        StaticMemoryPool::new(pool_cfg)
    }

    #[test]
    fn test_cfg() {
        // Values where number of buckets is 0 or size is too large should be removed
-        let mut pool_cfg = StaticPoolConfig::new(vec![(0, 0), (1, 0), (2, POOL_MAX_SIZE)]);
+        let mut pool_cfg = StaticPoolConfig::new(vec![(0, 0), (1, 0), (2, POOL_MAX_SIZE)], false);
        pool_cfg.sanitize();
        assert_eq!(*pool_cfg.cfg(), vec![(1, 0)]);
        // Entries should be ordered according to bucket size
-        pool_cfg = StaticPoolConfig::new(vec![(16, 6), (32, 3), (8, 12)]);
+        pool_cfg = StaticPoolConfig::new(vec![(16, 6), (32, 3), (8, 12)], false);
        pool_cfg.sanitize();
        assert_eq!(*pool_cfg.cfg(), vec![(32, 3), (16, 6), (8, 12)]);
        // Unstable sort is used, so order of entries with same block length should not matter
-        pool_cfg = StaticPoolConfig::new(vec![(12, 12), (14, 16), (10, 12)]);
+        pool_cfg = StaticPoolConfig::new(vec![(12, 12), (14, 16), (10, 12)], false);
        pool_cfg.sanitize();
        assert!(
            *pool_cfg.cfg() == vec![(12, 12), (10, 12), (14, 16)]
@ -936,4 +972,72 @@ mod tests {
            })
            .expect("Modifying data failed");
    }
+
+    #[test]
+    fn test_spills_to_higher_subpools() {
+        let pool_cfg = StaticPoolConfig::new(vec![(2, 8), (2, 16)], true);
+        let mut local_pool = StaticMemoryPool::new(pool_cfg);
+        local_pool.free_element(8, |_| {}).unwrap();
+        local_pool.free_element(8, |_| {}).unwrap();
+        let mut in_larger_subpool_now = local_pool.free_element(8, |_| {});
+        assert!(in_larger_subpool_now.is_ok());
+        let generic_addr = in_larger_subpool_now.unwrap();
+        let pool_addr = StaticPoolAddr::from(generic_addr);
+        assert_eq!(pool_addr.pool_idx, 1);
+        assert_eq!(pool_addr.packet_idx, 0);
+        assert!(local_pool.has_element_at(&generic_addr).unwrap());
+        in_larger_subpool_now = local_pool.free_element(8, |_| {});
+        assert!(in_larger_subpool_now.is_ok());
+        let generic_addr = in_larger_subpool_now.unwrap();
+        let pool_addr = StaticPoolAddr::from(generic_addr);
+        assert_eq!(pool_addr.pool_idx, 1);
+        assert_eq!(pool_addr.packet_idx, 1);
+        assert!(local_pool.has_element_at(&generic_addr).unwrap());
+    }
+
+    #[test]
+    fn test_spillage_fails_as_well() {
+        let pool_cfg = StaticPoolConfig::new(vec![(1, 8), (1, 16)], true);
+        let mut local_pool = StaticMemoryPool::new(pool_cfg);
+        local_pool.free_element(8, |_| {}).unwrap();
+        local_pool.free_element(8, |_| {}).unwrap();
+        let should_fail = local_pool.free_element(8, |_| {});
+        assert!(should_fail.is_err());
+        if let Err(err) = should_fail {
+            assert_eq!(err, StoreError::StoreFull(1));
+        } else {
+            panic!("unexpected store address");
+        }
+    }
+
+    #[test]
+    fn test_spillage_works_across_multiple_subpools() {
+        let pool_cfg = StaticPoolConfig::new(vec![(1, 8), (1, 12), (1, 16)], true);
+        let mut local_pool = StaticMemoryPool::new(pool_cfg);
+        local_pool.free_element(8, |_| {}).unwrap();
+        local_pool.free_element(12, |_| {}).unwrap();
+        let in_larger_subpool_now = local_pool.free_element(8, |_| {});
+        assert!(in_larger_subpool_now.is_ok());
+        let generic_addr = in_larger_subpool_now.unwrap();
+        let pool_addr = StaticPoolAddr::from(generic_addr);
+        assert_eq!(pool_addr.pool_idx, 2);
+        assert_eq!(pool_addr.packet_idx, 0);
