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

Reviewed-on: #129

Cargo.toml

@@ -1,9 +1,10 @@
 [workspace]
 resolver = "2"
 members = [
-    "satrs-core",
+    "satrs",
     "satrs-mib",
     "satrs-example",
+    "satrs-shared",
 ]
 
 exclude = [

README.md

@@ -1,13 +1,18 @@
 <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
 =========
 
 This is the repository of the sat-rs framework. Its primary goal is to provide re-usable components
 to write on-board software for remote systems like rovers or satellites. It is specifically written
 for the special requirements for these systems. You can find an overview of the project and the
-link to the [more high-level sat-rs book](https://documentation.irs.uni-stuttgart.de/projects/sat-rs/)
-at the [IRS documentation website](https://documentation.irs.uni-stuttgart.de/sat-rs.html).
+link to the [more high-level sat-rs book](https://absatsw.irs.uni-stuttgart.de/projects/sat-rs/)
+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

automation/Dockerfile

@@ -14,8 +14,15 @@ RUN rustup install nightly && \
     rustup target add thumbv7em-none-eabihf armv7-unknown-linux-gnueabihf && \
     rustup component add rustfmt clippy
 
-# RUN cargo install mdbook --no-default-features --features search --vers "^0.4" --locked
-RUN curl -sSL https://github.com/rust-lang/mdBook/releases/download/v0.4.34/mdbook-v0.4.34-x86_64-unknown-linux-gnu.tar.gz | tar -xz --directory /usr/local/bin
+WORKDIR "/tmp"
+# 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 && \
+    chmod +x mdbook-linkcheck && \
+    cp mdbook-linkcheck /usr/local/bin
 
 # SSH stuff to allow deployment to doc server
 RUN adduser --uid 114 jenkins

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') {
@@ -67,7 +67,7 @@ pipeline {
           sh 'mdbook build'
           sshagent(credentials: ['documentation-buildfix']) {
             // Deploy to Apache webserver
-            sh 'rsync -r --delete book/ buildfix@documentation.irs.uni-stuttgart.de:/projects/sat-rs'
+            sh 'rsync -r --delete book/html/ buildfix@documentation.irs.uni-stuttgart.de:/projects/sat-rs/book/'
           }
         }
       }

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(

images/events/event_man_arch.graphml

@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8" standalone="no"?>
 <graphml xmlns="http://graphml.graphdrawing.org/xmlns" xmlns:java="http://www.yworks.com/xml/yfiles-common/1.0/java" xmlns:sys="http://www.yworks.com/xml/yfiles-common/markup/primitives/2.0" xmlns:x="http://www.yworks.com/xml/yfiles-common/markup/2.0" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xmlns:y="http://www.yworks.com/xml/graphml" xmlns:yed="http://www.yworks.com/xml/yed/3" xsi:schemaLocation="http://graphml.graphdrawing.org/xmlns http://www.yworks.com/xml/schema/graphml/1.1/ygraphml.xsd">
-  <!--Created by yEd 3.22-->
+  <!--Created by yEd 3.23.2-->
   <key attr.name="Description" attr.type="string" for="graph" id="d0"/>
   <key for="port" id="d1" yfiles.type="portgraphics"/>
   <key for="port" id="d2" yfiles.type="portgeometry"/>
@@ -20,7 +20,7 @@
           <y:Geometry height="509.9999999999999" width="768.7000000000003" x="579.3105418719211" y="304.7"/>
           <y:Fill hasColor="false" transparent="false"/>
           <y:BorderStyle color="#000000" raised="false" type="line" width="1.0"/>
-          <y:NodeLabel alignment="center" autoSizePolicy="content" fontFamily="Ubuntu" fontSize="16" fontStyle="plain" hasBackgroundColor="false" hasLineColor="false" height="21.936037063598633" horizontalTextPosition="center" iconTextGap="4" modelName="custom" textColor="#000000" verticalTextPosition="bottom" visible="true" width="150.1282958984375" x="26.197490701913352" xml:space="preserve" y="24.234711021505348">Example Event Flow<y:LabelModel><y:SmartNodeLabelModel distance="4.0"/></y:LabelModel><y:ModelParameter><y:SmartNodeLabelModelParameter labelRatioX="-0.5" labelRatioY="-0.5" nodeRatioX="-0.46591974671274444" nodeRatioY="-0.452480958781362" offsetX="0.0" offsetY="0.0" upX="0.0" upY="-1.0"/></y:ModelParameter></y:NodeLabel>
+          <y:NodeLabel alignment="center" autoSizePolicy="content" fontFamily="Ubuntu" fontSize="18" fontStyle="plain" hasBackgroundColor="false" hasLineColor="false" height="24.177873611450195" horizontalTextPosition="center" iconTextGap="4" modelName="custom" textColor="#000000" verticalTextPosition="bottom" visible="true" width="168.3929901123047" x="26.197490701913352" xml:space="preserve" y="24.234711021505348">Example Event Flow<y:LabelModel><y:SmartNodeLabelModel distance="4.0"/></y:LabelModel><y:ModelParameter><y:SmartNodeLabelModelParameter labelRatioX="-0.5" labelRatioY="-0.5" nodeRatioX="-0.46591974671274444" nodeRatioY="-0.452480958781362" offsetX="0.0" offsetY="0.0" upX="0.0" upY="-1.0"/></y:ModelParameter></y:NodeLabel>
           <y:Shape type="rectangle"/>
         </y:ShapeNode>
       </data>
@@ -31,7 +31,7 @@
           <y:Geometry height="60.0" width="203.0" x="814.0" y="506.6799999999999"/>
           <y:Fill color="#FFFF00" transparent="false"/>
           <y:BorderStyle color="#000000" raised="false" type="line" width="1.0"/>
-          <y:NodeLabel alignment="center" autoSizePolicy="content" fontFamily="Ubuntu" fontSize="12" fontStyle="plain" hasBackgroundColor="false" hasLineColor="false" height="17.452094078063965" horizontalTextPosition="center" iconTextGap="4" modelName="custom" textColor="#000000" verticalTextPosition="bottom" visible="true" width="86.21258544921875" x="58.393707275390625" xml:space="preserve" y="21.27395296096796">Event Manager<y:LabelModel><y:SmartNodeLabelModel distance="4.0"/></y:LabelModel><y:ModelParameter><y:SmartNodeLabelModelParameter labelRatioX="0.0" labelRatioY="0.0" nodeRatioX="0.0" nodeRatioY="0.0" offsetX="0.0" offsetY="0.0" upX="0.0" upY="-1.0"/></y:ModelParameter></y:NodeLabel>
+          <y:NodeLabel alignment="center" autoSizePolicy="content" fontFamily="Ubuntu" fontSize="18" fontStyle="plain" hasBackgroundColor="false" hasLineColor="false" height="24.177873611450195" horizontalTextPosition="center" iconTextGap="4" modelName="custom" textColor="#000000" verticalTextPosition="bottom" visible="true" width="127.31723022460938" x="37.84138488769531" xml:space="preserve" y="17.911063194274846">Event Manager<y:LabelModel><y:SmartNodeLabelModel distance="4.0"/></y:LabelModel><y:ModelParameter><y:SmartNodeLabelModelParameter labelRatioX="0.0" labelRatioY="0.0" nodeRatioX="0.0" nodeRatioY="0.0" offsetX="0.0" offsetY="0.0" upX="0.0" upY="-1.0"/></y:ModelParameter></y:NodeLabel>
           <y:Shape type="rectangle"/>
         </y:ShapeNode>
       </data>
@@ -39,10 +39,10 @@
     <node id="n2">
       <data key="d6">
         <y:ShapeNode>
-          <y:Geometry height="60.0" width="82.0" x="617.6" y="413.23"/>
+          <y:Geometry height="60.0" width="92.24000000000001" x="607.36" y="413.23"/>
           <y:Fill color="#FF9900" transparent="false"/>
           <y:BorderStyle color="#000000" raised="false" type="line" width="1.0"/>
-          <y:NodeLabel alignment="center" autoSizePolicy="content" fontFamily="Ubuntu" fontSize="12" fontStyle="plain" hasBackgroundColor="false" hasLineColor="false" height="30.90418815612793" horizontalTextPosition="center" iconTextGap="4" modelName="custom" textColor="#000000" verticalTextPosition="bottom" visible="true" width="55.120361328125" x="13.4398193359375" xml:space="preserve" y="14.547905921936035">Event
+          <y:NodeLabel alignment="center" autoSizePolicy="content" fontFamily="Ubuntu" fontSize="16" fontStyle="plain" hasBackgroundColor="false" hasLineColor="false" height="39.872074127197266" horizontalTextPosition="center" iconTextGap="4" modelName="custom" textColor="#000000" verticalTextPosition="bottom" visible="true" width="72.16012573242188" x="10.039937133789067" xml:space="preserve" y="10.063962936401367">Event
 Creator 0<y:LabelModel><y:SmartNodeLabelModel distance="4.0"/></y:LabelModel><y:ModelParameter><y:SmartNodeLabelModelParameter labelRatioX="0.0" labelRatioY="0.0" nodeRatioX="0.0" nodeRatioY="0.0" offsetX="0.0" offsetY="0.0" upX="0.0" upY="-1.0"/></y:ModelParameter></y:NodeLabel>
           <y:Shape type="rectangle"/>
         </y:ShapeNode>
@@ -54,7 +54,7 @@ Creator 0<y:LabelModel><y:SmartNodeLabelModel distance="4.0"/></y:LabelModel><y:
           <y:Geometry height="60.0" width="76.55999999999995" x="988.5" y="335.62999999999994"/>
           <y:Fill color="#FF9900" transparent="false"/>
           <y:BorderStyle color="#000000" raised="false" type="line" width="1.0"/>
-          <y:NodeLabel alignment="center" autoSizePolicy="content" fontFamily="Ubuntu" fontSize="12" fontStyle="plain" hasBackgroundColor="false" hasLineColor="false" height="30.90418815612793" horizontalTextPosition="center" iconTextGap="4" modelName="custom" textColor="#000000" verticalTextPosition="bottom" visible="true" width="55.120361328125" x="10.719819335937473" xml:space="preserve" y="14.547905921936035">Event
+          <y:NodeLabel alignment="center" autoSizePolicy="content" fontFamily="Ubuntu" fontSize="16" fontStyle="plain" hasBackgroundColor="false" hasLineColor="false" height="39.872074127197266" horizontalTextPosition="center" iconTextGap="4" modelName="custom" textColor="#000000" verticalTextPosition="bottom" visible="true" width="72.16012573242188" x="2.199937133789035" xml:space="preserve" y="10.063962936401367">Event
 Creator 2<y:LabelModel><y:SmartNodeLabelModel distance="4.0"/></y:LabelModel><y:ModelParameter><y:SmartNodeLabelModelParameter labelRatioX="0.0" labelRatioY="0.0" nodeRatioX="0.0" nodeRatioY="0.0" offsetX="0.0" offsetY="0.0" upX="0.0" upY="-1.0"/></y:ModelParameter></y:NodeLabel>
           <y:Shape type="rectangle"/>
         </y:ShapeNode>
@@ -63,10 +63,10 @@ Creator 2<y:LabelModel><y:SmartNodeLabelModel distance="4.0"/></y:LabelModel><y:
     <node id="n4">
       <data key="d6">
         <y:ShapeNode>
-          <y:Geometry height="60.0" width="72.55999999999983" x="860.6610837438426" y="335.62999999999994"/>
+          <y:Geometry height="60.0" width="87.27999999999997" x="845.9410837438425" y="335.62999999999994"/>
           <y:Fill color="#FF9900" transparent="false"/>
           <y:BorderStyle color="#000000" raised="false" type="line" width="1.0"/>
-          <y:NodeLabel alignment="center" autoSizePolicy="content" fontFamily="Ubuntu" fontSize="12" fontStyle="plain" hasBackgroundColor="false" hasLineColor="false" height="30.90418815612793" horizontalTextPosition="center" iconTextGap="4" modelName="custom" textColor="#000000" verticalTextPosition="bottom" visible="true" width="55.120361328125" x="8.719819335937359" xml:space="preserve" y="14.547905921936035">Event
+          <y:NodeLabel alignment="center" autoSizePolicy="content" fontFamily="Ubuntu" fontSize="16" fontStyle="plain" hasBackgroundColor="false" hasLineColor="false" height="39.872074127197266" horizontalTextPosition="center" iconTextGap="4" modelName="custom" textColor="#000000" verticalTextPosition="bottom" visible="true" width="72.16012573242188" x="7.559937133789049" xml:space="preserve" y="10.063962936401367">Event
 Creator 1<y:LabelModel><y:SmartNodeLabelModel distance="4.0"/></y:LabelModel><y:ModelParameter><y:SmartNodeLabelModelParameter labelRatioX="0.0" labelRatioY="0.0" nodeRatioX="0.0" nodeRatioY="0.0" offsetX="0.0" offsetY="0.0" upX="0.0" upY="-1.0"/></y:ModelParameter></y:NodeLabel>
           <y:Shape type="rectangle"/>
         </y:ShapeNode>
@@ -78,7 +78,7 @@ Creator 1<y:LabelModel><y:SmartNodeLabelModel distance="4.0"/></y:LabelModel><y:
           <y:Geometry height="60.0" width="87.27999999999997" x="1112.52" y="335.62999999999994"/>
           <y:Fill color="#FF9900" transparent="false"/>
           <y:BorderStyle color="#000000" raised="false" type="line" width="1.0"/>
-          <y:NodeLabel alignment="center" autoSizePolicy="content" fontFamily="Ubuntu" fontSize="12" fontStyle="plain" hasBackgroundColor="false" hasLineColor="false" height="30.90418815612793" horizontalTextPosition="center" iconTextGap="4" modelName="custom" textColor="#000000" verticalTextPosition="bottom" visible="true" width="55.120361328125" x="16.079819335937373" xml:space="preserve" y="14.547905921936035">Event
+          <y:NodeLabel alignment="center" autoSizePolicy="content" fontFamily="Ubuntu" fontSize="16" fontStyle="plain" hasBackgroundColor="false" hasLineColor="false" height="39.872074127197266" horizontalTextPosition="center" iconTextGap="4" modelName="custom" textColor="#000000" verticalTextPosition="bottom" visible="true" width="72.16012573242188" x="7.559937133788935" xml:space="preserve" y="10.063962936401367">Event
 Creator 3<y:LabelModel><y:SmartNodeLabelModel distance="4.0"/></y:LabelModel><y:ModelParameter><y:SmartNodeLabelModelParameter labelRatioX="0.0" labelRatioY="0.0" nodeRatioX="0.0" nodeRatioY="0.0" offsetX="0.0" offsetY="0.0" upX="0.0" upY="-1.0"/></y:ModelParameter></y:NodeLabel>
           <y:Shape type="rectangle"/>
         </y:ShapeNode>
@@ -87,10 +87,10 @@ Creator 3<y:LabelModel><y:SmartNodeLabelModel distance="4.0"/></y:LabelModel><y:
     <node id="n6">
       <data key="d6">
         <y:ShapeNode>
-          <y:Geometry height="60.0" width="126.0" x="781.0" y="620.26"/>
+          <y:Geometry height="60.0" width="145.19999999999993" x="734.2060377358491" y="620.26"/>
           <y:Fill color="#FFCC00" transparent="false"/>
           <y:BorderStyle color="#000000" raised="false" type="line" width="1.0"/>
-          <y:NodeLabel alignment="center" autoSizePolicy="content" fontFamily="Ubuntu" fontSize="12" fontStyle="plain" hasBackgroundColor="false" hasLineColor="false" height="30.90418815612793" horizontalTextPosition="center" iconTextGap="4" modelName="custom" textColor="#000000" verticalTextPosition="bottom" visible="true" width="92.78865051269531" x="16.605674743652344" xml:space="preserve" y="14.547905921936035">PUS Service 5
+          <y:NodeLabel alignment="center" autoSizePolicy="content" fontFamily="Ubuntu" fontSize="16" fontStyle="plain" hasBackgroundColor="false" hasLineColor="false" height="39.872074127197266" horizontalTextPosition="center" iconTextGap="4" modelName="custom" textColor="#000000" verticalTextPosition="bottom" visible="true" width="122.38423156738281" x="11.407884216308503" xml:space="preserve" y="10.063962936401367">PUS Service 5
 Event Reporting
 <y:LabelModel><y:SmartNodeLabelModel distance="4.0"/></y:LabelModel><y:ModelParameter><y:SmartNodeLabelModelParameter labelRatioX="0.0" labelRatioY="0.0" nodeRatioX="0.0" nodeRatioY="0.0" offsetX="0.0" offsetY="0.0" upX="0.0" upY="-1.0"/></y:ModelParameter></y:NodeLabel>
           <y:Shape type="rectangle"/>
@@ -100,10 +100,10 @@ Event Reporting
     <node id="n7">
       <data key="d6">
         <y:ShapeNode>
-          <y:Geometry height="60.0" width="118.63999999999987" x="928.2" y="620.26"/>
+          <y:Geometry height="60.0" width="136.8599999999999" x="901.8" y="620.26"/>
           <y:Fill color="#FFCC00" transparent="false"/>
           <y:BorderStyle color="#000000" raised="false" type="line" width="1.0"/>
-          <y:NodeLabel alignment="center" autoSizePolicy="content" fontFamily="Ubuntu" fontSize="12" fontStyle="plain" hasBackgroundColor="false" hasLineColor="false" height="30.90418815612793" horizontalTextPosition="center" iconTextGap="4" modelName="custom" textColor="#000000" verticalTextPosition="bottom" visible="true" width="84.08859252929688" x="17.2757037353515" xml:space="preserve" y="14.547905921936035">PUS Service 19
+          <y:NodeLabel alignment="center" autoSizePolicy="content" fontFamily="Ubuntu" fontSize="16" fontStyle="plain" hasBackgroundColor="false" hasLineColor="false" height="39.872074127197266" horizontalTextPosition="center" iconTextGap="4" modelName="custom" textColor="#000000" verticalTextPosition="bottom" visible="true" width="110.78424072265625" x="13.037879638671825" xml:space="preserve" y="10.063962936401367">PUS Service 19
 Event Action<y:LabelModel><y:SmartNodeLabelModel distance="4.0"/></y:LabelModel><y:ModelParameter><y:SmartNodeLabelModelParameter labelRatioX="0.0" labelRatioY="0.0" nodeRatioX="0.0" nodeRatioY="0.0" offsetX="0.0" offsetY="0.0" upX="0.0" upY="-1.0"/></y:ModelParameter></y:NodeLabel>
           <y:Shape type="rectangle"/>
         </y:ShapeNode>
@@ -112,10 +112,10 @@ Event Action<y:LabelModel><y:SmartNodeLabelModel distance="4.0"/></y:LabelModel>
     <node id="n8">
       <data key="d6">
         <y:ShapeNode>
-          <y:Geometry height="60.0" width="87.27999999999997" x="792.1260377358491" y="733.8400000000001"/>
+          <y:Geometry height="60.0" width="97.27999999999997" x="787.1260377358491" y="733.8400000000001"/>
           <y:Fill color="#FFCC99" transparent="false"/>
           <y:BorderStyle color="#000000" raised="false" type="line" width="1.0"/>
-          <y:NodeLabel alignment="center" autoSizePolicy="content" fontFamily="Ubuntu" fontSize="12" fontStyle="plain" hasBackgroundColor="false" hasLineColor="false" height="30.90418815612793" horizontalTextPosition="center" iconTextGap="4" modelName="custom" textColor="#000000" verticalTextPosition="bottom" visible="true" width="59.932403564453125" x="13.673798217773424" xml:space="preserve" y="14.547905921936035">Telemetry
+          <y:NodeLabel alignment="center" autoSizePolicy="content" fontFamily="Ubuntu" fontSize="16" fontStyle="plain" hasBackgroundColor="false" hasLineColor="false" height="39.872074127197266" horizontalTextPosition="center" iconTextGap="4" modelName="custom" textColor="#000000" verticalTextPosition="bottom" visible="true" width="78.57614135742188" x="9.351929321289049" xml:space="preserve" y="10.063962936401367">Telemetry
 Sink<y:LabelModel><y:SmartNodeLabelModel distance="4.0"/></y:LabelModel><y:ModelParameter><y:SmartNodeLabelModelParameter labelRatioX="0.0" labelRatioY="0.0" nodeRatioX="0.0" nodeRatioY="0.0" offsetX="0.0" offsetY="0.0" upX="0.0" upY="-1.0"/></y:ModelParameter></y:NodeLabel>
           <y:Shape type="rectangle"/>
         </y:ShapeNode>
@@ -124,10 +124,10 @@ Sink<y:LabelModel><y:SmartNodeLabelModel distance="4.0"/></y:LabelModel><y:Model
     <node id="n9">
       <data key="d6">
         <y:ShapeNode>
-          <y:Geometry height="170.79999999999995" width="210.80000000000018" x="1076.84" y="601.88"/>
+          <y:Geometry height="218.79999999999995" width="256.8800000000001" x="1068.6599999999999" y="575.0400000000002"/>
           <y:Fill hasColor="false" transparent="false"/>
           <y:BorderStyle color="#000000" raised="false" type="line" width="1.0"/>
-          <y:NodeLabel alignment="left" autoSizePolicy="content" fontFamily="Dialog" fontSize="12" fontStyle="plain" hasBackgroundColor="false" hasLineColor="false" height="143.6875" horizontalTextPosition="center" iconTextGap="4" modelName="custom" textColor="#000000" verticalTextPosition="bottom" visible="true" width="181.591796875" x="8.373079774614325" xml:space="preserve" y="7.444138124199753">Subscriptions
+          <y:NodeLabel alignment="left" autoSizePolicy="content" fontFamily="Dialog" fontSize="16" fontStyle="plain" hasBackgroundColor="false" hasLineColor="false" height="190.25" horizontalTextPosition="center" iconTextGap="4" modelName="custom" textColor="#000000" verticalTextPosition="bottom" visible="true" width="240.7890625" x="10.203400059311889" xml:space="preserve" y="9.536167573623516">Subscriptions
 
 1. Event Creator 0 subscribes
     for event 0
@@ -144,10 +144,10 @@ Sink<y:LabelModel><y:SmartNodeLabelModel distance="4.0"/></y:LabelModel><y:Model
     <edge id="e0" source="n4" target="n1">
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+&lt;center&gt;
+    &lt;h4&gt;ACS Mode Tree&lt;/h4&gt;
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+&lt;tr&gt;
+&lt;th&gt;Mode&lt;/th&gt;
+&lt;th&gt;MGMs&lt;/th&gt;
+&lt;th&gt;SUSs&lt;/th&gt;
+&lt;th&gt;STR&lt;/th&gt;
+&lt;th&gt;MGT&lt;/th&gt;
+&lt;th&gt;RWs&lt;/th&gt;
+&lt;th&gt;ACS CTRL&lt;/th&gt;
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+&lt;td&gt;OFF&lt;/td&gt;
+&lt;td&gt;OFF&lt;/td&gt;
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+&lt;td&gt;OFF&lt;/td&gt;
+&lt;td&gt;OFF&lt;/td&gt;
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+&lt;td&gt;OFF&lt;/td&gt;
+&lt;td&gt;NORMAL&lt;/td&gt;
+&lt;td&gt;SAFE&lt;/td&gt;
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+&lt;td&gt;NORMAL&lt;/td&gt;
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+    &lt;h4&gt;ACS IDLE Sequence&lt;/h4&gt;
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+&lt;th&gt;Step&lt;/th&gt;
+&lt;th&gt;MGMs&lt;/th&gt;
+&lt;th&gt;SUS&lt;/th&gt;
+&lt;th&gt;STR&lt;/th&gt;
+&lt;th&gt;MGT&lt;/th&gt;
+&lt;th&gt;RWs&lt;/th&gt;
+&lt;th&gt;ACS CTRL&lt;/th&gt;
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+&lt;td&gt;1&lt;/td&gt;
+&lt;td&gt;NORMAL&lt;/td&gt;
+&lt;td&gt;NORMAL&lt;/td&gt;
+&lt;td&gt;NORMAL&lt;/td&gt;
+&lt;td&gt;NORMAL&lt;/td&gt;
+&lt;td&gt;NORMAL&lt;/td&gt;
+&lt;td&gt;&lt;/td&gt;
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+&lt;td&gt;2&lt;/td&gt;
+&lt;td&gt;&lt;/td&gt;
+&lt;td&gt;&lt;/td&gt;
+&lt;td&gt;&lt;/td&gt;
+&lt;td&gt;&lt;/td&gt;
+&lt;td&gt;&lt;/td&gt;
+&lt;td&gt;SAFE&lt;/td&gt;
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satrs-book/README.md

@@ -0,0 +1,19 @@
+sat-rs book
+=========
+
+High-level documentation of the [sat-rs project](https://absatsw.irs.uni-stuttgart.de/projects/sat-rs/).
+
+## Building
+
+If you have not done so, install the pre-requisites first:
+
+```sh
+cargo install mdbook --locked
+cargo install mdbook-linkcheck --locked
+```
+
+After that, you can build the book with:
+
+```sh
+mdbook build
+```

satrs-book/book.toml

@@ -4,3 +4,6 @@ language = "en"
 multilingual = false
 src = "src"
 title = "The sat-rs book"
+
+[output.html]
+[output.linkcheck]

satrs-book/src/SUMMARY.md

@@ -2,9 +2,16 @@
 
 - [Introduction](./introduction.md)
 - [Design](./design.md)
+
+# Basic concepts and components
+
 - [Communication with Space Systems](./communication.md)
 - [Working with Constrained Systems](./constrained-systems.md)
 - [Actions](./actions.md)
 - [Modes and Health](./modes-and-health.md)
 - [Housekeeping Data](./housekeeping.md)
 - [Events](./events.md)
+
+# Example project
+
+- [The satrs-example application](./example.md)

satrs-book/src/communication.md

@@ -1,3 +1,5 @@
+<div id="communication-chapter"/>
+
 # Communication with sat-rs based software
 
 Communication is a vital topic for remote system which are usually not (directly)
@@ -15,10 +17,16 @@ 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. This is a stream based protocol, so the server uses the COBS framing protocol
-   to always deliver complete packets.
+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/latest/satrs/hal/std/tcp_server/struct.TcpSpacepacketsServer.html)
+      to parse tightly packed CCSDS Spacepackets.
+    - [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).
 
 # Working with telemetry and telecommands (TMTC)
 

satrs-book/src/constrained-systems.md

@@ -11,23 +11,56 @@ 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
 
 A huge candidate for heap allocations is the TMTC and  handling. TC, TMs and IPC data are all
 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 and recommendng pre-allocated static
-pools.
+another solution to avoid run-time allocations by offering pre-allocated static
+pools. These pools are split into subpools where each subpool can have different page sizes.
+For example, a very small telecommand (TC) pool might look like this:
 
-These pools are split into subpools where each subpool can have different page sizes.
-For example, a very small TC pool might look like this:
+![Example Pool](images/pools/static-pools.png)
 
-TODO: Add image
+The core of the pool abstractions is the
+[PoolProvider trait](https://docs.rs/satrs/latest/satrs/pool/trait.PoolProvider.html).
+This trait specifies the general API a pool structure should have without making assumption
+of how the data is stored.
 
+This trait is implemented by a static memory pool implementation.
+The code to generate this static pool would look like this:
+
+<!-- Would be nice to test this code sample, but need to wait
+for https://github.com/rust-lang/mdBook/issues/706 to be merged.. -->
+```rust, ignore
+use satrs::pool::{StaticMemoryPool, StaticPoolConfig};
+
+let tc_pool = StaticMemoryPool::new(StaticPoolConfig::new(vec![
+    (6, 16),
+    (4, 32),
+    (2, 64),
+    (1, 128)
+]));
+```
+
+It should be noted that the buckets only show the maximum size of data being stored inside them.
+The store will keep a separate structure to track the actual size of the data being stored.
 A TC entry inside this pool has a store address which can then be sent around without having
-to dynamically allocate memory. The same principle can also be applied to the TM and IPC data.
+to dynamically allocate memory. The same principle can also be applied to the telemetry (TM) and
+inter-process communication (IPC) data.
+
+You can read
+
+- [`StaticPoolConfig` API](https://docs.rs/satrs/latest/satrs/pool/struct.StaticPoolConfig.html)
+- [`StaticMemoryPool` API](https://docs.rs/satrs/latest/satrs/pool/struct.StaticMemoryPool.html)
+
+for more details.
+
+In the future, optimized pool structures which use standard containers or are
+[`Sync`](https://doc.rust-lang.org/std/marker/trait.Sync.html) by default might be added as well.
 
 # Using special crates to prevent smaller allocations
 
@@ -35,7 +68,7 @@ Another common way to use the heap on host systems is using containers like `Str
 to work with data where the size is not known beforehand. The most common solution for embedded
 systems is to determine the maximum expected size and then use a pre-allocated `u8` buffer and a
 size variable. Alternatively, you can use the following crates for more convenience or a smart
-behaviour which at the very least reduce heap allocations:
+behaviour which at the very least reduces heap allocations:
 
 1. [`smallvec`](https://docs.rs/smallvec/latest/smallvec/).
 2. [`arrayvec`](https://docs.rs/arrayvec/latest/arrayvec/index.html) which also contains an

satrs-book/src/events.md

@@ -13,4 +13,4 @@ event components recommended by this framework do not really need this service.
 The following images shows how the flow of events could look like in a system where components
 can generate events, and where other system components might be interested in those events:
 
-![Event flow](images/event_man_arch.png)
+![Event flow](images/events/event_man_arch.png)

satrs-book/src/example.md

@@ -0,0 +1,152 @@
+# sat-rs Example Application
+
+The `sat-rs` framework includes a monolithic example application which can be found inside
+the [`satrs-example`](https://egit.irs.uni-stuttgart.de/rust/sat-rs/src/branch/main/satrs-example)
+subdirectory of the repository. The primary purpose of this example application is to show how
+the various components of the sat-rs framework could be used as part of a larger on-board
+software application.
+
+## Structure of the example project
+
+The example project contains components which could also be expected to be part of a production
+On-Board Software. A structural diagram of the example application is given to provide
+a brief high-level view of the components used inside the example application:
+
+![satrs-example component structure](images/satrs-example/satrs-example-structure.png)
+
+The dotted lines are used to denote optional components. In this case, the static pool components
+are optional because the heap can be used as a simpler mechanism to store TMTC packets as well.
+Some additional explanation is provided for the various components.
+
+### TCP/IP server 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/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/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.
+
+### TMTC Infrastructure
+
+The most important components of the TMTC infrastructure include the following components:
+
+- A TC source component which demultiplexes and routes telecommands based on parameters like
+  packet APID or PUS service and subservice type.
+- A TM sink sink component which is the target of all sent telemetry and sends it to downlink
+   handlers like the UDP and TCP server.
+
+You can read the [Communications chapter](./communication.md) for more
+background information on the chosen TMTC infrastructure approach.
+
+### PUS Service Components
+
+A PUS service stack is provided which exposes some functionality conformant with the ECSS PUS
+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/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/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.
+
+### Event Management Component
+
+An event manager based on the sat-rs
+[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/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.
+
+### Sample Application Components
+
+These components are example mission specific. They provide an idea how mission specific modules
+would look like the sat-rs context. It currently includes the following components:
+
+- An Attitute and Orbit Control (AOCS) example task which can also process some PUS commands.
+
+## Dataflow
+
+The interaction of the various components is provided in the following diagram:
+
+![satrs-example dataflow diagram](images/satrs-example/satrs-example-dataflow.png)
+
+It should be noted that an arrow coming out of a component group refers to multiple components
+in that group. An explanation for important component groups will be given.
+
+#### TMTC component group
+
+This groups is the primary interface for clients to communicate with the on-board software
+using a standardized TMTC protocol. The example uses the
+[ECSS PUS protocol](https://ecss.nl/standard/ecss-e-st-70-41c-space-engineering-telemetry-and-telecommand-packet-utilization-15-april-2016/).
+In the future, this might be extended with the
+[CCSDS File Delivery Protocol](https://public.ccsds.org/Pubs/727x0b5.pdf).
+
+A client can connect to the UDP or TCP server to send these PUS packets to the on-board software.
+These servers then forward the telecommads to a centralized TC source component using a dedicated
+message abstraction.
+
+This TC source component then demultiplexes the message and forwards it to the relevant components.
+Right now, it forwards all PUS requests to the respective PUS service handlers using the PUS
+receiver component. The individual PUS services are running in a separate thread. In the future,
+additional forwarding to components like a CFDP handler might be added as well. It should be noted
+that PUS11 commands might contain other PUS commands which should be scheduled in the future.
+These wrapped commands are forwarded to the PUS11 handler. When the schedule releases those
+commands, it forwards the released commands to the TC source again. This allows the scheduler
+and the TC source to run in separate threads and keeps them cleanly separated.
+
+All telemetry generated by the on-board software is sent to a centralized TM funnel. This component
+also performs a demultiplexing step to forward all telemetry to the relevant TM recipients.
+In the example case, this is the last UDP client, or a connected TCP client. In the future,
+forwarding to a persistent telemetry store and a simulated communication component might be
+added here as well. The centralized TM funnel also takes care of some packet processing steps which
+need to be applied for each ECSS PUS packet, for example CCSDS specific APID incrementation and
+PUS specific message counter incrementation.
+
+#### Application Group
+
+The application components generally do not receive raw PUS packets directly, even though
+this is certainly possible. Instead, they receive internalized messages from the PUS service
+handlers. For example, instead of receiving a PUS 8 Action Telecommand directly, an application
+component will receive a special `ActionRequest` message type reduced to the basic important
+information required to execute a request. These special requests are denoted by the blue arrow
+in the diagram.
+
+It should be noted that the arrow pointing towards the event manager points in both directions.
+This is because the application components might be interested in events generated by other
+components as well. This mechanism is oftentimes used to implement the FDIR functionality on system
+and component level.
+
+#### Shared components and functional interfaces
+
+It should be noted that sometimes, a functional interface is used instead of a message. This
+is used for the generation of verification telemetry. The verification reporter is a clonable
+component which generates and sends PUS1 verification telemetry directly to the TM funnel. This
+introduces a loose coupling to the PUS standard but was considered the easiest solution for
+a project which utilizes PUS as the main communication protocol. In the future, a generic
+verification abstraction might be introduced to completely decouple the application layer from
+PUS.
+
+The same concept is applied if the backing store of TMTC packets are shared pools. Every
+component which needs to read telecommands inside that shared pool or generate new telemetry
+into that shared pool will received a clonable shared handle to that pool.
+
+The same concept could be extended to power or thermal handling. For example, a shared power helper
+component might be used to retrieve power state information and send power switch commands through
+a functional interface. The actual implementation of the functional interface might still use
+shared memory and/or messages, but the functional interface makes using and testing the interaction
+with these components easier.

