Major refactoring and update of PUS module

satrs-example/src/acs/mgm.rs

@@ -9,7 +9,9 @@ use satrs_example::TimeStampHelper;
 use std::sync::mpsc::{self};
 use std::sync::{Arc, Mutex};
 
-use satrs::mode::{ModeAndSubmode, ModeProvider, ModeReply, ModeRequest, ModeRequestHandler};
+use satrs::mode::{
+    ModeAndSubmode, ModeError, ModeProvider, ModeReply, ModeRequest, ModeRequestHandler,
+};
 use satrs::pus::{EcssTmSenderCore, PusTmVariant};
 use satrs::request::{GenericMessage, MessageMetadata, UniqueApidTargetId};
 use satrs_example::config::components::PUS_MODE_SERVICE;
@@ -42,17 +44,22 @@ pub struct MgmData {
     pub z: f32,
 }
 
+pub struct MpscModeLeafInterface {
+    pub request_rx: mpsc::Receiver<GenericMessage<ModeRequest>>,
+    pub reply_tx_to_pus: mpsc::Sender<GenericMessage<ModeReply>>,
+    pub reply_tx_to_parent: mpsc::Sender<GenericMessage<ModeReply>>,
+}
+
 #[derive(new)]
+#[allow(clippy::too_many_arguments)]
 pub struct MgmHandler<ComInterface: SpiInterface, TmSender: EcssTmSenderCore> {
     id: UniqueApidTargetId,
     dev_str: &'static str,
-    mode_request_receiver: mpsc::Receiver<GenericMessage<ModeRequest>>,
+    mode_interface: MpscModeLeafInterface,
     composite_request_receiver: mpsc::Receiver<GenericMessage<CompositeRequest>>,
-    mode_reply_sender_to_pus: mpsc::Sender<GenericMessage<ModeReply>>,
-    mode_reply_sender_to_parent: mpsc::Sender<GenericMessage<ModeReply>>,
     hk_reply_sender: mpsc::Sender<GenericMessage<HkReply>>,
-    hk_tm_sender: TmSender,
-    spi_interface: ComInterface,
+    tm_sender: TmSender,
+    com_interface: ComInterface,
     shared_mgm_set: Arc<Mutex<MgmData>>,
     #[new(value = "ModeAndSubmode::new(satrs_example::DeviceMode::Off as u32, 0)")]
     mode: ModeAndSubmode,
@@ -92,7 +99,7 @@ impl<ComInterface: SpiInterface, TmSender: EcssTmSenderCore> MgmHandler<ComInter
                             &mgm_data_serialized,
                             true,
                         );
-                        self.hk_tm_sender
+                        self.tm_sender
                             .send_tm(self.id.id(), PusTmVariant::Direct(hk_tm))
                             .expect("failed to send HK TM");
                     }
@@ -100,20 +107,24 @@ impl<ComInterface: SpiInterface, TmSender: EcssTmSenderCore> MgmHandler<ComInter
                     HkRequestVariant::DisablePeriodic => todo!(),
                     HkRequestVariant::ModifyCollectionInterval(_) => todo!(),
                 },
-                // This object does not have actions (yet).. Still send back completion failure
+                // TODO: This object does not have actions (yet).. Still send back completion failure
                 // reply.
-                CompositeRequest::Action(action_req) => {}
+                CompositeRequest::Action(_action_req) => {}
             },
             Err(_) => todo!(),
         }
-        match self.mode_request_receiver.try_recv() {
-            Ok(msg) => match msg.message {
-                ModeRequest::SetMode(_) => todo!(),
-                ModeRequest::ReadMode => todo!(),
-                ModeRequest::AnnounceMode => todo!(),
-                ModeRequest::AnnounceModeRecursive => todo!(),
-                ModeRequest::ModeInfo(_) => todo!(),
-            },
+        match self.mode_interface.request_rx.try_recv() {
+            Ok(msg) => {
+                let result = self.handle_mode_request(msg);
+                // TODO: Trigger event?
+                if result.is_err() {
+                    log::warn!(
+                        "{}: mode request failed with error {:?}",
+                        self.dev_str,
+                        result.err().unwrap()
+                    );
+                }
+            }
             Err(_) => todo!(),
         }
     }
@@ -130,6 +141,7 @@ impl<ComInterface: SpiInterface, TmSender: EcssTmSenderCore> ModeProvider
 impl<ComInterface: SpiInterface, TmSender: EcssTmSenderCore> ModeRequestHandler
     for MgmHandler<ComInterface, TmSender>
 {
+    type Error = ModeError;
     fn start_transition(
         &mut self,
         requestor: MessageMetadata,
@@ -147,7 +159,7 @@ impl<ComInterface: SpiInterface, TmSender: EcssTmSenderCore> ModeRequestHandler
     fn handle_mode_reached(
         &mut self,
         requestor: Option<MessageMetadata>,
-    ) -> Result<(), satrs::queue::GenericTargetedMessagingError> {
+    ) -> Result<(), Self::Error> {
         if let Some(requestor) = requestor {
             if requestor.sender_id() == PUS_MODE_SERVICE.raw() {
                 // self.mode_reply_sender_to_pus.send(
@@ -162,7 +174,15 @@ impl<ComInterface: SpiInterface, TmSender: EcssTmSenderCore> ModeRequestHandler
         &self,
         _requestor: MessageMetadata,
         _reply: ModeReply,
-    ) -> Result<(), satrs::queue::GenericTargetedMessagingError> {
+    ) -> Result<(), Self::Error> {
+        Ok(())
+    }
+
+    fn handle_mode_info(
+        &mut self,
+        _requestor_info: MessageMetadata,
+        _info: ModeAndSubmode,
+    ) -> Result<(), Self::Error> {
         Ok(())
     }
 }