+        assert!(local_pool.has_element_at(&generic_addr).unwrap());
+    }
+
+    #[test]
+    fn test_spillage_fails_across_multiple_subpools() {
+        let pool_cfg = StaticPoolConfig::new(vec![(1, 8), (1, 12), (1, 16)], true);
+        let mut local_pool = StaticMemoryPool::new(pool_cfg);
+        local_pool.free_element(8, |_| {}).unwrap();
+        local_pool.free_element(12, |_| {}).unwrap();
+        local_pool.free_element(16, |_| {}).unwrap();
+        let should_fail = local_pool.free_element(8, |_| {});
+        assert!(should_fail.is_err());
+        if let Err(err) = should_fail {
+            assert_eq!(err, StoreError::StoreFull(2));
+        } else {
+            panic!("unexpected store address");
+        }
+    }
 }
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
Robin Müller	b48b5b8caa	Merge pull request 'bump example patch version' (#129 ) from prepare-example-release into main All checks were successful Rust/sat-rs/pipeline/head This commit looks good Details Reviewed-on: #129	2024-02-21 13:51:49 +01:00
Robin Mueller	238c3a8d43	bump example patch version All checks were successful Rust/sat-rs/pipeline/head This commit looks good Details	2024-02-21 11:34:35 +01:00
Robin Müller	de8c0bc13e	Merge pull request 'Use released package versions again' (#128 ) from bump-example into main All checks were successful Rust/sat-rs/pipeline/head This commit looks good Details Reviewed-on: #128	2024-02-21 11:34:07 +01:00
Robin Mueller	012eb82f42	bump example All checks were successful Rust/sat-rs/pipeline/head This commit looks good Details	2024-02-21 11:22:16 +01:00
Robin Müller	d26f6cbe27	Merge pull request 'sat-rs v0.2.0-rc.0' (#127 ) from prepare-satrs-release-candidate into main All checks were successful Rust/sat-rs/pipeline/head This commit looks good Details Reviewed-on: #127	2024-02-21 11:13:05 +01:00
Robin Mueller	82d3215761	changelog All checks were successful Rust/sat-rs/pipeline/pr-main This commit looks good Details	2024-02-21 11:08:22 +01:00
Robin Mueller	2b80244636	prepare release candidate Some checks are pending Rust/sat-rs/pipeline/head Build started... Details Rust/sat-rs/pipeline/pr-main This commit looks good Details	2024-02-21 10:06:58 +01:00
Robin Müller	f1611cd5b8	Merge pull request 'Custom badges' (#125 ) from try-custom-badges into main All checks were successful Rust/sat-rs/pipeline/head This commit looks good Details Reviewed-on: #125	2024-02-20 14:57:10 +01:00
Robin Mueller	808126ee41	better green Some checks are pending Rust/sat-rs/pipeline/head Build queued... Details	2024-02-20 14:55:52 +01:00
Robin Mueller	05df24447b	let's try this Some checks are pending Rust/sat-rs/pipeline/head Build started... Details	2024-02-20 14:54:58 +01:00
Robin Mueller	b229360233	try custom badges Some checks are pending Rust/sat-rs/pipeline/head Build started... Details	2024-02-20 14:52:01 +01:00
Robin Müller	52be26829b	Merge pull request 'First PUS handler abstractions with request mapping' (#121 ) from move-some-requests into main All checks were successful Rust/sat-rs/pipeline/head This commit looks good Details Reviewed-on: #121	2024-02-20 14:42:02 +01:00
Robin Mueller	ca2c8aa359	update changelog All checks were successful Rust/sat-rs/pipeline/pr-main This commit looks good Details	2024-02-20 14:36:34 +01:00
Robin Mueller	ba03150178	Added high-level abstraction for some PUS services All checks were successful Rust/sat-rs/pipeline/pr-main This commit looks good Details Introduced high-level abstractions for targetable requests in general. - PUS Service 3 (HK) abstraction for targetable HK requests - PUS Service 8 (Action) abstraction for targetable action requests	2024-02-20 14:33:21 +01:00