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).
-

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satrs-core/src/cfdp/dest.rs

@@ -1,871 +0,0 @@
-use core::str::{from_utf8, Utf8Error};
-use std::{
-    fs::{metadata, File},
-    io::{BufReader, Read, Seek, SeekFrom, Write},
-    path::{Path, PathBuf},
-};
-
-use crate::cfdp::user::TransactionFinishedParams;
-
-use super::{
-    user::{CfdpUser, MetadataReceivedParams},
-    PacketInfo, PacketTarget, State, TransactionId, TransactionStep, CRC_32,
-};
-use smallvec::SmallVec;
-use spacepackets::{
-    cfdp::{
-        pdu::{
-            eof::EofPdu,
-            file_data::FileDataPdu,
-            finished::{DeliveryCode, FileStatus, FinishedPdu},
-            metadata::{MetadataGenericParams, MetadataPdu},
-            CommonPduConfig, FileDirectiveType, PduError, PduHeader,
-        },
-        tlv::{msg_to_user::MsgToUserTlv, EntityIdTlv, TlvType},
-        ConditionCode, PduType, TransmissionMode,
-    },
-    util::UnsignedByteField,
-};
-use thiserror::Error;
-
-pub struct DestinationHandler {
-    id: UnsignedByteField,
-    step: TransactionStep,
-    state: State,
-    tparams: TransactionParams,
-    packets_to_send_ctx: PacketsToSendContext,
-}
-
-#[derive(Debug, Default)]
-struct PacketsToSendContext {
-    packet_available: bool,
-    directive: Option<FileDirectiveType>,
-}
-
-#[derive(Debug)]
-struct FileProperties {
-    src_file_name: [u8; u8::MAX as usize],
-    src_file_name_len: usize,
-    dest_file_name: [u8; u8::MAX as usize],
-    dest_file_name_len: usize,
-    dest_path_buf: PathBuf,
-}
-
-#[derive(Debug)]
-struct TransferState {
-    transaction_id: Option<TransactionId>,
-    progress: usize,
-    condition_code: ConditionCode,
-    delivery_code: DeliveryCode,
-    file_status: FileStatus,
-    metadata_params: MetadataGenericParams,
-}
-
-impl Default for TransferState {
-    fn default() -> Self {
-        Self {
-            transaction_id: None,
-            progress: Default::default(),
-            condition_code: ConditionCode::NoError,
-            delivery_code: DeliveryCode::Incomplete,
-            file_status: FileStatus::Unreported,
-            metadata_params: Default::default(),
-        }
-    }
-}
-#[derive(Debug)]
-struct TransactionParams {
-    tstate: TransferState,
-    pdu_conf: CommonPduConfig,
-    file_properties: FileProperties,
-    cksum_buf: [u8; 1024],
-    msgs_to_user_size: usize,
-    msgs_to_user_buf: [u8; 1024],
-}
-
-impl Default for FileProperties {
-    fn default() -> Self {
-        Self {
-            src_file_name: [0; u8::MAX as usize],
-            src_file_name_len: Default::default(),
-            dest_file_name: [0; u8::MAX as usize],
-            dest_file_name_len: Default::default(),
-            dest_path_buf: Default::default(),
-        }
-    }
-}
-
-impl TransactionParams {
-    fn file_size(&self) -> usize {
-        self.tstate.metadata_params.file_size as usize
-    }
-
-    fn metadata_params(&self) -> &MetadataGenericParams {
-        &self.tstate.metadata_params
-    }
-}
-
-impl Default for TransactionParams {
-    fn default() -> Self {
-        Self {
-            pdu_conf: Default::default(),
-            cksum_buf: [0; 1024],
-            msgs_to_user_size: 0,
-            msgs_to_user_buf: [0; 1024],
-            tstate: Default::default(),
-            file_properties: Default::default(),
-        }
-    }
-}
-
-impl TransactionParams {
-    fn reset(&mut self) {
-        self.tstate.condition_code = ConditionCode::NoError;
-        self.tstate.delivery_code = DeliveryCode::Incomplete;
-    }
-}
-
-#[derive(Debug, Error)]
-pub enum DestError {
-    /// File directive expected, but none specified
-    #[error("expected file directive")]
-    DirectiveExpected,
-    #[error("can not process packet type {0:?}")]
-    CantProcessPacketType(FileDirectiveType),
-    #[error("can not process file data PDUs in current state")]
-    WrongStateForFileDataAndEof,
-    // Received new metadata PDU while being already being busy with a file transfer.
-    #[error("busy with transfer")]
-    RecvdMetadataButIsBusy,
-    #[error("empty source file field")]
-    EmptySrcFileField,
-    #[error("empty dest file field")]
-    EmptyDestFileField,
-    #[error("pdu error {0}")]
-    Pdu(#[from] PduError),
-    #[error("io error {0}")]
-    Io(#[from] std::io::Error),
-    #[error("path conversion error {0}")]
-    PathConversion(#[from] Utf8Error),
-    #[error("error building dest path from source file name and dest folder")]
-    PathConcatError,
-}
-
-impl DestinationHandler {
-    pub fn new(id: impl Into<UnsignedByteField>) -> Self {
-        Self {
-            id: id.into(),
-            step: TransactionStep::Idle,
-            state: State::Idle,
-            tparams: Default::default(),
-            packets_to_send_ctx: Default::default(),
-        }
-    }
-
-    pub fn state_machine(&mut self, cfdp_user: &mut impl CfdpUser) -> Result<(), DestError> {
-        match self.state {
-            State::Idle => todo!(),
-            State::BusyClass1Nacked => self.fsm_nacked(cfdp_user),
-            State::BusyClass2Acked => todo!("acknowledged mode not implemented yet"),
-        }
-    }
-
-    pub fn insert_packet(&mut self, packet_info: &PacketInfo) -> Result<(), DestError> {
-        if packet_info.target() != PacketTarget::DestEntity {
-            // Unwrap is okay here, a PacketInfo for a file data PDU should always have the
-            // destination as the target.
-            return Err(DestError::CantProcessPacketType(
-                packet_info.pdu_directive().unwrap(),
-            ));
-        }
-        match packet_info.pdu_type {
-            PduType::FileDirective => {
-                if packet_info.pdu_directive.is_none() {
-                    return Err(DestError::DirectiveExpected);
-                }
-                self.handle_file_directive(
-                    packet_info.pdu_directive.unwrap(),
-                    packet_info.raw_packet,
-                )
-            }
-            PduType::FileData => self.handle_file_data(packet_info.raw_packet),
-        }
-    }
-
-    pub fn packet_to_send_ready(&self) -> bool {
-        self.packets_to_send_ctx.packet_available
-    }
-
-    pub fn get_next_packet_to_send(
-        &self,
-        buf: &mut [u8],
-    ) -> Result<Option<(FileDirectiveType, usize)>, DestError> {
-        if !self.packet_to_send_ready() {
-            return Ok(None);
-        }
-        let directive = self.packets_to_send_ctx.directive.unwrap();
-        let written_size = match directive {
-            FileDirectiveType::FinishedPdu => {
-                let pdu_header = PduHeader::new_no_file_data(self.tparams.pdu_conf, 0);
-                let finished_pdu = if self.tparams.tstate.condition_code == ConditionCode::NoError
-                    || self.tparams.tstate.condition_code == ConditionCode::UnsupportedChecksumType
-                {
-                    FinishedPdu::new_default(
-                        pdu_header,
-                        self.tparams.tstate.delivery_code,
-                        self.tparams.tstate.file_status,
-                    )
-                } else {
-                    // TODO: Are there cases where this ID is actually the source entity ID?
-                    let entity_id = EntityIdTlv::new(self.id);
-                    FinishedPdu::new_with_error(
-                        pdu_header,
-                        self.tparams.tstate.condition_code,
-                        self.tparams.tstate.delivery_code,
-                        self.tparams.tstate.file_status,
-                        entity_id,
-                    )
-                };
-                finished_pdu.write_to_bytes(buf)?
-            }
-            FileDirectiveType::AckPdu => todo!(),
-            FileDirectiveType::NakPdu => todo!(),
-            FileDirectiveType::KeepAlivePdu => todo!(),
-            _ => {
-                // This should never happen and is considered an internal impl error
-                panic!("invalid file directive {directive:?} for dest handler send packet");
-            }
-        };
-        Ok(Some((directive, written_size)))
-    }
-
-    pub fn handle_file_directive(
-        &mut self,
-        pdu_directive: FileDirectiveType,
-        raw_packet: &[u8],
-    ) -> Result<(), DestError> {
-        match pdu_directive {
-            FileDirectiveType::EofPdu => self.handle_eof_pdu(raw_packet)?,
-            FileDirectiveType::FinishedPdu
-            | FileDirectiveType::NakPdu
-            | FileDirectiveType::KeepAlivePdu => {
-                return Err(DestError::CantProcessPacketType(pdu_directive));
-            }
-            FileDirectiveType::AckPdu => {
-                todo!(
-                "check whether ACK pdu handling is applicable by checking the acked directive field"
-                )
-            }
-            FileDirectiveType::MetadataPdu => self.handle_metadata_pdu(raw_packet)?,
-            FileDirectiveType::PromptPdu => self.handle_prompt_pdu(raw_packet)?,
-        };
-        Ok(())
-    }
-
-    pub fn handle_metadata_pdu(&mut self, raw_packet: &[u8]) -> Result<(), DestError> {
-        if self.state != State::Idle {
-            return Err(DestError::RecvdMetadataButIsBusy);
-        }
-        let metadata_pdu = MetadataPdu::from_bytes(raw_packet)?;
-        self.tparams.reset();
-        self.tparams.tstate.metadata_params = *metadata_pdu.metadata_params();
-        let src_name = metadata_pdu.src_file_name();
-        if src_name.is_empty() {
-            return Err(DestError::EmptySrcFileField);
-        }
-        self.tparams.file_properties.src_file_name[..src_name.len_value()]
-            .copy_from_slice(src_name.value());
-        self.tparams.file_properties.src_file_name_len = src_name.len_value();
-        let dest_name = metadata_pdu.dest_file_name();
-        if dest_name.is_empty() {
-            return Err(DestError::EmptyDestFileField);
-        }
-        self.tparams.file_properties.dest_file_name[..dest_name.len_value()]
-            .copy_from_slice(dest_name.value());
-        self.tparams.file_properties.dest_file_name_len = dest_name.len_value();
-        self.tparams.pdu_conf = *metadata_pdu.pdu_header().common_pdu_conf();
-        self.tparams.msgs_to_user_size = 0;
-        if metadata_pdu.options().is_some() {
-            for option_tlv in metadata_pdu.options_iter().unwrap() {
-                if option_tlv.is_standard_tlv()
-                    && option_tlv.tlv_type().unwrap() == TlvType::MsgToUser
-                {
-                    self.tparams
-                        .msgs_to_user_buf
-                        .copy_from_slice(option_tlv.raw_data().unwrap());
-                    self.tparams.msgs_to_user_size += option_tlv.len_full();
-                }
-            }
-        }
-        if self.tparams.pdu_conf.trans_mode == TransmissionMode::Unacknowledged {
-            self.state = State::BusyClass1Nacked;
-        } else {
-            self.state = State::BusyClass2Acked;
-        }
-        self.step = TransactionStep::TransactionStart;
-        Ok(())
-    }
-
-    pub fn handle_file_data(&mut self, raw_packet: &[u8]) -> Result<(), DestError> {
-        if self.state == State::Idle || self.step != TransactionStep::ReceivingFileDataPdus {
-            return Err(DestError::WrongStateForFileDataAndEof);
-        }
-        let fd_pdu = FileDataPdu::from_bytes(raw_packet)?;
-        let mut dest_file = File::options()
-            .write(true)
-            .open(&self.tparams.file_properties.dest_path_buf)?;
-        dest_file.seek(SeekFrom::Start(fd_pdu.offset()))?;
-        dest_file.write_all(fd_pdu.file_data())?;
-        Ok(())
-    }
-
-    #[allow(clippy::needless_if)]
-    pub fn handle_eof_pdu(&mut self, raw_packet: &[u8]) -> Result<(), DestError> {
-        if self.state == State::Idle || self.step != TransactionStep::ReceivingFileDataPdus {
-            return Err(DestError::WrongStateForFileDataAndEof);
-        }
-        let eof_pdu = EofPdu::from_bytes(raw_packet)?;
-        let checksum = eof_pdu.file_checksum();
-        // For a standard disk based file system, which is assumed to be used for now, the file
-        // will always be retained. This might change in the future.
-        self.tparams.tstate.file_status = FileStatus::Retained;
-        if self.checksum_check(checksum)? {
-            self.tparams.tstate.condition_code = ConditionCode::NoError;
-            self.tparams.tstate.delivery_code = DeliveryCode::Complete;
-        } else {
-            self.tparams.tstate.condition_code = ConditionCode::FileChecksumFailure;
-        }
-        // TODO: Check progress, and implement transfer completion timer as specified in the
-        // standard. This timer protects against out of order arrival of packets.
-        if self.tparams.tstate.progress != self.tparams.file_size() {}
-        if self.state == State::BusyClass1Nacked {
-            self.step = TransactionStep::TransferCompletion;
-        } else {
-            self.step = TransactionStep::SendingAckPdu;
-        }
-        Ok(())
-    }
-
-    pub fn handle_prompt_pdu(&mut self, _raw_packet: &[u8]) -> Result<(), DestError> {
-        todo!();
-    }
-
-    fn checksum_check(&mut self, expected_checksum: u32) -> Result<bool, DestError> {
-        let mut digest = CRC_32.digest();
-        let file_to_check = File::open(&self.tparams.file_properties.dest_path_buf)?;
-        let mut buf_reader = BufReader::new(file_to_check);
-        loop {
-            let bytes_read = buf_reader.read(&mut self.tparams.cksum_buf)?;
-            if bytes_read == 0 {
-                break;
-            }
-            digest.update(&self.tparams.cksum_buf[0..bytes_read]);
-        }
-        if digest.finalize() == expected_checksum {
-            return Ok(true);
-        }
-        Ok(false)
-    }
-
-    fn fsm_nacked(&mut self, cfdp_user: &mut impl CfdpUser) -> Result<(), DestError> {
-        if self.step == TransactionStep::TransactionStart {
-            self.transaction_start(cfdp_user)?;
-        }
-        if self.step == TransactionStep::TransferCompletion {
-            self.transfer_completion(cfdp_user)?;
-        }
-        if self.step == TransactionStep::SendingAckPdu {
-            todo!("no support for acknowledged mode yet");
-        }
-        if self.step == TransactionStep::SendingFinishedPdu {
-            self.reset();
-        }
-        Ok(())
-    }
-
-    /// Get the step, which denotes the exact step of a pending CFDP transaction when applicable.
-    pub fn step(&self) -> TransactionStep {
-        self.step
-    }
-
-    /// Get the step, which denotes whether the CFDP handler is active, and which CFDP class
-    /// is used if it is active.
-    pub fn state(&self) -> State {
-        self.state
-    }
-
-    fn transaction_start(&mut self, cfdp_user: &mut impl CfdpUser) -> Result<(), DestError> {
-        let dest_name = from_utf8(
-            &self.tparams.file_properties.dest_file_name
-                [..self.tparams.file_properties.dest_file_name_len],
-        )?;
-        let dest_path = Path::new(dest_name);
-        self.tparams.file_properties.dest_path_buf = dest_path.to_path_buf();
-        let source_id = self.tparams.pdu_conf.source_id();
-        let id = TransactionId::new(source_id, self.tparams.pdu_conf.transaction_seq_num);
-        let src_name = from_utf8(
-            &self.tparams.file_properties.src_file_name
-                [0..self.tparams.file_properties.src_file_name_len],
-        )?;
-        let mut msgs_to_user = SmallVec::<[MsgToUserTlv<'_>; 16]>::new();
-        let mut num_msgs_to_user = 0;
-        if self.tparams.msgs_to_user_size > 0 {
-            let mut index = 0;
-            while index < self.tparams.msgs_to_user_size {
-                // This should never panic as the validity of the options was checked beforehand.
-                let msgs_to_user_tlv =
-                    MsgToUserTlv::from_bytes(&self.tparams.msgs_to_user_buf[index..])
-                        .expect("message to user creation failed unexpectedly");
-                msgs_to_user.push(msgs_to_user_tlv);
-                index += msgs_to_user_tlv.len_full();
-                num_msgs_to_user += 1;
-            }
-        }
-        let metadata_recvd_params = MetadataReceivedParams {
-            id,
-            source_id,
-            file_size: self.tparams.tstate.metadata_params.file_size,
-            src_file_name: src_name,
-            dest_file_name: dest_name,
-            msgs_to_user: &msgs_to_user[..num_msgs_to_user],
-        };
-        self.tparams.tstate.transaction_id = Some(id);
-        cfdp_user.metadata_recvd_indication(&metadata_recvd_params);
-
-        if dest_path.exists() {
-            let dest_metadata = metadata(dest_path)?;
-            if dest_metadata.is_dir() {
-                // Create new destination path by concatenating the last part of the source source
-                // name and the destination folder. For example, for a source file of /tmp/hello.txt
-                // and a destination name of /home/test, the resulting file name should be
-                // /home/test/hello.txt
-                let source_path = Path::new(from_utf8(
-                    &self.tparams.file_properties.src_file_name
-                        [..self.tparams.file_properties.src_file_name_len],
-                )?);
-
-                let source_name = source_path.file_name();
-                if source_name.is_none() {
-                    return Err(DestError::PathConcatError);
-                }
-                let source_name = source_name.unwrap();
-                self.tparams.file_properties.dest_path_buf.push(source_name);
-            }
-        }
-        // This function does exactly what we require: Create a new file if it does not exist yet
-        // and trucate an existing one.
-        File::create(&self.tparams.file_properties.dest_path_buf)?;
-        self.step = TransactionStep::ReceivingFileDataPdus;
-        Ok(())
-    }
-
-    fn transfer_completion(&mut self, cfdp_user: &mut impl CfdpUser) -> Result<(), DestError> {
-        let transaction_finished_params = TransactionFinishedParams {
-            id: self.tparams.tstate.transaction_id.unwrap(),
-            condition_code: self.tparams.tstate.condition_code,
-            delivery_code: self.tparams.tstate.delivery_code,
-            file_status: self.tparams.tstate.file_status,
-        };
-        cfdp_user.transaction_finished_indication(&transaction_finished_params);
-        // This function should never be called with metadata parameters not set
-        if self.tparams.metadata_params().closure_requested {
-            self.prepare_finished_pdu()?;
-            self.step = TransactionStep::SendingFinishedPdu;
-        } else {
-            self.reset();
-            self.state = State::Idle;
-            self.step = TransactionStep::Idle;
-        }
-        Ok(())
-    }
-
-    fn reset(&mut self) {
-        self.step = TransactionStep::Idle;
-        self.state = State::Idle;
-        self.packets_to_send_ctx.packet_available = false;
-        self.tparams.reset();
-    }
-
-    fn prepare_finished_pdu(&mut self) -> Result<(), DestError> {
-        self.packets_to_send_ctx.packet_available = true;
-        self.packets_to_send_ctx.directive = Some(FileDirectiveType::FinishedPdu);
-        self.step = TransactionStep::SendingFinishedPdu;
-        Ok(())
-    }
-}
-
-#[cfg(test)]
-mod tests {
-    use core::sync::atomic::{AtomicU8, Ordering};
-    #[allow(unused_imports)]
-    use std::println;
-    use std::{env::temp_dir, fs};
-
-    use alloc::{format, string::String};
-    use rand::Rng;
-    use spacepackets::{
-        cfdp::{lv::Lv, ChecksumType},
-        util::{UbfU16, UnsignedByteFieldU16},
-    };
-
-    use super::*;
-
-    const LOCAL_ID: UnsignedByteFieldU16 = UnsignedByteFieldU16::new(1);
-    const REMOTE_ID: UnsignedByteFieldU16 = UnsignedByteFieldU16::new(2);
-
-    const SRC_NAME: &str = "__cfdp__source-file";
-    const DEST_NAME: &str = "__cfdp__dest-file";
-
-    static ATOMIC_COUNTER: AtomicU8 = AtomicU8::new(0);
-
-    #[derive(Default)]
-    struct TestCfdpUser {
-        next_expected_seq_num: u64,
-        expected_full_src_name: String,
-        expected_full_dest_name: String,
-        expected_file_size: usize,
-    }
-
-    impl TestCfdpUser {
-        fn generic_id_check(&self, id: &crate::cfdp::TransactionId) {
-            assert_eq!(id.source_id, LOCAL_ID.into());
-            assert_eq!(id.seq_num().value(), self.next_expected_seq_num);
-        }
-    }
-
-    impl CfdpUser for TestCfdpUser {
-        fn transaction_indication(&mut self, id: &crate::cfdp::TransactionId) {
-            self.generic_id_check(id);
-        }
-
-        fn eof_sent_indication(&mut self, id: &crate::cfdp::TransactionId) {
-            self.generic_id_check(id);
-        }
-
-        fn transaction_finished_indication(
-            &mut self,
-            finished_params: &crate::cfdp::user::TransactionFinishedParams,
-        ) {
-            self.generic_id_check(&finished_params.id);
-        }
-
-        fn metadata_recvd_indication(
-            &mut self,
-            md_recvd_params: &crate::cfdp::user::MetadataReceivedParams,
-        ) {
-            self.generic_id_check(&md_recvd_params.id);
-            assert_eq!(
-                String::from(md_recvd_params.src_file_name),
-                self.expected_full_src_name
-            );
-            assert_eq!(
-                String::from(md_recvd_params.dest_file_name),
-                self.expected_full_dest_name
-            );
-            assert_eq!(md_recvd_params.msgs_to_user.len(), 0);
-            assert_eq!(md_recvd_params.source_id, LOCAL_ID.into());
-            assert_eq!(md_recvd_params.file_size as usize, self.expected_file_size);
-        }
-
-        fn file_segment_recvd_indication(
-            &mut self,
-            _segment_recvd_params: &crate::cfdp::user::FileSegmentRecvdParams,
-        ) {
-        }
-
-        fn report_indication(&mut self, _id: &crate::cfdp::TransactionId) {}
-
-        fn suspended_indication(
-            &mut self,
-            _id: &crate::cfdp::TransactionId,
-            _condition_code: ConditionCode,
-        ) {
-            panic!("unexpected suspended indication");
-        }
-
-        fn resumed_indication(&mut self, _id: &crate::cfdp::TransactionId, _progresss: u64) {}
-
-        fn fault_indication(
-            &mut self,
-            _id: &crate::cfdp::TransactionId,
-            _condition_code: ConditionCode,
-            _progress: u64,
-        ) {
-            panic!("unexpected fault indication");
-        }
-
-        fn abandoned_indication(
-            &mut self,
-            _id: &crate::cfdp::TransactionId,
-            _condition_code: ConditionCode,
-            _progress: u64,
-        ) {
-            panic!("unexpected abandoned indication");
-        }
-
-        fn eof_recvd_indication(&mut self, id: &crate::cfdp::TransactionId) {
-            self.generic_id_check(id);
-        }
-    }
-
-    fn init_check(handler: &DestinationHandler) {
-        assert_eq!(handler.state(), State::Idle);
-        assert_eq!(handler.step(), TransactionStep::Idle);
-    }
-
-    fn init_full_filenames() -> (PathBuf, PathBuf) {
-        let mut file_path = temp_dir();
-        let mut src_path = file_path.clone();
-        // Atomic counter used to allow concurrent tests.
-        let unique_counter = ATOMIC_COUNTER.fetch_add(1, Ordering::Relaxed);
-        // Create unique test filenames.
-        let src_name_unique = format!("{SRC_NAME}{}.txt", unique_counter);
-        let dest_name_unique = format!("{DEST_NAME}{}.txt", unique_counter);
-        src_path.push(src_name_unique);
-        file_path.push(dest_name_unique);
-        (src_path, file_path)
-    }
-
-    #[test]
-    fn test_basic() {
-        let dest_handler = DestinationHandler::new(REMOTE_ID);
-        init_check(&dest_handler);
-    }
-
-    fn create_pdu_header(seq_num: impl Into<UnsignedByteField>) -> PduHeader {
-        let mut pdu_conf =
-            CommonPduConfig::new_with_byte_fields(LOCAL_ID, REMOTE_ID, seq_num).unwrap();
-        pdu_conf.trans_mode = TransmissionMode::Unacknowledged;
-        PduHeader::new_no_file_data(pdu_conf, 0)
-    }
-
-    fn create_metadata_pdu<'filename>(
-        pdu_header: &PduHeader,
-        src_name: &'filename Path,
-        dest_name: &'filename Path,
-        file_size: u64,
-    ) -> MetadataPdu<'filename, 'filename, 'static> {
-        let metadata_params = MetadataGenericParams::new(false, ChecksumType::Crc32, file_size);
-        MetadataPdu::new(
-            *pdu_header,
-            metadata_params,
-            Lv::new_from_str(src_name.as_os_str().to_str().unwrap()).unwrap(),
-            Lv::new_from_str(dest_name.as_os_str().to_str().unwrap()).unwrap(),
-            None,
-        )
-    }
-
-    fn insert_metadata_pdu(
-        metadata_pdu: &MetadataPdu,
-        buf: &mut [u8],
-        dest_handler: &mut DestinationHandler,
-    ) {
-        let written_len = metadata_pdu
-            .write_to_bytes(buf)
-            .expect("writing metadata PDU failed");
-        let packet_info =
-            PacketInfo::new(&buf[..written_len]).expect("generating packet info failed");
-        let insert_result = dest_handler.insert_packet(&packet_info);
-        if let Err(e) = insert_result {
-            panic!("insert result error: {e}");
-        }
-    }
-
-    fn insert_eof_pdu(
-        file_data: &[u8],
-        pdu_header: &PduHeader,
-        buf: &mut [u8],
-        dest_handler: &mut DestinationHandler,
-    ) {
-        let mut digest = CRC_32.digest();
-        digest.update(file_data);
-        let crc32 = digest.finalize();
-        let eof_pdu = EofPdu::new_no_error(*pdu_header, crc32, file_data.len() as u64);
-        let result = eof_pdu.write_to_bytes(buf);
-        assert!(result.is_ok());
-        let packet_info = PacketInfo::new(&buf).expect("generating packet info failed");
-        let result = dest_handler.insert_packet(&packet_info);
-        assert!(result.is_ok());
-    }
-
-    #[test]
-    fn test_empty_file_transfer() {
-        let (src_name, dest_name) = init_full_filenames();
-        assert!(!Path::exists(&dest_name));
-        let mut buf: [u8; 512] = [0; 512];
-        let mut test_user = TestCfdpUser {
-            next_expected_seq_num: 0,
-            expected_full_src_name: src_name.to_string_lossy().into(),
-            expected_full_dest_name: dest_name.to_string_lossy().into(),
-            expected_file_size: 0,
-        };
-        // We treat the destination handler like it is a remote entity.
-        let mut dest_handler = DestinationHandler::new(REMOTE_ID);
-        init_check(&dest_handler);
-
-        let seq_num = UbfU16::new(0);
-        let pdu_header = create_pdu_header(seq_num);
-        let metadata_pdu =
-            create_metadata_pdu(&pdu_header, src_name.as_path(), dest_name.as_path(), 0);
-        insert_metadata_pdu(&metadata_pdu, &mut buf, &mut dest_handler);
-        let result = dest_handler.state_machine(&mut test_user);
-        if let Err(e) = result {
-            panic!("dest handler fsm error: {e}");
-        }
-        assert_ne!(dest_handler.state(), State::Idle);
-        assert_eq!(dest_handler.step(), TransactionStep::ReceivingFileDataPdus);
-
-        insert_eof_pdu(&[], &pdu_header, &mut buf, &mut dest_handler);
-        let result = dest_handler.state_machine(&mut test_user);
-        assert!(result.is_ok());
-        assert_eq!(dest_handler.state(), State::Idle);
-        assert_eq!(dest_handler.step(), TransactionStep::Idle);
-        assert!(Path::exists(&dest_name));
-        let read_content = fs::read(&dest_name).expect("reading back string failed");
-        assert_eq!(read_content.len(), 0);
-        assert!(fs::remove_file(dest_name).is_ok());
-    }
-
-    #[test]
-    fn test_small_file_transfer() {
-        let (src_name, dest_name) = init_full_filenames();
-        assert!(!Path::exists(&dest_name));
-        let file_data_str = "Hello World!";
-        let file_data = file_data_str.as_bytes();
-        let mut buf: [u8; 512] = [0; 512];
-        let mut test_user = TestCfdpUser {
-            next_expected_seq_num: 0,
-            expected_full_src_name: src_name.to_string_lossy().into(),
-            expected_full_dest_name: dest_name.to_string_lossy().into(),
-            expected_file_size: file_data.len(),
-        };
-        // We treat the destination handler like it is a remote entity.
-        let mut dest_handler = DestinationHandler::new(REMOTE_ID);
-        init_check(&dest_handler);
-
-        let seq_num = UbfU16::new(0);
-        let pdu_header = create_pdu_header(seq_num);
-        let metadata_pdu = create_metadata_pdu(
-            &pdu_header,
-            src_name.as_path(),
-            dest_name.as_path(),
-            file_data.len() as u64,
-        );
-        insert_metadata_pdu(&metadata_pdu, &mut buf, &mut dest_handler);
-        let result = dest_handler.state_machine(&mut test_user);
-        if let Err(e) = result {
-            panic!("dest handler fsm error: {e}");
-        }
-        assert_ne!(dest_handler.state(), State::Idle);
-        assert_eq!(dest_handler.step(), TransactionStep::ReceivingFileDataPdus);
-
-        let offset = 0;
-        let filedata_pdu = FileDataPdu::new_no_seg_metadata(pdu_header, offset, file_data);
-        filedata_pdu
-            .write_to_bytes(&mut buf)
-            .expect("writing file data PDU failed");
-        let packet_info = PacketInfo::new(&buf).expect("creating packet info failed");
-        let result = dest_handler.insert_packet(&packet_info);
-        if let Err(e) = result {
-            panic!("destination handler packet insertion error: {e}");
-        }
-        let result = dest_handler.state_machine(&mut test_user);
-        assert!(result.is_ok());
-
-        insert_eof_pdu(file_data, &pdu_header, &mut buf, &mut dest_handler);
-        let result = dest_handler.state_machine(&mut test_user);
-        assert!(result.is_ok());
-        assert_eq!(dest_handler.state(), State::Idle);
-        assert_eq!(dest_handler.step(), TransactionStep::Idle);
-
-        assert!(Path::exists(&dest_name));
-        let read_content = fs::read_to_string(&dest_name).expect("reading back string failed");
-        assert_eq!(read_content, file_data_str);
-        assert!(fs::remove_file(dest_name).is_ok());
-    }
-
-    #[test]
-    fn test_segmented_file_transfer() {
-        let (src_name, dest_name) = init_full_filenames();
-        assert!(!Path::exists(&dest_name));
-        let mut rng = rand::thread_rng();
-        let mut random_data = [0u8; 512];
-        rng.fill(&mut random_data);
-        let mut buf: [u8; 512] = [0; 512];
-        let mut test_user = TestCfdpUser {
-            next_expected_seq_num: 0,
-            expected_full_src_name: src_name.to_string_lossy().into(),
-            expected_full_dest_name: dest_name.to_string_lossy().into(),
-            expected_file_size: random_data.len(),
-        };
-
-        // We treat the destination handler like it is a remote entity.
-        let mut dest_handler = DestinationHandler::new(REMOTE_ID);
-        init_check(&dest_handler);
-
-        let seq_num = UbfU16::new(0);
-        let pdu_header = create_pdu_header(seq_num);
-        let metadata_pdu = create_metadata_pdu(
-            &pdu_header,
-            src_name.as_path(),
-            dest_name.as_path(),
-            random_data.len() as u64,
-        );
-        insert_metadata_pdu(&metadata_pdu, &mut buf, &mut dest_handler);
-        let result = dest_handler.state_machine(&mut test_user);
-        if let Err(e) = result {
-            panic!("dest handler fsm error: {e}");
-        }
-        assert_ne!(dest_handler.state(), State::Idle);
-        assert_eq!(dest_handler.step(), TransactionStep::ReceivingFileDataPdus);
-
-        // First file data PDU
-        let mut offset: usize = 0;
-        let segment_len = 256;
-        let filedata_pdu = FileDataPdu::new_no_seg_metadata(
-            pdu_header,
-            offset as u64,
-            &random_data[0..segment_len],
-        );
-        filedata_pdu
-            .write_to_bytes(&mut buf)
-            .expect("writing file data PDU failed");
-        let packet_info = PacketInfo::new(&buf).expect("creating packet info failed");
-        let result = dest_handler.insert_packet(&packet_info);
-        if let Err(e) = result {
-            panic!("destination handler packet insertion error: {e}");
-        }
-        let result = dest_handler.state_machine(&mut test_user);
-        assert!(result.is_ok());
-
-        // Second file data PDU
-        offset += segment_len;
-        let filedata_pdu = FileDataPdu::new_no_seg_metadata(
-            pdu_header,
-            offset as u64,
-            &random_data[segment_len..],
-        );
-        filedata_pdu
-            .write_to_bytes(&mut buf)
-            .expect("writing file data PDU failed");
-        let packet_info = PacketInfo::new(&buf).expect("creating packet info failed");
-        let result = dest_handler.insert_packet(&packet_info);
-        if let Err(e) = result {
-            panic!("destination handler packet insertion error: {e}");
-        }
-        let result = dest_handler.state_machine(&mut test_user);
-        assert!(result.is_ok());
-
-        insert_eof_pdu(&random_data, &pdu_header, &mut buf, &mut dest_handler);
-        let result = dest_handler.state_machine(&mut test_user);
-        assert!(result.is_ok());
-        assert_eq!(dest_handler.state(), State::Idle);
-        assert_eq!(dest_handler.step(), TransactionStep::Idle);
-
-        // Clean up
-        assert!(Path::exists(&dest_name));
-        let read_content = fs::read(&dest_name).expect("reading back string failed");
-        assert_eq!(read_content, random_data);
-        assert!(fs::remove_file(dest_name).is_ok());
-    }
-}

satrs-core/src/cfdp/mod.rs

@@ -1,320 +0,0 @@
-use crc::{Crc, CRC_32_CKSUM};
-use spacepackets::{
-    cfdp::{
-        pdu::{FileDirectiveType, PduError, PduHeader},
-        ChecksumType, PduType, TransmissionMode,
-    },
-    util::UnsignedByteField,
-};
-
-#[cfg(feature = "alloc")]
-use alloc::boxed::Box;
-#[cfg(feature = "serde")]
-use serde::{Deserialize, Serialize};
-
-#[cfg(feature = "std")]
-pub mod dest;
-#[cfg(feature = "std")]
-pub mod source;
-pub mod user;
-
-#[derive(Debug, Clone, Copy, PartialEq, Eq)]
-pub enum EntityType {
-    Sending,
-    Receiving,
-}
-
-/// Generic abstraction for a check timer which has different functionality depending on whether
-/// the using entity is the sending entity or the receiving entity for the unacknowledged
-/// transmission mode.
-///
-/// For the sending entity, this timer determines the expiry period for declaring a check limit
-/// fault after sending an EOF PDU with requested closure. This allows a timeout of the transfer.
-/// Also see 4.6.3.2 of the CFDP standard.
-///
-/// For the receiving entity, this timer determines the expiry period for incrementing a check
-/// counter after an EOF PDU is received for an incomplete file transfer. This allows out-of-order
-/// reception of file data PDUs and EOF PDUs. Also see 4.6.3.3 of the CFDP standard.
-pub trait CheckTimerProvider {
-    fn has_expired(&self) -> bool;
-}
-
-/// A generic trait which allows CFDP entities to create check timers which are required to
-/// implement special procedures in unacknowledged transmission mode, as specified in 4.6.3.2
-/// and 4.6.3.3. The [CheckTimerProvider] provides more information about the purpose of the
-/// check timer.
-///
-/// This trait also allows the creation of different check timers depending on
-/// the ID of the local entity, the ID of the remote entity for a given transaction, and the
-/// type of entity.
-#[cfg(feature = "alloc")]
-pub trait CheckTimerCreator {
-    fn get_check_timer_provider(
-        local_id: &UnsignedByteField,
-        remote_id: &UnsignedByteField,
-        entity_type: EntityType,
-    ) -> Box<dyn CheckTimerProvider>;
-}
-
-/// Simple implementation of the [CheckTimerProvider] trait assuming a standard runtime.
-/// It also assumes that a second accuracy of the check timer period is sufficient.
-#[cfg(feature = "std")]
-pub struct StdCheckTimer {
-    expiry_time_seconds: u64,
-    start_time: std::time::Instant,
-}
-
-#[cfg(feature = "std")]
-impl StdCheckTimer {
-    pub fn new(expiry_time_seconds: u64) -> Self {
-        Self {
-            expiry_time_seconds,
-            start_time: std::time::Instant::now(),
-        }
-    }
-}
-
-#[cfg(feature = "std")]
-impl CheckTimerProvider for StdCheckTimer {
-    fn has_expired(&self) -> bool {
-        let elapsed_time = self.start_time.elapsed();
-        if elapsed_time.as_secs() > self.expiry_time_seconds {
-            return true;
-        }
-        false
-    }
-}
-
-#[derive(Debug)]
-pub struct RemoteEntityConfig {
-    pub entity_id: UnsignedByteField,
-    pub max_file_segment_len: usize,
-    pub closure_requeted_by_default: bool,
-    pub crc_on_transmission_by_default: bool,
-    pub default_transmission_mode: TransmissionMode,
-    pub default_crc_type: ChecksumType,
-    pub check_limit: u32,
-}
-
-pub trait RemoteEntityConfigProvider {
-    fn get_remote_config(&self, remote_id: &UnsignedByteField) -> Option<&RemoteEntityConfig>;
-}
-
-#[derive(Debug, PartialEq, Eq, Copy, Clone)]
-#[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
-pub struct TransactionId {
-    source_id: UnsignedByteField,
-    seq_num: UnsignedByteField,
-}
-
-impl TransactionId {
-    pub fn new(source_id: UnsignedByteField, seq_num: UnsignedByteField) -> Self {
-        Self { source_id, seq_num }
-    }
-
-    pub fn source_id(&self) -> &UnsignedByteField {
-        &self.source_id
-    }
-
-    pub fn seq_num(&self) -> &UnsignedByteField {
-        &self.seq_num
-    }
-}
-
-#[derive(Debug, Copy, Clone, PartialEq, Eq)]
-#[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
-pub enum TransactionStep {
-    Idle = 0,
-    TransactionStart = 1,
-    ReceivingFileDataPdus = 2,
-    SendingAckPdu = 3,
-    TransferCompletion = 4,
-    SendingFinishedPdu = 5,
-}
-
-#[derive(Debug, Copy, Clone, PartialEq, Eq)]
-#[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
-pub enum State {
-    Idle = 0,
-    BusyClass1Nacked = 2,
-    BusyClass2Acked = 3,
-}
-
-pub const CRC_32: Crc<u32> = Crc::<u32>::new(&CRC_32_CKSUM);
-
-#[derive(Debug, PartialEq, Eq, Copy, Clone)]
-#[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
-pub enum PacketTarget {
-    SourceEntity,
-    DestEntity,
-}
-
-/// This is a helper struct which contains base information about a particular PDU packet.
-/// This is also necessary information for CFDP packet routing. For example, some packet types
-/// like file data PDUs can only be used by CFDP source entities.
-pub struct PacketInfo<'raw_packet> {
-    pdu_type: PduType,
-    pdu_directive: Option<FileDirectiveType>,
-    target: PacketTarget,
-    raw_packet: &'raw_packet [u8],
-}
-
-impl<'raw> PacketInfo<'raw> {
-    pub fn new(raw_packet: &'raw [u8]) -> Result<Self, PduError> {
-        let (pdu_header, header_len) = PduHeader::from_bytes(raw_packet)?;
-        if pdu_header.pdu_type() == PduType::FileData {
-            return Ok(Self {
-                pdu_type: pdu_header.pdu_type(),
-                pdu_directive: None,
-                target: PacketTarget::DestEntity,
-                raw_packet,
-            });
-        }
-        if pdu_header.pdu_datafield_len() < 1 {
-            return Err(PduError::FormatError);
-        }
-        // Route depending on PDU type and directive type if applicable. Retrieve directive type
-        // from the raw stream for better performance (with sanity and directive code check).
-        // The routing is based on section 4.5 of the CFDP standard which specifies the PDU forwarding
-        // procedure.
-        let directive = FileDirectiveType::try_from(raw_packet[header_len]).map_err(|_| {
-            PduError::InvalidDirectiveType {
-                found: raw_packet[header_len],
-                expected: None,
-            }
-        })?;
-        let packet_target = match directive {
-            // Section c) of 4.5.3: These PDUs should always be targeted towards the file sender a.k.a.
-            // the source handler
-            FileDirectiveType::NakPdu
-            | FileDirectiveType::FinishedPdu
-            | FileDirectiveType::KeepAlivePdu => PacketTarget::SourceEntity,
-            // Section b) of 4.5.3: These PDUs should always be targeted towards the file receiver a.k.a.
-            // the destination handler
-            FileDirectiveType::MetadataPdu
-            | FileDirectiveType::EofPdu
-            | FileDirectiveType::PromptPdu => PacketTarget::DestEntity,
-            // Section a): Recipient depends of the type of PDU that is being acknowledged. We can simply
-            // extract the PDU type from the raw stream. If it is an EOF PDU, this packet is passed to
-            // the source handler, for a Finished PDU, it is passed to the destination handler.
-            FileDirectiveType::AckPdu => {
-                let acked_directive = FileDirectiveType::try_from(raw_packet[header_len + 1])
-                    .map_err(|_| PduError::InvalidDirectiveType {
-                        found: raw_packet[header_len],
-                        expected: None,
-                    })?;
-                if acked_directive == FileDirectiveType::EofPdu {
-                    PacketTarget::SourceEntity
-                } else if acked_directive == FileDirectiveType::FinishedPdu {
-                    PacketTarget::DestEntity
-                } else {
-                    // TODO: Maybe a better error? This might be confusing..
-                    return Err(PduError::InvalidDirectiveType {
-                        found: raw_packet[header_len + 1],
-                        expected: None,
-                    });
-                }
-            }
-        };
-        Ok(Self {
-            pdu_type: pdu_header.pdu_type(),
-            pdu_directive: Some(directive),
-            target: packet_target,
-            raw_packet,
-        })
-    }
-
-    pub fn pdu_type(&self) -> PduType {
-        self.pdu_type
-    }
-
-    pub fn pdu_directive(&self) -> Option<FileDirectiveType> {
-        self.pdu_directive
-    }
-
-    pub fn target(&self) -> PacketTarget {
-        self.target
-    }
-
-    pub fn raw_packet(&self) -> &[u8] {
-        self.raw_packet
-    }
-}
-
-#[cfg(test)]
-mod tests {
-    use spacepackets::cfdp::{
-        lv::Lv,
-        pdu::{
-            eof::EofPdu,
-            file_data::FileDataPdu,
-            metadata::{MetadataGenericParams, MetadataPdu},
-            CommonPduConfig, FileDirectiveType, PduHeader,
-        },
-        PduType,
-    };
-
-    use crate::cfdp::PacketTarget;
-
-    use super::PacketInfo;
-
-    fn generic_pdu_header() -> PduHeader {
-        let pdu_conf = CommonPduConfig::default();
-        PduHeader::new_no_file_data(pdu_conf, 0)
-    }
-
-    #[test]
-    fn test_metadata_pdu_info() {
-        let mut buf: [u8; 128] = [0; 128];
-        let pdu_header = generic_pdu_header();
-        let metadata_params = MetadataGenericParams::default();
-        let src_file_name = "hello.txt";
-        let dest_file_name = "hello-dest.txt";
-        let src_lv = Lv::new_from_str(src_file_name).unwrap();
-        let dest_lv = Lv::new_from_str(dest_file_name).unwrap();
-        let metadata_pdu = MetadataPdu::new(pdu_header, metadata_params, src_lv, dest_lv, None);
-        metadata_pdu
-            .write_to_bytes(&mut buf)
-            .expect("writing metadata PDU failed");
-
-        let packet_info = PacketInfo::new(&buf).expect("creating packet info failed");
-        assert_eq!(packet_info.pdu_type(), PduType::FileDirective);
-        assert!(packet_info.pdu_directive().is_some());
-        assert_eq!(
-            packet_info.pdu_directive().unwrap(),
-            FileDirectiveType::MetadataPdu
-        );
-        assert_eq!(packet_info.target(), PacketTarget::DestEntity);
-    }
-
-    #[test]
-    fn test_filedata_pdu_info() {
-        let mut buf: [u8; 128] = [0; 128];
-        let pdu_header = generic_pdu_header();
-        let file_data_pdu = FileDataPdu::new_no_seg_metadata(pdu_header, 0, &[]);
-        file_data_pdu
-            .write_to_bytes(&mut buf)
-            .expect("writing file data PDU failed");
-        let packet_info = PacketInfo::new(&buf).expect("creating packet info failed");
-        assert_eq!(packet_info.pdu_type(), PduType::FileData);
-        assert!(packet_info.pdu_directive().is_none());
-        assert_eq!(packet_info.target(), PacketTarget::DestEntity);
-    }
-
-    #[test]
-    fn test_eof_pdu_info() {
-        let mut buf: [u8; 128] = [0; 128];
-        let pdu_header = generic_pdu_header();
-        let eof_pdu = EofPdu::new_no_error(pdu_header, 0, 0);
-        eof_pdu
-            .write_to_bytes(&mut buf)
-            .expect("writing file data PDU failed");
-        let packet_info = PacketInfo::new(&buf).expect("creating packet info failed");
-        assert_eq!(packet_info.pdu_type(), PduType::FileDirective);
-        assert!(packet_info.pdu_directive().is_some());
-        assert_eq!(
-            packet_info.pdu_directive().unwrap(),
-            FileDirectiveType::EofPdu
-        );
-    }
-}