satrs-example/src/events.rs

@@ -115,7 +115,7 @@ impl<TmSender: EcssTmSenderCore> PusEventHandler<TmSender> {
         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(&mut self.tm_sender, &self.timestamp, event, None)
+                .generate_pus_event_tm_generic(&self.tm_sender, &self.timestamp, event, None)
                 .expect("Sending TM as event failed");
         }
     }

satrs-example/src/main.rs

@@ -27,7 +27,7 @@ use satrs_example::config::{OBSW_SERVER_ADDR, SERVER_PORT};
 use tmtc::PusTcSourceProviderDynamic;
 use udp::DynamicUdpTmHandler;
 
-use crate::acs::mgm::{MgmHandler, SpiDummyInterface};
+use crate::acs::mgm::{MgmHandler, MpscModeLeafInterface, SpiDummyInterface};
 use crate::ccsds::CcsdsReceiver;
 use crate::logger::setup_logger;
 use crate::pus::action::{create_action_service_dynamic, create_action_service_static};
@@ -206,13 +206,16 @@ fn static_tmtc_pool_main() {
 
     let dummy_spi_interface = SpiDummyInterface::default();
     let shared_mgm_set = Arc::default();
+    let mode_leaf_interface = MpscModeLeafInterface {
+        request_rx: mgm_handler_mode_rx,
+        reply_tx_to_pus: pus_mode_reply_tx,
+        reply_tx_to_parent: mgm_handler_mode_reply_to_parent_tx,
+    };
     let mut mgm_handler = MgmHandler::new(
         MGM_HANDLER_0,
         "MGM_0",
-        mgm_handler_mode_rx,
+        mode_leaf_interface,
         mgm_handler_composite_rx,
-        pus_mode_reply_tx,
-        mgm_handler_mode_reply_to_parent_tx,
         pus_hk_reply_tx,
         tm_funnel_tx,
         dummy_spi_interface,
@@ -421,13 +424,16 @@ fn dyn_tmtc_pool_main() {
         mpsc::channel();
     let dummy_spi_interface = SpiDummyInterface::default();
     let shared_mgm_set = Arc::default();
+    let mode_leaf_interface = MpscModeLeafInterface {
+        request_rx: mgm_handler_mode_rx,
+        reply_tx_to_pus: pus_mode_reply_tx,
+        reply_tx_to_parent: mgm_handler_mode_reply_to_parent_tx,
+    };
     let mut mgm_handler = MgmHandler::new(
         MGM_HANDLER_0,
         "MGM_0",
-        mgm_handler_mode_rx,
+        mode_leaf_interface,
         mgm_handler_composite_rx,
-        pus_mode_reply_tx,
-        mgm_handler_mode_reply_to_parent_tx,
         pus_hk_reply_tx,
         tm_funnel_tx,
         dummy_spi_interface,

satrs-example/src/pus/action.rs

@@ -324,6 +324,7 @@ impl<TmSender: EcssTmSenderCore, TcInMemConverter: EcssTcInMemConverter> Targete
 #[cfg(test)]
 mod tests {
     use satrs::pus::test_util::{TEST_APID, TEST_COMPONENT_ID, TEST_UNIQUE_ID};
+    use satrs::pus::verification;
     use satrs::pus::verification::test_util::TestVerificationReporter;
     use satrs::request::MessageMetadata;
     use satrs::{
@@ -334,7 +335,7 @@ mod tests {
                 tm::PusTmReader,
                 WritablePusPacket,
             },
-            CcsdsPacket, SpHeader,
+            SpHeader,
         },
     };
 