Robin Müller	4e45bfa7e6	Merge pull request 'add mode tree graph' (#124 ) from add-mode-tree-graph into main All checks were successful Rust/sat-rs/pipeline/head This commit looks good Details Reviewed-on: #124	2024-02-16 19:21:54 +01:00
Robin Mueller	93c01c8c22	add mode tree graph All checks were successful Rust/sat-rs/pipeline/head This commit looks good Details Rust/sat-rs/pipeline/pr-main This commit looks good Details	2024-02-16 17:42:44 +01:00
Robin Müller	2d062f3010	Merge pull request 'rename Python client' (#123 ) from rename-pyclient into main All checks were successful Rust/sat-rs/pipeline/head This commit looks good Details Reviewed-on: #123	2024-02-16 13:27:28 +01:00
Robin Mueller	01d9a85976	rename Python client Some checks are pending Rust/sat-rs/pipeline/head Build started... Details	2024-02-16 13:24:16 +01:00
Robin Müller	fa7cd39f3e	Merge pull request 'added goal graph for example' (#122 ) from example-goal-graph into main All checks were successful Rust/sat-rs/pipeline/head This commit looks good Details Reviewed-on: #122	2024-02-16 13:10:53 +01:00
Robin Mueller	5bb37d8e87	added goal graph for example All checks were successful Rust/sat-rs/pipeline/head This commit looks good Details	2024-02-16 12:54:50 +01:00
Robin Müller	813e221030	Merge pull request 'prepare example release v0.1.0' (#120 ) from example-release into main All checks were successful Rust/sat-rs/pipeline/head This commit looks good Details Reviewed-on: #120	2024-02-13 11:22:22 +01:00
Robin Mueller	18cec8bcf0	prepare example release v0.1.0 All checks were successful Rust/sat-rs/pipeline/head This commit looks good Details	2024-02-13 11:07:27 +01:00
Robin Müller	d4a122e462	Merge pull request 'of course, something is missing..' (#119 ) from of-course-forgot-a-link into main All checks were successful Rust/sat-rs/pipeline/head This commit looks good Details Reviewed-on: #119	2024-02-12 18:28:02 +01:00
Robin Mueller	7af327d077	of course, something is missing.. Some checks are pending Rust/sat-rs/pipeline/head Build started... Details	2024-02-12 18:17:50 +01:00
Robin Müller	3a6cd6712d	Merge pull request 'MIB docs update' (#118 ) from mib-docs-update into main All checks were successful Rust/sat-rs/pipeline/head This commit looks good Details Reviewed-on: #118	2024-02-12 18:11:54 +01:00
Robin Müller	c4eba03043	Merge branch 'main' into mib-docs-update Some checks are pending Rust/sat-rs/pipeline/pr-main Build queued... Details	2024-02-12 18:11:05 +01:00
Robin Mueller	e9e5c999ec	better documentation Some checks are pending Rust/sat-rs/pipeline/head Build queued... Details	2024-02-12 18:10:33 +01:00
Robin Mueller	f14a85cb84	add missing links for MIB Some checks are pending Rust/sat-rs/pipeline/head Build queued... Details	2024-02-12 18:04:43 +01:00
Robin Müller	c3902c2c06	Merge pull request 'Corrections for docs and links' (#117 ) from links-and-docs-corrections into main All checks were successful Rust/sat-rs/pipeline/head This commit looks good Details Reviewed-on: #117	2024-02-12 17:56:28 +01:00
Robin Mueller	24f82d4c5e	prep v0.1.1 Some checks are pending Rust/sat-rs/pipeline/pr-main Build queued... Details	2024-02-12 17:56:01 +01:00
Robin Mueller	44ff62e947	more link corrections All checks were successful Rust/sat-rs/pipeline/pr-main This commit looks good Details	2024-02-12 17:34:16 +01:00
Robin Mueller	9cf80b44ea	homepage link corrections Some checks are pending Rust/sat-rs/pipeline/head Build started... Details	2024-02-12 17:29:48 +01:00