satrs-core/src/error.rs

@@ -1,49 +0,0 @@
-pub enum FsrcGroupIds {
-    Tmtc = 0,
-}
-
-pub struct FsrcErrorRaw {
-    pub group_id: u8,
-    pub unique_id: u8,
-    pub group_name: &'static str,
-    pub info: &'static str,
-}
-
-pub trait FsrcErrorHandler {
-    fn error(&mut self, e: FsrcErrorRaw);
-    fn error_with_one_param(&mut self, e: FsrcErrorRaw, _p1: u32) {
-        self.error(e);
-    }
-    fn error_with_two_params(&mut self, e: FsrcErrorRaw, _p1: u32, _p2: u32) {
-        self.error(e);
-    }
-}
-
-impl FsrcErrorRaw {
-    pub const fn new(
-        group_id: u8,
-        unique_id: u8,
-        group_name: &'static str,
-        info: &'static str,
-    ) -> Self {
-        FsrcErrorRaw {
-            group_id,
-            unique_id,
-            group_name,
-            info,
-        }
-    }
-}
-
-#[derive(Clone, Copy, Default)]
-pub struct SimpleStdErrorHandler {}
-
-#[cfg(feature = "use_std")]
-impl FsrcErrorHandler for SimpleStdErrorHandler {
-    fn error(&mut self, e: FsrcErrorRaw) {
-        println!(
-            "Received error from group {} with ID ({},{}): {}",
-            e.group_name, e.group_id, e.unique_id, e.info
-        );
-    }
-}

satrs-core/src/hk.rs

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

satrs-core/src/pool.rs

@@ -1,820 +0,0 @@
-//! # Pool implementation providing pre-allocated 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.
-//!
-//! Transactions with the [pool][LocalPool] are done using a special [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.
-//!
-//! # Example
-//!
-//! ```
-//! use satrs_core::pool::{LocalPool, PoolCfg, PoolProvider};
-//!
-//! // 4 buckets of 4 bytes, 2 of 8 bytes and 1 of 16 bytes
-//! let pool_cfg = PoolCfg::new(vec![(4, 4), (2, 8), (1, 16)]);
-//! let mut local_pool = LocalPool::new(pool_cfg);
-//! let mut addr;
-//! {
-//!     // Add new data to the pool
-//!     let mut example_data = [0; 4];
-//!     example_data[0] = 42;
-//!     let res = local_pool.add(&example_data);
-//!     assert!(res.is_ok());
-//!     addr = res.unwrap();
-//! }
-//!
-//! {
-//!     // Read the store data back
-//!     let res = local_pool.read(&addr);
-//!     assert!(res.is_ok());
-//!     let buf_read_back = res.unwrap();
-//!     assert_eq!(buf_read_back.len(), 4);
-//!     assert_eq!(buf_read_back[0], 42);
-//!     // Modify the stored data
-//!     let res = local_pool.modify(&addr);
-//!     assert!(res.is_ok());
-//!     let buf_read_back = res.unwrap();
-//!     buf_read_back[0] = 12;
-//! }
-//!
-//! {
-//!     // Read the modified data back
-//!     let res = local_pool.read(&addr);
-//!     assert!(res.is_ok());
-//!     let buf_read_back = res.unwrap();
-//!     assert_eq!(buf_read_back.len(), 4);
-//!     assert_eq!(buf_read_back[0], 12);
-//! }
-//!
-//! // Delete the stored data
-//! local_pool.delete(addr);
-//!
-//! // Get a free element in the pool with an appropriate size
-//! {
-//!     let res = local_pool.free_element(12);
-//!     assert!(res.is_ok());
-//!     let (tmp, mut_buf) = res.unwrap();
-//!     addr = tmp;
-//!     mut_buf[0] = 7;
-//! }
-//!
-//! // Read back the data
-//! {
-//!     // Read the store data back
-//!     let res = local_pool.read(&addr);
-//!     assert!(res.is_ok());
-//!     let buf_read_back = res.unwrap();
-//!     assert_eq!(buf_read_back.len(), 12);
-//!     assert_eq!(buf_read_back[0], 7);
-//! }
-//! ```
-#[cfg(feature = "alloc")]
-#[cfg_attr(doc_cfg, doc(cfg(feature = "alloc")))]
-pub use alloc_mod::*;
-use core::fmt::{Display, Formatter};
-#[cfg(feature = "serde")]
-use serde::{Deserialize, Serialize};
-#[cfg(feature = "std")]
-use std::error::Error;
-
-type NumBlocks = u16;
-
-/// Simple address type used for transactions with the local pool.
-#[derive(Debug, Copy, Clone, PartialEq, Eq)]
-#[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
-pub struct StoreAddr {
-    pub(crate) pool_idx: u16,
-    pub(crate) packet_idx: NumBlocks,
-}
-
-impl StoreAddr {
-    pub const INVALID_ADDR: u32 = 0xFFFFFFFF;
-
-    pub fn raw(&self) -> u32 {
-        ((self.pool_idx as u32) << 16) | self.packet_idx as u32
-    }
-}
-
-impl Display for StoreAddr {
-    fn fmt(&self, f: &mut Formatter<'_>) -> core::fmt::Result {
-        write!(
-            f,
-            "StoreAddr(pool index: {}, packet index: {})",
-            self.pool_idx, self.packet_idx
-        )
-    }
-}
-
-#[derive(Debug, Clone, PartialEq, Eq)]
-#[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
-pub enum StoreIdError {
-    InvalidSubpool(u16),
-    InvalidPacketIdx(u16),
-}
-
-impl Display for StoreIdError {
-    fn fmt(&self, f: &mut Formatter<'_>) -> core::fmt::Result {
-        match self {
-            StoreIdError::InvalidSubpool(pool) => {
-                write!(f, "invalid subpool, index: {pool}")
-            }
-            StoreIdError::InvalidPacketIdx(packet_idx) => {
-                write!(f, "invalid packet index: {packet_idx}")
-            }
-        }
-    }
-}
-
-#[cfg(feature = "std")]
-impl Error for StoreIdError {}
-
-#[derive(Debug, Clone, PartialEq, Eq)]
-#[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
-pub enum StoreError {
-    /// Requested data block is too large
-    DataTooLarge(usize),
-    /// The store is full. Contains the index of the full subpool
-    StoreFull(u16),
-    /// Store ID is invalid. This also includes partial errors where only the subpool is invalid
-    InvalidStoreId(StoreIdError, Option<StoreAddr>),
-    /// Valid subpool and packet index, but no data is stored at the given address
-    DataDoesNotExist(StoreAddr),
-    /// Internal or configuration errors
-    InternalError(u32),
-}
-
-impl Display for StoreError {
-    fn fmt(&self, f: &mut Formatter<'_>) -> core::fmt::Result {
-        match self {
-            StoreError::DataTooLarge(size) => {
-                write!(f, "data to store with size {size} is too large")
-            }
-            StoreError::StoreFull(u16) => {
-                write!(f, "store is too full. index for full subpool: {u16}")
-            }
-            StoreError::InvalidStoreId(id_e, addr) => {
-                write!(f, "invalid store ID: {id_e}, address: {addr:?}")
-            }
-            StoreError::DataDoesNotExist(addr) => {
-                write!(f, "no data exists at address {addr:?}")
-            }
-            StoreError::InternalError(e) => {
-                write!(f, "internal error: {e}")
-            }
-        }
-    }
-}
-
-#[cfg(feature = "std")]
-impl Error for StoreError {
-    fn source(&self) -> Option<&(dyn Error + 'static)> {
-        if let StoreError::InvalidStoreId(e, _) = self {
-            return Some(e);
-        }
-        None
-    }
-}
-
-#[cfg(feature = "alloc")]
-mod alloc_mod {
-    use crate::pool::{NumBlocks, StoreAddr, StoreError, StoreIdError};
-    use alloc::boxed::Box;
-    use alloc::vec;
-    use alloc::vec::Vec;
-    use delegate::delegate;
-    #[cfg(feature = "std")]
-    use std::sync::{Arc, RwLock};
-
-    #[cfg(feature = "std")]
-    pub type ShareablePoolProvider = Box<dyn PoolProvider + Send + Sync>;
-    #[cfg(feature = "std")]
-    pub type SharedPool = Arc<RwLock<ShareablePoolProvider>>;
-
-    type PoolSize = usize;
-    const STORE_FREE: PoolSize = PoolSize::MAX;
-    pub const POOL_MAX_SIZE: PoolSize = STORE_FREE - 1;
-
-    /// Configuration structure of the [local pool][LocalPool]
-    ///
-    /// # 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
-    #[derive(Clone)]
-    pub struct PoolCfg {
-        cfg: Vec<(NumBlocks, usize)>,
-    }
-
-    impl PoolCfg {
-        pub fn new(cfg: Vec<(NumBlocks, usize)>) -> Self {
-            PoolCfg { cfg }
-        }
-
-        pub fn cfg(&self) -> &Vec<(NumBlocks, usize)> {
-            &self.cfg
-        }
-
-        pub fn sanitize(&mut self) -> usize {
-            self.cfg
-                .retain(|&(bucket_num, size)| bucket_num > 0 && size < POOL_MAX_SIZE);
-            self.cfg
-                .sort_unstable_by(|(_, sz0), (_, sz1)| sz0.partial_cmp(sz1).unwrap());
-            self.cfg.len()
-        }
-    }
-
-    pub struct PoolGuard<'a> {
-        pool: &'a mut LocalPool,
-        pub addr: StoreAddr,
-        no_deletion: bool,
-        deletion_failed_error: Option<StoreError>,
-    }
-
-    /// This helper object
-    impl<'a> PoolGuard<'a> {
-        pub fn new(pool: &'a mut LocalPool, addr: StoreAddr) -> Self {
-            Self {
-                pool,
-                addr,
-                no_deletion: false,
-                deletion_failed_error: None,
-            }
-        }
-
-        pub fn read(&self) -> Result<&[u8], StoreError> {
-            self.pool.read(&self.addr)
-        }
-
-        /// Releasing the pool guard will disable the automatic deletion of the data when the guard
-        /// is dropped.
-        pub fn release(&mut self) {
-            self.no_deletion = true;
-        }
-    }
-
-    impl Drop for PoolGuard<'_> {
-        fn drop(&mut self) {
-            if !self.no_deletion {
-                if let Err(e) = self.pool.delete(self.addr) {
-                    self.deletion_failed_error = Some(e);
-                }
-            }
-        }
-    }
-
-    pub struct PoolRwGuard<'a> {
-        guard: PoolGuard<'a>,
-    }
-
-    impl<'a> PoolRwGuard<'a> {
-        pub fn new(pool: &'a mut LocalPool, addr: StoreAddr) -> Self {
-            Self {
-                guard: PoolGuard::new(pool, addr),
-            }
-        }
-
-        pub fn modify(&mut self) -> Result<&mut [u8], StoreError> {
-            self.guard.pool.modify(&self.guard.addr)
-        }
-
-        delegate!(
-            to self.guard {
-                pub fn read(&self) -> Result<&[u8], StoreError>;
-                /// Releasing the pool guard will disable the automatic deletion of the data when the guard
-                /// is dropped.
-                pub fn release(&mut self);
-            }
-        );
-    }
-
-    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
-        /// be used to access the data stored in the pool
-        fn add(&mut self, data: &[u8]) -> Result<StoreAddr, StoreError>;
-
-        /// The provider should attempt to reserve a free memory block with the appropriate size and
-        /// then return a mutable reference to it. Yields a [StoreAddr] which can be used to access
-        /// the data stored in the pool
-        fn free_element(&mut self, len: usize) -> Result<(StoreAddr, &mut [u8]), StoreError>;
-
-        /// Modify data added previously using a given [StoreAddr] by yielding a mutable reference
-        /// to it
-        fn modify(&mut self, addr: &StoreAddr) -> Result<&mut [u8], StoreError>;
-
-        /// This function behaves like [Self::modify], but consumes the provided address and returns a
-        /// RAII conformant guard object.
-        ///
-        /// Unless the guard [PoolRwGuard::release] method is called, the data for the
-        /// given address will be deleted automatically when the guard is dropped.
-        /// This can prevent memory leaks. Users can read (and modify) the data and release the guard
-        /// if the data in the store is valid for further processing. If the data is faulty, no
-        /// manual deletion is necessary when returning from a processing function prematurely.
-        fn modify_with_guard(&mut self, addr: StoreAddr) -> PoolRwGuard;
-
-        /// Read data by yielding a read-only reference given a [StoreAddr]
-        fn read(&self, addr: &StoreAddr) -> Result<&[u8], StoreError>;
-
-        /// This function behaves like [Self::read], but consumes the provided address and returns a
-        /// RAII conformant guard object.
-        ///
-        /// Unless the guard [PoolRwGuard::release] method is called, the data for the
-        /// given address will be deleted automatically when the guard is dropped.
-        /// This can prevent memory leaks. Users can read the data and release the guard
-        /// if the data in the store is valid for further processing. If the data is faulty, no
-        /// manual deletion is necessary when returning from a processing function prematurely.
-        fn read_with_guard(&mut self, addr: StoreAddr) -> PoolGuard;
-
-        /// Delete data inside the pool given a [StoreAddr]
-        fn delete(&mut self, addr: StoreAddr) -> Result<(), StoreError>;
-        fn has_element_at(&self, addr: &StoreAddr) -> Result<bool, StoreError>;
-
-        /// Retrieve the length of the data at the given store address.
-        fn len_of_data(&self, addr: &StoreAddr) -> Result<usize, StoreError> {
-            if !self.has_element_at(addr)? {
-                return Err(StoreError::DataDoesNotExist(*addr));
-            }
-            Ok(self.read(addr)?.len())
-        }
-    }
-
-    /// Pool implementation providing sub-pools with fixed size memory blocks. More details in
-    /// the [module documentation][crate::pool]
-    pub struct LocalPool {
-        pool_cfg: PoolCfg,
-        pool: Vec<Vec<u8>>,
-        sizes_lists: Vec<Vec<PoolSize>>,
-    }
-
-    impl LocalPool {
-        /// Create a new local pool from the [given configuration][PoolCfg]. This function will sanitize
-        /// the given configuration as well.
-        pub fn new(mut cfg: PoolCfg) -> LocalPool {
-            let subpools_num = cfg.sanitize();
-            let mut local_pool = LocalPool {
-                pool_cfg: cfg,
-                pool: Vec::with_capacity(subpools_num),
-                sizes_lists: Vec::with_capacity(subpools_num),
-            };
-            for &(num_elems, elem_size) in local_pool.pool_cfg.cfg.iter() {
-                let next_pool_len = elem_size * num_elems as usize;
-                local_pool.pool.push(vec![0; next_pool_len]);
-                let next_sizes_list_len = num_elems as usize;
-                local_pool
-                    .sizes_lists
-                    .push(vec![STORE_FREE; next_sizes_list_len]);
-            }
-            local_pool
-        }
-
-        fn addr_check(&self, addr: &StoreAddr) -> Result<usize, StoreError> {
-            self.validate_addr(addr)?;
-            let pool_idx = addr.pool_idx as usize;
-            let size_list = self.sizes_lists.get(pool_idx).unwrap();
-            let curr_size = size_list[addr.packet_idx as usize];
-            if curr_size == STORE_FREE {
-                return Err(StoreError::DataDoesNotExist(*addr));
-            }
-            Ok(curr_size)
-        }
-
-        fn validate_addr(&self, addr: &StoreAddr) -> Result<(), StoreError> {
-            let pool_idx = addr.pool_idx as usize;
-            if pool_idx >= self.pool_cfg.cfg.len() {
-                return Err(StoreError::InvalidStoreId(
-                    StoreIdError::InvalidSubpool(addr.pool_idx),
-                    Some(*addr),
-                ));
-            }
-            if addr.packet_idx >= self.pool_cfg.cfg[addr.pool_idx as usize].0 {
-                return Err(StoreError::InvalidStoreId(
-                    StoreIdError::InvalidPacketIdx(addr.packet_idx),
-                    Some(*addr),
-                ));
-            }
-            Ok(())
-        }
-
-        fn reserve(&mut self, data_len: usize) -> Result<StoreAddr, StoreError> {
-            let subpool_idx = self.find_subpool(data_len, 0)?;
-            let (slot, size_slot_ref) = self.find_empty(subpool_idx)?;
-            *size_slot_ref = data_len;
-            Ok(StoreAddr {
-                pool_idx: subpool_idx,
-                packet_idx: slot,
-            })
-        }
-
-        fn find_subpool(&self, req_size: usize, start_at_subpool: u16) -> Result<u16, StoreError> {
-            for (i, &(_, elem_size)) in self.pool_cfg.cfg.iter().enumerate() {
-                if i < start_at_subpool as usize {
-                    continue;
-                }
-                if elem_size >= req_size {
-                    return Ok(i as u16);
-                }
-            }
-            Err(StoreError::DataTooLarge(req_size))
-        }
-
-        fn write(&mut self, addr: &StoreAddr, data: &[u8]) -> Result<(), StoreError> {
-            let packet_pos = self.raw_pos(addr).ok_or(StoreError::InternalError(0))?;
-            let subpool = self
-                .pool
-                .get_mut(addr.pool_idx as usize)
-                .ok_or(StoreError::InternalError(1))?;
-            let pool_slice = &mut subpool[packet_pos..packet_pos + data.len()];
-            pool_slice.copy_from_slice(data);
-            Ok(())
-        }
-
-        fn find_empty(&mut self, subpool: u16) -> Result<(u16, &mut usize), StoreError> {
-            if let Some(size_list) = self.sizes_lists.get_mut(subpool as usize) {
-                for (i, elem_size) in size_list.iter_mut().enumerate() {
-                    if *elem_size == STORE_FREE {
-                        return Ok((i as u16, elem_size));
-                    }
-                }
-            } else {
-                return Err(StoreError::InvalidStoreId(
-                    StoreIdError::InvalidSubpool(subpool),
-                    None,
-                ));
-            }
-            Err(StoreError::StoreFull(subpool))
-        }
-
-        fn raw_pos(&self, addr: &StoreAddr) -> Option<usize> {
-            let (_, size) = self.pool_cfg.cfg.get(addr.pool_idx as usize)?;
-            Some(addr.packet_idx as usize * size)
-        }
-    }
-
-    impl PoolProvider for LocalPool {
-        fn add(&mut self, data: &[u8]) -> Result<StoreAddr, StoreError> {
-            let data_len = data.len();
-            if data_len > POOL_MAX_SIZE {
-                return Err(StoreError::DataTooLarge(data_len));
-            }
-            let addr = self.reserve(data_len)?;
-            self.write(&addr, data)?;
-            Ok(addr)
-        }
-
-        fn free_element(&mut self, len: usize) -> Result<(StoreAddr, &mut [u8]), StoreError> {
-            if len > POOL_MAX_SIZE {
-                return Err(StoreError::DataTooLarge(len));
-            }
-            let addr = self.reserve(len)?;
-            let raw_pos = self.raw_pos(&addr).unwrap();
-            let block =
-                &mut self.pool.get_mut(addr.pool_idx as usize).unwrap()[raw_pos..raw_pos + len];
-            Ok((addr, block))
-        }
-
-        fn modify(&mut self, addr: &StoreAddr) -> Result<&mut [u8], StoreError> {
-            let curr_size = self.addr_check(addr)?;
-            let raw_pos = self.raw_pos(addr).unwrap();
-            let block = &mut self.pool.get_mut(addr.pool_idx as usize).unwrap()
-                [raw_pos..raw_pos + curr_size];
-            Ok(block)
-        }
-
-        fn modify_with_guard(&mut self, addr: StoreAddr) -> PoolRwGuard {
-            PoolRwGuard::new(self, addr)
-        }
-
-        fn read(&self, addr: &StoreAddr) -> Result<&[u8], StoreError> {
-            let curr_size = self.addr_check(addr)?;
-            let raw_pos = self.raw_pos(addr).unwrap();
-            let block =
-                &self.pool.get(addr.pool_idx as usize).unwrap()[raw_pos..raw_pos + curr_size];
-            Ok(block)
-        }
-
-        fn read_with_guard(&mut self, addr: StoreAddr) -> PoolGuard {
-            PoolGuard::new(self, addr)
-        }
-
-        fn delete(&mut self, addr: StoreAddr) -> Result<(), StoreError> {
-            self.addr_check(&addr)?;
-            let block_size = self.pool_cfg.cfg.get(addr.pool_idx as usize).unwrap().1;
-            let raw_pos = self.raw_pos(&addr).unwrap();
-            let block = &mut self.pool.get_mut(addr.pool_idx as usize).unwrap()
-                [raw_pos..raw_pos + block_size];
-            let size_list = self.sizes_lists.get_mut(addr.pool_idx as usize).unwrap();
-            size_list[addr.packet_idx as usize] = STORE_FREE;
-            block.fill(0);
-            Ok(())
-        }
-
-        fn has_element_at(&self, addr: &StoreAddr) -> Result<bool, StoreError> {
-            self.validate_addr(addr)?;
-            let pool_idx = addr.pool_idx as usize;
-            let size_list = self.sizes_lists.get(pool_idx).unwrap();
-            let curr_size = size_list[addr.packet_idx as usize];
-            if curr_size == STORE_FREE {
-                return Ok(false);
-            }
-            Ok(true)
-        }
-    }
-}
-
-#[cfg(test)]
-mod tests {
-    use crate::pool::{
-        LocalPool, PoolCfg, PoolGuard, PoolProvider, PoolRwGuard, StoreAddr, StoreError,
-        StoreIdError, POOL_MAX_SIZE,
-    };
-    use std::vec;
-
-    fn basic_small_pool() -> LocalPool {
-        // 4 buckets of 4 bytes, 2 of 8 bytes and 1 of 16 bytes
-        let pool_cfg = PoolCfg::new(vec![(4, 4), (2, 8), (1, 16)]);
-        LocalPool::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 = PoolCfg::new(vec![(0, 0), (1, 0), (2, POOL_MAX_SIZE)]);
-        pool_cfg.sanitize();
-        assert_eq!(*pool_cfg.cfg(), vec![(1, 0)]);
-        // Entries should be ordered according to bucket size
-        pool_cfg = PoolCfg::new(vec![(16, 6), (32, 3), (8, 12)]);
-        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 = PoolCfg::new(vec![(12, 12), (14, 16), (10, 12)]);
-        pool_cfg.sanitize();
-        assert!(
-            *pool_cfg.cfg() == vec![(12, 12), (10, 12), (14, 16)]
-                || *pool_cfg.cfg() == vec![(10, 12), (12, 12), (14, 16)]
-        );
-    }
-
-    #[test]
-    fn test_add_and_read() {
-        let mut local_pool = basic_small_pool();
-        let mut test_buf: [u8; 16] = [0; 16];
-        for (i, val) in test_buf.iter_mut().enumerate() {
-            *val = i as u8;
-        }
-        let addr = local_pool.add(&test_buf).expect("Adding data failed");
-        // Read back data and verify correctness
-        let res = local_pool.read(&addr);
-        assert!(res.is_ok());
-        let buf_read_back = res.unwrap();
-        assert_eq!(buf_read_back.len(), 16);
-        for (i, &val) in buf_read_back.iter().enumerate() {
-            assert_eq!(val, i as u8);
-        }
-    }
-
-    #[test]
-    fn test_add_smaller_than_full_slot() {
-        let mut local_pool = basic_small_pool();
-        let test_buf: [u8; 12] = [0; 12];
-        let addr = local_pool.add(&test_buf).expect("Adding data failed");
-        let res = local_pool.read(&addr).expect("Read back failed");
-        assert_eq!(res.len(), 12);
-    }
-
-    #[test]
-    fn test_delete() {
-        let mut local_pool = basic_small_pool();
-        let test_buf: [u8; 16] = [0; 16];
-        let addr = local_pool.add(&test_buf).expect("Adding data failed");
-        // Delete the data
-        let res = local_pool.delete(addr);
-        assert!(res.is_ok());
-        // Verify that the slot is free by trying to get a reference to it
-        let res = local_pool.free_element(12);
-        assert!(res.is_ok());
-        let (addr, buf_ref) = res.unwrap();
-        assert_eq!(
-            addr,
-            StoreAddr {
-                pool_idx: 2,
-                packet_idx: 0
-            }
-        );
-        assert_eq!(buf_ref.len(), 12);
-    }
-
-    #[test]
-    fn test_modify() {
-        let mut local_pool = basic_small_pool();
-        let mut test_buf: [u8; 16] = [0; 16];
-        for (i, val) in test_buf.iter_mut().enumerate() {
-            *val = i as u8;
-        }
-        let addr = local_pool.add(&test_buf).expect("Adding data failed");
-
-        {
-            // Verify that the slot is free by trying to get a reference to it
-            let res = local_pool.modify(&addr).expect("Modifying data failed");
-            res[0] = 0;
-            res[1] = 0x42;
-        }
-
-        let res = local_pool.read(&addr).expect("Reading back data failed");
-        assert_eq!(res[0], 0);
-        assert_eq!(res[1], 0x42);
-        assert_eq!(res[2], 2);
-        assert_eq!(res[3], 3);
-    }
-
-    #[test]
-    fn test_consecutive_reservation() {
-        let mut local_pool = basic_small_pool();
-        // Reserve two smaller blocks consecutively and verify that the third reservation fails
-        let res = local_pool.free_element(8);
-        assert!(res.is_ok());
-        let (addr0, _) = res.unwrap();
-        let res = local_pool.free_element(8);
-        assert!(res.is_ok());
-        let (addr1, _) = res.unwrap();
-        let res = local_pool.free_element(8);
-        assert!(res.is_err());
-        let err = res.unwrap_err();
-        assert_eq!(err, StoreError::StoreFull(1));
-
-        // Verify that the two deletions are successful
-        assert!(local_pool.delete(addr0).is_ok());
-        assert!(local_pool.delete(addr1).is_ok());
-    }
-
-    #[test]
-    fn test_read_does_not_exist() {
-        let local_pool = basic_small_pool();
-        // Try to access data which does not exist
-        let res = local_pool.read(&StoreAddr {
-            packet_idx: 0,
-            pool_idx: 0,
-        });
-        assert!(res.is_err());
-        assert!(matches!(
-            res.unwrap_err(),
-            StoreError::DataDoesNotExist { .. }
-        ));
-    }
-
-    #[test]
-    fn test_store_full() {
-        let mut local_pool = basic_small_pool();
-        let test_buf: [u8; 16] = [0; 16];
-        assert!(local_pool.add(&test_buf).is_ok());
-        // The subpool is now full and the call should fail accordingly
-        let res = local_pool.add(&test_buf);
-        assert!(res.is_err());
-        let err = res.unwrap_err();
-        assert!(matches!(err, StoreError::StoreFull { .. }));
-        if let StoreError::StoreFull(subpool) = err {
-            assert_eq!(subpool, 2);
-        }
-    }
-
-    #[test]
-    fn test_invalid_pool_idx() {
-        let local_pool = basic_small_pool();
-        let addr = StoreAddr {
-            pool_idx: 3,
-            packet_idx: 0,
-        };
-        let res = local_pool.read(&addr);
-        assert!(res.is_err());
-        let err = res.unwrap_err();
-        assert!(matches!(
-            err,
-            StoreError::InvalidStoreId(StoreIdError::InvalidSubpool(3), Some(_))
-        ));
-    }
-
-    #[test]
-    fn test_invalid_packet_idx() {
-        let local_pool = basic_small_pool();
-        let addr = StoreAddr {
-            pool_idx: 2,
-            packet_idx: 1,
-        };
-        assert_eq!(addr.raw(), 0x00020001);
-        let res = local_pool.read(&addr);
-        assert!(res.is_err());
-        let err = res.unwrap_err();
-        assert!(matches!(
-            err,
-            StoreError::InvalidStoreId(StoreIdError::InvalidPacketIdx(1), Some(_))
-        ));
-    }
-
-    #[test]
-    fn test_add_too_large() {
-        let mut local_pool = basic_small_pool();
-        let data_too_large = [0; 20];
-        let res = local_pool.add(&data_too_large);
-        assert!(res.is_err());
-        let err = res.unwrap_err();
-        assert_eq!(err, StoreError::DataTooLarge(20));
-    }
-
-    #[test]
-    fn test_data_too_large_1() {
-        let mut local_pool = basic_small_pool();
-        let res = local_pool.free_element(POOL_MAX_SIZE + 1);
-        assert!(res.is_err());
-        assert_eq!(
-            res.unwrap_err(),
-            StoreError::DataTooLarge(POOL_MAX_SIZE + 1)
-        );
-    }
-
-    #[test]
-    fn test_free_element_too_large() {
-        let mut local_pool = basic_small_pool();
-        // Try to request a slot which is too large
-        let res = local_pool.free_element(20);
-        assert!(res.is_err());
-        assert_eq!(res.unwrap_err(), StoreError::DataTooLarge(20));
-    }
-
-    #[test]
-    fn test_pool_guard_deletion_man_creation() {
-        let mut local_pool = basic_small_pool();
-        let test_buf: [u8; 16] = [0; 16];
-        let addr = local_pool.add(&test_buf).expect("Adding data failed");
-        let read_guard = PoolGuard::new(&mut local_pool, addr);
-        drop(read_guard);
-        assert!(!local_pool.has_element_at(&addr).expect("Invalid address"));
-    }
-
-    #[test]
-    fn test_pool_guard_deletion() {
-        let mut local_pool = basic_small_pool();
-        let test_buf: [u8; 16] = [0; 16];
-        let addr = local_pool.add(&test_buf).expect("Adding data failed");
-        let read_guard = local_pool.read_with_guard(addr);
-        drop(read_guard);
-        assert!(!local_pool.has_element_at(&addr).expect("Invalid address"));
-    }
-
-    #[test]
-    fn test_pool_guard_with_release() {
-        let mut local_pool = basic_small_pool();
-        let test_buf: [u8; 16] = [0; 16];
-        let addr = local_pool.add(&test_buf).expect("Adding data failed");
-        let mut read_guard = PoolGuard::new(&mut local_pool, addr);
-        read_guard.release();
-        drop(read_guard);
-        assert!(local_pool.has_element_at(&addr).expect("Invalid address"));
-    }
-
-    #[test]
-    fn test_pool_modify_guard_man_creation() {
-        let mut local_pool = basic_small_pool();
-        let test_buf: [u8; 16] = [0; 16];
-        let addr = local_pool.add(&test_buf).expect("Adding data failed");
-        let mut rw_guard = PoolRwGuard::new(&mut local_pool, addr);
-        let _ = rw_guard.modify().expect("modify failed");
-        drop(rw_guard);
-        assert!(!local_pool.has_element_at(&addr).expect("Invalid address"));
-    }
-
-    #[test]
-    fn test_pool_modify_guard() {
-        let mut local_pool = basic_small_pool();
-        let test_buf: [u8; 16] = [0; 16];
-        let addr = local_pool.add(&test_buf).expect("Adding data failed");
-        let mut rw_guard = local_pool.modify_with_guard(addr);
-        let _ = rw_guard.modify().expect("modify failed");
-        drop(rw_guard);
-        assert!(!local_pool.has_element_at(&addr).expect("Invalid address"));
-    }
-
-    #[test]
-    fn modify_pool_index_above_0() {
-        let mut local_pool = basic_small_pool();
-        let test_buf_0: [u8; 4] = [1; 4];
-        let test_buf_1: [u8; 4] = [2; 4];
-        let test_buf_2: [u8; 4] = [3; 4];
-        let test_buf_3: [u8; 4] = [4; 4];
-        let addr0 = local_pool.add(&test_buf_0).expect("Adding data failed");
-        let addr1 = local_pool.add(&test_buf_1).expect("Adding data failed");
-        let addr2 = local_pool.add(&test_buf_2).expect("Adding data failed");
-        let addr3 = local_pool.add(&test_buf_3).expect("Adding data failed");
-        let tm0_raw = local_pool.modify(&addr0).expect("Modifying data failed");
-        assert_eq!(tm0_raw, test_buf_0);
-        let tm1_raw = local_pool.modify(&addr1).expect("Modifying data failed");
-        assert_eq!(tm1_raw, test_buf_1);
-        let tm2_raw = local_pool.modify(&addr2).expect("Modifying data failed");
-        assert_eq!(tm2_raw, test_buf_2);
-        let tm3_raw = local_pool.modify(&addr3).expect("Modifying data failed");
-        assert_eq!(tm3_raw, test_buf_3);
-    }
-}

satrs-core/src/pus/event_srv.rs

@@ -1,133 +0,0 @@
-use crate::events::EventU32;
-use crate::pool::{SharedPool, StoreAddr};
-use crate::pus::event_man::{EventRequest, EventRequestWithToken};
-use crate::pus::verification::{
-    StdVerifReporterWithSender, TcStateAccepted, TcStateToken, VerificationToken,
-};
-use crate::pus::{
-    EcssTcReceiver, EcssTmSender, PartialPusHandlingError, PusPacketHandlerResult,
-    PusPacketHandlingError, PusServiceBase, PusServiceHandler,
-};
-use alloc::boxed::Box;
-use spacepackets::ecss::event::Subservice;
-use spacepackets::ecss::tc::PusTcReader;
-use spacepackets::ecss::PusPacket;
-use std::sync::mpsc::Sender;
-
-pub struct PusService5EventHandler {
-    psb: PusServiceBase,
-    event_request_tx: Sender<EventRequestWithToken>,
-}
-
-impl PusService5EventHandler {
-    pub fn new(
-        tc_receiver: Box<dyn EcssTcReceiver>,
-        shared_tc_store: SharedPool,
-        tm_sender: Box<dyn EcssTmSender>,
-        tm_apid: u16,
-        verification_handler: StdVerifReporterWithSender,
-        event_request_tx: Sender<EventRequestWithToken>,
-    ) -> Self {
-        Self {
-            psb: PusServiceBase::new(
-                tc_receiver,
-                shared_tc_store,
-                tm_sender,
-                tm_apid,
-                verification_handler,
-            ),
-            event_request_tx,
-        }
-    }
-}
-
-impl PusServiceHandler for PusService5EventHandler {
-    fn psb_mut(&mut self) -> &mut PusServiceBase {
-        &mut self.psb
-    }
-    fn psb(&self) -> &PusServiceBase {
-        &self.psb
-    }
-
-    fn handle_one_tc(
-        &mut self,
-        addr: StoreAddr,
-        token: VerificationToken<TcStateAccepted>,
-    ) -> Result<PusPacketHandlerResult, PusPacketHandlingError> {
-        self.copy_tc_to_buf(addr)?;
-        let (tc, _) = PusTcReader::new(&self.psb.pus_buf)?;
-        let subservice = tc.subservice();
-        let srv = Subservice::try_from(subservice);
-        if srv.is_err() {
-            return Ok(PusPacketHandlerResult::CustomSubservice(
-                tc.subservice(),
-                token,
-            ));
-        }
-        let handle_enable_disable_request = |enable: bool, stamp: [u8; 7]| {
-            if tc.user_data().len() < 4 {
-                return Err(PusPacketHandlingError::NotEnoughAppData(
-                    "At least 4 bytes event ID expected".into(),
-                ));
-            }
-            let user_data = tc.user_data();
-            let event_u32 = EventU32::from(u32::from_be_bytes(user_data[0..4].try_into().unwrap()));
-            let start_token = self
-                .psb
-                .verification_handler
-                .borrow_mut()
-                .start_success(token, Some(&stamp))
-                .map_err(|_| PartialPusHandlingError::Verification);
-            let partial_error = start_token.clone().err();
-            let mut token: TcStateToken = token.into();
-            if let Ok(start_token) = start_token {
-                token = start_token.into();
-            }
-            let event_req_with_token = if enable {
-                EventRequestWithToken {
-                    request: EventRequest::Enable(event_u32),
-                    token,
-                }
-            } else {
-                EventRequestWithToken {
-                    request: EventRequest::Disable(event_u32),
-                    token,
-                }
-            };
-            self.event_request_tx
-                .send(event_req_with_token)
-                .map_err(|_| {
-                    PusPacketHandlingError::Other("Forwarding event request failed".into())
-                })?;
-            if let Some(partial_error) = partial_error {
-                return Ok(PusPacketHandlerResult::RequestHandledPartialSuccess(
-                    partial_error,
-                ));
-            }
-            Ok(PusPacketHandlerResult::RequestHandled)
-        };
-        let mut partial_error = None;
-        let time_stamp = self.psb().get_current_timestamp(&mut partial_error);
-        match srv.unwrap() {
-            Subservice::TmInfoReport
-            | Subservice::TmLowSeverityReport
-            | Subservice::TmMediumSeverityReport
-            | Subservice::TmHighSeverityReport => {
-                return Err(PusPacketHandlingError::InvalidSubservice(tc.subservice()))
-            }
-            Subservice::TcEnableEventGeneration => {
-                handle_enable_disable_request(true, time_stamp)?;
-            }
-            Subservice::TcDisableEventGeneration => {
-                handle_enable_disable_request(false, time_stamp)?;
-            }
-            Subservice::TcReportDisabledList | Subservice::TmDisabledEventsReport => {
-                return Ok(PusPacketHandlerResult::SubserviceNotImplemented(
-                    subservice, token,
-                ));
-            }
-        }
-
-        Ok(PusPacketHandlerResult::RequestHandled)
-    }
-}