@@ -365,7 +366,7 @@ mod tests {
             let mut generic_req_router = GenericRequestRouter::default();
             generic_req_router
                 .composite_router_map
-                .insert(TEST_APID.into(), action_req_tx);
+                .insert(TEST_COMPONENT_ID.id(), action_req_tx);
             Self {
                 service: PusTargetedRequestService::new(
                     PusServiceHelper::new(
@@ -381,6 +382,7 @@ mod tests {
                     generic_req_router,
                     action_reply_rx,
                 ),
+                request_id: None,
                 pus_packet_tx: pus_action_tx,
                 tm_funnel_rx,
                 reply_tx: action_reply_tx,
@@ -388,12 +390,26 @@ mod tests {
             }
         }
 
-        pub fn verify_packet_verification(&self, subservice: u8) {
-            let next_tm = self.tm_funnel_rx.try_recv().unwrap();
-            let verif_tm = PusTmReader::new(&next_tm.packet, 7).unwrap().0;
-            assert_eq!(verif_tm.apid(), TEST_APID);
-            assert_eq!(verif_tm.service(), 1);
-            assert_eq!(verif_tm.subservice(), subservice);
+        pub fn verify_packet_started(&self) {
+            self.service
+                .service_helper
+                .common
+                .verif_reporter
+                .check_next_is_started_success(
+                    self.service.service_helper.id(),
+                    self.request_id.expect("request ID not set").into(),
+                );
+        }
+
+        pub fn verify_packet_completed(&self) {
+            self.service
+                .service_helper
+                .common
+                .verif_reporter
+                .check_next_is_completion_success(
+                    self.service.service_helper.id(),
+                    self.request_id.expect("request ID not set").into(),
+                );
         }
 
         pub fn verify_tm_empty(&self) {
@@ -408,7 +424,9 @@ mod tests {
 
         pub fn verify_next_tc_is_handled_properly(&mut self, time_stamp: &[u8]) {
             let result = self.service.poll_and_handle_next_tc(time_stamp);
-            assert!(result.is_ok());
+            if let Err(e) = result {
+                panic!("unexpected error {:?}", e);
+            }
             let result = result.unwrap();
             match result {
                 PusPacketHandlerResult::RequestHandled => (),
@@ -418,7 +436,9 @@ mod tests {
 
         pub fn verify_all_tcs_handled(&mut self, time_stamp: &[u8]) {
             let result = self.service.poll_and_handle_next_tc(time_stamp);
-            assert!(result.is_ok());
+            if let Err(e) = result {
+                panic!("unexpected error {:?}", e);
+            }
             let result = result.unwrap();
             match result {
                 PusPacketHandlerResult::Empty => (),
@@ -439,6 +459,7 @@ mod tests {
         }
 
         pub fn add_tc(&mut self, tc: &PusTcCreator) {
+            self.request_id = Some(verification::RequestId::new(tc).into());
             let token = self.service.service_helper.verif_reporter_mut().add_tc(tc);
             let accepted_token = self
                 .service
@@ -451,16 +472,15 @@ mod tests {
                     &[0; 7],
                 )
                 .expect("TC acceptance failed");
-            let next_tm = self.tm_funnel_rx.try_recv().unwrap();
-            let verif_tm = PusTmReader::new(&next_tm.packet, 7).unwrap().0;
-            assert_eq!(verif_tm.apid(), TEST_APID);
-            assert_eq!(verif_tm.service(), 1);
-            assert_eq!(verif_tm.subservice(), 1);
-            if let Err(mpsc::TryRecvError::Empty) = self.tm_funnel_rx.try_recv() {
-            } else {
-                let unexpected_tm = PusTmReader::new(&next_tm.packet, 7).unwrap().0;
-                panic!("unexpected TM packet {unexpected_tm:?}");
-            }
+            self.service
+                .service_helper
+                .verif_reporter()
+                .check_next_was_added(accepted_token.request_id());
+            let id = self.service.service_helper.id();
+            self.service
+                .service_helper
+                .verif_reporter()
+                .check_next_is_acceptance_success(id, accepted_token.request_id());
             self.pus_packet_tx
                 .send(EcssTcAndToken::new(tc.to_vec().unwrap(), accepted_token))
                 .unwrap();
@@ -483,7 +503,7 @@ mod tests {
         testbench.verify_next_tc_is_handled_properly(&time_stamp);
         testbench.verify_all_tcs_handled(&time_stamp);
 