Robin Mueller	f4bc33aefa	link corrections All checks were successful Rust/sat-rs/pipeline/head This commit looks good Details	2024-02-12 17:25:22 +01:00
Robin Müller	445fdfe066	Merge pull request 'prepare sat-rs release' (#116 ) from prepare-satrs-v0.1.0 into main All checks were successful Rust/sat-rs/pipeline/head This commit looks good Details Reviewed-on: #116	2024-02-12 17:12:18 +01:00
Robin Mueller	7c3879fbce	last preparations Some checks are pending Rust/sat-rs/pipeline/pr-main Build queued... Details	2024-02-12 17:11:59 +01:00
Robin Mueller	c3e9d4441f	prepare sat-rs release All checks were successful Rust/sat-rs/pipeline/head This commit looks good Details	2024-02-12 16:55:19 +01:00
Robin Müller	bbcad18dfa	Merge pull request 'changelog for the MIB' (#115 ) from changelog-mib into main All checks were successful Rust/sat-rs/pipeline/head This commit looks good Details Reviewed-on: #115	2024-02-12 16:42:02 +01:00
Robin Mueller	2607252be2	changelog for the MIB Some checks are pending Rust/sat-rs/pipeline/head Build queued... Details	2024-02-12 16:41:32 +01:00
Robin Müller	8b79e967bb	Merge pull request 'prepare MIB release v0.1.0' (#114 ) from prep-mib-release into main All checks were successful Rust/sat-rs/pipeline/head This commit looks good Details Reviewed-on: #114	2024-02-12 16:40:07 +01:00
Robin Mueller	c1e1c10f2d	delete commented config All checks were successful Rust/sat-rs/pipeline/pr-main This commit looks good Details	2024-02-12 16:23:56 +01:00
Robin Mueller	eef6f42d3b	prepare MIB release v0.1.0 Some checks are pending Rust/sat-rs/pipeline/head Build queued... Details	2024-02-12 16:23:00 +01:00
Robin Müller	6bfd37ba24	Merge pull request 'tiny improvement' (#113 ) from tiny-doc-improvement into main All checks were successful Rust/sat-rs/pipeline/head This commit looks good Details Reviewed-on: #113	2024-02-12 16:20:31 +01:00
Robin Mueller	94fbb50e11	better english	2024-02-12 16:20:21 +01:00
Robin Mueller	0caab60d74	tiny improvement Some checks are pending Rust/sat-rs/pipeline/head Build started... Details	2024-02-12 16:19:28 +01:00
Robin Müller	e2e6605f50	Merge pull request 'satrs-shared v0.1.1' (#112 ) from satrs-shared-patch into main All checks were successful Rust/sat-rs/pipeline/head This commit looks good Details Reviewed-on: #112	2024-02-12 16:18:38 +01:00
Robin Mueller	0b99a40c6f	prep patch release All checks were successful Rust/sat-rs/pipeline/head This commit looks good Details	2024-02-12 15:59:57 +01:00
Robin Müller	c635c7eed3	Merge pull request 'restructure the crate' (#111 ) from restructure-crate into main All checks were successful Rust/sat-rs/pipeline/head This commit looks good Details Reviewed-on: #111	2024-02-12 15:56:27 +01:00
Robin Mueller	de4e6183b3	Re-structure sat-rs All checks were successful Rust/sat-rs/pipeline/pr-main This commit looks good Details - Add new shared subcrate satrs-shared to split off some shared components not expected to change very often. - Renmame `satrs-core` to `satrs`. It is expected that sat-rs will remain the primary crate, so the core information is superfluous, and core also implies stability, which will not be the case for some time.	2024-02-12 15:51:37 +01:00
Robin Müller	f58a4eaee5	Merge pull request 'released version' (#110 ) from bump-example-released-version into main All checks were successful Rust/sat-rs/pipeline/head This commit looks good Details Reviewed-on: #110	2024-02-12 13:44:19 +01:00
Robin Mueller	544488eaa3	released version All checks were successful Rust/sat-rs/pipeline/head This commit looks good Details	2024-02-12 13:25:07 +01:00