satrs-core/src/pus/hk.rs

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

satrs-core/src/pus/mod.rs

@@ -1,775 +0,0 @@
-//! # PUS support modules
-//!
-//! This module contains structures to make working with the PUS C standard easier.
-//! The satrs-example application contains various usage examples of these components.
-use crate::ChannelId;
-use core::fmt::{Display, Formatter};
-#[cfg(feature = "alloc")]
-use downcast_rs::{impl_downcast, Downcast};
-#[cfg(feature = "alloc")]
-use dyn_clone::DynClone;
-#[cfg(feature = "std")]
-use std::error::Error;
-
-use spacepackets::ecss::tc::{PusTcCreator, PusTcReader};
-use spacepackets::ecss::tm::PusTmCreator;
-use spacepackets::ecss::PusError;
-use spacepackets::{ByteConversionError, SpHeader};
-
-pub mod event;
-pub mod event_man;
-#[cfg(feature = "std")]
-pub mod event_srv;
-pub mod hk;
-pub mod mode;
-pub mod scheduler;
-#[cfg(feature = "std")]
-pub mod scheduler_srv;
-#[cfg(feature = "std")]
-pub mod test;
-pub mod verification;
-
-#[cfg(feature = "alloc")]
-pub use alloc_mod::*;
-
-use crate::pool::{StoreAddr, StoreError};
-use crate::pus::verification::{TcStateAccepted, TcStateToken, VerificationToken};
-#[cfg(feature = "std")]
-pub use std_mod::*;
-
-#[derive(Debug, PartialEq, Eq, Clone)]
-pub enum PusTmWrapper<'tm> {
-    InStore(StoreAddr),
-    Direct(PusTmCreator<'tm>),
-}
-
-impl From<StoreAddr> for PusTmWrapper<'_> {
-    fn from(value: StoreAddr) -> Self {
-        Self::InStore(value)
-    }
-}
-
-impl<'tm> From<PusTmCreator<'tm>> for PusTmWrapper<'tm> {
-    fn from(value: PusTmCreator<'tm>) -> Self {
-        Self::Direct(value)
-    }
-}
-
-pub type TcAddrWithToken = (StoreAddr, TcStateToken);
-
-/// Generic abstraction for a telecommand being sent around after is has been accepted.
-/// The actual telecommand is stored inside a pre-allocated pool structure.
-pub type AcceptedTc = (StoreAddr, VerificationToken<TcStateAccepted>);
-
-/// Generic error type for sending something via a message queue.
-#[derive(Debug, Copy, Clone)]
-pub enum GenericSendError {
-    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 {}
-
-#[derive(Debug, Clone)]
-pub enum EcssTmtcError {
-    StoreLock,
-    Store(StoreError),
-    Pus(PusError),
-    CantSendAddr(StoreAddr),
-    Send(GenericSendError),
-    Recv(GenericRecvError),
-}
-
-impl Display for EcssTmtcError {
-    fn fmt(&self, f: &mut Formatter<'_>) -> core::fmt::Result {
-        match self {
-            EcssTmtcError::StoreLock => {
-                write!(f, "store lock error")
-            }
-            EcssTmtcError::Store(store) => {
-                write!(f, "store error: {store}")
-            }
-            EcssTmtcError::Pus(pus_e) => {
-                write!(f, "PUS error: {pus_e}")
-            }
-            EcssTmtcError::CantSendAddr(addr) => {
-                write!(f, "can not send address {addr}")
-            }
-            EcssTmtcError::Send(send_e) => {
-                write!(f, "send error {send_e}")
-            }
-            EcssTmtcError::Recv(recv_e) => {
-                write!(f, "recv error {recv_e}")
-            }
-        }
-    }
-}
-
-impl From<StoreError> for EcssTmtcError {
-    fn from(value: StoreError) -> Self {
-        Self::Store(value)
-    }
-}
-
-impl From<PusError> for EcssTmtcError {
-    fn from(value: PusError) -> Self {
-        Self::Pus(value)
-    }
-}
-
-impl From<GenericSendError> for EcssTmtcError {
-    fn from(value: GenericSendError) -> Self {
-        Self::Send(value)
-    }
-}
-
-impl From<GenericRecvError> for EcssTmtcError {
-    fn from(value: GenericRecvError) -> Self {
-        Self::Recv(value)
-    }
-}
-
-#[cfg(feature = "std")]
-impl Error for EcssTmtcError {
-    fn source(&self) -> Option<&(dyn Error + 'static)> {
-        match self {
-            EcssTmtcError::Store(e) => Some(e),
-            EcssTmtcError::Pus(e) => Some(e),
-            EcssTmtcError::Send(e) => Some(e),
-            _ => None,
-        }
-    }
-}
-pub trait EcssChannel: Send {
-    /// Each sender can have an ID associated with it
-    fn id(&self) -> ChannelId;
-    fn name(&self) -> &'static str {
-        "unset"
-    }
-}
-
-/// Generic trait for a user supplied sender object.
-///
-/// This sender object is responsible for sending PUS telemetry to a TM sink.
-pub trait EcssTmSenderCore: EcssChannel {
-    fn send_tm(&self, tm: PusTmWrapper) -> Result<(), EcssTmtcError>;
-}
-
-/// Generic trait for a user supplied sender object.
-///
-/// This sender object is responsible for sending PUS telecommands to a TC recipient. Each
-/// telecommand can optionally have a token which contains its verification state.
-pub trait EcssTcSenderCore: EcssChannel {
-    fn send_tc(&self, tc: PusTcCreator, token: Option<TcStateToken>) -> Result<(), EcssTmtcError>;
-}
-
-pub struct ReceivedTcWrapper {
-    pub store_addr: StoreAddr,
-    pub token: Option<TcStateToken>,
-}
-
-#[derive(Debug, Clone)]
-pub enum TryRecvTmtcError {
-    Error(EcssTmtcError),
-    Empty,
-}
-
-impl From<EcssTmtcError> for TryRecvTmtcError {
-    fn from(value: EcssTmtcError) -> Self {
-        Self::Error(value)
-    }
-}
-
-impl From<PusError> for TryRecvTmtcError {
-    fn from(value: PusError) -> Self {
-        Self::Error(value.into())
-    }
-}
-
-impl From<StoreError> for TryRecvTmtcError {
-    fn from(value: StoreError) -> Self {
-        Self::Error(value.into())
-    }
-}
-
-/// Generic trait for a user supplied receiver object.
-pub trait EcssTcReceiverCore: EcssChannel {
-    fn recv_tc(&self) -> Result<ReceivedTcWrapper, TryRecvTmtcError>;
-}
-
-/// Generic trait for objects which can receive ECSS PUS telecommands. This trait is
-/// implemented by the [crate::tmtc::pus_distrib::PusDistributor] objects to allow passing PUS TC
-/// packets into it. It is generally assumed that the telecommand is stored in some pool structure,
-/// and the store address is passed as well. This allows efficient zero-copy forwarding of
-/// telecommands.
-pub trait ReceivesEcssPusTc {
-    type Error;
-    fn pass_pus_tc(&mut self, header: &SpHeader, pus_tc: &PusTcReader) -> Result<(), Self::Error>;
-}
-
-#[cfg(feature = "alloc")]
-mod alloc_mod {
-    use super::*;
-
-    /// Extension trait for [EcssTmSenderCore].
-    ///
-    /// It provides additional functionality, for example by implementing the [Downcast] trait
-    /// and the [DynClone] trait.
-    ///
-    /// [Downcast] is implemented to allow passing the sender as a boxed trait object and still
-    /// retrieve the concrete type at a later point.
-    ///
-    /// [DynClone] allows cloning the trait object as long as the boxed object implements
-    /// [Clone].
-    #[cfg(feature = "alloc")]
-    #[cfg_attr(doc_cfg, doc(cfg(feature = "alloc")))]
-    pub trait EcssTmSender: EcssTmSenderCore + Downcast + DynClone {}
-
-    /// Blanket implementation for all types which implement [EcssTmSenderCore] and are clonable.
-    impl<T> EcssTmSender for T where T: EcssTmSenderCore + Clone + 'static {}
-
-    dyn_clone::clone_trait_object!(EcssTmSender);
-    impl_downcast!(EcssTmSender);
-
-    /// Extension trait for [EcssTcSenderCore].
-    ///
-    /// It provides additional functionality, for example by implementing the [Downcast] trait
-    /// and the [DynClone] trait.
-    ///
-    /// [Downcast] is implemented to allow passing the sender as a boxed trait object and still
-    /// retrieve the concrete type at a later point.
-    ///
-    /// [DynClone] allows cloning the trait object as long as the boxed object implements
-    /// [Clone].
-    #[cfg(feature = "alloc")]
-    #[cfg_attr(doc_cfg, doc(cfg(feature = "alloc")))]
-    pub trait EcssTcSender: EcssTcSenderCore + Downcast + DynClone {}
-
-    /// Blanket implementation for all types which implement [EcssTcSenderCore] and are clonable.
-    impl<T> EcssTcSender for T where T: EcssTcSenderCore + Clone + 'static {}
-
-    dyn_clone::clone_trait_object!(EcssTcSender);
-    impl_downcast!(EcssTcSender);
-
-    /// Extension trait for [EcssTcReceiverCore].
-    ///
-    /// It provides additional functionality, for example by implementing the [Downcast] trait
-    /// and the [DynClone] trait.
-    ///
-    /// [Downcast] is implemented to allow passing the sender as a boxed trait object and still
-    /// retrieve the concrete type at a later point.
-    ///
-    /// [DynClone] allows cloning the trait object as long as the boxed object implements
-    /// [Clone].
-    #[cfg(feature = "alloc")]
-    #[cfg_attr(doc_cfg, doc(cfg(feature = "alloc")))]
-    pub trait EcssTcReceiver: EcssTcReceiverCore + Downcast {}
-
-    /// Blanket implementation for all types which implement [EcssTcReceiverCore] and are clonable.
-    impl<T> EcssTcReceiver for T where T: EcssTcReceiverCore + 'static {}
-
-    impl_downcast!(EcssTcReceiver);
-}
-
-#[cfg(feature = "std")]
-pub mod std_mod {
-    use crate::pool::{SharedPool, StoreAddr};
-    use crate::pus::verification::{
-        StdVerifReporterWithSender, TcStateAccepted, VerificationToken,
-    };
-    use crate::pus::{
-        EcssChannel, EcssTcReceiver, EcssTcReceiverCore, EcssTmSender, EcssTmSenderCore,
-        EcssTmtcError, GenericRecvError, GenericSendError, PusTmWrapper, ReceivedTcWrapper,
-        TcAddrWithToken, TryRecvTmtcError,
-    };
-    use crate::tmtc::tm_helper::SharedTmStore;
-    use crate::ChannelId;
-    use alloc::boxed::Box;
-    use alloc::vec::Vec;
-    use crossbeam_channel as cb;
-    use spacepackets::ecss::tm::PusTmCreator;
-    use spacepackets::ecss::PusError;
-    use spacepackets::time::cds::TimeProvider;
-    use spacepackets::time::StdTimestampError;
-    use spacepackets::time::TimeWriter;
-    use std::cell::RefCell;
-    use std::string::String;
-    use std::sync::mpsc;
-    use std::sync::mpsc::TryRecvError;
-    use thiserror::Error;
-
-    impl From<mpsc::SendError<StoreAddr>> for EcssTmtcError {
-        fn from(_: mpsc::SendError<StoreAddr>) -> Self {
-            Self::Send(GenericSendError::RxDisconnected)
-        }
-    }
-
-    impl From<cb::SendError<StoreAddr>> for EcssTmtcError {
-        fn from(_: cb::SendError<StoreAddr>) -> Self {
-            Self::Send(GenericSendError::RxDisconnected)
-        }
-    }
-
-    impl From<cb::TrySendError<StoreAddr>> for EcssTmtcError {
-        fn from(value: cb::TrySendError<StoreAddr>) -> Self {
-            match value {
-                cb::TrySendError::Full(_) => Self::Send(GenericSendError::QueueFull(None)),
-                cb::TrySendError::Disconnected(_) => Self::Send(GenericSendError::RxDisconnected),
-            }
-        }
-    }
-
-    #[derive(Clone)]
-    pub struct MpscTmInStoreSender {
-        id: ChannelId,
-        name: &'static str,
-        shared_tm_store: SharedTmStore,
-        sender: mpsc::Sender<StoreAddr>,
-    }
-
-    impl EcssChannel for MpscTmInStoreSender {
-        fn id(&self) -> ChannelId {
-            self.id
-        }
-
-        fn name(&self) -> &'static str {
-            self.name
-        }
-    }
-
-    impl MpscTmInStoreSender {
-        pub fn send_direct_tm(&self, tm: PusTmCreator) -> Result<(), EcssTmtcError> {
-            let addr = self.shared_tm_store.add_pus_tm(&tm)?;
-            self.sender
-                .send(addr)
-                .map_err(|_| EcssTmtcError::Send(GenericSendError::RxDisconnected))
-        }
-    }
-
-    impl EcssTmSenderCore for MpscTmInStoreSender {
-        fn send_tm(&self, tm: PusTmWrapper) -> Result<(), EcssTmtcError> {
-            match tm {
-                PusTmWrapper::InStore(addr) => {
-                    self.sender.send(addr)?;
-                    Ok(())
-                }
-                PusTmWrapper::Direct(tm) => self.send_direct_tm(tm),
-            }
-        }
-    }
-
-    impl MpscTmInStoreSender {
-        pub fn new(
-            id: ChannelId,
-            name: &'static str,
-            shared_tm_store: SharedTmStore,
-            sender: mpsc::Sender<StoreAddr>,
-        ) -> Self {
-            Self {
-                id,
-                name,
-                shared_tm_store,
-                sender,
-            }
-        }
-    }
-
-    pub struct MpscTcInStoreReceiver {
-        id: ChannelId,
-        name: &'static str,
-        receiver: mpsc::Receiver<TcAddrWithToken>,
-    }
-
-    impl EcssChannel for MpscTcInStoreReceiver {
-        fn id(&self) -> ChannelId {
-            self.id
-        }
-
-        fn name(&self) -> &'static str {
-            self.name
-        }
-    }
-
-    impl EcssTcReceiverCore for MpscTcInStoreReceiver {
-        fn recv_tc(&self) -> Result<ReceivedTcWrapper, TryRecvTmtcError> {
-            let (store_addr, token) = self.receiver.try_recv().map_err(|e| match e {
-                TryRecvError::Empty => TryRecvTmtcError::Empty,
-                TryRecvError::Disconnected => {
-                    TryRecvTmtcError::Error(EcssTmtcError::from(GenericRecvError::TxDisconnected))
-                }
-            })?;
-            Ok(ReceivedTcWrapper {
-                store_addr,
-                token: Some(token),
-            })
-        }
-    }
-
-    impl MpscTcInStoreReceiver {
-        pub fn new(
-            id: ChannelId,
-            name: &'static str,
-            receiver: mpsc::Receiver<TcAddrWithToken>,
-        ) -> Self {
-            Self { id, name, receiver }
-        }
-    }
-
-    /// This class can be used if frequent heap allocations during run-time are not an issue.
-    /// PUS TM packets will be sent around as [Vec]s. Please note that the current implementation
-    /// of this class can not deal with store addresses, so it is assumed that is is always
-    /// going to be called with direct packets.
-    #[derive(Clone)]
-    pub struct MpscTmAsVecSender {
-        id: ChannelId,
-        sender: mpsc::Sender<Vec<u8>>,
-        name: &'static str,
-    }
-
-    impl From<mpsc::SendError<Vec<u8>>> for EcssTmtcError {
-        fn from(_: mpsc::SendError<Vec<u8>>) -> Self {
-            Self::Send(GenericSendError::RxDisconnected)
-        }
-    }
-
-    impl MpscTmAsVecSender {
-        pub fn new(id: u32, name: &'static str, sender: mpsc::Sender<Vec<u8>>) -> Self {
-            Self { id, sender, name }
-        }
-    }
-
-    impl EcssChannel for MpscTmAsVecSender {
-        fn id(&self) -> ChannelId {
-            self.id
-        }
-        fn name(&self) -> &'static str {
-            self.name
-        }
-    }
-
-    impl EcssTmSenderCore for MpscTmAsVecSender {
-        fn send_tm(&self, tm: PusTmWrapper) -> Result<(), EcssTmtcError> {
-            match tm {
-                PusTmWrapper::InStore(addr) => Err(EcssTmtcError::CantSendAddr(addr)),
-                PusTmWrapper::Direct(tm) => {
-                    let mut vec = Vec::new();
-                    tm.append_to_vec(&mut vec).map_err(EcssTmtcError::Pus)?;
-                    self.sender.send(vec)?;
-                    Ok(())
-                }
-            }
-        }
-    }
-
-    #[derive(Clone)]
-    pub struct CrossbeamTmInStoreSender {
-        id: ChannelId,
-        name: &'static str,
-        shared_tm_store: SharedTmStore,
-        sender: crossbeam_channel::Sender<StoreAddr>,
-    }
-
-    impl CrossbeamTmInStoreSender {
-        pub fn new(
-            id: ChannelId,
-            name: &'static str,
-            shared_tm_store: SharedTmStore,
-            sender: crossbeam_channel::Sender<StoreAddr>,
-        ) -> Self {
-            Self {
-                id,
-                name,
-                shared_tm_store,
-                sender,
-            }
-        }
-    }
-
-    impl EcssChannel for CrossbeamTmInStoreSender {
-        fn id(&self) -> ChannelId {
-            self.id
-        }
-
-        fn name(&self) -> &'static str {
-            self.name
-        }
-    }
-
-    impl EcssTmSenderCore for CrossbeamTmInStoreSender {
-        fn send_tm(&self, tm: PusTmWrapper) -> Result<(), EcssTmtcError> {
-            match tm {
-                PusTmWrapper::InStore(addr) => self.sender.try_send(addr)?,
-                PusTmWrapper::Direct(tm) => {
-                    let addr = self.shared_tm_store.add_pus_tm(&tm)?;
-                    self.sender.try_send(addr)?;
-                }
-            }
-            Ok(())
-        }
-    }
-
-    pub struct CrossbeamTcInStoreReceiver {
-        id: ChannelId,
-        name: &'static str,
-        receiver: cb::Receiver<TcAddrWithToken>,
-    }
-
-    impl CrossbeamTcInStoreReceiver {
-        pub fn new(
-            id: ChannelId,
-            name: &'static str,
-            receiver: cb::Receiver<TcAddrWithToken>,
-        ) -> Self {
-            Self { id, name, receiver }
-        }
-    }
-
-    impl EcssChannel for CrossbeamTcInStoreReceiver {
-        fn id(&self) -> ChannelId {
-            self.id
-        }
-
-        fn name(&self) -> &'static str {
-            self.name
-        }
-    }
-
-    impl EcssTcReceiverCore for CrossbeamTcInStoreReceiver {
-        fn recv_tc(&self) -> Result<ReceivedTcWrapper, TryRecvTmtcError> {
-            let (store_addr, token) = self.receiver.try_recv().map_err(|e| match e {
-                cb::TryRecvError::Empty => TryRecvTmtcError::Empty,
-                cb::TryRecvError::Disconnected => {
-                    TryRecvTmtcError::Error(EcssTmtcError::from(GenericRecvError::TxDisconnected))
-                }
-            })?;
-            Ok(ReceivedTcWrapper {
-                store_addr,
-                token: Some(token),
-            })
-        }
-    }
-
-    #[derive(Debug, Clone, Error)]
-    pub enum PusPacketHandlingError {
-        #[error("generic PUS error: {0}")]
-        Pus(#[from] PusError),
-        #[error("wrong service number {0} for packet handler")]
-        WrongService(u8),
-        #[error("invalid subservice {0}")]
-        InvalidSubservice(u8),
-        #[error("not enough application data available: {0}")]
-        NotEnoughAppData(String),
-        #[error("invalid application data")]
-        InvalidAppData(String),
-        #[error("generic ECSS tmtc error: {0}")]
-        EcssTmtc(#[from] EcssTmtcError),
-        #[error("invalid verification token")]
-        InvalidVerificationToken,
-        #[error("other error {0}")]
-        Other(String),
-    }
-
-    #[derive(Debug, Clone, Error)]
-    pub enum PartialPusHandlingError {
-        #[error("generic timestamp generation error")]
-        Time(#[from] StdTimestampError),
-        #[error("error sending telemetry: {0}")]
-        TmSend(#[from] EcssTmtcError),
-        #[error("error sending verification message")]
-        Verification,
-        #[error("invalid verification token")]
-        NoVerificationToken,
-    }
-
-    /// Generic result type for handlers which can process PUS packets.
-    #[derive(Debug, Clone)]
-    pub enum PusPacketHandlerResult {
-        RequestHandled,
-        RequestHandledPartialSuccess(PartialPusHandlingError),
-        SubserviceNotImplemented(u8, VerificationToken<TcStateAccepted>),
-        CustomSubservice(u8, VerificationToken<TcStateAccepted>),
-        Empty,
-    }
-
-    impl From<PartialPusHandlingError> for PusPacketHandlerResult {
-        fn from(value: PartialPusHandlingError) -> Self {
-            Self::RequestHandledPartialSuccess(value)
-        }
-    }
-
-    /// Base class for handlers which can handle PUS TC packets. Right now, the verification
-    /// reporter is constrained to the [StdVerifReporterWithSender] and the service handler
-    /// relies on TMTC packets being exchanged via a [SharedPool].
-    pub struct PusServiceBase {
-        pub tc_receiver: Box<dyn EcssTcReceiver>,
-        pub shared_tc_store: SharedPool,
-        pub tm_sender: Box<dyn EcssTmSender>,
-        pub tm_apid: u16,
-        /// The verification handler is wrapped in a [RefCell] to allow the interior mutability
-        /// pattern. This makes writing methods which are not mutable a lot easier.
-        pub verification_handler: RefCell<StdVerifReporterWithSender>,
-        pub pus_buf: [u8; 2048],
-        pub pus_size: usize,
-    }
-
-    impl PusServiceBase {
-        pub fn new(
-            tc_receiver: Box<dyn EcssTcReceiver>,
-            shared_tc_store: SharedPool,
-            tm_sender: Box<dyn EcssTmSender>,
-            tm_apid: u16,
-            verification_handler: StdVerifReporterWithSender,
-        ) -> Self {
-            Self {
-                tc_receiver,
-                shared_tc_store,
-                tm_apid,
-                tm_sender,
-                verification_handler: RefCell::new(verification_handler),
-                pus_buf: [0; 2048],
-                pus_size: 0,
-            }
-        }
-
-        pub fn get_current_timestamp(
-            &self,
-            partial_error: &mut Option<PartialPusHandlingError>,
-        ) -> [u8; 7] {
-            let mut time_stamp: [u8; 7] = [0; 7];
-            let time_provider =
-                TimeProvider::from_now_with_u16_days().map_err(PartialPusHandlingError::Time);
-            if let Ok(time_provider) = time_provider {
-                // Can't fail, we have a buffer with the exact required size.
-                time_provider.write_to_bytes(&mut time_stamp).unwrap();
-            } else {
-                *partial_error = Some(time_provider.unwrap_err());
-            }
-            time_stamp
-        }
-
-        pub fn get_current_timestamp_ignore_error(&self) -> [u8; 7] {
-            let mut dummy = None;
-            self.get_current_timestamp(&mut dummy)
-        }
-    }
-
-    pub trait PusServiceHandler {
-        fn psb_mut(&mut self) -> &mut PusServiceBase;
-        fn psb(&self) -> &PusServiceBase;
-        fn handle_one_tc(
-            &mut self,
-            addr: StoreAddr,
-            token: VerificationToken<TcStateAccepted>,
-        ) -> Result<PusPacketHandlerResult, PusPacketHandlingError>;
-
-        fn copy_tc_to_buf(&mut self, addr: StoreAddr) -> Result<(), PusPacketHandlingError> {
-            // Keep locked section as short as possible.
-            let psb_mut = self.psb_mut();
-            let mut tc_pool = psb_mut
-                .shared_tc_store
-                .write()
-                .map_err(|_| PusPacketHandlingError::EcssTmtc(EcssTmtcError::StoreLock))?;
-            let tc_guard = tc_pool.read_with_guard(addr);
-            let tc_raw = tc_guard.read().unwrap();
-            psb_mut.pus_buf[0..tc_raw.len()].copy_from_slice(tc_raw);
-            Ok(())
-        }
-
-        fn handle_next_packet(&mut self) -> Result<PusPacketHandlerResult, PusPacketHandlingError> {
-            match self.psb().tc_receiver.recv_tc() {
-                Ok(ReceivedTcWrapper { store_addr, token }) => {
-                    if token.is_none() {
-                        return Err(PusPacketHandlingError::InvalidVerificationToken);
-                    }
-                    let token = token.unwrap();
-                    let accepted_token = VerificationToken::<TcStateAccepted>::try_from(token)
-                        .map_err(|_| PusPacketHandlingError::InvalidVerificationToken)?;
-                    self.handle_one_tc(store_addr, accepted_token)
-                }
-                Err(e) => match e {
-                    TryRecvTmtcError::Error(e) => Err(PusPacketHandlingError::EcssTmtc(e)),
-                    TryRecvTmtcError::Empty => Ok(PusPacketHandlerResult::Empty),
-                },
-            }
-        }
-    }
-}
-
-pub(crate) fn source_buffer_large_enough(cap: usize, len: usize) -> Result<(), EcssTmtcError> {
-    if len > cap {
-        return Err(
-            PusError::ByteConversion(ByteConversionError::ToSliceTooSmall {
-                found: cap,
-                expected: len,
-            })
-            .into(),
-        );
-    }
-    Ok(())
-}
-
-#[cfg(test)]
-pub(crate) mod tests {
-    use spacepackets::ecss::tm::{GenericPusTmSecondaryHeader, PusTmCreator};
-    use spacepackets::CcsdsPacket;
-
-    #[derive(Debug, Eq, PartialEq, Clone)]
-    pub(crate) struct CommonTmInfo {
-        pub subservice: u8,
-        pub apid: u16,
-        pub msg_counter: u16,
-        pub dest_id: u16,
-        pub time_stamp: [u8; 7],
-    }
-
-    impl CommonTmInfo {
-        pub fn new_from_tm(tm: &PusTmCreator) -> Self {
-            let mut time_stamp = [0; 7];
-            time_stamp.clone_from_slice(&tm.timestamp()[0..7]);
-            Self {
-                subservice: tm.subservice(),
-                apid: tm.apid(),
-                msg_counter: tm.msg_counter(),
-                dest_id: tm.dest_id(),
-                time_stamp,
-            }
-        }
-    }
-}

satrs-core/src/pus/scheduler_srv.rs

@@ -1,184 +0,0 @@
-use crate::pool::{SharedPool, StoreAddr};
-use crate::pus::scheduler::PusScheduler;
-use crate::pus::verification::{StdVerifReporterWithSender, TcStateAccepted, VerificationToken};
-use crate::pus::{
-    EcssTcReceiver, EcssTmSender, PusPacketHandlerResult, PusPacketHandlingError, PusServiceBase,
-    PusServiceHandler,
-};
-use spacepackets::ecss::tc::PusTcReader;
-use spacepackets::ecss::{scheduling, PusPacket};
-use spacepackets::time::cds::TimeProvider;
-use std::boxed::Box;
-
-/// This is a helper class for [std] environments to handle generic PUS 11 (scheduling service)
-/// packets. This handler is constrained to using the [PusScheduler], but is able to process
-/// the most important PUS requests for a scheduling service.
-///
-/// Please note that this class does not do the regular periodic handling like releasing any
-/// telecommands inside the scheduler. The user can retrieve the wrapped scheduler via the
-/// [Self::scheduler] and [Self::scheduler_mut] function and then use the scheduler API to release
-/// telecommands when applicable.
-pub struct PusService11SchedHandler {
-    psb: PusServiceBase,
-    scheduler: PusScheduler,
-}
-
-impl PusService11SchedHandler {
-    pub fn new(
-        tc_receiver: Box<dyn EcssTcReceiver>,
-        shared_tc_store: SharedPool,
-        tm_sender: Box<dyn EcssTmSender>,
-        tm_apid: u16,
-        verification_handler: StdVerifReporterWithSender,
-        scheduler: PusScheduler,
-    ) -> Self {
-        Self {
-            psb: PusServiceBase::new(
-                tc_receiver,
-                shared_tc_store,
-                tm_sender,
-                tm_apid,
-                verification_handler,
-            ),
-            scheduler,
-        }
-    }
-
-    pub fn scheduler_mut(&mut self) -> &mut PusScheduler {
-        &mut self.scheduler
-    }
-
-    pub fn scheduler(&self) -> &PusScheduler {
-        &self.scheduler
-    }
-}
-
-impl PusServiceHandler for PusService11SchedHandler {
-    fn psb_mut(&mut self) -> &mut PusServiceBase {
-        &mut self.psb
-    }
-    fn psb(&self) -> &PusServiceBase {
-        &self.psb
-    }
-
-    fn handle_one_tc(
-        &mut self,
-        addr: StoreAddr,
-        token: VerificationToken<TcStateAccepted>,
-    ) -> Result<PusPacketHandlerResult, PusPacketHandlingError> {
-        self.copy_tc_to_buf(addr)?;
-        let (tc, _) = PusTcReader::new(&self.psb.pus_buf)?;
-        let subservice = tc.subservice();
-        let std_service = scheduling::Subservice::try_from(subservice);
-        if std_service.is_err() {
-            return Ok(PusPacketHandlerResult::CustomSubservice(
-                tc.subservice(),
-                token,
-            ));
-        }
-        let mut partial_error = None;
-        let time_stamp = self.psb().get_current_timestamp(&mut partial_error);
-        match std_service.unwrap() {
-            scheduling::Subservice::TcEnableScheduling => {
-                let start_token = self
-                    .psb
-                    .verification_handler
-                    .get_mut()
-                    .start_success(token, Some(&time_stamp))
-                    .expect("Error sending start success");
-
-                self.scheduler.enable();
-                if self.scheduler.is_enabled() {
-                    self.psb
-                        .verification_handler
-                        .get_mut()
-                        .completion_success(start_token, Some(&time_stamp))
-                        .expect("Error sending completion success");
-                } else {
-                    panic!("Failed to enable scheduler");
-                }
-            }
-            scheduling::Subservice::TcDisableScheduling => {
-                let start_token = self
-                    .psb
-                    .verification_handler
-                    .get_mut()
-                    .start_success(token, Some(&time_stamp))
-                    .expect("Error sending start success");
-
-                self.scheduler.disable();
-                if !self.scheduler.is_enabled() {
-                    self.psb
-                        .verification_handler
-                        .get_mut()
-                        .completion_success(start_token, Some(&time_stamp))
-                        .expect("Error sending completion success");
-                } else {
-                    panic!("Failed to disable scheduler");
-                }
-            }
-            scheduling::Subservice::TcResetScheduling => {
-                let start_token = self
-                    .psb
-                    .verification_handler
-                    .get_mut()
-                    .start_success(token, Some(&time_stamp))
-                    .expect("Error sending start success");
-
-                let mut pool = self
-                    .psb
-                    .shared_tc_store
-                    .write()
-                    .expect("Locking pool failed");
-
-                self.scheduler
-                    .reset(pool.as_mut())
-                    .expect("Error resetting TC Pool");
-
-                self.psb
-                    .verification_handler
-                    .get_mut()
-                    .completion_success(start_token, Some(&time_stamp))
-                    .expect("Error sending completion success");
-            }
-            scheduling::Subservice::TcInsertActivity => {
-                let start_token = self
-                    .psb
-                    .verification_handler
-                    .get_mut()
-                    .start_success(token, Some(&time_stamp))
-                    .expect("error sending start success");
-
-                let mut pool = self
-                    .psb
-                    .shared_tc_store
-                    .write()
-                    .expect("locking pool failed");
-                self.scheduler
-                    .insert_wrapped_tc::<TimeProvider>(&tc, pool.as_mut())
-                    .expect("insertion of activity into pool failed");
-
-                self.psb
-                    .verification_handler
-                    .get_mut()
-                    .completion_success(start_token, Some(&time_stamp))
-                    .expect("sending completion success failed");
-            }
-            _ => {
-                return Ok(PusPacketHandlerResult::CustomSubservice(
-                    tc.subservice(),
-                    token,
-                ));
-            }
-        }
-        if let Some(partial_error) = partial_error {
-            return Ok(PusPacketHandlerResult::RequestHandledPartialSuccess(
-                partial_error,
-            ));
-        }
-        Ok(PusPacketHandlerResult::CustomSubservice(
-            tc.subservice(),
-            token,
-        ))
-    }
-}

satrs-core/src/pus/test.rs

@@ -1,218 +0,0 @@
-use crate::pool::{SharedPool, StoreAddr};
-use crate::pus::verification::{StdVerifReporterWithSender, TcStateAccepted, VerificationToken};
-use crate::pus::{
-    EcssTcReceiver, EcssTmSender, PartialPusHandlingError, PusPacketHandlerResult,
-    PusPacketHandlingError, PusServiceBase, PusServiceHandler, PusTmWrapper,
-};
-use spacepackets::ecss::tc::PusTcReader;
-use spacepackets::ecss::tm::{PusTmCreator, PusTmSecondaryHeader};
-use spacepackets::ecss::PusPacket;
-use spacepackets::SpHeader;
-use std::boxed::Box;
-
-/// This is a helper class for [std] environments to handle generic PUS 17 (test service) packets.
-/// This handler only processes ping requests and generates a ping reply for them accordingly.
-pub struct PusService17TestHandler {
-    psb: PusServiceBase,
-}
-
-impl PusService17TestHandler {
-    pub fn new(
-        tc_receiver: Box<dyn EcssTcReceiver>,
-        shared_tc_store: SharedPool,
-        tm_sender: Box<dyn EcssTmSender>,
-        tm_apid: u16,
-        verification_handler: StdVerifReporterWithSender,
-    ) -> Self {
-        Self {
-            psb: PusServiceBase::new(
-                tc_receiver,
-                shared_tc_store,
-                tm_sender,
-                tm_apid,
-                verification_handler,
-            ),
-        }
-    }
-}
-
-impl PusServiceHandler for PusService17TestHandler {
-    fn psb_mut(&mut self) -> &mut PusServiceBase {
-        &mut self.psb
-    }
-    fn psb(&self) -> &PusServiceBase {
-        &self.psb
-    }
-
-    fn handle_one_tc(
-        &mut self,
-        addr: StoreAddr,
-        token: VerificationToken<TcStateAccepted>,
-    ) -> Result<PusPacketHandlerResult, PusPacketHandlingError> {
-        self.copy_tc_to_buf(addr)?;
-        let (tc, _) = PusTcReader::new(&self.psb.pus_buf)?;
-        if tc.service() != 17 {
-            return Err(PusPacketHandlingError::WrongService(tc.service()));
-        }
-        if tc.subservice() == 1 {
-            let mut partial_error = None;
-            let time_stamp = self.psb().get_current_timestamp(&mut partial_error);
-            let result = self
-                .psb
-                .verification_handler
-                .get_mut()
-                .start_success(token, Some(&time_stamp))
-                .map_err(|_| PartialPusHandlingError::Verification);
-            let start_token = if let Ok(result) = result {
-                Some(result)
-            } else {
-                partial_error = Some(result.unwrap_err());
-                None
-            };
-            // Sequence count will be handled centrally in TM funnel.
-            let mut reply_header = SpHeader::tm_unseg(self.psb.tm_apid, 0, 0).unwrap();
-            let tc_header = PusTmSecondaryHeader::new_simple(17, 2, &time_stamp);
-            let ping_reply = PusTmCreator::new(&mut reply_header, tc_header, None, true);
-            let result = self
-                .psb
-                .tm_sender
-                .send_tm(PusTmWrapper::Direct(ping_reply))
-                .map_err(PartialPusHandlingError::TmSend);
-            if let Err(err) = result {
-                partial_error = Some(err);
-            }
-
-            if let Some(start_token) = start_token {
-                if self
-                    .psb
-                    .verification_handler
-                    .get_mut()
-                    .completion_success(start_token, Some(&time_stamp))
-                    .is_err()
-                {
-                    partial_error = Some(PartialPusHandlingError::Verification)
-                }
-            }
-            if let Some(partial_error) = partial_error {
-                return Ok(PusPacketHandlerResult::RequestHandledPartialSuccess(
-                    partial_error,
-                ));
-            };
-            return Ok(PusPacketHandlerResult::RequestHandled);
-        }
-        Ok(PusPacketHandlerResult::CustomSubservice(
-            tc.subservice(),
-            token,
-        ))
-    }
-}
-
-#[cfg(test)]
-mod tests {
-    use crate::pool::{LocalPool, PoolCfg, SharedPool};
-    use crate::pus::test::PusService17TestHandler;
-    use crate::pus::verification::{
-        RequestId, StdVerifReporterWithSender, VerificationReporterCfg,
-    };
-    use crate::pus::{MpscTcInStoreReceiver, MpscTmInStoreSender, PusServiceHandler};
-    use crate::tmtc::tm_helper::SharedTmStore;
-    use spacepackets::ecss::tc::{PusTcCreator, PusTcSecondaryHeader};
-    use spacepackets::ecss::tm::PusTmReader;
-    use spacepackets::ecss::{PusPacket, SerializablePusPacket};
-    use spacepackets::{SequenceFlags, SpHeader};
-    use std::boxed::Box;
-    use std::sync::{mpsc, RwLock};
-    use std::vec;
-
-    const TEST_APID: u16 = 0x101;
-
-    #[test]
-    fn test_basic_ping_processing() {
-        let mut pus_buf: [u8; 64] = [0; 64];
-        let pool_cfg = PoolCfg::new(vec![(16, 16), (8, 32), (4, 64)]);
-        let tc_pool = LocalPool::new(pool_cfg.clone());
-        let tm_pool = LocalPool::new(pool_cfg);
-        let tc_pool_shared = SharedPool::new(RwLock::new(Box::new(tc_pool)));
-        let shared_tm_store = SharedTmStore::new(Box::new(tm_pool));
-        let tm_pool_shared = shared_tm_store.clone_backing_pool();
-        let (test_srv_tc_tx, test_srv_tc_rx) = mpsc::channel();
-        let (tm_tx, tm_rx) = mpsc::channel();
-        let verif_sender =
-            MpscTmInStoreSender::new(0, "verif_sender", shared_tm_store.clone(), tm_tx.clone());
-        let verif_cfg = VerificationReporterCfg::new(TEST_APID, 1, 2, 8).unwrap();
-        let mut verification_handler =
-            StdVerifReporterWithSender::new(&verif_cfg, Box::new(verif_sender));
-        let test_srv_tm_sender = MpscTmInStoreSender::new(0, "TEST_SENDER", shared_tm_store, tm_tx);
-        let test_srv_tc_receiver = MpscTcInStoreReceiver::new(0, "TEST_RECEIVER", test_srv_tc_rx);
-        let mut pus_17_handler = PusService17TestHandler::new(
-            Box::new(test_srv_tc_receiver),
-            tc_pool_shared.clone(),
-            Box::new(test_srv_tm_sender),
-            TEST_APID,
-            verification_handler.clone(),
-        );
-        // Create a ping TC, verify acceptance.
-        let mut sp_header = SpHeader::tc(TEST_APID, SequenceFlags::Unsegmented, 0, 0).unwrap();
-        let sec_header = PusTcSecondaryHeader::new_simple(17, 1);
-        let ping_tc = PusTcCreator::new(&mut sp_header, sec_header, None, true);
-        let token = verification_handler.add_tc(&ping_tc);
-        let token = verification_handler
-            .acceptance_success(token, None)
-            .unwrap();
-        let tc_size = ping_tc.write_to_bytes(&mut pus_buf).unwrap();
-        let mut tc_pool = tc_pool_shared.write().unwrap();
-        let addr = tc_pool.add(&pus_buf[..tc_size]).unwrap();
-        drop(tc_pool);
-        // Send accepted TC to test service handler.
-        test_srv_tc_tx.send((addr, token.into())).unwrap();
-        let result = pus_17_handler.handle_next_packet();
-        assert!(result.is_ok());
-        // We should see 4 replies in the TM queue now: Acceptance TM, Start TM, ping reply and
-        // Completion TM
-        let mut next_msg = tm_rx.try_recv();
-        assert!(next_msg.is_ok());
-        let mut tm_addr = next_msg.unwrap();
-        let tm_pool = tm_pool_shared.read().unwrap();
-        let tm_raw = tm_pool.read(&tm_addr).unwrap();
-        let (tm, _) = PusTmReader::new(&tm_raw, 0).unwrap();
-        assert_eq!(tm.service(), 1);
-        assert_eq!(tm.subservice(), 1);
-        let req_id = RequestId::from_bytes(tm.user_data()).expect("generating request ID failed");
-        assert_eq!(req_id, token.req_id());
-
-        // Acceptance TM
-        next_msg = tm_rx.try_recv();
-        assert!(next_msg.is_ok());
-        tm_addr = next_msg.unwrap();
-        let tm_raw = tm_pool.read(&tm_addr).unwrap();
-        // Is generated with CDS short timestamp.
-        let (tm, _) = PusTmReader::new(&tm_raw, 7).unwrap();
-        assert_eq!(tm.service(), 1);
-        assert_eq!(tm.subservice(), 3);
-        let req_id = RequestId::from_bytes(tm.user_data()).expect("generating request ID failed");
-        assert_eq!(req_id, token.req_id());
-
-        // Ping reply
-        next_msg = tm_rx.try_recv();
-        assert!(next_msg.is_ok());
-        tm_addr = next_msg.unwrap();
-        let tm_raw = tm_pool.read(&tm_addr).unwrap();
-        // Is generated with CDS short timestamp.
-        let (tm, _) = PusTmReader::new(&tm_raw, 7).unwrap();
-        assert_eq!(tm.service(), 17);
-        assert_eq!(tm.subservice(), 2);
-        assert!(tm.user_data().is_empty());
-
-        // TM completion
-        next_msg = tm_rx.try_recv();
-        assert!(next_msg.is_ok());
-        tm_addr = next_msg.unwrap();
-        let tm_raw = tm_pool.read(&tm_addr).unwrap();
-        // Is generated with CDS short timestamp.
-        let (tm, _) = PusTmReader::new(&tm_raw, 7).unwrap();
-        assert_eq!(tm.service(), 1);
-        assert_eq!(tm.subservice(), 7);
-        let req_id = RequestId::from_bytes(tm.user_data()).expect("generating request ID failed");
-        assert_eq!(req_id, token.req_id());
-    }
-}

satrs-core/src/request.rs

@@ -1 +0,0 @@
-

satrs-core/src/tmtc/tm_helper.rs

@@ -1,93 +0,0 @@
-use spacepackets::ecss::tm::{PusTmCreator, PusTmSecondaryHeader};
-use spacepackets::time::cds::TimeProvider;
-use spacepackets::time::TimeWriter;
-use spacepackets::SpHeader;
-
-#[cfg(feature = "std")]
-pub use std_mod::*;
-
-#[cfg(feature = "std")]
-pub mod std_mod {
-    use crate::pool::{ShareablePoolProvider, SharedPool, StoreAddr};
-    use crate::pus::EcssTmtcError;
-    use spacepackets::ecss::tm::PusTmCreator;
-    use spacepackets::ecss::SerializablePusPacket;
-    use std::sync::{Arc, RwLock};
-
-    #[derive(Clone)]
-    pub struct SharedTmStore {
-        pool: SharedPool,
-    }
-
-    impl SharedTmStore {
-        pub fn new(backing_pool: ShareablePoolProvider) -> Self {
-            Self {
-                pool: Arc::new(RwLock::new(backing_pool)),
-            }
-        }
-
-        pub fn clone_backing_pool(&self) -> SharedPool {
-            self.pool.clone()
-        }
-
-        pub fn add_pus_tm(&self, pus_tm: &PusTmCreator) -> Result<StoreAddr, EcssTmtcError> {
-            let mut pg = self.pool.write().map_err(|_| EcssTmtcError::StoreLock)?;
-            let (addr, buf) = pg.free_element(pus_tm.len_packed())?;
-            pus_tm
-                .write_to_bytes(buf)
-                .expect("writing PUS TM to store failed");
-            Ok(addr)
-        }
-    }
-}
-
-pub struct PusTmWithCdsShortHelper {
-    apid: u16,
-    cds_short_buf: [u8; 7],
-}
-
-impl PusTmWithCdsShortHelper {
-    pub fn new(apid: u16) -> Self {
-        Self {
-            apid,
-            cds_short_buf: [0; 7],
-        }
-    }
-
-    #[cfg(feature = "std")]
-    pub fn create_pus_tm_timestamp_now<'a>(
-        &'a mut self,
-        service: u8,
-        subservice: u8,
-        source_data: Option<&'a [u8]>,
-        seq_count: u16,
-    ) -> PusTmCreator {
-        let time_stamp = TimeProvider::from_now_with_u16_days().unwrap();
-        time_stamp.write_to_bytes(&mut self.cds_short_buf).unwrap();
-        self.create_pus_tm_common(service, subservice, source_data, seq_count)
-    }
-
-    pub fn create_pus_tm_with_stamper<'a>(
-        &'a mut self,
-        service: u8,
-        subservice: u8,
-        source_data: Option<&'a [u8]>,
-        stamper: &TimeProvider,
-        seq_count: u16,
-    ) -> PusTmCreator {
-        stamper.write_to_bytes(&mut self.cds_short_buf).unwrap();
-        self.create_pus_tm_common(service, subservice, source_data, seq_count)
-    }
-
-    fn create_pus_tm_common<'a>(
-        &'a self,
-        service: u8,
-        subservice: u8,
-        source_data: Option<&'a [u8]>,
-        seq_count: u16,
-    ) -> PusTmCreator {
-        let mut reply_header = SpHeader::tm_unseg(self.apid, seq_count, 0).unwrap();
-        let tc_header = PusTmSecondaryHeader::new_simple(service, subservice, &self.cds_short_buf);
-        PusTmCreator::new(&mut reply_header, tc_header, source_data, true)
-    }
-}

satrs-example/.gitignore

@@ -0,0 +1 @@
+/output.log

satrs-example/Cargo.toml

@@ -1,6 +1,6 @@
 [package]
 name = "satrs-example"
-version = "0.1.0"
+version = "0.1.1"
 edition = "2021"
 authors = ["Robin Mueller <muellerr@irs.uni-stuttgart.de>"]
 default-run = "satrs-example"
@@ -17,11 +17,16 @@ zerocopy = "0.6"
 csv = "1"
 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"
+version = "0.1.1"
 # path = "../satrs-mib"
+
+[features]
+dyn_tmtc = []
+default = ["dyn_tmtc"]

satrs-example/README.md

@@ -3,10 +3,32 @@ sat-rs example
 
 This crate contains an example application which simulates an on-board software.
 It uses various components provided by the sat-rs framework to do this. As such, it shows how
-a more complex real on-board software could be built from these components.
-The application opens a UDP server on port 7301 to receive telecommands.
+a more complex real on-board software could be built from these components. It is recommended to
+read the dedicated
+[example chapters](https://absatsw.irs.uni-stuttgart.de/projects/sat-rs/book/example.html) inside
+the sat-rs book.
 
-You can run the application using `cargo run`. The `simpleclient` binary target sends a
+The application opens a UDP and a TCP server on port 7301 to receive telecommands.
+
+You can run the application using `cargo run`.
+
+# Features
+
+The example has the `dyn_tmtc` feature which is enabled by default. With this feature enabled,
+TMTC packets are exchanged using the heap as the backing memory instead of pre-allocated static
+stores.
+
+You can run the application without this feature using
+
+```sh
+cargo run --no-default-features
+```
+
+# Interacting with the sat-rs example
+
+## Simple Client
+
+The `simpleclient` binary target sends a
 ping telecommand and then verifies the telemetry generated by the example application.
 It can be run like this:
 
@@ -17,7 +39,7 @@ cargo run --bin simpleclient
 This repository also contains a more complex client using the
 [Python tmtccmd](https://github.com/robamu-org/tmtccmd) module.
 
-# <a id="tmtccmd"></a> Using the tmtccmd Python client
+## <a id="tmtccmd"></a> Using the tmtccmd Python client
 
 The python client requires a valid installation of the
 [tmtccmd package](https://github.com/robamu-org/tmtccmd).
@@ -46,31 +68,7 @@ as Python code. For example, you can use the following command to send a ping li
 the `simpleclient`:
 
 ```sh
-./main.py -s test -o ping
+./main.py -p /test/ping
 ```
 
-You can also simply call the script without any arguments to view a list of services (`-s` flag)
-and corresponding op codes (`-o` flag) for each service.
-
-# Structure of the example project
-
-The example project contains components which could also be expected to be part of a production
-On-Board Software.
-
-1. 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 TCP
-   server parses space packets by using the CCSDS space packet ID as the packet start delimiter.
-2. A PUS service stack which exposes some functionality conformant with the ECSS PUS service. This
-   currently includes the following services:
-   - Service 1 for telecommand verification.
-   - 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.
-   - Service 17 for test purposes (pings)
-3. An event manager component which handles the event IPC mechanism.
-4. A TC source component which demultiplexes and routes telecommands based on parameters like
-   packet APID or PUS service and subservice type.
-5. A TM sink sink component which is the target of all sent telemetry and sends it to downlink
-   handlers like the UDP and TCP server.
-6. An AOCS example task which can also process some PUS commands.
+You can also simply call the script without any arguments to view the command tree.

satrs-example/pyclient/pus_tc.py

@@ -1,50 +0,0 @@
-import datetime
-
-from spacepackets.ccsds import CdsShortTimestamp
-from spacepackets.ecss import PusTelecommand
-from tmtccmd.config import CoreServiceList
-from tmtccmd.tmtc import DefaultPusQueueHelper
-from tmtccmd.pus.s11_tc_sched import create_time_tagged_cmd
-from tmtccmd.pus.tc.s3_fsfw_hk import create_request_one_hk_command
-
-from common import (
-    EXAMPLE_PUS_APID,
-    HkOpCodes,
-    make_addressable_id,
-    RequestTargetId,
-    AcsHkIds,
-)
-
-
-def pack_pus_telecommands(q: DefaultPusQueueHelper, service: str, op_code: str):
-    if (
-        service == CoreServiceList.SERVICE_17
-        or service == CoreServiceList.SERVICE_17_ALT
-    ):
-        if op_code == "ping":
-            q.add_log_cmd("Sending PUS ping telecommand")
-            return q.add_pus_tc(PusTelecommand(service=17, subservice=1))
-        elif op_code == "trigger_event":
-            q.add_log_cmd("Triggering test event")
-            return q.add_pus_tc(PusTelecommand(service=17, subservice=128))
-    if service == CoreServiceList.SERVICE_11:
-        q.add_log_cmd("Sending PUS scheduled TC telecommand")
-        crt_time = CdsShortTimestamp.from_now()
-        time_stamp = crt_time + datetime.timedelta(seconds=10)
-        time_stamp = time_stamp.pack()
-        return q.add_pus_tc(
-            create_time_tagged_cmd(
-                time_stamp,
-                PusTelecommand(service=17, subservice=1),
-                apid=EXAMPLE_PUS_APID,
-            )
-        )
-    if service == CoreServiceList.SERVICE_3:
-        if op_code in HkOpCodes.GENERATE_ONE_SHOT:
-            q.add_log_cmd("Sending HK one shot request")
-            q.add_pus_tc(
-                create_request_one_hk_command(
-                    make_addressable_id(RequestTargetId.ACS, AcsHkIds.MGM_SET)
-                )
-            )
-        pass

satrs-example/satrs-tmtc/.gitignore

@@ -6,3 +6,4 @@ __pycache__
 !/.idea/runConfigurations
 
 /seqcnt.txt
+/.tmtc-history.txt

satrs-example/satrs-tmtc/common.py

@@ -44,10 +44,6 @@ class AcsHkIds(enum.IntEnum):
     MGM_SET = 1
 
 
-class HkOpCodes:
-    GENERATE_ONE_SHOT = ["0", "oneshot"]
-
-
 def make_addressable_id(target_id: int, unique_id: int) -> bytes:
     byte_string = bytearray(struct.pack("!I", target_id))
     byte_string.extend(struct.pack("!I", unique_id))

satrs-example/satrs-tmtc/main.py

@@ -4,6 +4,8 @@ import logging
 import sys
 import time
 from typing import Optional
+from prompt_toolkit.history import History
+from prompt_toolkit.history import FileHistory
 
 import tmtccmd
 from spacepackets.ecss import PusTelemetry, PusVerificator
@@ -11,16 +13,16 @@ from spacepackets.ecss.pus_17_test import Service17Tm
 from spacepackets.ecss.pus_1_verification import UnpackParams, Service1Tm
 from spacepackets.ccsds.time import CdsShortTimestamp
 
-from tmtccmd import CcsdsTmtcBackend, TcHandlerBase, ProcedureParamsWrapper
+from tmtccmd import TcHandlerBase, ProcedureParamsWrapper
 from tmtccmd.core.base import BackendRequest
 from tmtccmd.pus import VerificationWrapper
 from tmtccmd.tmtc import CcsdsTmHandler, SpecificApidHandlerBase
 from tmtccmd.com import ComInterface
 from tmtccmd.config import (
+    CmdTreeNode,
     default_json_path,
     SetupParams,
     HookBase,
-    TmtcDefinitionWrapper,
     params_to_procedure_conversion,
 )
 from tmtccmd.config import PreArgsParsingWrapper, SetupWrapper
@@ -39,12 +41,11 @@ from tmtccmd.tmtc import (
     DefaultPusQueueHelper,
     QueueWrapper,
 )
-from tmtccmd.util import FileSeqCountProvider, PusFileSeqCountProvider
+from spacepackets.seqcount import FileSeqCountProvider, PusFileSeqCountProvider
 from tmtccmd.util.obj_id import ObjectIdDictT
 
 
 import pus_tc
-import tc_definitions
 from common import EXAMPLE_PUS_APID, TM_PACKET_IDS, EventU32
 
 _LOGGER = logging.getLogger()
@@ -54,25 +55,29 @@ class SatRsConfigHook(HookBase):
     def __init__(self, json_cfg_path: str):
         super().__init__(json_cfg_path=json_cfg_path)
 
-    def assign_communication_interface(self, com_if_key: str) -> Optional[ComInterface]:
+    def get_communication_interface(self, com_if_key: str) -> Optional[ComInterface]:
         from tmtccmd.config.com import (
             create_com_interface_default,
             create_com_interface_cfg_default,
         )
 
+        assert self.cfg_path is not None
         cfg = create_com_interface_cfg_default(
             com_if_key=com_if_key,
             json_cfg_path=self.cfg_path,
             space_packet_ids=TM_PACKET_IDS,
         )
+        assert cfg is not None
         return create_com_interface_default(cfg)
 
-    def get_tmtc_definitions(self) -> TmtcDefinitionWrapper:
-        return tc_definitions.tc_definitions()
+    def get_command_definitions(self) -> CmdTreeNode:
+        """This function should return the root node of the command definition tree."""
+        return pus_tc.create_cmd_definition_tree()
 
-    def perform_mode_operation(self, tmtc_backend: CcsdsTmtcBackend, mode: int):
-        _LOGGER.info("Mode operation hook was called")
-        pass
+    def get_cmd_history(self) -> Optional[History]:
+        """Optionlly return a history class for the past command paths which will be used
+        when prompting a command path from the user in CLI mode."""
+        return FileHistory(".tmtc-history.txt")
 
     def get_object_ids(self) -> ObjectIdDictT:
         from tmtccmd.config.objects import get_core_object_ids
@@ -94,15 +99,12 @@ class PusHandler(SpecificApidHandlerBase):
 
     def handle_tm(self, packet: bytes, _user_args: any):
         try:
-            tm_packet = PusTelemetry.unpack(
-                packet, time_reader=CdsShortTimestamp.empty()
-            )
+            pus_tm = PusTelemetry.unpack(packet, time_reader=CdsShortTimestamp.empty())
         except ValueError as e:
             _LOGGER.warning("Could not generate PUS TM object from raw data")
             _LOGGER.warning(f"Raw Packet: [{packet.hex(sep=',')}], REPR: {packet!r}")
             raise e
-        service = tm_packet.service
-        dedicated_handler = False
+        service = pus_tm.service
         if service == 1:
             tm_packet = Service1Tm.unpack(
                 data=packet, params=UnpackParams(CdsShortTimestamp.empty(), 1, 2)
@@ -119,8 +121,7 @@ class PusHandler(SpecificApidHandlerBase):
             else:
                 self.verif_wrapper.log_to_console(tm_packet, res)
                 self.verif_wrapper.log_to_file(tm_packet, res)
-            dedicated_handler = True
-        if service == 3:
+        elif service == 3:
             _LOGGER.info("No handling for HK packets implemented")
             _LOGGER.info(f"Raw packet: 0x[{packet.hex(sep=',')}]")
             pus_tm = PusTelemetry.unpack(packet, time_reader=CdsShortTimestamp.empty())
@@ -129,8 +130,7 @@ class PusHandler(SpecificApidHandlerBase):
                     raise ValueError("No addressable ID in HK packet")
                 json_str = pus_tm.source_data[8:]
                 _LOGGER.info(json_str)
-            dedicated_handler = True
-        if service == 5:
+        elif service == 5:
             tm_packet = PusTelemetry.unpack(
                 packet, time_reader=CdsShortTimestamp.empty()
             )
@@ -139,11 +139,10 @@ class PusHandler(SpecificApidHandlerBase):
             _LOGGER.info(f"Received event packet. Event: {event_u32}")
             if event_u32.group_id == 0 and event_u32.unique_id == 0:
                 _LOGGER.info("Received test event")
-        if service == 17:
+        elif service == 17:
             tm_packet = Service17Tm.unpack(
                 packet, time_reader=CdsShortTimestamp.empty()
             )
-            dedicated_handler = True
             if tm_packet.subservice == 2:
                 self.file_logger.info("Received Ping Reply TM[17,2]")
                 _LOGGER.info("Received Ping Reply TM[17,2]")
@@ -154,17 +153,14 @@ class PusHandler(SpecificApidHandlerBase):
                 _LOGGER.info(
                     f"Received Test Packet with unknown subservice {tm_packet.subservice}"
                 )
-        if tm_packet is None:
+        else:
             _LOGGER.info(
                 f"The service {service} is not implemented in Telemetry Factory"
             )
             tm_packet = PusTelemetry.unpack(
                 packet, time_reader=CdsShortTimestamp.empty()
             )
-        self.raw_logger.log_tm(tm_packet)
-        if not dedicated_handler and tm_packet is not None:
-            pass
-            # self.printer.handle_long_tm_print(packet_if=tm_packet, info_if=tm_packet)
+        self.raw_logger.log_tm(pus_tm)
 
 
 class TcHandler(TcHandlerBase):
@@ -196,22 +192,18 @@ class TcHandler(TcHandlerBase):
             log_entry = entry_helper.to_log_entry()
             _LOGGER.info(log_entry.log_str)
 
-    def queue_finished_cb(self, helper: ProcedureWrapper):
-        if helper.proc_type == TcProcedureType.DEFAULT:
-            def_proc = helper.to_def_procedure()
-            _LOGGER.info(
-                f"Queue handling finished for service {def_proc.service} and "
-                f"op code {def_proc.op_code}"
-            )
+    def queue_finished_cb(self, info: ProcedureWrapper):
+        if info.proc_type == TcProcedureType.DEFAULT:
+            def_proc = info.to_def_procedure()
+            _LOGGER.info(f"Queue handling finished for command {def_proc.cmd_path}")
 
-    def feed_cb(self, helper: ProcedureWrapper, wrapper: FeedWrapper):
+    def feed_cb(self, info: ProcedureWrapper, wrapper: FeedWrapper):
         q = self.queue_helper
         q.queue_wrapper = wrapper.queue_wrapper
-        if helper.proc_type == TcProcedureType.DEFAULT:
-            def_proc = helper.to_def_procedure()
-            service = def_proc.service
-            op_code = def_proc.op_code
-            pus_tc.pack_pus_telecommands(q, service, op_code)
+        if info.proc_type == TcProcedureType.DEFAULT:
+            def_proc = info.to_def_procedure()
+            assert def_proc.cmd_path is not None
+            pus_tc.pack_pus_telecommands(q, def_proc.cmd_path)
 
 
 def main():

satrs-example/satrs-tmtc/pus_tc.py

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

satrs-example/satrs-tmtc/requirements.txt

@@ -1,2 +1,2 @@
-tmtccmd == 7.0.0
+tmtccmd == 8.0.0rc1
 # -e git+https://github.com/robamu-org/tmtccmd@97e5e51101a08b21472b3ddecc2063359f7e307a#egg=tmtccmd

satrs-example/src/acs.rs

@@ -0,0 +1,118 @@
+use std::sync::mpsc::{self, TryRecvError};
+
+use log::{info, warn};
+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},
+        time::cds::{DaysLen16Bits, TimeProvider},
+        SequenceFlags, SpHeader,
+    },
+};
+use satrs_example::config::{RequestTargetId, PUS_APID};
+
+use crate::{
+    hk::{AcsHkIds, HkUniqueId},
+    requests::{Request, RequestWithToken},
+    update_time,
+};
+
+pub struct AcsTask {
+    timestamp: [u8; 7],
+    time_provider: TimeProvider<DaysLen16Bits>,
+    verif_reporter: VerificationReporterWithSender,
+    tm_sender: Box<dyn EcssTmSender>,
+    request_rx: mpsc::Receiver<RequestWithToken>,
+}
+
+impl AcsTask {
+    pub fn new(
+        tm_sender: impl EcssTmSender,
+        request_rx: mpsc::Receiver<RequestWithToken>,
+        verif_reporter: VerificationReporterWithSender,
+    ) -> Self {
+        Self {
+            timestamp: [0; 7],
+            time_provider: TimeProvider::new_with_u16_days(0, 0),
+            verif_reporter,
+            tm_sender: Box::new(tm_sender),
+            request_rx,
+        }
+    }
+
+    fn handle_hk_request(&mut self, target_id: u32, unique_id: u32) {
+        assert_eq!(target_id, RequestTargetId::AcsSubsystem as u32);
+        if unique_id == AcsHkIds::TestMgmSet as u32 {
+            let mut sp_header = SpHeader::tm(PUS_APID, SequenceFlags::Unsegmented, 0, 0).unwrap();
+            let sec_header = PusTmSecondaryHeader::new_simple(
+                3,
+                HkSubservice::TmHkPacket as u8,
+                &self.timestamp,
+            );
+            let mut buf: [u8; 8] = [0; 8];
+            let hk_id = HkUniqueId::new(target_id, unique_id);
+            hk_id.write_to_be_bytes(&mut buf).unwrap();
+            let pus_tm = PusTmCreator::new(&mut sp_header, sec_header, &buf, true);
+            self.tm_sender
+                .send_tm(PusTmWrapper::Direct(pus_tm))
+                .expect("Sending HK TM failed");
+        }
+        // TODO: Verification failure for invalid unique IDs.
+    }
+
+    pub fn try_reading_one_request(&mut self) -> bool {
+        match self.request_rx.try_recv() {
+            Ok(request) => {
+                info!(
+                    "ACS thread: Received HK request {:?}",
+                    request.targeted_request
+                );
+                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(target_and_apid_id.target(), unique_id)
+                        }
+                        HkRequest::Enable(_) => {}
+                        HkRequest::Disable(_) => {}
+                        HkRequest::ModifyCollectionInterval(_, _) => {}
+                    },
+                    Request::Mode(_mode_req) => {
+                        warn!("mode request handling not implemented yet")
+                    }
+                    Request::Action(_action_req) => {
+                        warn!("action request handling not implemented yet")
+                    }
+                }
+                let started_token = self
+                    .verif_reporter
+                    .start_success(request.token, &self.timestamp)
+                    .expect("Sending start success failed");
+                self.verif_reporter
+                    .completion_success(started_token, &self.timestamp)
+                    .expect("Sending completion success failed");
+                true
+            }
+            Err(e) => match e {
+                TryRecvError::Empty => false,
+                TryRecvError::Disconnected => {
+                    warn!("ACS thread: Message Queue TX disconnected!");
+                    false
+                }
+            },
+        }
+    }
+
+    pub fn periodic_operation(&mut self) {
+        update_time(&mut self.time_provider, &mut self.timestamp);
+        loop {
+            if !self.try_reading_one_request() {
+                break;
+            }
+        }
+    }
+}

satrs-example/src/bin/simpleclient.rs

@@ -1,11 +1,11 @@
-use satrs_core::pus::verification::RequestId;
-use satrs_core::spacepackets::ecss::tc::PusTcCreator;
-use satrs_core::spacepackets::ecss::tm::PusTmReader;
-use satrs_core::{
-    spacepackets::ecss::{PusPacket, SerializablePusPacket},
+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,
 };
-use satrs_example::{OBSW_SERVER_ADDR, SERVER_PORT};
+use satrs_example::config::{OBSW_SERVER_ADDR, SERVER_PORT};
 use std::net::{IpAddr, SocketAddr, UdpSocket};
 use std::time::Duration;
 

satrs-example/src/ccsds.rs

@@ -1,15 +1,22 @@
-use crate::tmtc::{MpscStoreAndSendError, PusTcSource};
-use satrs_core::spacepackets::{CcsdsPacket, SpHeader};
-use satrs_core::tmtc::{CcsdsPacketHandler, ReceivesCcsdsTc};
-use satrs_example::PUS_APID;
+use satrs::pus::ReceivesEcssPusTc;
+use satrs::spacepackets::{CcsdsPacket, SpHeader};
+use satrs::tmtc::{CcsdsPacketHandler, ReceivesCcsdsTc};
+use satrs_example::config::PUS_APID;
 
 #[derive(Clone)]
-pub struct CcsdsReceiver {
-    pub tc_source: PusTcSource,
+pub struct CcsdsReceiver<
+    TcSource: ReceivesCcsdsTc<Error = E> + ReceivesEcssPusTc<Error = E> + Clone,
+    E,
+> {
+    pub tc_source: TcSource,
 }
 
-impl CcsdsPacketHandler for CcsdsReceiver {
-    type Error = MpscStoreAndSendError;
+impl<
+        TcSource: ReceivesCcsdsTc<Error = E> + ReceivesEcssPusTc<Error = E> + Clone + 'static,
+        E: 'static,
+    > CcsdsPacketHandler for CcsdsReceiver<TcSource, E>
+{
+    type Error = E;
 
     fn valid_apids(&self) -> &'static [u16] {
         &[PUS_APID]

satrs-example/src/config.rs

@@ -0,0 +1,165 @@
+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::{
+    events::{EventU32TypedSev, SeverityInfo},
+    pool::{StaticMemoryPool, StaticPoolConfig},
+};
+
+pub const PUS_APID: u16 = 0x02;
+
+#[derive(Copy, Clone, PartialEq, Eq, Debug, TryFromPrimitive, IntoPrimitive)]
+#[repr(u8)]
+pub enum CustomPusServiceId {
+    Mode = 200,
+    Health = 201,
+}
+
+#[derive(Copy, Clone, Eq, PartialEq, Debug)]
+pub enum RequestTargetId {
+    AcsSubsystem = 1,
+}
+
+pub const AOCS_APID: u16 = 1;
+
+#[derive(Debug)]
+pub enum GroupId {
+    Tmtc = 0,
+    Hk = 1,
+}
+
+pub const OBSW_SERVER_ADDR: Ipv4Addr = Ipv4Addr::UNSPECIFIED;
+pub const SERVER_PORT: u16 = 7301;
+
+pub const TEST_EVENT: EventU32TypedSev<SeverityInfo> =
+    EventU32TypedSev::<SeverityInfo>::const_new(0, 0);
+
+pub mod tmtc_err {
+
+    use super::*;
+
+    #[resultcode]
+    pub const INVALID_PUS_SERVICE: ResultU16 = ResultU16::new(GroupId::Tmtc as u8, 0);
+    #[resultcode]
+    pub const INVALID_PUS_SUBSERVICE: ResultU16 = ResultU16::new(GroupId::Tmtc as u8, 1);
+    #[resultcode]
+    pub const PUS_SERVICE_NOT_IMPLEMENTED: ResultU16 = ResultU16::new(GroupId::Tmtc as u8, 2);
+    #[resultcode]
+    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::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,
+    ];
+}
+
+pub mod hk_err {
+
+    use super::*;
+
+    #[resultcode]
+    pub const TARGET_ID_MISSING: ResultU16 = ResultU16::new(GroupId::Hk as u8, 0);
+    #[resultcode]
+    pub const UNIQUE_ID_MISSING: ResultU16 = ResultU16::new(GroupId::Hk as u8, 1);
+    #[resultcode]
+    pub const UNKNOWN_TARGET_ID: ResultU16 = ResultU16::new(GroupId::Hk as u8, 2);
+    #[resultcode]
+    pub const COLLECTION_INTERVAL_MISSING: ResultU16 = ResultU16::new(GroupId::Hk as u8, 3);
+
+    pub const HK_ERR_RESULTS: &[ResultU16Info] = &[
+        TARGET_ID_MISSING_EXT,
+        UNKNOWN_TARGET_ID_EXT,
+        UNKNOWN_TARGET_ID_EXT,
+        COLLECTION_INTERVAL_MISSING_EXT,
+    ];
+}
+
+#[allow(clippy::enum_variant_names)]
+#[derive(Copy, Clone, PartialEq, Eq)]
+pub enum TmSenderId {
+    PusVerification = 0,
+    PusTest = 1,
+    PusEvent = 2,
+    PusHk = 3,
+    PusAction = 4,
+    PusSched = 5,
+    AllEvents = 6,
+    AcsSubsystem = 7,
+}
+
+#[derive(Copy, Clone, PartialEq, Eq)]
+pub enum TcReceiverId {
+    PusTest = 1,
+    PusEvent = 2,
+    PusHk = 3,
+    PusAction = 4,
+    PusSched = 5,
+}
+pub mod pool {
+    use super::*;
+    pub fn create_static_pools() -> (StaticMemoryPool, StaticMemoryPool) {
+        (
+            StaticMemoryPool::new(StaticPoolConfig::new(
+                vec![
+                    (30, 32),
+                    (15, 64),
+                    (15, 128),
+                    (15, 256),
+                    (15, 1024),
+                    (15, 2048),
+                ],
+                true,
+            )),
+            StaticMemoryPool::new(StaticPoolConfig::new(
+                vec![
+                    (30, 32),
+                    (15, 64),
+                    (15, 128),
+                    (15, 256),
+                    (15, 1024),
+                    (15, 2048),
+                ],
+                true,
+            )),
+        )
+    }
+
+    pub fn create_sched_tc_pool() -> StaticMemoryPool {
+        StaticMemoryPool::new(StaticPoolConfig::new(
+            vec![
+                (30, 32),
+                (15, 64),
+                (15, 128),
+                (15, 256),
+                (15, 1024),
+                (15, 2048),
+            ],
+            true,
+        ))
+    }
+}
+
+pub mod tasks {
+    pub const FREQ_MS_UDP_TMTC: u64 = 200;
+    pub const FREQ_MS_EVENT_HANDLING: u64 = 400;
+    pub const FREQ_MS_AOCS: u64 = 500;
+    pub const FREQ_MS_PUS_STACK: u64 = 200;
+}