Robin Müller	b06b4150b1	Merge pull request 'prepare MIB release' (#109 ) from mib-v0.1.0-alpha.2 into main Some checks failed Rust/sat-rs/pipeline/head There was a failure building this commit Details Reviewed-on: #109	2024-02-12 13:21:34 +01:00
Robin Mueller	4e16790092	prepare MIB release Some checks failed Rust/sat-rs/pipeline/head There was a failure building this commit Details	2024-02-12 13:16:11 +01:00
Robin Müller	20d5212710	Merge pull request 'satrs-core v0.1.0-alpha.3' (#108 ) from core-v0.1.0-alpha.3 into main All checks were successful Rust/sat-rs/pipeline/head This commit looks good Details Reviewed-on: #108	2024-02-12 13:13:12 +01:00
Robin Mueller	2dd38c163f	better name for new trait All checks were successful Rust/sat-rs/pipeline/pr-main This commit looks good Details	2024-02-12 12:54:25 +01:00
Robin Mueller	79d095b1f7	some doc improvements All checks were successful Rust/sat-rs/pipeline/pr-main This commit looks good Details	2024-02-12 12:48:28 +01:00
Robin Mueller	377ffc052c	bump release Some checks are pending Rust/sat-rs/pipeline/head Build started... Details	2024-02-12 12:43:17 +01:00
Robin Müller	c39ce99e2c	Merge pull request 'Add Static Pool Spillover feature' (#107 ) from add-pool-spillover into main All checks were successful Rust/sat-rs/pipeline/head This commit looks good Details Reviewed-on: #107	2024-02-12 12:21:00 +01:00
Robin Mueller	c0692a3523	Added static pool spillover feature All checks were successful Rust/sat-rs/pipeline/pr-main This commit looks good Details - Allows to utilize the full pool even if some subpools are full.	2024-02-12 11:35:10 +01:00
Robin Müller	712dc718f9	Merge pull request 'Pool docs improvements' (#105 ) from pool-docs-improvements into main All checks were successful Rust/sat-rs/pipeline/head This commit looks good Details Reviewed-on: #105	2024-02-12 11:30:48 +01:00
Robin Mueller	a69347af7b	Merge remote-tracking branch 'origin/main' into pool-docs-improvements All checks were successful Rust/sat-rs/pipeline/pr-main This commit looks good Details	2024-02-12 10:56:13 +01:00
Robin Müller	3c7113c231	Merge pull request 'Refactor and improve pool abstraction' (#104 ) from refactor-pool-impl into main All checks were successful Rust/sat-rs/pipeline/head This commit looks good Details Reviewed-on: #104	2024-02-10 15:39:38 +01:00
Robin Müller	9c310e7a36	Merge branch 'main' into refactor-pool-impl All checks were successful Rust/sat-rs/pipeline/pr-main This commit looks good Details	2024-02-10 12:54:36 +01:00
Robin Müller	0bab5799e5	Merge pull request 'Graph for static pools' (#103 ) from graph-for-static-pools into main All checks were successful Rust/sat-rs/pipeline/head This commit looks good Details Reviewed-on: #103	2024-02-10 12:54:29 +01:00
Robin Mueller	b56bbc8c41	update pool docs All checks were successful Rust/sat-rs/pipeline/head This commit looks good Details Rust/sat-rs/pipeline/pr-main This commit looks good Details	2024-02-10 12:54:13 +01:00
Robin Mueller	12ac5913aa	Merge branch 'graph-for-static-pools' into refactor-pool-impl	2024-02-10 12:30:35 +01:00
Robin Mueller	d017b9c179	Refactored pool abstraction All checks were successful Rust/sat-rs/pipeline/pr-main This commit looks good Details - Redesigned PoolProvider and PoolProviderWithGuards to allow easer optimizations and increase flexbility	2024-02-10 11:59:26 +01:00
Robin Mueller	f3ca570e53	Update pool docs in sat-rs book All checks were successful Rust/sat-rs/pipeline/pr-main This commit looks good Details - Add simple graph to show how it works	2024-02-10 11:57:19 +01:00
				`@ -0,0 +1 @@`
				`This software contains code developed at the University of Stuttgart's Institute of Space Systems.`