satrs-example/src/events.rs

@@ -0,0 +1,190 @@
+use std::sync::mpsc::{self, SendError};
+
+use satrs::{
+    event_man::{
+        EventManager, EventManagerWithMpscQueue, MpscEventReceiver, MpscEventU32SendProvider,
+        SendEventProvider,
+    },
+    events::EventU32,
+    params::Params,
+    pus::{
+        event_man::{
+            DefaultPusMgmtBackendProvider, EventReporter, EventRequest, EventRequestWithToken,
+            PusEventDispatcher,
+        },
+        verification::{
+            TcStateStarted, VerificationReporterWithSender, VerificationReportingProvider,
+            VerificationToken,
+        },
+        EcssTmSender,
+    },
+    spacepackets::time::cds::{self, TimeProvider},
+};
+use satrs_example::config::PUS_APID;
+
+use crate::update_time;
+
+pub type MpscEventManager = EventManager<SendError<(EventU32, Option<Params>)>>;
+
+pub struct PusEventHandler {
+    event_request_rx: mpsc::Receiver<EventRequestWithToken>,
+    pus_event_dispatcher: PusEventDispatcher<(), EventU32>,
+    pus_event_man_rx: mpsc::Receiver<(EventU32, Option<Params>)>,
+    tm_sender: Box<dyn EcssTmSender>,
+    time_provider: TimeProvider,
+    timestamp: [u8; 7],
+    verif_handler: VerificationReporterWithSender,
+}
+/*
+*/
+
+impl PusEventHandler {
+    pub fn new(
+        verif_handler: VerificationReporterWithSender,
+        event_manager: &mut MpscEventManager,
+        event_request_rx: mpsc::Receiver<EventRequestWithToken>,
+        tm_sender: impl EcssTmSender,
+    ) -> Self {
+        let (pus_event_man_tx, pus_event_man_rx) = mpsc::channel();
+
+        // All events sent to the manager are routed to the PUS event manager, which generates PUS event
+        // telemetry for each event.
+        let event_reporter = EventReporter::new(PUS_APID, 128).unwrap();
+        let pus_tm_backend = DefaultPusMgmtBackendProvider::<EventU32>::default();
+        let pus_event_dispatcher =
+            PusEventDispatcher::new(event_reporter, Box::new(pus_tm_backend));
+        let pus_event_man_send_provider = MpscEventU32SendProvider::new(1, pus_event_man_tx);
+
+        event_manager.subscribe_all(pus_event_man_send_provider.id());
+        event_manager.add_sender(pus_event_man_send_provider);
+
+        Self {
+            event_request_rx,
+            pus_event_dispatcher,
+            pus_event_man_rx,
+            time_provider: cds::TimeProvider::new_with_u16_days(0, 0),
+            timestamp: [0; 7],
+            verif_handler,
+            tm_sender: Box::new(tm_sender),
+        }
+    }
+
+    pub fn handle_event_requests(&mut self) {
+        let report_completion = |event_req: EventRequestWithToken, timestamp: &[u8]| {
+            let started_token: VerificationToken<TcStateStarted> = event_req
+                .token
+                .try_into()
+                .expect("expected start verification token");
+            self.verif_handler
+                .completion_success(started_token, timestamp)
+                .expect("Sending completion success failed");
+        };
+        // handle event requests
+        if let Ok(event_req) = self.event_request_rx.try_recv() {
+            match event_req.request {
+                EventRequest::Enable(event) => {
+                    self.pus_event_dispatcher
+                        .enable_tm_for_event(&event)
+                        .expect("Enabling TM failed");
+                    update_time(&mut self.time_provider, &mut self.timestamp);
+                    report_completion(event_req, &self.timestamp);
+                }
+                EventRequest::Disable(event) => {
+                    self.pus_event_dispatcher
+                        .disable_tm_for_event(&event)
+                        .expect("Disabling TM failed");
+                    update_time(&mut self.time_provider, &mut self.timestamp);
+                    report_completion(event_req, &self.timestamp);
+                }
+            }
+        }
+    }
+
+    pub fn generate_pus_event_tm(&mut self) {
+        // Perform the generation of PUS event packets
+        if let Ok((event, _param)) = self.pus_event_man_rx.try_recv() {
+            update_time(&mut self.time_provider, &mut self.timestamp);
+            self.pus_event_dispatcher
+                .generate_pus_event_tm_generic(
+                    self.tm_sender.upcast_mut(),
+                    &self.timestamp,
+                    event,
+                    None,
+                )
+                .expect("Sending TM as event failed");
+        }
+    }
+}
+
+pub struct EventManagerWrapper {
+    event_manager: MpscEventManager,
+    event_sender: mpsc::Sender<(EventU32, Option<Params>)>,
+}
+
+impl EventManagerWrapper {
+    pub fn new() -> Self {
+        // The sender handle is the primary sender handle for all components which want to create events.
+        // The event manager will receive the RX handle to receive all the events.
+        let (event_sender, event_man_rx) = mpsc::channel();
+        let event_recv = MpscEventReceiver::<EventU32>::new(event_man_rx);
+        Self {
+            event_manager: EventManagerWithMpscQueue::new(Box::new(event_recv)),
+            event_sender,
+        }
+    }
+
+    pub fn clone_event_sender(&self) -> mpsc::Sender<(EventU32, Option<Params>)> {
+        self.event_sender.clone()
+    }
+
+    pub fn event_manager(&mut self) -> &mut MpscEventManager {
+        &mut self.event_manager
+    }
+
+    pub fn try_event_routing(&mut self) {
+        // Perform the event routing.
+        self.event_manager
+            .try_event_handling()
+            .expect("event handling failed");
+    }
+}
+
+pub struct EventHandler {
+    pub event_man_wrapper: EventManagerWrapper,
+    pub pus_event_handler: PusEventHandler,
+}
+
+impl EventHandler {
+    pub fn new(
+        tm_sender: impl EcssTmSender,
+        verif_handler: VerificationReporterWithSender,
+        event_request_rx: mpsc::Receiver<EventRequestWithToken>,
+    ) -> Self {
+        let mut event_man_wrapper = EventManagerWrapper::new();
+        let pus_event_handler = PusEventHandler::new(
+            verif_handler,
+            event_man_wrapper.event_manager(),
+            event_request_rx,
+            tm_sender,
+        );
+        Self {
+            event_man_wrapper,
+            pus_event_handler,
+        }
+    }
+
+    pub fn clone_event_sender(&self) -> mpsc::Sender<(EventU32, Option<Params>)> {
+        self.event_man_wrapper.clone_event_sender()
+    }
+
+    #[allow(dead_code)]
+    pub fn event_manager(&mut self) -> &mut MpscEventManager {
+        self.event_man_wrapper.event_manager()
+    }
+
+    pub fn periodic_operation(&mut self) {
+        self.pus_event_handler.handle_event_requests();
+        self.event_man_wrapper.try_event_routing();
+        self.pus_event_handler.generate_pus_event_tm();
+    }
+}

satrs-example/src/hk.rs

@@ -1,4 +1,37 @@
+use derive_new::new;
+use satrs::spacepackets::ByteConversionError;
+
 #[derive(Debug, Copy, Clone, PartialEq, Eq)]
 pub enum AcsHkIds {
     TestMgmSet = 1,
 }
+
+#[derive(Debug, new, Copy, Clone)]
+pub struct HkUniqueId {
+    target_id: u32,
+    set_id: u32,
+}
+
+impl HkUniqueId {
+    #[allow(dead_code)]
+    pub fn target_id(&self) -> u32 {
+        self.target_id
+    }
+    #[allow(dead_code)]
+    pub fn set_id(&self) -> u32 {
+        self.set_id
+    }
+
+    pub fn write_to_be_bytes(&self, buf: &mut [u8]) -> Result<usize, ByteConversionError> {
+        if buf.len() < 8 {
+            return Err(ByteConversionError::ToSliceTooSmall {
+                found: buf.len(),
+                expected: 8,
+            });
+        }
+        buf[0..4].copy_from_slice(&self.target_id.to_be_bytes());
+        buf[4..8].copy_from_slice(&self.set_id.to_be_bytes());
+
+        Ok(8)
+    }
+}

satrs-example/src/lib.rs

@@ -1,98 +1 @@
-use num_enum::{IntoPrimitive, TryFromPrimitive};
-use satrs_core::events::{EventU32TypedSev, SeverityInfo};
-use satrs_core::objects::ObjectId;
-use std::net::Ipv4Addr;
-
-use satrs_mib::res_code::{ResultU16, ResultU16Info};
-use satrs_mib::resultcode;
-
-pub const PUS_APID: u16 = 0x02;
-
-#[derive(Copy, Clone, PartialEq, Eq, Debug, TryFromPrimitive, IntoPrimitive)]
-#[repr(u8)]
-pub enum CustomPusServiceId {
-    Mode = 200,
-    Health = 201,
-}
-
-#[derive(Copy, Clone, Eq, PartialEq, Debug)]
-pub enum RequestTargetId {
-    AcsSubsystem = 1,
-}
-
-pub const ACS_OBJECT_ID: ObjectId = ObjectId {
-    id: RequestTargetId::AcsSubsystem as u32,
-    name: "ACS_SUBSYSTEM",
-};
-
-#[derive(Debug)]
-pub enum GroupId {
-    Tmtc = 0,
-    Hk = 1,
-}
-
-pub const OBSW_SERVER_ADDR: Ipv4Addr = Ipv4Addr::UNSPECIFIED;
-pub const SERVER_PORT: u16 = 7301;
-
-pub const TEST_EVENT: EventU32TypedSev<SeverityInfo> =
-    EventU32TypedSev::<SeverityInfo>::const_new(0, 0);
-
-pub mod tmtc_err {
-    use super::*;
-
-    #[resultcode]
-    pub const INVALID_PUS_SERVICE: ResultU16 = ResultU16::const_new(GroupId::Tmtc as u8, 0);
-    #[resultcode]
-    pub const INVALID_PUS_SUBSERVICE: ResultU16 = ResultU16::const_new(GroupId::Tmtc as u8, 1);
-    #[resultcode]
-    pub const PUS_SERVICE_NOT_IMPLEMENTED: ResultU16 = ResultU16::const_new(GroupId::Tmtc as u8, 2);
-    #[resultcode]
-    pub const UNKNOWN_TARGET_ID: ResultU16 = ResultU16::const_new(GroupId::Tmtc as u8, 3);
-
-    #[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 TMTC_RESULTS: &[ResultU16Info] = &[
-        INVALID_PUS_SERVICE_EXT,
-        INVALID_PUS_SUBSERVICE_EXT,
-        NOT_ENOUGH_APP_DATA_EXT,
-    ];
-}
-
-pub mod hk_err {
-    use super::*;
-
-    #[resultcode]
-    pub const TARGET_ID_MISSING: ResultU16 = ResultU16::const_new(GroupId::Hk as u8, 0);
-    #[resultcode]
-    pub const UNIQUE_ID_MISSING: ResultU16 = ResultU16::const_new(GroupId::Hk as u8, 1);
-    #[resultcode]
-    pub const UNKNOWN_TARGET_ID: ResultU16 = ResultU16::const_new(GroupId::Hk as u8, 2);
-    #[resultcode]
-    pub const COLLECTION_INTERVAL_MISSING: ResultU16 = ResultU16::const_new(GroupId::Hk as u8, 3);
-}
-
-#[allow(clippy::enum_variant_names)]
-#[derive(Copy, Clone, PartialEq, Eq)]
-pub enum TmSenderId {
-    PusVerification = 0,
-    PusTest = 1,
-    PusEvent = 2,
-    PusHk = 3,
-    PusAction = 4,
-    PusSched = 5,
-    AllEvents = 6,
-}
-
-#[derive(Copy, Clone, PartialEq, Eq)]
-pub enum TcReceiverId {
-    PusTest = 1,
-    PusEvent = 2,
-    PusHk = 3,
-    PusAction = 4,
-    PusSched = 5,
-}
+pub mod config;

satrs-example/src/logger.rs

@@ -4,13 +4,14 @@ pub fn setup_logger() -> Result<(), fern::InitError> {
             out.finish(format_args!(
                 "{}[{}][{}] {}",
                 chrono::Local::now().format("[%Y-%m-%d][%H:%M:%S]"),
-                record.target(), //(std::thread::current().name().expect("unnamed_thread"),
+                std::thread::current().name().expect("unnamed_thread"),
                 record.level(),
                 message
             ))
         })
         .level(log::LevelFilter::Debug)
         .chain(std::io::stdout())
+        .chain(fern::log_file("output.log")?)
         .apply()?;
     Ok(())
 }

satrs-example/src/main.rs

@@ -1,156 +1,116 @@
+mod acs;
 mod ccsds;
+mod events;
 mod hk;
-mod logging;
+mod logger;
 mod pus;
 mod requests;
 mod tcp;
+mod tm_funnel;
 mod tmtc;
 mod udp;
 
-use log::{info, warn};
-use satrs_core::hal::std::tcp_server::ServerConfig;
-use satrs_core::hal::std::udp_server::UdpTcServer;
+use crate::events::EventHandler;
+use crate::pus::stack::PusStack;
+use crate::tm_funnel::{TmFunnelDynamic, TmFunnelStatic};
+use log::info;
+use pus::test::create_test_service_dynamic;
+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,
+};
+use satrs_example::config::{RequestTargetId, TmSenderId, OBSW_SERVER_ADDR, PUS_APID, SERVER_PORT};
+use tmtc::PusTcSourceProviderDynamic;
+use udp::DynamicUdpTmHandler;
 
+use crate::acs::AcsTask;
 use crate::ccsds::CcsdsReceiver;
-use crate::hk::AcsHkIds;
-use crate::logging::setup_logger;
-use crate::pus::action::{Pus8Wrapper, PusService8ActionHandler};
-use crate::pus::event::Pus5Wrapper;
-use crate::pus::hk::{Pus3Wrapper, PusService3HkHandler};
-use crate::pus::scheduler::Pus11Wrapper;
-use crate::pus::test::Service17CustomWrapper;
+use crate::logger::setup_logger;
+use crate::pus::action::{create_action_service_dynamic, create_action_service_static};
+use crate::pus::event::{create_event_service_dynamic, create_event_service_static};
+use crate::pus::hk::{create_hk_service_dynamic, create_hk_service_static};
+use crate::pus::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::{Request, RequestWithToken};
+use crate::requests::{GenericRequestRouter, RequestWithToken};
 use crate::tcp::{SyncTcpTmSource, TcpTask};
-use crate::tmtc::{PusTcSource, TcArgs, TcStore, TmArgs, TmFunnel, TmtcTask};
-use crate::udp::UdpTmtcServer;
-use satrs_core::event_man::{
-    EventManagerWithMpscQueue, MpscEventReceiver, MpscEventU32SendProvider, SendEventProvider,
+use crate::tmtc::{
+    PusTcSourceProviderSharedPool, SharedTcPool, TcSourceTaskDynamic, TcSourceTaskStatic,
 };
-use satrs_core::events::EventU32;
-use satrs_core::hk::HkRequest;
-use satrs_core::pool::{LocalPool, PoolCfg};
-use satrs_core::pus::event_man::{
-    DefaultPusMgmtBackendProvider, EventReporter, EventRequest, EventRequestWithToken,
-    PusEventDispatcher,
-};
-use satrs_core::pus::event_srv::PusService5EventHandler;
-use satrs_core::pus::hk::Subservice as HkSubservice;
-use satrs_core::pus::scheduler::PusScheduler;
-use satrs_core::pus::scheduler_srv::PusService11SchedHandler;
-use satrs_core::pus::test::PusService17TestHandler;
-use satrs_core::pus::verification::{
-    TcStateStarted, VerificationReporterCfg, VerificationReporterWithSender, VerificationToken,
-};
-use satrs_core::pus::{MpscTcInStoreReceiver, MpscTmInStoreSender};
-use satrs_core::seq_count::{CcsdsSimpleSeqCountProvider, SequenceCountProviderCore};
-use satrs_core::spacepackets::ecss::tm::{PusTmCreator, PusTmZeroCopyWriter};
-use satrs_core::spacepackets::{
-    ecss::tm::PusTmSecondaryHeader, time::cds::TimeProvider, time::TimeWriter, SequenceFlags,
-    SpHeader,
-};
-use satrs_core::tmtc::tm_helper::SharedTmStore;
-use satrs_core::tmtc::{AddressableId, CcsdsDistributor, TargetId};
-use satrs_core::ChannelId;
-use satrs_example::{
-    RequestTargetId, TcReceiverId, TmSenderId, OBSW_SERVER_ADDR, PUS_APID, SERVER_PORT,
-};
-use std::collections::HashMap;
+use crate::udp::{StaticUdpTmHandler, UdpTmtcServer};
+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::{channel, TryRecvError};
+use std::sync::mpsc::{self, channel};
 use std::sync::{Arc, RwLock};
 use std::thread;
 use std::time::Duration;
 
-fn main() {
-    setup_logger().expect("setting up logging with fern failed");
-    println!("Running OBSW example");
-    let tm_pool = LocalPool::new(PoolCfg::new(vec![
-        (30, 32),
-        (15, 64),
-        (15, 128),
-        (15, 256),
-        (15, 1024),
-        (15, 2048),
-    ]));
-    let shared_tm_store = SharedTmStore::new(Box::new(tm_pool));
-    let tm_store_event = shared_tm_store.clone();
-    let tc_pool = LocalPool::new(PoolCfg::new(vec![
-        (30, 32),
-        (15, 64),
-        (15, 128),
-        (15, 256),
-        (15, 1024),
-        (15, 2048),
-    ]));
-    let tc_store = TcStore {
-        pool: Arc::new(RwLock::new(Box::new(tc_pool))),
-    };
-
-    let seq_count_provider = CcsdsSimpleSeqCountProvider::new();
-    let mut msg_counter_map: HashMap<u8, u16> = HashMap::new();
-    let sock_addr = SocketAddr::new(IpAddr::V4(OBSW_SERVER_ADDR), SERVER_PORT);
-    let (tc_source_tx, tc_source_rx) = channel();
-    let (tm_funnel_tx, tm_funnel_rx) = channel();
-    let (tm_server_tx, tm_server_rx) = channel();
-    let verif_sender = MpscTmInStoreSender::new(
-        TmSenderId::PusVerification as ChannelId,
-        "verif_sender",
-        shared_tm_store.clone(),
-        tm_funnel_tx.clone(),
-    );
+fn create_verification_reporter(verif_sender: impl EcssTmSender) -> VerificationReporterWithSender {
     let verif_cfg = VerificationReporterCfg::new(PUS_APID, 1, 2, 8).unwrap();
     // Every software component which needs to generate verification telemetry, gets a cloned
     // verification reporter.
-    let verif_reporter = VerificationReporterWithSender::new(&verif_cfg, Box::new(verif_sender));
-    let reporter_event_handler = verif_reporter.clone();
-    let reporter_aocs = verif_reporter.clone();
+    VerificationReporterWithSender::new(&verif_cfg, Box::new(verif_sender))
+}
 
-    // Create event handling components
-    // These sender handles are used to send event requests, for example to enable or disable
-    // certain events
-    let (event_request_tx, event_request_rx) = channel::<EventRequestWithToken>();
-    // The sender handle is the primary sender handle for all components which want to create events.
-    // The event manager will receive the RX handle to receive all the events.
-    let (event_sender, event_man_rx) = channel();
-    let event_recv = MpscEventReceiver::<EventU32>::new(event_man_rx);
-    let test_srv_event_sender = event_sender;
-    let mut event_man = EventManagerWithMpscQueue::new(Box::new(event_recv));
+#[allow(dead_code)]
+fn static_tmtc_pool_main() {
+    let (tm_pool, tc_pool) = create_static_pools();
+    let shared_tm_pool = SharedTmPool::new(tm_pool);
+    let shared_tc_pool = SharedTcPool {
+        pool: Arc::new(RwLock::new(tc_pool)),
+    };
+    let (tc_source_tx, tc_source_rx) = channel();
+    let (tm_funnel_tx, tm_funnel_rx) = channel();
+    let (tm_server_tx, tm_server_rx) = channel();
 
-    // All events sent to the manager are routed to the PUS event manager, which generates PUS event
-    // telemetry for each event.
-    let event_reporter = EventReporter::new(PUS_APID, 128).unwrap();
-    let pus_tm_backend = DefaultPusMgmtBackendProvider::<EventU32>::default();
-    let mut pus_event_dispatcher =
-        PusEventDispatcher::new(event_reporter, Box::new(pus_tm_backend));
-    let (pus_event_man_tx, pus_event_man_rx) = channel();
-    let pus_event_man_send_provider = MpscEventU32SendProvider::new(1, pus_event_man_tx);
-    event_man.subscribe_all(pus_event_man_send_provider.id());
-    event_man.add_sender(pus_event_man_send_provider);
+    // Every software component which needs to generate verification telemetry, receives a cloned
+    // verification reporter.
+    let verif_reporter = create_verification_reporter(MpscTmInSharedPoolSender::new(
+        TmSenderId::PusVerification as ChannelId,
+        "verif_sender",
+        shared_tm_pool.clone(),
+        tm_funnel_tx.clone(),
+    ));
 
-    // Some request are targetable. This map is used to retrieve sender handles based on a target ID.
-    let mut request_map = HashMap::new();
+    let acs_target_id = TargetAndApidId::new(PUS_APID, RequestTargetId::AcsSubsystem as u32);
     let (acs_thread_tx, acs_thread_rx) = channel::<RequestWithToken>();
-    request_map.insert(RequestTargetId::AcsSubsystem as TargetId, acs_thread_tx);
+    // Some request are targetable. This map is used to retrieve sender handles based on a target ID.
+    let mut request_map = GenericRequestRouter::default();
+    request_map.0.insert(acs_target_id.into(), acs_thread_tx);
 
-    let tc_source_wrapper = PusTcSource {
-        tc_store: tc_store.clone(),
+    // This helper structure is used by all telecommand providers which need to send telecommands
+    // to the TC source.
+    let tc_source = PusTcSourceProviderSharedPool {
+        shared_pool: shared_tc_pool.clone(),
         tc_source: tc_source_tx,
     };
 
-    // Create clones here to allow moving the values
-    let tc_args = TcArgs {
-        tc_source: tc_source_wrapper.clone(),
-        tc_receiver: tc_source_rx,
-    };
-    let tm_args = TmArgs {
-        tm_store: shared_tm_store.clone(),
-        tm_sink_sender: tm_funnel_tx.clone(),
-        tm_udp_server_rx: tm_server_rx,
-    };
+    // Create event handling components
+    // These sender handles are used to send event requests, for example to enable or disable
+    // certain events.
+    let (event_request_tx, event_request_rx) = mpsc::channel::<EventRequestWithToken>();
 
-    let aocs_tm_funnel = tm_funnel_tx.clone();
-    let aocs_tm_store = shared_tm_store.clone();
+    // The event task is the core handler to perform the event routing and TM handling as specified
+    // in the sat-rs documentation.
+    let mut event_handler = EventHandler::new(
+        MpscTmInSharedPoolSender::new(
+            TmSenderId::AllEvents as ChannelId,
+            "ALL_EVENTS_TX",
+            shared_tm_pool.clone(),
+            tm_funnel_tx.clone(),
+        ),
+        verif_reporter.clone(),
+        event_request_rx,
+    );
 
     let (pus_test_tx, pus_test_rx) = channel();
     let (pus_event_tx, pus_event_rx) = channel();
@@ -164,129 +124,101 @@ fn main() {
         hk_service_receiver: pus_hk_tx,
         action_service_receiver: pus_action_tx,
     };
-    let test_srv_tm_sender = MpscTmInStoreSender::new(
-        TmSenderId::PusTest as ChannelId,
-        "PUS_17_TM_SENDER",
-        shared_tm_store.clone(),
+    let pus_test_service = create_test_service_static(
+        shared_tm_pool.clone(),
         tm_funnel_tx.clone(),
-    );
-    let test_srv_receiver = MpscTcInStoreReceiver::new(
-        TcReceiverId::PusTest as ChannelId,
-        "PUS_17_TC_RECV",
+        verif_reporter.clone(),
+        shared_tc_pool.pool.clone(),
+        event_handler.clone_event_sender(),
         pus_test_rx,
     );
-    let pus17_handler = PusService17TestHandler::new(
-        Box::new(test_srv_receiver),
-        tc_store.pool.clone(),
-        Box::new(test_srv_tm_sender),
-        PUS_APID,
-        verif_reporter.clone(),
-    );
-    let mut pus_17_wrapper = Service17CustomWrapper {
-        pus17_handler,
-        test_srv_event_sender,
-    };
-
-    let sched_srv_tm_sender = MpscTmInStoreSender::new(
-        TmSenderId::PusSched as ChannelId,
-        "PUS_11_TM_SENDER",
-        shared_tm_store.clone(),
+    let pus_scheduler_service = create_scheduler_service_static(
+        shared_tm_pool.clone(),
         tm_funnel_tx.clone(),
-    );
-    let sched_srv_receiver = MpscTcInStoreReceiver::new(
-        TcReceiverId::PusSched as ChannelId,
-        "PUS_11_TC_RECV",
+        verif_reporter.clone(),
+        tc_source.clone(),
         pus_sched_rx,
+        create_sched_tc_pool(),
     );
-    let scheduler = PusScheduler::new_with_current_init_time(Duration::from_secs(5))
-        .expect("Creating PUS Scheduler failed");
-    let pus_11_handler = PusService11SchedHandler::new(
-        Box::new(sched_srv_receiver),
-        tc_store.pool.clone(),
-        Box::new(sched_srv_tm_sender),
-        PUS_APID,
-        verif_reporter.clone(),
-        scheduler,
-    );
-    let mut pus_11_wrapper = Pus11Wrapper {
-        pus_11_handler,
-        tc_source_wrapper,
-    };
-
-    let event_srv_tm_sender = MpscTmInStoreSender::new(
-        TmSenderId::PusEvent as ChannelId,
-        "PUS_5_TM_SENDER",
-        shared_tm_store.clone(),
+    let pus_event_service = create_event_service_static(
+        shared_tm_pool.clone(),
         tm_funnel_tx.clone(),
-    );
-    let event_srv_receiver = MpscTcInStoreReceiver::new(
-        TcReceiverId::PusEvent as ChannelId,
-        "PUS_5_TC_RECV",
-        pus_event_rx,
-    );
-    let pus_5_handler = PusService5EventHandler::new(
-        Box::new(event_srv_receiver),
-        tc_store.pool.clone(),
-        Box::new(event_srv_tm_sender),
-        PUS_APID,
         verif_reporter.clone(),
+        shared_tc_pool.pool.clone(),
+        pus_event_rx,
         event_request_tx,
     );
-    let mut pus_5_wrapper = Pus5Wrapper { pus_5_handler };
-
-    let action_srv_tm_sender = MpscTmInStoreSender::new(
-        TmSenderId::PusAction as ChannelId,
-        "PUS_8_TM_SENDER",
-        shared_tm_store.clone(),
+    let pus_action_service = create_action_service_static(
+        shared_tm_pool.clone(),
         tm_funnel_tx.clone(),
-    );
-    let action_srv_receiver = MpscTcInStoreReceiver::new(
-        TcReceiverId::PusAction as ChannelId,
-        "PUS_8_TC_RECV",
-        pus_action_rx,
-    );
-    let pus_8_handler = PusService8ActionHandler::new(
-        Box::new(action_srv_receiver),
-        tc_store.pool.clone(),
-        Box::new(action_srv_tm_sender),
-        PUS_APID,
         verif_reporter.clone(),
+        shared_tc_pool.pool.clone(),
+        pus_action_rx,
         request_map.clone(),
     );
-    let mut pus_8_wrapper = Pus8Wrapper { pus_8_handler };
-
-    let hk_srv_tm_sender = MpscTmInStoreSender::new(
-        TmSenderId::PusHk as ChannelId,
-        "PUS_3_TM_SENDER",
-        shared_tm_store.clone(),
+    let pus_hk_service = create_hk_service_static(
+        shared_tm_pool.clone(),
         tm_funnel_tx.clone(),
-    );
-    let hk_srv_receiver =
-        MpscTcInStoreReceiver::new(TcReceiverId::PusHk as ChannelId, "PUS_8_TC_RECV", pus_hk_rx);
-    let pus_3_handler = PusService3HkHandler::new(
-        Box::new(hk_srv_receiver),
-        tc_store.pool.clone(),
-        Box::new(hk_srv_tm_sender),
-        PUS_APID,
         verif_reporter.clone(),
+        shared_tc_pool.pool.clone(),
+        pus_hk_rx,
         request_map,
     );
-    let mut pus_3_wrapper = Pus3Wrapper { pus_3_handler };
+    let mut pus_stack = PusStack::new(
+        pus_hk_service,
+        pus_event_service,
+        pus_action_service,
+        pus_scheduler_service,
+        pus_test_service,
+    );
 
-    let ccsds_receiver = CcsdsReceiver {
-        tc_source: tc_args.tc_source.clone(),
-    };
-    let mut tmtc_task = TmtcTask::new(tc_args, PusReceiver::new(verif_reporter, pus_router));
+    let ccsds_receiver = CcsdsReceiver { tc_source };
+    let mut tmtc_task = TcSourceTaskStatic::new(
+        shared_tc_pool.clone(),
+        tc_source_rx,
+        PusReceiver::new(verif_reporter.clone(), pus_router),
+    );
 
+    let sock_addr = SocketAddr::new(IpAddr::V4(OBSW_SERVER_ADDR), SERVER_PORT);
     let udp_ccsds_distributor = CcsdsDistributor::new(Box::new(ccsds_receiver.clone()));
     let udp_tc_server = UdpTcServer::new(sock_addr, 2048, Box::new(udp_ccsds_distributor))
         .expect("creating UDP TMTC server failed");
     let mut udp_tmtc_server = UdpTmtcServer {
         udp_tc_server,
-        tm_rx: tm_args.tm_udp_server_rx,
-        tm_store: tm_args.tm_store.clone_backing_pool(),
+        tm_handler: StaticUdpTmHandler {
+            tm_rx: tm_server_rx,
+            tm_store: shared_tm_pool.clone_backing_pool(),
+        },
     };
 
+    let tcp_ccsds_distributor = CcsdsDistributor::new(Box::new(ccsds_receiver));
+    let tcp_server_cfg = ServerConfig::new(sock_addr, Duration::from_millis(400), 4096, 8192);
+    let sync_tm_tcp_source = SyncTcpTmSource::new(200);
+    let mut tcp_server = TcpTask::new(
+        tcp_server_cfg,
+        sync_tm_tcp_source.clone(),
+        tcp_ccsds_distributor,
+    )
+    .expect("tcp server creation failed");
+
+    let mut acs_task = AcsTask::new(
+        MpscTmInSharedPoolSender::new(
+            TmSenderId::AcsSubsystem as ChannelId,
+            "ACS_TASK_SENDER",
+            shared_tm_pool.clone(),
+            tm_funnel_tx.clone(),
+        ),
+        acs_thread_rx,
+        verif_reporter,
+    );
+
+    let mut tm_funnel = TmFunnelStatic::new(
+        shared_tm_pool,
+        sync_tm_tcp_source,
+        tm_funnel_rx,
+        tm_server_tx,
+    );
+
     info!("Starting TMTC and UDP task");
     let jh_udp_tmtc = thread::Builder::new()
         .name("TMTC and UDP".to_string())
@@ -295,20 +227,11 @@ fn main() {
             loop {
                 udp_tmtc_server.periodic_operation();
                 tmtc_task.periodic_operation();
-                thread::sleep(Duration::from_millis(400));
+                thread::sleep(Duration::from_millis(FREQ_MS_UDP_TMTC));
             }
         })
         .unwrap();
 
-    let tcp_ccsds_distributor = CcsdsDistributor::new(Box::new(ccsds_receiver));
-    let tcp_server_cfg = ServerConfig::new(sock_addr, Duration::from_millis(400), 4096, 8192);
-    let mut sync_tm_tcp_source = SyncTcpTmSource::new(200);
-    let mut tcp_server = TcpTask::new(
-        tcp_server_cfg,
-        sync_tm_tcp_source.clone(),
-        tcp_ccsds_distributor,
-    )
-    .expect("tcp server creation failed");
     info!("Starting TCP task");
     let jh_tcp = thread::Builder::new()
         .name("TCP".to_string())
@@ -321,224 +244,271 @@ fn main() {
         .unwrap();
 
     info!("Starting TM funnel task");
-    let jh1 = thread::Builder::new()
+    let jh_tm_funnel = thread::Builder::new()
         .name("TM Funnel".to_string())
-        .spawn(move || {
-            let tm_funnel = TmFunnel {
-                tm_server_tx,
-                tm_funnel_rx,
-            };
-            loop {
-                if let Ok(addr) = tm_funnel.tm_funnel_rx.recv() {
-                    // Read the TM, set sequence counter and message counter, and finally update
-                    // the CRC.
-                    let shared_pool = shared_tm_store.clone_backing_pool();
-                    let mut pool_guard = shared_pool.write().expect("Locking TM pool failed");
-                    let tm_raw = pool_guard
-                        .modify(&addr)
-                        .expect("Reading TM from pool failed");
-                    let mut zero_copy_writer = PusTmZeroCopyWriter::new(tm_raw)
-                        .expect("Creating TM zero copy writer failed");
-                    zero_copy_writer.set_apid(PUS_APID);
-                    zero_copy_writer.set_seq_count(seq_count_provider.get_and_increment());
-                    let entry = msg_counter_map
-                        .entry(zero_copy_writer.service())
-                        .or_insert(0);
-                    zero_copy_writer.set_msg_count(*entry);
-                    if *entry == u16::MAX {
-                        *entry = 0;
-                    } else {
-                        *entry += 1;
-                    }
-
-                    // This operation has to come last!
-                    zero_copy_writer.finish();
-                    tm_funnel
-                        .tm_server_tx
-                        .send(addr)
-                        .expect("Sending TM to server failed");
-                    sync_tm_tcp_source.add_tm(tm_raw);
-                }
-            }
+        .spawn(move || loop {
+            tm_funnel.operation();
         })
         .unwrap();
 
     info!("Starting event handling task");
-    let jh2 = thread::Builder::new()
+    let jh_event_handling = thread::Builder::new()
         .name("Event".to_string())
-        .spawn(move || {
-            let mut timestamp: [u8; 7] = [0; 7];
-            let mut sender = MpscTmInStoreSender::new(
-                TmSenderId::AllEvents as ChannelId,
-                "ALL_EVENTS_TX",
-                tm_store_event.clone(),
-                tm_funnel_tx,
-            );
-            let mut time_provider = TimeProvider::new_with_u16_days(0, 0);
-            let report_completion = |event_req: EventRequestWithToken, timestamp: &[u8]| {
-                let started_token: VerificationToken<TcStateStarted> = event_req
-                    .token
-                    .try_into()
-                    .expect("expected start verification token");
-                reporter_event_handler
-                    .completion_success(started_token, Some(timestamp))
-                    .expect("Sending completion success failed");
-            };
-            loop {
-                // handle event requests
-                if let Ok(event_req) = event_request_rx.try_recv() {
-                    match event_req.request {
-                        EventRequest::Enable(event) => {
-                            pus_event_dispatcher
-                                .enable_tm_for_event(&event)
-                                .expect("Enabling TM failed");
-                            update_time(&mut time_provider, &mut timestamp);
-                            report_completion(event_req, &timestamp);
-                        }
-                        EventRequest::Disable(event) => {
-                            pus_event_dispatcher
-                                .disable_tm_for_event(&event)
-                                .expect("Disabling TM failed");
-                            update_time(&mut time_provider, &mut timestamp);
-                            report_completion(event_req, &timestamp);
-                        }
-                    }
-                }
-
-                // Perform the event routing.
-                event_man
-                    .try_event_handling()
-                    .expect("event handling failed");
-
-                // Perform the generation of PUS event packets
-                if let Ok((event, _param)) = pus_event_man_rx.try_recv() {
-                    update_time(&mut time_provider, &mut timestamp);
-                    pus_event_dispatcher
-                        .generate_pus_event_tm_generic(&mut sender, &timestamp, event, None)
-                        .expect("Sending TM as event failed");
-                }
-                thread::sleep(Duration::from_millis(400));
-            }
+        .spawn(move || loop {
+            event_handler.periodic_operation();
+            thread::sleep(Duration::from_millis(FREQ_MS_EVENT_HANDLING));
         })
         .unwrap();
 
     info!("Starting AOCS thread");
-    let jh3 = thread::Builder::new()
+    let jh_aocs = thread::Builder::new()
         .name("AOCS".to_string())
-        .spawn(move || {
-            let mut timestamp: [u8; 7] = [0; 7];
-            let mut time_provider = TimeProvider::new_with_u16_days(0, 0);
-            loop {
-                // TODO: Move this into a separate function/task/module..
-                match acs_thread_rx.try_recv() {
-                    Ok(request) => {
-                        info!(
-                            "ACS thread: Received HK request {:?}",
-                            request.targeted_request
-                        );
-                        update_time(&mut time_provider, &mut timestamp);
-                        match request.targeted_request.request {
-                            Request::Hk(hk_req) => match hk_req {
-                                HkRequest::OneShot(unique_id) => {
-                                    let target = request.targeted_request.target_id;
-                                    assert_eq!(target, RequestTargetId::AcsSubsystem as u32);
-                                    if request.targeted_request.target_id
-                                        == AcsHkIds::TestMgmSet as u32
-                                    {
-                                        let mut sp_header = SpHeader::tm(
-                                            PUS_APID,
-                                            SequenceFlags::Unsegmented,
-                                            0,
-                                            0,
-                                        )
-                                        .unwrap();
-                                        let sec_header = PusTmSecondaryHeader::new_simple(
-                                            3,
-                                            HkSubservice::TmHkPacket as u8,
-                                            &timestamp,
-                                        );
-                                        let mut buf: [u8; 8] = [0; 8];
-                                        let addressable_id = AddressableId {
-                                            target_id: target,
-                                            unique_id,
-                                        };
-                                        addressable_id.write_to_be_bytes(&mut buf).unwrap();
-                                        let pus_tm = PusTmCreator::new(
-                                            &mut sp_header,
-                                            sec_header,
-                                            Some(&buf),
-                                            true,
-                                        );
-                                        let addr = aocs_tm_store
-                                            .add_pus_tm(&pus_tm)
-                                            .expect("Adding PUS TM failed");
-                                        aocs_tm_funnel.send(addr).expect("Sending HK TM failed");
-                                    }
-                                }
-                                HkRequest::Enable(_) => {}
-                                HkRequest::Disable(_) => {}
-                                HkRequest::ModifyCollectionInterval(_, _) => {}
-                            },
-                            Request::Mode(_mode_req) => {
-                                warn!("mode request handling not implemented yet")
-                            }
-                            Request::Action(_action_req) => {
-                                warn!("action request handling not implemented yet")
-                            }
-                        }
-                        let started_token = reporter_aocs
-                            .start_success(request.token, Some(&timestamp))
-                            .expect("Sending start success failed");
-                        reporter_aocs
-                            .completion_success(started_token, Some(&timestamp))
-                            .expect("Sending completion success failed");
-                    }
-                    Err(e) => match e {
-                        TryRecvError::Empty => {}
-                        TryRecvError::Disconnected => {
-                            warn!("ACS thread: Message Queue TX disconnected!")
-                        }
-                    },
-                }
-                thread::sleep(Duration::from_millis(500));
-            }
+        .spawn(move || loop {
+            acs_task.periodic_operation();
+            thread::sleep(Duration::from_millis(FREQ_MS_AOCS));
         })
         .unwrap();
 
     info!("Starting PUS handler thread");
-    let jh4 = thread::Builder::new()
+    let jh_pus_handler = thread::Builder::new()
         .name("PUS".to_string())
         .spawn(move || loop {
-            pus_11_wrapper.release_tcs();
-            loop {
-                let mut all_queues_empty = true;
-                let mut is_srv_finished = |srv_handler_finished: bool| {
-                    if !srv_handler_finished {
-                        all_queues_empty = false;
-                    }
-                };
-                is_srv_finished(pus_17_wrapper.handle_next_packet());
-                is_srv_finished(pus_11_wrapper.handle_next_packet());
-                is_srv_finished(pus_5_wrapper.handle_next_packet());
-                is_srv_finished(pus_8_wrapper.handle_next_packet());
-                is_srv_finished(pus_3_wrapper.handle_next_packet());
-                if all_queues_empty {
-                    break;
-                }
-            }
-            thread::sleep(Duration::from_millis(200));
+            pus_stack.periodic_operation();
+            thread::sleep(Duration::from_millis(FREQ_MS_PUS_STACK));
         })
         .unwrap();
+
     jh_udp_tmtc
         .join()
         .expect("Joining UDP TMTC server thread failed");
     jh_tcp
         .join()
         .expect("Joining TCP TMTC server thread failed");
-    jh1.join().expect("Joining TM Funnel thread failed");
-    jh2.join().expect("Joining Event Manager thread failed");
-    jh3.join().expect("Joining AOCS thread failed");
-    jh4.join().expect("Joining PUS handler thread failed");
+    jh_tm_funnel
+        .join()
+        .expect("Joining TM Funnel thread failed");
+    jh_event_handling
+        .join()
+        .expect("Joining Event Manager thread failed");
+    jh_aocs.join().expect("Joining AOCS thread failed");
+    jh_pus_handler
+        .join()
+        .expect("Joining PUS handler thread failed");
+}
+
+#[allow(dead_code)]
+fn dyn_tmtc_pool_main() {
+    let (tc_source_tx, tc_source_rx) = channel();
+    let (tm_funnel_tx, tm_funnel_rx) = channel();
+    let (tm_server_tx, tm_server_rx) = channel();
+    // Every software component which needs to generate verification telemetry, gets a cloned
+    // verification reporter.
+    let verif_reporter = create_verification_reporter(MpscTmAsVecSender::new(
+        TmSenderId::PusVerification as ChannelId,
+        "verif_sender",
+        tm_funnel_tx.clone(),
+    ));
+
+    let 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 = GenericRequestRouter::default();
+    request_map.0.insert(acs_target_id.into(), acs_thread_tx);
+
+    let tc_source = PusTcSourceProviderDynamic(tc_source_tx);
+
+    // Create event handling components
+    // These sender handles are used to send event requests, for example to enable or disable
+    // certain events.
+    let (event_request_tx, event_request_rx) = mpsc::channel::<EventRequestWithToken>();
+    // The event task is the core handler to perform the event routing and TM handling as specified
+    // in the sat-rs documentation.
+    let mut event_handler = EventHandler::new(
+        MpscTmAsVecSender::new(
+            TmSenderId::AllEvents as ChannelId,
+            "ALL_EVENTS_TX",
+            tm_funnel_tx.clone(),
+        ),
+        verif_reporter.clone(),
+        event_request_rx,
+    );
+
+    let (pus_test_tx, pus_test_rx) = channel();
+    let (pus_event_tx, pus_event_rx) = channel();
+    let (pus_sched_tx, pus_sched_rx) = channel();
+    let (pus_hk_tx, pus_hk_rx) = channel();
+    let (pus_action_tx, pus_action_rx) = channel();
+    let pus_router = PusTcMpscRouter {
+        test_service_receiver: pus_test_tx,
+        event_service_receiver: pus_event_tx,
+        sched_service_receiver: pus_sched_tx,
+        hk_service_receiver: pus_hk_tx,
+        action_service_receiver: pus_action_tx,
+    };
+
+    let pus_test_service = create_test_service_dynamic(
+        tm_funnel_tx.clone(),
+        verif_reporter.clone(),
+        event_handler.clone_event_sender(),
+        pus_test_rx,
+    );
+    let pus_scheduler_service = create_scheduler_service_dynamic(
+        tm_funnel_tx.clone(),
+        verif_reporter.clone(),
+        tc_source.0.clone(),
+        pus_sched_rx,
+        create_sched_tc_pool(),
+    );
+
+    let pus_event_service = create_event_service_dynamic(
+        tm_funnel_tx.clone(),
+        verif_reporter.clone(),
+        pus_event_rx,
+        event_request_tx,
+    );
+    let pus_action_service = create_action_service_dynamic(
+        tm_funnel_tx.clone(),
+        verif_reporter.clone(),
+        pus_action_rx,
+        request_map.clone(),
+    );
+    let pus_hk_service = create_hk_service_dynamic(
+        tm_funnel_tx.clone(),
+        verif_reporter.clone(),
+        pus_hk_rx,
+        request_map,
+    );
+    let mut pus_stack = PusStack::new(
+        pus_hk_service,
+        pus_event_service,
+        pus_action_service,
+        pus_scheduler_service,
+        pus_test_service,
+    );
+
+    let ccsds_receiver = CcsdsReceiver { tc_source };
+
+    let mut tmtc_task = TcSourceTaskDynamic::new(
+        tc_source_rx,
+        PusReceiver::new(verif_reporter.clone(), pus_router),
+    );
+
+    let sock_addr = SocketAddr::new(IpAddr::V4(OBSW_SERVER_ADDR), SERVER_PORT);
+    let udp_ccsds_distributor = CcsdsDistributor::new(Box::new(ccsds_receiver.clone()));
+    let udp_tc_server = UdpTcServer::new(sock_addr, 2048, Box::new(udp_ccsds_distributor))
+        .expect("creating UDP TMTC server failed");
+    let mut udp_tmtc_server = UdpTmtcServer {
+        udp_tc_server,
+        tm_handler: DynamicUdpTmHandler {
+            tm_rx: tm_server_rx,
+        },
+    };
+
+    let tcp_ccsds_distributor = CcsdsDistributor::new(Box::new(ccsds_receiver));
+    let tcp_server_cfg = ServerConfig::new(sock_addr, Duration::from_millis(400), 4096, 8192);
+    let sync_tm_tcp_source = SyncTcpTmSource::new(200);
+    let mut tcp_server = TcpTask::new(
+        tcp_server_cfg,
+        sync_tm_tcp_source.clone(),
+        tcp_ccsds_distributor,
+    )
+    .expect("tcp server creation failed");
+
+    let mut acs_task = AcsTask::new(
+        MpscTmAsVecSender::new(
+            TmSenderId::AcsSubsystem as ChannelId,
+            "ACS_TASK_SENDER",
+            tm_funnel_tx.clone(),
+        ),
+        acs_thread_rx,
+        verif_reporter,
+    );
+    let mut tm_funnel = TmFunnelDynamic::new(sync_tm_tcp_source, tm_funnel_rx, tm_server_tx);
+
+    info!("Starting TMTC and UDP task");
+    let jh_udp_tmtc = thread::Builder::new()
+        .name("TMTC and UDP".to_string())
+        .spawn(move || {
+            info!("Running UDP server on port {SERVER_PORT}");
+            loop {
+                udp_tmtc_server.periodic_operation();
+                tmtc_task.periodic_operation();
+                thread::sleep(Duration::from_millis(FREQ_MS_UDP_TMTC));
+            }
+        })
+        .unwrap();
+
+    info!("Starting TCP task");
+    let jh_tcp = thread::Builder::new()
+        .name("TCP".to_string())
+        .spawn(move || {
+            info!("Running TCP server on port {SERVER_PORT}");
+            loop {
+                tcp_server.periodic_operation();
+            }
+        })
+        .unwrap();
+
+    info!("Starting TM funnel task");
+    let jh_tm_funnel = thread::Builder::new()
+        .name("TM Funnel".to_string())
+        .spawn(move || loop {
+            tm_funnel.operation();
+        })
+        .unwrap();
+
+    info!("Starting event handling task");
+    let jh_event_handling = thread::Builder::new()
+        .name("Event".to_string())
+        .spawn(move || loop {
+            event_handler.periodic_operation();
+            thread::sleep(Duration::from_millis(FREQ_MS_EVENT_HANDLING));
+        })
+        .unwrap();
+
+    info!("Starting AOCS thread");
+    let jh_aocs = thread::Builder::new()
+        .name("AOCS".to_string())
+        .spawn(move || loop {
+            acs_task.periodic_operation();
+            thread::sleep(Duration::from_millis(FREQ_MS_AOCS));
+        })
+        .unwrap();
+
+    info!("Starting PUS handler thread");
+    let jh_pus_handler = thread::Builder::new()
+        .name("PUS".to_string())
+        .spawn(move || loop {
+            pus_stack.periodic_operation();
+            thread::sleep(Duration::from_millis(FREQ_MS_PUS_STACK));
+        })
+        .unwrap();
+
+    jh_udp_tmtc
+        .join()
+        .expect("Joining UDP TMTC server thread failed");
+    jh_tcp
+        .join()
+        .expect("Joining TCP TMTC server thread failed");
+    jh_tm_funnel
+        .join()
+        .expect("Joining TM Funnel thread failed");
+    jh_event_handling
+        .join()
+        .expect("Joining Event Manager thread failed");
+    jh_aocs.join().expect("Joining AOCS thread failed");
+    jh_pus_handler
+        .join()
+        .expect("Joining PUS handler thread failed");
+}
+
+fn main() {
+    setup_logger().expect("setting up logging with fern failed");
+    println!("Running OBSW example");
+    #[cfg(not(feature = "dyn_tmtc"))]
+    static_tmtc_pool_main();
+    #[cfg(feature = "dyn_tmtc")]
+    dyn_tmtc_pool_main();
 }
 
 pub fn update_time(time_provider: &mut TimeProvider, timestamp: &mut [u8]) {

satrs-example/src/pus/action.rs

@@ -1,159 +1,155 @@
-use crate::requests::{ActionRequest, Request, RequestWithToken};
 use log::{error, warn};
-use satrs_core::pool::{SharedPool, StoreAddr};
-use satrs_core::pus::verification::{
-    FailParams, StdVerifReporterWithSender, TcStateAccepted, 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::{
-    EcssTcReceiver, EcssTmSender, PusPacketHandlerResult, PusPacketHandlingError, PusServiceBase,
-    PusServiceHandler,
+use satrs::pus::{
+    EcssTcAndToken, EcssTcInMemConverter, EcssTcInSharedStoreConverter, EcssTcInVecConverter,
+    MpscTcReceiver, MpscTmAsVecSender, MpscTmInSharedPoolSender, PusPacketHandlerResult,
+    PusPacketHandlingError, PusServiceHelper,
 };
-use satrs_core::spacepackets::ecss::tc::PusTcReader;
-use satrs_core::spacepackets::ecss::PusPacket;
-use satrs_core::tmtc::TargetId;
-use satrs_example::tmtc_err;
-use std::collections::HashMap;
-use std::sync::mpsc::Sender;
+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 std::sync::mpsc::{self};
 
-pub struct PusService8ActionHandler {
-    psb: PusServiceBase,
-    request_handlers: HashMap<TargetId, Sender<RequestWithToken>>,
-}
+use crate::requests::GenericRequestRouter;
 
-impl PusService8ActionHandler {
-    pub fn new(
-        tc_receiver: Box<dyn EcssTcReceiver>,
-        shared_tc_pool: SharedPool,
-        tm_sender: Box<dyn EcssTmSender>,
-        tm_apid: u16,
-        verification_handler: StdVerifReporterWithSender,
-        request_handlers: HashMap<TargetId, Sender<RequestWithToken>>,
-    ) -> Self {
-        Self {
-            psb: PusServiceBase::new(
-                tc_receiver,
-                shared_tc_pool,
-                tm_sender,
-                tm_apid,
-                verification_handler,
-            ),
-            request_handlers,
-        }
-    }
-}
+use super::GenericRoutingErrorHandler;
 
-impl PusService8ActionHandler {
-    fn handle_action_request_with_id(
-        &self,
+#[derive(Default)]
+pub struct ExampleActionRequestConverter {}
+
+impl PusActionToRequestConverter for ExampleActionRequestConverter {
+    type Error = PusPacketHandlingError;
+
+    fn convert(
+        &mut self,
         token: VerificationToken<TcStateAccepted>,
         tc: &PusTcReader,
         time_stamp: &[u8],
-    ) -> Result<(), PusPacketHandlingError> {
+        verif_reporter: &impl VerificationReportingProvider,
+    ) -> Result<(TargetId, ActionRequest), Self::Error> {
+        let subservice = tc.subservice();
         let user_data = tc.user_data();
         if user_data.len() < 8 {
-            self.psb()
-                .verification_handler
-                .borrow_mut()
+            verif_reporter
                 .start_failure(
                     token,
-                    FailParams::new(Some(time_stamp), &tmtc_err::NOT_ENOUGH_APP_DATA, None),
+                    FailParams::new_no_fail_data(time_stamp, &tmtc_err::NOT_ENOUGH_APP_DATA),
                 )
                 .expect("Sending start failure failed");
-            return Err(PusPacketHandlingError::NotEnoughAppData(
-                "Expected at least 4 bytes".into(),
-            ));
+            return Err(PusPacketHandlingError::NotEnoughAppData {
+                expected: 8,
+                found: user_data.len(),
+            });
         }
-        let target_id = u32::from_be_bytes(user_data[0..4].try_into().unwrap());
+        let target_id = TargetAndApidId::from_pus_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");
+        if subservice == 128 {
+            Ok((
+                target_id.raw(),
+                ActionRequest::UnsignedIdAndVecData {
+                    action_id,
+                    data: user_data[8..].to_vec(),
+                },
+            ))
         } else {
-            let mut fail_data: [u8; 4] = [0; 4];
-            fail_data.copy_from_slice(&target_id.to_be_bytes());
-            self.psb()
-                .verification_handler
-                .borrow_mut()
+            verif_reporter
                 .start_failure(
                     token,
-                    FailParams::new(
-                        Some(time_stamp),
-                        &tmtc_err::UNKNOWN_TARGET_ID,
-                        Some(&fail_data),
-                    ),
+                    FailParams::new_no_fail_data(time_stamp, &tmtc_err::INVALID_PUS_SUBSERVICE),
                 )
                 .expect("Sending start failure failed");
-            return Err(PusPacketHandlingError::Other(format!(
-                "Unknown target ID {target_id}"
-            )));
+            Err(PusPacketHandlingError::InvalidSubservice(subservice))
         }
-        Ok(())
     }
 }
 
-impl PusServiceHandler for PusService8ActionHandler {
-    fn psb_mut(&mut self) -> &mut PusServiceBase {
-        &mut self.psb
-    }
-    fn psb(&self) -> &PusServiceBase {
-        &self.psb
-    }
-
-    fn handle_one_tc(
-        &mut self,
-        addr: StoreAddr,
-        token: VerificationToken<TcStateAccepted>,
-    ) -> Result<PusPacketHandlerResult, PusPacketHandlingError> {
-        self.copy_tc_to_buf(addr)?;
-        let (tc, _) = PusTcReader::new(&self.psb().pus_buf).unwrap();
-        let subservice = tc.subservice();
-        let mut partial_error = None;
-        let time_stamp = self.psb().get_current_timestamp(&mut partial_error);
-        match subservice {
-            128 => {
-                self.handle_action_request_with_id(token, &tc, &time_stamp)?;
-            }
-            _ => {
-                let fail_data = [subservice];
-                self.psb_mut()
-                    .verification_handler
-                    .get_mut()
-                    .start_failure(
-                        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 fn create_action_service_static(
+    shared_tm_store: SharedTmPool,
+    tm_funnel_tx: mpsc::Sender<StoreAddr>,
+    verif_reporter: VerificationReporterWithSender,
+    tc_pool: SharedStaticMemoryPool,
+    pus_action_rx: mpsc::Receiver<EcssTcAndToken>,
+    action_router: GenericRequestRouter,
+) -> Pus8Wrapper<EcssTcInSharedStoreConverter> {
+    let action_srv_tm_sender = MpscTmInSharedPoolSender::new(
+        TmSenderId::PusAction as ChannelId,
+        "PUS_8_TM_SENDER",
+        shared_tm_store.clone(),
+        tm_funnel_tx.clone(),
+    );
+    let action_srv_receiver = MpscTcReceiver::new(
+        TcReceiverId::PusAction as ChannelId,
+        "PUS_8_TC_RECV",
+        pus_action_rx,
+    );
+    let pus_8_handler = PusService8ActionHandler::new(
+        PusServiceHelper::new(
+            Box::new(action_srv_receiver),
+            Box::new(action_srv_tm_sender),
+            PUS_APID,
+            verif_reporter.clone(),
+            EcssTcInSharedStoreConverter::new(tc_pool.clone(), 2048),
+        ),
+        ExampleActionRequestConverter::default(),
+        action_router,
+        GenericRoutingErrorHandler::<8>::default(),
+    );
+    Pus8Wrapper { pus_8_handler }
 }
 
-pub struct Pus8Wrapper {
-    pub(crate) pus_8_handler: PusService8ActionHandler,
+pub fn create_action_service_dynamic(
+    tm_funnel_tx: mpsc::Sender<Vec<u8>>,
+    verif_reporter: VerificationReporterWithSender,
+    pus_action_rx: mpsc::Receiver<EcssTcAndToken>,
+    action_router: GenericRequestRouter,
+) -> Pus8Wrapper<EcssTcInVecConverter> {
+    let action_srv_tm_sender = MpscTmAsVecSender::new(
+        TmSenderId::PusAction as ChannelId,
+        "PUS_8_TM_SENDER",
+        tm_funnel_tx.clone(),
+    );
+    let action_srv_receiver = MpscTcReceiver::new(
+        TcReceiverId::PusAction as ChannelId,
+        "PUS_8_TC_RECV",
+        pus_action_rx,
+    );
+    let pus_8_handler = PusService8ActionHandler::new(
+        PusServiceHelper::new(
+            Box::new(action_srv_receiver),
+            Box::new(action_srv_tm_sender),
+            PUS_APID,
+            verif_reporter.clone(),
+            EcssTcInVecConverter::default(),
+        ),
+        ExampleActionRequestConverter::default(),
+        action_router,
+        GenericRoutingErrorHandler::<8>::default(),
+    );
+    Pus8Wrapper { pus_8_handler }
 }
 
-impl Pus8Wrapper {
+pub struct Pus8Wrapper<TcInMemConverter: EcssTcInMemConverter> {
+    pub(crate) pus_8_handler: PusService8ActionHandler<
+        TcInMemConverter,
+        VerificationReporterWithSender,
+        ExampleActionRequestConverter,
+        GenericRequestRouter,
+        GenericRoutingErrorHandler<8>,
+    >,
+}
+
+impl<TcInMemConverter: EcssTcInMemConverter> Pus8Wrapper<TcInMemConverter> {
     pub fn handle_next_packet(&mut self) -> bool {
-        match self.pus_8_handler.handle_next_packet() {
+        match self.pus_8_handler.handle_one_tc() {
             Ok(result) => match result {
                 PusPacketHandlerResult::RequestHandled => {}
                 PusPacketHandlerResult::RequestHandledPartialSuccess(e) => {

satrs-example/src/pus/event.rs

@@ -1,14 +1,87 @@
-use log::{error, warn};
-use satrs_core::pus::event_srv::PusService5EventHandler;
-use satrs_core::pus::{PusPacketHandlerResult, PusServiceHandler};
+use std::sync::mpsc;
 
-pub struct Pus5Wrapper {
-    pub pus_5_handler: PusService5EventHandler,
+use log::{error, warn};
+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::tmtc::tm_helper::SharedTmPool;
+use satrs::ChannelId;
+use satrs_example::config::{TcReceiverId, TmSenderId, PUS_APID};
+
+pub fn create_event_service_static(
+    shared_tm_store: SharedTmPool,
+    tm_funnel_tx: mpsc::Sender<StoreAddr>,
+    verif_reporter: VerificationReporterWithSender,
+    tc_pool: SharedStaticMemoryPool,
+    pus_event_rx: mpsc::Receiver<EcssTcAndToken>,
+    event_request_tx: mpsc::Sender<EventRequestWithToken>,
+) -> Pus5Wrapper<EcssTcInSharedStoreConverter> {
+    let event_srv_tm_sender = MpscTmInSharedPoolSender::new(
+        TmSenderId::PusEvent as ChannelId,
+        "PUS_5_TM_SENDER",
+        shared_tm_store.clone(),
+        tm_funnel_tx.clone(),
+    );
+    let event_srv_receiver = MpscTcReceiver::new(
+        TcReceiverId::PusEvent as ChannelId,
+        "PUS_5_TC_RECV",
+        pus_event_rx,
+    );
+    let pus_5_handler = PusService5EventHandler::new(
+        PusServiceHelper::new(
+            Box::new(event_srv_receiver),
+            Box::new(event_srv_tm_sender),
+            PUS_APID,
+            verif_reporter.clone(),
+            EcssTcInSharedStoreConverter::new(tc_pool.clone(), 2048),
+        ),
+        event_request_tx,
+    );
+    Pus5Wrapper { pus_5_handler }
 }
 
-impl Pus5Wrapper {
+pub fn create_event_service_dynamic(
+    tm_funnel_tx: mpsc::Sender<Vec<u8>>,
+    verif_reporter: VerificationReporterWithSender,
+    pus_event_rx: mpsc::Receiver<EcssTcAndToken>,
+    event_request_tx: mpsc::Sender<EventRequestWithToken>,
+) -> Pus5Wrapper<EcssTcInVecConverter> {
+    let event_srv_tm_sender = MpscTmAsVecSender::new(
+        TmSenderId::PusEvent as ChannelId,
+        "PUS_5_TM_SENDER",
+        tm_funnel_tx,
+    );
+    let event_srv_receiver = MpscTcReceiver::new(
+        TcReceiverId::PusEvent as ChannelId,
+        "PUS_5_TC_RECV",
+        pus_event_rx,
+    );
+    let pus_5_handler = PusService5EventHandler::new(
+        PusServiceHelper::new(
+            Box::new(event_srv_receiver),
+            Box::new(event_srv_tm_sender),
+            PUS_APID,
+            verif_reporter.clone(),
+            EcssTcInVecConverter::default(),
+        ),
+        event_request_tx,
+    );
+    Pus5Wrapper { pus_5_handler }
+}
+
+pub struct Pus5Wrapper<TcInMemConverter: EcssTcInMemConverter> {
+    pub pus_5_handler: PusService5EventHandler<TcInMemConverter, VerificationReporterWithSender>,
+}
+
+impl<TcInMemConverter: EcssTcInMemConverter> Pus5Wrapper<TcInMemConverter> {
     pub fn handle_next_packet(&mut self) -> bool {
-        match self.pus_5_handler.handle_next_packet() {
+        match self.pus_5_handler.handle_one_tc() {
             Ok(result) => match result {
                 PusPacketHandlerResult::RequestHandled => {}
                 PusPacketHandlerResult::RequestHandledPartialSuccess(e) => {

satrs-example/src/pus/hk.rs

@@ -1,79 +1,59 @@
-use crate::requests::{Request, RequestWithToken};
 use log::{error, warn};
-use satrs_core::hk::{CollectionIntervalFactor, HkRequest};
-use satrs_core::pool::{SharedPool, StoreAddr};
-use satrs_core::pus::verification::{
-    FailParams, StdVerifReporterWithSender, TcStateAccepted, VerificationToken,
+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::{
-    EcssTcReceiver, EcssTmSender, PusPacketHandlerResult, PusPacketHandlingError, PusServiceBase,
-    PusServiceHandler,
+use satrs::pus::{
+    EcssTcAndToken, EcssTcInMemConverter, EcssTcInSharedStoreConverter, EcssTcInVecConverter,
+    MpscTcReceiver, MpscTmAsVecSender, MpscTmInSharedPoolSender, PusPacketHandlerResult,
+    PusPacketHandlingError, PusServiceHelper,
 };
-use satrs_core::spacepackets::ecss::tc::PusTcReader;
-use satrs_core::spacepackets::ecss::{hk, PusPacket};
-use satrs_core::tmtc::{AddressableId, TargetId};
-use satrs_example::{hk_err, tmtc_err};
-use std::collections::HashMap;
-use std::sync::mpsc::Sender;
+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 std::sync::mpsc::{self};
 
-pub struct PusService3HkHandler {
-    psb: PusServiceBase,
-    request_handlers: HashMap<TargetId, Sender<RequestWithToken>>,
-}
+use crate::requests::GenericRequestRouter;
 
-impl PusService3HkHandler {
-    pub fn new(
-        tc_receiver: Box<dyn EcssTcReceiver>,
-        shared_tc_pool: SharedPool,
-        tm_sender: Box<dyn EcssTmSender>,
-        tm_apid: u16,
-        verification_handler: StdVerifReporterWithSender,
-        request_handlers: HashMap<TargetId, Sender<RequestWithToken>>,
-    ) -> Self {
-        Self {
-            psb: PusServiceBase::new(
-                tc_receiver,
-                shared_tc_pool,
-                tm_sender,
-                tm_apid,
-                verification_handler,
-            ),
-            request_handlers,
-        }
-    }
-}
+use super::GenericRoutingErrorHandler;
 
-impl PusServiceHandler for PusService3HkHandler {
-    fn psb_mut(&mut self) -> &mut PusServiceBase {
-        &mut self.psb
-    }
-    fn psb(&self) -> &PusServiceBase {
-        &self.psb
-    }
+#[derive(Default)]
+pub struct ExampleHkRequestConverter {}
 
-    fn handle_one_tc(
+impl PusHkToRequestConverter for ExampleHkRequestConverter {
+    type Error = PusPacketHandlingError;
+
+    fn convert(
         &mut self,
-        addr: StoreAddr,
         token: VerificationToken<TcStateAccepted>,
-    ) -> Result<PusPacketHandlerResult, PusPacketHandlingError> {
-        self.copy_tc_to_buf(addr)?;
-        let (tc, _) = PusTcReader::new(&self.psb().pus_buf).unwrap();
-        let subservice = tc.subservice();
-        let mut partial_error = None;
-        let time_stamp = self.psb().get_current_timestamp(&mut partial_error);
+        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() {
-            self.psb
-                .verification_handler
-                .borrow_mut()
+            let user_data_len = user_data.len() as u32;
+            let user_data_len_raw = user_data_len.to_be_bytes();
+            verif_reporter
                 .start_failure(
                     token,
-                    FailParams::new(Some(&time_stamp), &tmtc_err::NOT_ENOUGH_APP_DATA, None),
+                    FailParams::new(
+                        time_stamp,
+                        &tmtc_err::NOT_ENOUGH_APP_DATA,
+                        &user_data_len_raw,
+                    ),
                 )
                 .expect("Sending start failure TM failed");
-            return Err(PusPacketHandlingError::NotEnoughAppData(
-                "Expected at least 8 bytes of app data".into(),
-            ));
+            return Err(PusPacketHandlingError::NotEnoughAppData {
+                expected: 4,
+                found: 0,
+            });
         }
         if user_data.len() < 8 {
             let err = if user_data.len() < 4 {
@@ -81,94 +61,158 @@ impl PusServiceHandler for PusService3HkHandler {
             } else {
                 &hk_err::UNIQUE_ID_MISSING
             };
-            self.psb
-                .verification_handler
-                .borrow_mut()
-                .start_failure(token, FailParams::new(Some(&time_stamp), err, None))
+            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 at least 8 bytes of app data".into(),
-            ));
+            return Err(PusPacketHandlingError::NotEnoughAppData {
+                expected: 8,
+                found: 4,
+            });
         }
-        let addressable_id = AddressableId::from_raw_be(user_data).unwrap();
-        if !self
-            .request_handlers
-            .contains_key(&addressable_id.target_id)
-        {
-            self.psb
-                .verification_handler
-                .borrow_mut()
+        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(Some(&time_stamp), &hk_err::UNKNOWN_TARGET_ID, None),
+                    FailParams::new(time_stamp, &tmtc_err::INVALID_PUS_SUBSERVICE, &[subservice]),
                 )
                 .expect("Sending start failure TM failed");
-            let tgt_id = addressable_id.target_id;
-            return Err(PusPacketHandlingError::NotEnoughAppData(format!(
-                "Unknown target ID {tgt_id}"
-            )));
+            return Err(PusPacketHandlingError::InvalidSubservice(subservice));
         }
-        let send_request = |target: TargetId, request: HkRequest| {
-            let sender = self
-                .request_handlers
-                .get(&addressable_id.target_id)
-                .unwrap();
-            sender
-                .send(RequestWithToken::new(target, Request::Hk(request), token))
-                .unwrap_or_else(|_| panic!("Sending HK request {request:?} failed"));
-        };
-        if subservice == hk::Subservice::TcEnableHkGeneration as u8 {
-            send_request(
-                addressable_id.target_id,
-                HkRequest::Enable(addressable_id.unique_id),
-            );
-        } else if subservice == hk::Subservice::TcDisableHkGeneration as u8 {
-            send_request(
-                addressable_id.target_id,
-                HkRequest::Disable(addressable_id.unique_id),
-            );
-        } else if subservice == hk::Subservice::TcGenerateOneShotHk as u8 {
-            send_request(
-                addressable_id.target_id,
-                HkRequest::OneShot(addressable_id.unique_id),
-            );
-        } else if subservice == hk::Subservice::TcModifyHkCollectionInterval as u8 {
-            if user_data.len() < 12 {
-                self.psb
-                    .verification_handler
-                    .borrow_mut()
-                    .start_failure(
-                        token,
-                        FailParams::new(
-                            Some(&time_stamp),
-                            &hk_err::COLLECTION_INTERVAL_MISSING,
-                            None,
+        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(),
                         ),
                     )
-                    .expect("Sending start failure TM failed");
-                return Err(PusPacketHandlingError::NotEnoughAppData(
-                    "Collection interval missing".into(),
-                ));
-            }
-            send_request(
-                addressable_id.target_id,
-                HkRequest::ModifyCollectionInterval(
-                    addressable_id.unique_id,
-                    CollectionIntervalFactor::from_be_bytes(user_data[8..12].try_into().unwrap()),
-                ),
-            );
-        }
-        Ok(PusPacketHandlerResult::RequestHandled)
+                }
+                _ => {
+                    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 struct Pus3Wrapper {
-    pub(crate) pus_3_handler: PusService3HkHandler,
+pub fn create_hk_service_static(
+    shared_tm_store: SharedTmPool,
+    tm_funnel_tx: mpsc::Sender<StoreAddr>,
+    verif_reporter: VerificationReporterWithSender,
+    tc_pool: SharedStaticMemoryPool,
+    pus_hk_rx: mpsc::Receiver<EcssTcAndToken>,
+    request_router: GenericRequestRouter,
+) -> Pus3Wrapper<EcssTcInSharedStoreConverter> {
+    let hk_srv_tm_sender = MpscTmInSharedPoolSender::new(
+        TmSenderId::PusHk as ChannelId,
+        "PUS_3_TM_SENDER",
+        shared_tm_store.clone(),
+        tm_funnel_tx.clone(),
+    );
+    let hk_srv_receiver =
+        MpscTcReceiver::new(TcReceiverId::PusHk as ChannelId, "PUS_8_TC_RECV", pus_hk_rx);
+    let pus_3_handler = PusService3HkHandler::new(
+        PusServiceHelper::new(
+            Box::new(hk_srv_receiver),
+            Box::new(hk_srv_tm_sender),
+            PUS_APID,
+            verif_reporter.clone(),
+            EcssTcInSharedStoreConverter::new(tc_pool, 2048),
+        ),
+        ExampleHkRequestConverter::default(),
+        request_router,
+        GenericRoutingErrorHandler::default(),
+    );
+    Pus3Wrapper { pus_3_handler }
 }
 
-impl Pus3Wrapper {
+pub fn create_hk_service_dynamic(
+    tm_funnel_tx: mpsc::Sender<Vec<u8>>,
+    verif_reporter: VerificationReporterWithSender,
+    pus_hk_rx: mpsc::Receiver<EcssTcAndToken>,
+    request_router: GenericRequestRouter,
+) -> Pus3Wrapper<EcssTcInVecConverter> {
+    let hk_srv_tm_sender = MpscTmAsVecSender::new(
+        TmSenderId::PusHk as ChannelId,
+        "PUS_3_TM_SENDER",
+        tm_funnel_tx.clone(),
+    );
+    let hk_srv_receiver =
+        MpscTcReceiver::new(TcReceiverId::PusHk as ChannelId, "PUS_8_TC_RECV", pus_hk_rx);
+    let pus_3_handler = PusService3HkHandler::new(
+        PusServiceHelper::new(
+            Box::new(hk_srv_receiver),
+            Box::new(hk_srv_tm_sender),
+            PUS_APID,
+            verif_reporter.clone(),
+            EcssTcInVecConverter::default(),
+        ),
+        ExampleHkRequestConverter::default(),
+        request_router,
+        GenericRoutingErrorHandler::default(),
+    );
+    Pus3Wrapper { pus_3_handler }
+}
+
+pub struct Pus3Wrapper<TcInMemConverter: EcssTcInMemConverter> {
+    pub(crate) pus_3_handler: PusService3HkHandler<
+        TcInMemConverter,
+        VerificationReporterWithSender,
+        ExampleHkRequestConverter,
+        GenericRequestRouter,
+        GenericRoutingErrorHandler<3>,
+    >,
+}
+
+impl<TcInMemConverter: EcssTcInMemConverter> Pus3Wrapper<TcInMemConverter> {
     pub fn handle_next_packet(&mut self) -> bool {
-        match self.pus_3_handler.handle_next_packet() {
+        match self.pus_3_handler.handle_one_tc() {
             Ok(result) => match result {
                 PusPacketHandlerResult::RequestHandled => {}
                 PusPacketHandlerResult::RequestHandledPartialSuccess(e) => {

satrs-example/src/pus/mod.rs

@@ -1,27 +1,31 @@
 use crate::tmtc::MpscStoreAndSendError;
 use log::warn;
-use satrs_core::pool::StoreAddr;
-use satrs_core::pus::verification::{FailParams, StdVerifReporterWithSender};
-use satrs_core::pus::{PusPacketHandlerResult, TcAddrWithToken};
-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_example::{tmtc_err, CustomPusServiceId};
+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;
 
 pub mod action;
 pub mod event;
 pub mod hk;
 pub mod scheduler;
+pub mod stack;
 pub mod test;
 
 pub struct PusTcMpscRouter {
-    pub test_service_receiver: Sender<TcAddrWithToken>,
-    pub event_service_receiver: Sender<TcAddrWithToken>,
-    pub sched_service_receiver: Sender<TcAddrWithToken>,
-    pub hk_service_receiver: Sender<TcAddrWithToken>,
-    pub action_service_receiver: Sender<TcAddrWithToken>,
+    pub test_service_receiver: Sender<EcssTcAndToken>,
+    pub event_service_receiver: Sender<EcssTcAndToken>,
+    pub sched_service_receiver: Sender<EcssTcAndToken>,
+    pub hk_service_receiver: Sender<EcssTcAndToken>,
+    pub action_service_receiver: Sender<EcssTcAndToken>,
 }
 
 pub struct PusReceiver {
@@ -70,7 +74,7 @@ impl PusReceiver {
 impl PusReceiver {
     pub fn handle_tc_packet(
         &mut self,
-        store_addr: StoreAddr,
+        tc_in_memory: TcInMemory,
         service: u8,
         pus_tc: &PusTcReader,
     ) -> Result<PusPacketHandlerResult, MpscStoreAndSendError> {
@@ -78,35 +82,46 @@ 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 {
             Ok(standard_service) => match standard_service {
                 PusServiceId::Test => {
-                    self.pus_router
-                        .test_service_receiver
-                        .send((store_addr, accepted_token.into()))?;
+                    self.pus_router.test_service_receiver.send(EcssTcAndToken {
+                        tc_in_memory,
+                        token: Some(accepted_token.into()),
+                    })?
+                }
+                PusServiceId::Housekeeping => {
+                    self.pus_router.hk_service_receiver.send(EcssTcAndToken {
+                        tc_in_memory,
+                        token: Some(accepted_token.into()),
+                    })?
+                }
+                PusServiceId::Event => {
+                    self.pus_router
+                        .event_service_receiver
+                        .send(EcssTcAndToken {
+                            tc_in_memory,
+                            token: Some(accepted_token.into()),
+                        })?
+                }
+                PusServiceId::Scheduling => {
+                    self.pus_router
+                        .sched_service_receiver
+                        .send(EcssTcAndToken {
+                            tc_in_memory,
+                            token: Some(accepted_token.into()),
+                        })?
                 }
-                PusServiceId::Housekeeping => self
-                    .pus_router
-                    .hk_service_receiver
-                    .send((store_addr, accepted_token.into()))?,
-                PusServiceId::Event => self
-                    .pus_router
-                    .event_service_receiver
-                    .send((store_addr, accepted_token.into()))?,
-                PusServiceId::Scheduling => self
-                    .pus_router
-                    .sched_service_receiver
-                    .send((store_addr, accepted_token.into()))?,
                 _ => {
                     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() {
@@ -128,9 +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")
@@ -140,3 +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");
+            }
+        }
+    }
+}

satrs-example/src/pus/scheduler.rs

@@ -1,50 +1,90 @@
-use crate::tmtc::PusTcSource;
-use log::{error, info, warn};
-use satrs_core::pus::scheduler::TcInfo;
-use satrs_core::pus::scheduler_srv::PusService11SchedHandler;
-use satrs_core::pus::{PusPacketHandlerResult, PusServiceHandler};
+use std::sync::mpsc;
+use std::time::Duration;
 
-pub struct Pus11Wrapper {
-    pub pus_11_handler: PusService11SchedHandler,
-    pub tc_source_wrapper: PusTcSource,
+use log::{error, info, warn};
+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::tmtc::tm_helper::SharedTmPool;
+use satrs::ChannelId;
+use satrs_example::config::{TcReceiverId, TmSenderId, PUS_APID};
+
+use crate::tmtc::PusTcSourceProviderSharedPool;
+
+pub trait TcReleaser {
+    fn release(&mut self, enabled: bool, info: &TcInfo, tc: &[u8]) -> bool;
 }
 
-impl Pus11Wrapper {
-    pub fn release_tcs(&mut self) {
-        let releaser = |enabled: bool, info: &TcInfo| -> bool {
-            if enabled {
-                self.tc_source_wrapper
-                    .tc_source
-                    .send(info.addr())
-                    .expect("sending TC to TC source failed");
-            }
-            true
-        };
+impl TcReleaser for PusTcSourceProviderSharedPool {
+    fn release(&mut self, enabled: bool, _info: &TcInfo, tc: &[u8]) -> bool {
+        if enabled {
+            // Transfer TC from scheduler TC pool to shared TC pool.
+            let released_tc_addr = self
+                .shared_pool
+                .pool
+                .write()
+                .expect("locking pool failed")
+                .add(tc)
+                .expect("adding TC to shared pool failed");
+            self.tc_source
+                .send(released_tc_addr)
+                .expect("sending TC to TC source failed");
+        }
+        true
+    }
+}
 
-        let mut pool = self
-            .tc_source_wrapper
-            .tc_store
-            .pool
-            .write()
-            .expect("error locking pool");
+impl TcReleaser for mpsc::Sender<Vec<u8>> {
+    fn release(&mut self, enabled: bool, _info: &TcInfo, tc: &[u8]) -> bool {
+        if enabled {
+            // Send released TC to centralized TC source.
+            self.send(tc.to_vec())
+                .expect("sending TC to TC source failed");
+        }
+        true
+    }
+}
+
+pub struct Pus11Wrapper<TcInMemConverter: EcssTcInMemConverter> {
+    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>,
+}
+
+impl<TcInMemConverter: EcssTcInMemConverter> Pus11Wrapper<TcInMemConverter> {
+    pub fn release_tcs(&mut self) {
+        let releaser = |enabled: bool, info: &TcInfo, tc: &[u8]| -> bool {
+            self.tc_releaser.release(enabled, info, tc)
+        };
 
         self.pus_11_handler
             .scheduler_mut()
             .update_time_from_now()
             .unwrap();
-        if let Ok(released_tcs) = self
+        let released_tcs = self
             .pus_11_handler
             .scheduler_mut()
-            .release_telecommands(releaser, pool.as_mut())
-        {
-            if released_tcs > 0 {
-                info!("{released_tcs} TC(s) released from scheduler");
-            }
+            .release_telecommands_with_buffer(
+                releaser,
+                &mut self.sched_tc_pool,
+                &mut self.releaser_buf,
+            )
+            .expect("releasing TCs failed");
+        if released_tcs > 0 {
+            info!("{released_tcs} TC(s) released from scheduler");
         }
     }
 
     pub fn handle_next_packet(&mut self) -> bool {
-        match self.pus_11_handler.handle_next_packet() {
+        match self.pus_11_handler.handle_one_tc(&mut self.sched_tc_pool) {
             Ok(result) => match result {
                 PusPacketHandlerResult::RequestHandled => {}
                 PusPacketHandlerResult::RequestHandledPartialSuccess(e) => {
@@ -67,3 +107,79 @@ impl Pus11Wrapper {
         false
     }
 }
+
+pub fn create_scheduler_service_static(
+    shared_tm_store: SharedTmPool,
+    tm_funnel_tx: mpsc::Sender<StoreAddr>,
+    verif_reporter: VerificationReporterWithSender,
+    tc_releaser: PusTcSourceProviderSharedPool,
+    pus_sched_rx: mpsc::Receiver<EcssTcAndToken>,
+    sched_tc_pool: StaticMemoryPool,
+) -> Pus11Wrapper<EcssTcInSharedStoreConverter> {
+    let sched_srv_tm_sender = MpscTmInSharedPoolSender::new(
+        TmSenderId::PusSched as ChannelId,
+        "PUS_11_TM_SENDER",
+        shared_tm_store.clone(),
+        tm_funnel_tx.clone(),
+    );
+    let sched_srv_receiver = MpscTcReceiver::new(
+        TcReceiverId::PusSched as ChannelId,
+        "PUS_11_TC_RECV",
+        pus_sched_rx,
+    );
+    let scheduler = PusScheduler::new_with_current_init_time(Duration::from_secs(5))
+        .expect("Creating PUS Scheduler failed");
+    let pus_11_handler = PusService11SchedHandler::new(
+        PusServiceHelper::new(
+            Box::new(sched_srv_receiver),
+            Box::new(sched_srv_tm_sender),
+            PUS_APID,
+            verif_reporter.clone(),
+            EcssTcInSharedStoreConverter::new(tc_releaser.clone_backing_pool(), 2048),
+        ),
+        scheduler,
+    );
+    Pus11Wrapper {
+        pus_11_handler,
+        sched_tc_pool,
+        releaser_buf: [0; 4096],
+        tc_releaser: Box::new(tc_releaser),
+    }
+}
+
+pub fn create_scheduler_service_dynamic(
+    tm_funnel_tx: mpsc::Sender<Vec<u8>>,
+    verif_reporter: VerificationReporterWithSender,
+    tc_source_sender: mpsc::Sender<Vec<u8>>,
+    pus_sched_rx: mpsc::Receiver<EcssTcAndToken>,
+    sched_tc_pool: StaticMemoryPool,
+) -> Pus11Wrapper<EcssTcInVecConverter> {
+    let sched_srv_tm_sender = MpscTmAsVecSender::new(
+        TmSenderId::PusSched as ChannelId,
+        "PUS_11_TM_SENDER",
+        tm_funnel_tx,
+    );
+    let sched_srv_receiver = MpscTcReceiver::new(
+        TcReceiverId::PusSched as ChannelId,
+        "PUS_11_TC_RECV",
+        pus_sched_rx,
+    );
+    let scheduler = PusScheduler::new_with_current_init_time(Duration::from_secs(5))
+        .expect("Creating PUS Scheduler failed");
+    let pus_11_handler = PusService11SchedHandler::new(
+        PusServiceHelper::new(
+            Box::new(sched_srv_receiver),
+            Box::new(sched_srv_tm_sender),
+            PUS_APID,
+            verif_reporter.clone(),
+            EcssTcInVecConverter::default(),
+        ),
+        scheduler,
+    );
+    Pus11Wrapper {
+        pus_11_handler,
+        sched_tc_pool,
+        releaser_buf: [0; 4096],
+        tc_releaser: Box::new(tc_source_sender),
+    }
+}

satrs-example/src/pus/stack.rs

@@ -0,0 +1,52 @@
+use satrs::pus::EcssTcInMemConverter;
+
+use super::{
+    action::Pus8Wrapper, event::Pus5Wrapper, hk::Pus3Wrapper, scheduler::Pus11Wrapper,
+    test::Service17CustomWrapper,
+};
+
+pub struct PusStack<TcInMemConverter: EcssTcInMemConverter> {
+    event_srv: Pus5Wrapper<TcInMemConverter>,
+    hk_srv: Pus3Wrapper<TcInMemConverter>,
+    action_srv: Pus8Wrapper<TcInMemConverter>,
+    schedule_srv: Pus11Wrapper<TcInMemConverter>,
+    test_srv: Service17CustomWrapper<TcInMemConverter>,
+}
+
+impl<TcInMemConverter: EcssTcInMemConverter> PusStack<TcInMemConverter> {
+    pub fn new(
+        hk_srv: Pus3Wrapper<TcInMemConverter>,
+        event_srv: Pus5Wrapper<TcInMemConverter>,
+        action_srv: Pus8Wrapper<TcInMemConverter>,
+        schedule_srv: Pus11Wrapper<TcInMemConverter>,
+        test_srv: Service17CustomWrapper<TcInMemConverter>,
+    ) -> Self {
+        Self {
+            event_srv,
+            action_srv,
+            schedule_srv,
+            test_srv,
+            hk_srv,
+        }
+    }
+
+    pub fn periodic_operation(&mut self) {
+        self.schedule_srv.release_tcs();
+        loop {
+            let mut all_queues_empty = true;
+            let mut is_srv_finished = |srv_handler_finished: bool| {
+                if !srv_handler_finished {
+                    all_queues_empty = false;
+                }
+            };
+            is_srv_finished(self.test_srv.handle_next_packet());
+            is_srv_finished(self.schedule_srv.handle_next_packet());
+            is_srv_finished(self.event_srv.handle_next_packet());
+            is_srv_finished(self.action_srv.handle_next_packet());
+            is_srv_finished(self.hk_srv.handle_next_packet());
+            if all_queues_empty {
+                break;
+            }
+        }
+    }
+}

satrs-example/src/pus/test.rs

@@ -1,24 +1,93 @@
 use log::{info, warn};
-use satrs_core::events::EventU32;
-use satrs_core::params::Params;
-use satrs_core::pus::test::PusService17TestHandler;
-use satrs_core::pus::verification::FailParams;
-use satrs_core::pus::{PusPacketHandlerResult, PusServiceHandler};
-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_example::{tmtc_err, TEST_EVENT};
-use std::sync::mpsc::Sender;
+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::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};
 
-pub struct Service17CustomWrapper {
-    pub pus17_handler: PusService17TestHandler,
+pub fn create_test_service_static(
+    shared_tm_store: SharedTmPool,
+    tm_funnel_tx: mpsc::Sender<StoreAddr>,
+    verif_reporter: VerificationReporterWithSender,
+    tc_pool: SharedStaticMemoryPool,
+    event_sender: mpsc::Sender<(EventU32, Option<Params>)>,
+    pus_test_rx: mpsc::Receiver<EcssTcAndToken>,
+) -> Service17CustomWrapper<EcssTcInSharedStoreConverter> {
+    let test_srv_tm_sender = MpscTmInSharedPoolSender::new(
+        TmSenderId::PusTest as ChannelId,
+        "PUS_17_TM_SENDER",
+        shared_tm_store.clone(),
+        tm_funnel_tx.clone(),
+    );
+    let test_srv_receiver = MpscTcReceiver::new(
+        TcReceiverId::PusTest as ChannelId,
+        "PUS_17_TC_RECV",
+        pus_test_rx,
+    );
+    let pus17_handler = PusService17TestHandler::new(PusServiceHelper::new(
+        Box::new(test_srv_receiver),
+        Box::new(test_srv_tm_sender),
+        PUS_APID,
+        verif_reporter.clone(),
+        EcssTcInSharedStoreConverter::new(tc_pool, 2048),
+    ));
+    Service17CustomWrapper {
+        pus17_handler,
+        test_srv_event_sender: event_sender,
+    }
+}
+
+pub fn create_test_service_dynamic(
+    tm_funnel_tx: mpsc::Sender<Vec<u8>>,
+    verif_reporter: VerificationReporterWithSender,
+    event_sender: mpsc::Sender<(EventU32, Option<Params>)>,
+    pus_test_rx: mpsc::Receiver<EcssTcAndToken>,
+) -> Service17CustomWrapper<EcssTcInVecConverter> {
+    let test_srv_tm_sender = MpscTmAsVecSender::new(
+        TmSenderId::PusTest as ChannelId,
+        "PUS_17_TM_SENDER",
+        tm_funnel_tx.clone(),
+    );
+    let test_srv_receiver = MpscTcReceiver::new(
+        TcReceiverId::PusTest as ChannelId,
+        "PUS_17_TC_RECV",
+        pus_test_rx,
+    );
+    let pus17_handler = PusService17TestHandler::new(PusServiceHelper::new(
+        Box::new(test_srv_receiver),
+        Box::new(test_srv_tm_sender),
+        PUS_APID,
+        verif_reporter.clone(),
+        EcssTcInVecConverter::default(),
+    ));
+    Service17CustomWrapper {
+        pus17_handler,
+        test_srv_event_sender: event_sender,
+    }
+}
+
+pub struct Service17CustomWrapper<TcInMemConverter: EcssTcInMemConverter> {
+    pub pus17_handler: PusService17TestHandler<TcInMemConverter, VerificationReporterWithSender>,
     pub test_srv_event_sender: Sender<(EventU32, Option<Params>)>,
 }
 
-impl Service17CustomWrapper {
+impl<TcInMemConverter: EcssTcInMemConverter> Service17CustomWrapper<TcInMemConverter> {
     pub fn handle_next_packet(&mut self) -> bool {
-        let res = self.pus17_handler.handle_next_packet();
+        let res = self.pus17_handler.handle_one_tc();
         if res.is_err() {
             warn!("PUS17 handler failed with error {:?}", res.unwrap_err());
             return true;
@@ -38,9 +107,13 @@ impl Service17CustomWrapper {
                 warn!("PUS17: Subservice {subservice} not implemented")
             }
             PusPacketHandlerResult::CustomSubservice(subservice, token) => {
-                let psb_mut = self.pus17_handler.psb_mut();
-                let buf = psb_mut.pus_buf;
-                let (tc, _) = PusTcReader::new(&buf).unwrap();
+                let (tc, _) = PusTcReader::new(
+                    self.pus17_handler
+                        .service_helper
+                        .tc_in_mem_converter
+                        .tc_slice_raw(),
+                )
+                .unwrap();
                 let time_stamper = TimeProvider::from_now_with_u16_days().unwrap();
                 let mut stamp_buf: [u8; 7] = [0; 7];
                 time_stamper.write_to_bytes(&mut stamp_buf).unwrap();
@@ -49,28 +122,31 @@ impl Service17CustomWrapper {
                     self.test_srv_event_sender
                         .send((TEST_EVENT.into(), None))
                         .expect("Sending test event failed");
-                    let start_token = psb_mut
+                    let start_token = self
+                        .pus17_handler
+                        .service_helper
+                        .common
                         .verification_handler
-                        .get_mut()
-                        .start_success(token, Some(&stamp_buf))
+                        .start_success(token, &stamp_buf)
                         .expect("Error sending start success");
-                    psb_mut
+                    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()];
                     self.pus17_handler
-                        .psb_mut()
+                        .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");

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 {}

satrs-example/src/requests.rs

@@ -1,14 +1,16 @@
-use satrs_core::hk::HkRequest;
-use satrs_core::mode::ModeRequest;
-use satrs_core::pus::verification::{TcStateAccepted, VerificationToken};
-use satrs_core::tmtc::TargetId;
+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)]
@@ -19,18 +21,12 @@ pub enum Request {
     Action(ActionRequest),
 }
 
-#[derive(Clone, Eq, PartialEq, Debug)]
+#[derive(Clone, Eq, PartialEq, Debug, new)]
 pub struct TargetedRequest {
     pub(crate) target_id: TargetId,
     pub(crate) request: Request,
 }
 
-impl TargetedRequest {
-    pub fn new(target_id: TargetId, request: Request) -> Self {
-        Self { target_id, request }
-    }
-}
-
 #[derive(Clone, Eq, PartialEq, Debug)]
 pub struct RequestWithToken {
     pub(crate) targeted_request: TargetedRequest,
@@ -39,7 +35,7 @@ pub struct RequestWithToken {
 
 impl RequestWithToken {
     pub fn new(
-        target_id: u32,
+        target_id: TargetId,
         request: Request,
         token: VerificationToken<TcStateAccepted>,
     ) -> Self {
@@ -49,3 +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(())
+    }
+}

satrs-example/src/tcp.rs

@@ -4,14 +4,12 @@ use std::{
 };
 
 use log::{info, warn};
-use satrs_core::{
+use satrs::{
     hal::std::tcp_server::{ServerConfig, TcpSpacepacketsServer},
     spacepackets::PacketId,
     tmtc::{CcsdsDistributor, CcsdsError, TmPacketSourceCore},
 };
-use satrs_example::PUS_APID;
-
-use crate::tmtc::MpscStoreAndSendError;
+use satrs_example::config::PUS_APID;
 
 pub const PACKET_ID_LOOKUP: &[PacketId] = &[PacketId::const_tc(true, PUS_APID)];
 
@@ -71,20 +69,20 @@ impl TmPacketSourceCore for SyncTcpTmSource {
     }
 }
 
-pub struct TcpTask {
+pub struct TcpTask<MpscErrorType: 'static> {
     server: TcpSpacepacketsServer<
         (),
-        CcsdsError<MpscStoreAndSendError>,
+        CcsdsError<MpscErrorType>,
         SyncTcpTmSource,
-        CcsdsDistributor<MpscStoreAndSendError>,
+        CcsdsDistributor<MpscErrorType>,
     >,
 }
 
-impl TcpTask {
+impl<MpscErrorType: 'static + core::fmt::Debug> TcpTask<MpscErrorType> {
     pub fn new(
         cfg: ServerConfig,
         tm_source: SyncTcpTmSource,
-        tc_receiver: CcsdsDistributor<MpscStoreAndSendError>,
+        tc_receiver: CcsdsDistributor<MpscErrorType>,
     ) -> Result<Self, std::io::Error> {
         Ok(Self {
             server: TcpSpacepacketsServer::new(

satrs-example/src/tm_funnel.rs

@@ -0,0 +1,156 @@
+use std::{
+    collections::HashMap,
+    sync::mpsc::{Receiver, Sender},
+};
+
+use log::info;
+use satrs::{
+    pool::{PoolProvider, StoreAddr},
+    seq_count::{CcsdsSimpleSeqCountProvider, SequenceCountProviderCore},
+    spacepackets::{
+        ecss::{tm::PusTmZeroCopyWriter, PusPacket},
+        time::cds::MIN_CDS_FIELD_LEN,
+        CcsdsPacket,
+    },
+    tmtc::tm_helper::SharedTmPool,
+};
+
+use crate::tcp::SyncTcpTmSource;
+
+#[derive(Default)]
+pub struct CcsdsSeqCounterMap {
+    apid_seq_counter_map: HashMap<u16, CcsdsSimpleSeqCountProvider>,
+}
+impl CcsdsSeqCounterMap {
+    pub fn get_and_increment(&mut self, apid: u16) -> u16 {
+        self.apid_seq_counter_map
+            .entry(apid)
+            .or_default()
+            .get_and_increment()
+    }
+}
+
+pub struct TmFunnelCommon {
+    seq_counter_map: CcsdsSeqCounterMap,
+    msg_counter_map: HashMap<u8, u16>,
+    sync_tm_tcp_source: SyncTcpTmSource,
+}
+
+impl TmFunnelCommon {
+    pub fn new(sync_tm_tcp_source: SyncTcpTmSource) -> Self {
+        Self {
+            seq_counter_map: Default::default(),
+            msg_counter_map: Default::default(),
+            sync_tm_tcp_source,
+        }
+    }
+
+    // Applies common packet processing operations for PUS TM packets. This includes setting
+    // a sequence counter
+    fn apply_packet_processing(&mut self, mut zero_copy_writer: PusTmZeroCopyWriter) {
+        // zero_copy_writer.set_apid(PUS_APID);
+        zero_copy_writer.set_seq_count(
+            self.seq_counter_map
+                .get_and_increment(zero_copy_writer.apid()),
+        );
+        let entry = self
+            .msg_counter_map
+            .entry(zero_copy_writer.service())
+            .or_insert(0);
+        zero_copy_writer.set_msg_count(*entry);
+        if *entry == u16::MAX {
+            *entry = 0;
+        } else {
+            *entry += 1;
+        }
+
+        Self::packet_printout(&zero_copy_writer);
+        // This operation has to come last!
+        zero_copy_writer.finish();
+    }
+
+    fn packet_printout(tm: &PusTmZeroCopyWriter) {
+        info!("Sending PUS TM[{},{}]", tm.service(), tm.subservice());
+    }
+}
+
+pub struct TmFunnelStatic {
+    common: TmFunnelCommon,
+    shared_tm_store: SharedTmPool,
+    tm_funnel_rx: Receiver<StoreAddr>,
+    tm_server_tx: Sender<StoreAddr>,
+}
+
+impl TmFunnelStatic {
+    pub fn new(
+        shared_tm_store: SharedTmPool,
+        sync_tm_tcp_source: SyncTcpTmSource,
+        tm_funnel_rx: Receiver<StoreAddr>,
+        tm_server_tx: Sender<StoreAddr>,
+    ) -> Self {
+        Self {
+            common: TmFunnelCommon::new(sync_tm_tcp_source),
+            shared_tm_store,
+            tm_funnel_rx,
+            tm_server_tx,
+        }
+    }
+
+    pub fn operation(&mut self) {
+        if let Ok(addr) = self.tm_funnel_rx.recv() {
+            // Read the TM, set sequence counter and message counter, and finally update
+            // the CRC.
+            let shared_pool = self.shared_tm_store.clone_backing_pool();
+            let mut pool_guard = shared_pool.write().expect("Locking TM pool failed");
+            let mut tm_copy = Vec::new();
+            pool_guard
+                .modify(&addr, |buf| {
+                    let zero_copy_writer = PusTmZeroCopyWriter::new(buf, MIN_CDS_FIELD_LEN)
+                        .expect("Creating TM zero copy writer failed");
+                    self.common.apply_packet_processing(zero_copy_writer);
+                    tm_copy = buf.to_vec()
+                })
+                .expect("Reading TM from pool failed");
+            self.tm_server_tx
+                .send(addr)
+                .expect("Sending TM to server failed");
+            // We could also do this step in the update closure, but I'd rather avoid this, could
+            // lead to nested locking.
+            self.common.sync_tm_tcp_source.add_tm(&tm_copy);
+        }
+    }
+}
+
+pub struct TmFunnelDynamic {
+    common: TmFunnelCommon,
+    tm_funnel_rx: Receiver<Vec<u8>>,
+    tm_server_tx: Sender<Vec<u8>>,
+}
+
+impl TmFunnelDynamic {
+    pub fn new(
+        sync_tm_tcp_source: SyncTcpTmSource,
+        tm_funnel_rx: Receiver<Vec<u8>>,
+        tm_server_tx: Sender<Vec<u8>>,
+    ) -> Self {
+        Self {
+            common: TmFunnelCommon::new(sync_tm_tcp_source),
+            tm_funnel_rx,
+            tm_server_tx,
+        }
+    }
+
+    pub fn operation(&mut self) {
+        if let Ok(mut tm) = self.tm_funnel_rx.recv() {
+            // Read the TM, set sequence counter and message counter, and finally update
+            // the CRC.
+            let zero_copy_writer = PusTmZeroCopyWriter::new(&mut tm, MIN_CDS_FIELD_LEN)
+                .expect("Creating TM zero copy writer failed");
+            self.common.apply_packet_processing(zero_copy_writer);
+            self.tm_server_tx
+                .send(tm.clone())
+                .expect("Sending TM to server failed");
+            self.common.sync_tm_tcp_source.add_tm(&tm);
+        }
+    }
+}

satrs-example/src/tmtc.rs

@@ -1,85 +1,68 @@
 use log::warn;
-use satrs_core::pus::ReceivesEcssPusTc;
-use satrs_core::spacepackets::SpHeader;
-use std::sync::mpsc::{Receiver, SendError, Sender, TryRecvError};
+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::{SharedPool, StoreAddr, StoreError};
-use satrs_core::pus::TcAddrWithToken;
-use satrs_core::spacepackets::ecss::tc::PusTcReader;
-use satrs_core::spacepackets::ecss::PusPacket;
-use satrs_core::tmtc::tm_helper::SharedTmStore;
-use satrs_core::tmtc::ReceivesCcsdsTc;
-
-pub struct TmArgs {
-    pub tm_store: SharedTmStore,
-    pub tm_sink_sender: Sender<StoreAddr>,
-    pub tm_udp_server_rx: Receiver<StoreAddr>,
-}
-
-pub struct TcArgs {
-    pub tc_source: PusTcSource,
-    pub tc_receiver: Receiver<StoreAddr>,
-}
-
-impl TcArgs {
-    #[allow(dead_code)]
-    fn split(self) -> (PusTcSource, Receiver<StoreAddr>) {
-        (self.tc_source, self.tc_receiver)
-    }
-}
+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 {
     #[error("Store error: {0}")]
     Store(#[from] StoreError),
     #[error("TC send error: {0}")]
-    TcSend(#[from] SendError<TcAddrWithToken>),
+    TcSend(#[from] SendError<EcssTcAndToken>),
     #[error("TMTC send error: {0}")]
     TmTcSend(#[from] SendError<StoreAddr>),
 }
 
 #[derive(Clone)]
-pub struct TcStore {
-    pub pool: SharedPool,
+pub struct SharedTcPool {
+    pub pool: SharedStaticMemoryPool,
 }
 
-impl TcStore {
+impl SharedTcPool {
     pub fn add_pus_tc(&mut self, pus_tc: &PusTcReader) -> Result<StoreAddr, StoreError> {
         let mut pg = self.pool.write().expect("error locking TC store");
-        let (addr, buf) = pg.free_element(pus_tc.len_packed())?;
-        buf[0..pus_tc.len_packed()].copy_from_slice(pus_tc.raw_data());
+        let addr = pg.free_element(pus_tc.len_packed(), |buf| {
+            buf[0..pus_tc.len_packed()].copy_from_slice(pus_tc.raw_data());
+        })?;
         Ok(addr)
     }
 }
 
-pub struct TmFunnel {
-    pub tm_funnel_rx: Receiver<StoreAddr>,
-    pub tm_server_tx: Sender<StoreAddr>,
-}
-
 #[derive(Clone)]
-pub struct PusTcSource {
+pub struct PusTcSourceProviderSharedPool {
     pub tc_source: Sender<StoreAddr>,
-    pub tc_store: TcStore,
+    pub shared_pool: SharedTcPool,
 }
 
-impl ReceivesEcssPusTc for PusTcSource {
+impl PusTcSourceProviderSharedPool {
+    #[allow(dead_code)]
+    pub fn clone_backing_pool(&self) -> SharedStaticMemoryPool {
+        self.shared_pool.pool.clone()
+    }
+}
+
+impl ReceivesEcssPusTc for PusTcSourceProviderSharedPool {
     type Error = MpscStoreAndSendError;
 
     fn pass_pus_tc(&mut self, _: &SpHeader, pus_tc: &PusTcReader) -> Result<(), Self::Error> {
-        let addr = self.tc_store.add_pus_tc(pus_tc)?;
+        let addr = self.shared_pool.add_pus_tc(pus_tc)?;
         self.tc_source.send(addr)?;
         Ok(())
     }
 }
 
-impl ReceivesCcsdsTc for PusTcSource {
+impl ReceivesCcsdsTc for PusTcSourceProviderSharedPool {
     type Error = MpscStoreAndSendError;
 
     fn pass_ccsds(&mut self, _: &SpHeader, tc_raw: &[u8]) -> Result<(), Self::Error> {
-        let mut pool = self.tc_store.pool.write().expect("locking pool failed");
+        let mut pool = self.shared_pool.pool.write().expect("locking pool failed");
         let addr = pool.add(tc_raw)?;
         drop(pool);
         self.tc_source.send(addr)?;
@@ -87,43 +70,73 @@ impl ReceivesCcsdsTc for PusTcSource {
     }
 }
 
-pub struct TmtcTask {
-    tc_args: TcArgs,
+// Newtype, can not implement necessary traits on MPSC sender directly because of orphan rules.
+#[derive(Clone)]
+pub struct PusTcSourceProviderDynamic(pub Sender<Vec<u8>>);
+
+impl ReceivesEcssPusTc for PusTcSourceProviderDynamic {
+    type Error = SendError<Vec<u8>>;
+
+    fn pass_pus_tc(&mut self, _: &SpHeader, pus_tc: &PusTcReader) -> Result<(), Self::Error> {
+        self.0.send(pus_tc.raw_data().to_vec())?;
+        Ok(())
+    }
+}
+
+impl ReceivesCcsdsTc for PusTcSourceProviderDynamic {
+    type Error = mpsc::SendError<Vec<u8>>;
+
+    fn pass_ccsds(&mut self, _: &SpHeader, tc_raw: &[u8]) -> Result<(), Self::Error> {
+        self.0.send(tc_raw.to_vec())?;
+        Ok(())
+    }
+}
+
+// TC source components where static pools are the backing memory of the received telecommands.
+pub struct TcSourceTaskStatic {
+    shared_tc_pool: SharedTcPool,
+    tc_receiver: Receiver<StoreAddr>,
     tc_buf: [u8; 4096],
     pus_receiver: PusReceiver,
 }
 
-impl TmtcTask {
-    pub fn new(tc_args: TcArgs, pus_receiver: PusReceiver) -> Self {
+impl TcSourceTaskStatic {
+    pub fn new(
+        shared_tc_pool: SharedTcPool,
+        tc_receiver: Receiver<StoreAddr>,
+        pus_receiver: PusReceiver,
+    ) -> Self {
         Self {
-            tc_args,
+            shared_tc_pool,
+            tc_receiver,
             tc_buf: [0; 4096],
             pus_receiver,
         }
     }
 
     pub fn periodic_operation(&mut self) {
-        //while self.poll_tc() {}
         self.poll_tc();
     }
 
     pub fn poll_tc(&mut self) -> bool {
-        match self.tc_args.tc_receiver.try_recv() {
+        match self.tc_receiver.try_recv() {
             Ok(addr) => {
                 let pool = self
-                    .tc_args
-                    .tc_source
-                    .tc_store
+                    .shared_tc_pool
                     .pool
                     .read()
                     .expect("locking tc pool failed");
-                let data = pool.read(&addr).expect("reading pool failed");
-                self.tc_buf[0..data.len()].copy_from_slice(data);
+                pool.read(&addr, &mut self.tc_buf)
+                    .expect("reading pool failed");
                 drop(pool);
                 match PusTcReader::new(&self.tc_buf) {
                     Ok((pus_tc, _)) => {
                         self.pus_receiver
-                            .handle_tc_packet(addr, pus_tc.service(), &pus_tc)
+                            .handle_tc_packet(
+                                satrs::pus::TcInMemory::StoreAddr(addr),
+                                pus_tc.service(),
+                                &pus_tc,
+                            )
                             .ok();
                         true
                     }
@@ -144,3 +157,51 @@ impl TmtcTask {
         }
     }
 }
+
+// TC source components where the heap is the backing memory of the received telecommands.
+pub struct TcSourceTaskDynamic {
+    pub tc_receiver: Receiver<Vec<u8>>,
+    pus_receiver: PusReceiver,
+}
+
+impl TcSourceTaskDynamic {
+    pub fn new(tc_receiver: Receiver<Vec<u8>>, pus_receiver: PusReceiver) -> Self {
+        Self {
+            tc_receiver,
+            pus_receiver,
+        }
+    }
+
+    pub fn periodic_operation(&mut self) {
+        self.poll_tc();
+    }
+
+    pub fn poll_tc(&mut self) -> bool {
+        match self.tc_receiver.try_recv() {
+            Ok(tc) => match PusTcReader::new(&tc) {
+                Ok((pus_tc, _)) => {
+                    self.pus_receiver
+                        .handle_tc_packet(
+                            satrs::pus::TcInMemory::Vec(tc.clone()),
+                            pus_tc.service(),
+                            &pus_tc,
+                        )
+                        .ok();
+                    true
+                }
+                Err(e) => {
+                    warn!("error creating PUS TC from raw data: {e}");
+                    warn!("raw data: {:x?}", tc);
+                    true
+                }
+            },
+            Err(e) => match e {
+                TryRecvError::Empty => false,
+                TryRecvError::Disconnected => {
+                    warn!("tmtc thread: sender disconnected");
+                    false
+                }
+            },
+        }
+    }
+}

satrs-example/src/udp.rs

@@ -1,24 +1,83 @@
-use std::{net::SocketAddr, sync::mpsc::Receiver};
+use std::{
+    net::{SocketAddr, UdpSocket},
+    sync::mpsc::Receiver,
+};
 
 use log::{info, warn};
-use satrs_core::{
+use satrs::{
     hal::std::udp_server::{ReceiveResult, UdpTcServer},
-    pool::{SharedPool, StoreAddr},
+    pool::{PoolProviderWithGuards, SharedStaticMemoryPool, StoreAddr},
     tmtc::CcsdsError,
 };
 
-use crate::tmtc::MpscStoreAndSendError;
-
-pub struct UdpTmtcServer {
-    pub udp_tc_server: UdpTcServer<CcsdsError<MpscStoreAndSendError>>,
-    pub tm_rx: Receiver<StoreAddr>,
-    pub tm_store: SharedPool,
+pub trait UdpTmHandler {
+    fn send_tm_to_udp_client(&mut self, socket: &UdpSocket, recv_addr: &SocketAddr);
 }
-impl UdpTmtcServer {
+
+pub struct StaticUdpTmHandler {
+    pub tm_rx: Receiver<StoreAddr>,
+    pub tm_store: SharedStaticMemoryPool,
+}
+
+impl UdpTmHandler for StaticUdpTmHandler {
+    fn send_tm_to_udp_client(&mut self, socket: &UdpSocket, &recv_addr: &SocketAddr) {
+        while let Ok(addr) = self.tm_rx.try_recv() {
+            let store_lock = self.tm_store.write();
+            if store_lock.is_err() {
+                warn!("Locking TM store failed");
+                continue;
+            }
+            let mut store_lock = store_lock.unwrap();
+            let pg = store_lock.read_with_guard(addr);
+            let read_res = pg.read_as_vec();
+            if read_res.is_err() {
+                warn!("Error reading TM pool data");
+                continue;
+            }
+            let buf = read_res.unwrap();
+            let result = socket.send_to(&buf, recv_addr);
+            if let Err(e) = result {
+                warn!("Sending TM with UDP socket failed: {e}")
+            }
+        }
+    }
+}
+
+pub struct DynamicUdpTmHandler {
+    pub tm_rx: Receiver<Vec<u8>>,
+}
+
+impl UdpTmHandler for DynamicUdpTmHandler {
+    fn send_tm_to_udp_client(&mut self, socket: &UdpSocket, recv_addr: &SocketAddr) {
+        while let Ok(tm) = self.tm_rx.try_recv() {
+            if tm.len() > 9 {
+                let service = tm[7];
+                let subservice = tm[8];
+                info!("Sending PUS TM[{service},{subservice}]")
+            } else {
+                info!("Sending PUS TM");
+            }
+            let result = socket.send_to(&tm, recv_addr);
+            if let Err(e) = result {
+                warn!("Sending TM with UDP socket failed: {e}")
+            }
+        }
+    }
+}
+
+pub struct UdpTmtcServer<TmHandler: UdpTmHandler, SendError> {
+    pub udp_tc_server: UdpTcServer<CcsdsError<SendError>>,
+    pub tm_handler: TmHandler,
+}
+
+impl<TmHandler: UdpTmHandler, SendError: core::fmt::Debug + 'static>
+    UdpTmtcServer<TmHandler, SendError>
+{
     pub fn periodic_operation(&mut self) {
         while self.poll_tc_server() {}
         if let Some(recv_addr) = self.udp_tc_server.last_sender() {
-            self.send_tm_to_udp_client(&recv_addr);
+            self.tm_handler
+                .send_tm_to_udp_client(&self.udp_tc_server.socket, &recv_addr);
         }
     }
 
@@ -32,7 +91,7 @@ impl UdpTmtcServer {
                         true
                     }
                     CcsdsError::CustomError(e) => {
-                        warn!("mpsc store and send error {e:?}");
+                        warn!("mpsc custom error {e:?}");
                         true
                     }
                 },
@@ -44,33 +103,113 @@ impl UdpTmtcServer {
             },
         }
     }
+}
 
-    fn send_tm_to_udp_client(&mut self, recv_addr: &SocketAddr) {
-        while let Ok(addr) = self.tm_rx.try_recv() {
-            let store_lock = self.tm_store.write();
-            if store_lock.is_err() {
-                warn!("Locking TM store failed");
-                continue;
-            }
-            let mut store_lock = store_lock.unwrap();
-            let pg = store_lock.read_with_guard(addr);
-            let read_res = pg.read();
-            if read_res.is_err() {
-                warn!("Error reading TM pool data");
-                continue;
-            }
-            let buf = read_res.unwrap();
-            if buf.len() > 9 {
-                let service = buf[7];
-                let subservice = buf[8];
-                info!("Sending PUS TM[{service},{subservice}]")
-            } else {
-                info!("Sending PUS TM");
-            }
-            let result = self.udp_tc_server.socket.send_to(buf, recv_addr);
-            if let Err(e) = result {
-                warn!("Sending TM with UDP socket failed: {e}")
-            }
+#[cfg(test)]
+mod tests {
+    use std::{
+        collections::VecDeque,
+        net::IpAddr,
+        sync::{Arc, Mutex},
+    };
+
+    use satrs::{
+        spacepackets::{
+            ecss::{tc::PusTcCreator, WritablePusPacket},
+            SpHeader,
+        },
+        tmtc::ReceivesTcCore,
+    };
+    use satrs_example::config::{OBSW_SERVER_ADDR, PUS_APID};
+
+    use super::*;
+
+    #[derive(Default, Debug, Clone)]
+    pub struct TestReceiver {
+        tc_vec: Arc<Mutex<VecDeque<Vec<u8>>>>,
+    }
+
+    impl ReceivesTcCore for TestReceiver {
+        type Error = CcsdsError<()>;
+        fn pass_tc(&mut self, tc_raw: &[u8]) -> Result<(), Self::Error> {
+            self.tc_vec.lock().unwrap().push_back(tc_raw.to_vec());
+            Ok(())
+        }
+    }
+
+    #[derive(Default, Debug, Clone)]
+    pub struct TestTmHandler {
+        addrs_to_send_to: Arc<Mutex<VecDeque<SocketAddr>>>,
+    }
+
+    impl UdpTmHandler for TestTmHandler {
+        fn send_tm_to_udp_client(&mut self, _socket: &UdpSocket, recv_addr: &SocketAddr) {
+            self.addrs_to_send_to.lock().unwrap().push_back(*recv_addr);
+        }
+    }
+
+    #[test]
+    fn test_basic() {
+        let sock_addr = SocketAddr::new(IpAddr::V4(OBSW_SERVER_ADDR), 0);
+        let test_receiver = TestReceiver::default();
+        let tc_queue = test_receiver.tc_vec.clone();
+        let udp_tc_server = UdpTcServer::new(sock_addr, 2048, Box::new(test_receiver)).unwrap();
+        let tm_handler = TestTmHandler::default();
+        let tm_handler_calls = tm_handler.addrs_to_send_to.clone();
+        let mut udp_dyn_server = UdpTmtcServer {
+            udp_tc_server,
+            tm_handler,
+        };
+        udp_dyn_server.periodic_operation();
+        assert!(tc_queue.lock().unwrap().is_empty());
+        assert!(tm_handler_calls.lock().unwrap().is_empty());
+    }
+
+    #[test]
+    fn test_transactions() {
+        let sock_addr = SocketAddr::new(IpAddr::V4(OBSW_SERVER_ADDR), 0);
+        let test_receiver = TestReceiver::default();
+        let tc_queue = test_receiver.tc_vec.clone();
+        let udp_tc_server = UdpTcServer::new(sock_addr, 2048, Box::new(test_receiver)).unwrap();
+        let server_addr = udp_tc_server.socket.local_addr().unwrap();
+        let tm_handler = TestTmHandler::default();
+        let tm_handler_calls = tm_handler.addrs_to_send_to.clone();
+        let mut udp_dyn_server = UdpTmtcServer {
+            udp_tc_server,
+            tm_handler,
+        };
+        let mut sph = SpHeader::tc_unseg(PUS_APID, 0, 0).unwrap();
+        let ping_tc = PusTcCreator::new_simple(&mut sph, 17, 1, None, true)
+            .to_vec()
+            .unwrap();
+        let client = UdpSocket::bind("127.0.0.1:0").expect("Connecting to UDP server failed");
+        let client_addr = client.local_addr().unwrap();
+        client.connect(server_addr).unwrap();
+        client.send(&ping_tc).unwrap();
+        udp_dyn_server.periodic_operation();
+        {
+            let mut tc_queue = tc_queue.lock().unwrap();
+            assert!(!tc_queue.is_empty());
+            let received_tc = tc_queue.pop_front().unwrap();
+            assert_eq!(received_tc, ping_tc);
+        }
+
+        {
+            let mut tm_handler_calls = tm_handler_calls.lock().unwrap();
+            assert!(!tm_handler_calls.is_empty());
+            assert_eq!(tm_handler_calls.len(), 1);
+            let received_addr = tm_handler_calls.pop_front().unwrap();
+            assert_eq!(received_addr, client_addr);
+        }
+        udp_dyn_server.periodic_operation();
+        assert!(tc_queue.lock().unwrap().is_empty());
+        // Still tries to send to the same client.
+        {
+            let mut tm_handler_calls = tm_handler_calls.lock().unwrap();
+            assert!(!tm_handler_calls.is_empty());
+            assert_eq!(tm_handler_calls.len(), 1);
+            let received_addr = tm_handler_calls.pop_front().unwrap();
+            assert_eq!(received_addr, client_addr);
         }
     }
 }

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.

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"]
@@ -22,15 +22,13 @@ serde-hex = "0.1.0"
 version = "1"
 optional = true
 
-[dependencies.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"

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).

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"
@@ -19,18 +19,14 @@ path = "tests/tests.rs"
 quote = "1"
 proc-macro2 = "1"
 
-[dependencies.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 = ".."

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,

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() {}

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() {}

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;
 

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>`.

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");

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.

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"]

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).

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;

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);
+    }
+}

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.