-        testbench.verify_packet_verification(3);
+        testbench.verify_packet_started();
 
         let possible_req = testbench.request_rx.try_recv();
         assert!(possible_req.is_ok());
@@ -502,7 +522,7 @@ mod tests {
         testbench.verify_next_reply_is_handled_properly(&time_stamp);
         testbench.verify_all_replies_handled(&time_stamp);
 
-        testbench.verify_packet_verification(7);
+        testbench.verify_packet_completed();
         testbench.verify_tm_empty();
     }
 
@@ -597,7 +617,7 @@ mod tests {
         assert!(result.is_ok());
         assert!(result.unwrap());
         testbench.verif_reporter.assert_full_completion_success(
-            TEST_COMPONENT_ID.raw(),
+            TEST_COMPONENT_ID.id(),
             req_id,
             None,
         );
@@ -678,13 +698,15 @@ mod tests {
         testbench.verif_reporter.check_next_was_added(req_id);
         testbench
             .verif_reporter
-            .check_next_is_acceptance_success(TEST_COMPONENT_ID.raw(), req_id);
+            .check_next_is_acceptance_success(TEST_COMPONENT_ID.id(), req_id);
         testbench
             .verif_reporter
-            .check_next_is_started_success(TEST_COMPONENT_ID.raw(), req_id);
-        testbench
-            .verif_reporter
-            .check_next_is_step_success(TEST_COMPONENT_ID.raw(), req_id, 1);
+            .check_next_is_started_success(TEST_COMPONENT_ID.id(), req_id);
+        testbench.verif_reporter.check_next_is_step_failure(
+            TEST_COMPONENT_ID.id(),
+            req_id,
+            error_code.raw().into(),
+        );
     }
 
     #[test]

satrs-example/src/pus/mod.rs

@@ -464,6 +464,7 @@ pub(crate) mod tests {
 
     use satrs::pus::test_util::TEST_COMPONENT_ID;
     use satrs::pus::{MpscTmAsVecSender, PusTmAsVec, PusTmVariant};
+    use satrs::request::RequestId;
     use satrs::{
         pus::{
             verification::test_util::TestVerificationReporter, ActivePusRequestStd,
@@ -701,6 +702,7 @@ pub(crate) mod tests {
             RequestType,
             ReplyType,
         >,
+        pub request_id: Option<RequestId>,
         pub tm_funnel_rx: mpsc::Receiver<PusTmAsVec>,
         pub pus_packet_tx: mpsc::Sender<EcssTcAndToken>,
         pub reply_tx: mpsc::Sender<GenericMessage<ReplyType>>,

satrs/src/mode.rs

@@ -166,10 +166,6 @@ impl<R: MessageReceiver<ModeRequest>> ModeRequestReceiver
     }
 }
 
-pub trait ModeProvider {
-    fn mode_and_submode(&self) -> ModeAndSubmode;
-}
-
 #[derive(Debug, Clone)]
 pub enum ModeError {
     Messaging(GenericTargetedMessagingError),
@@ -181,23 +177,61 @@ impl From<GenericTargetedMessagingError> for ModeError {
     }
 }
 
+pub trait ModeProvider {
+    fn mode_and_submode(&self) -> ModeAndSubmode;
+}
+
 pub trait ModeRequestHandler: ModeProvider {
+    type Error;
+
     fn start_transition(
         &mut self,
         requestor: MessageMetadata,
         mode_and_submode: ModeAndSubmode,
-    ) -> Result<(), ModeError>;
+    ) -> Result<(), Self::Error>;
 
     fn announce_mode(&self, requestor_info: MessageMetadata, recursive: bool);
+
     fn handle_mode_reached(
         &mut self,
         requestor_info: Option<MessageMetadata>,
-    ) -> Result<(), GenericTargetedMessagingError>;
+    ) -> Result<(), Self::Error>;
+
+    fn handle_mode_info(
+        &mut self,
+        requestor_info: MessageMetadata,
+        info: ModeAndSubmode,
+    ) -> Result<(), Self::Error>;
+
     fn send_mode_reply(
         &self,
         requestor_info: MessageMetadata,
         reply: ModeReply,
-    ) -> Result<(), GenericTargetedMessagingError>;
+    ) -> Result<(), Self::Error>;
+
+    fn handle_mode_request(
+        &mut self,
+        request: GenericMessage<ModeRequest>,
+    ) -> Result<(), Self::Error> {
+        match request.message {
+            ModeRequest::SetMode(mode_and_submode) => {
+                self.start_transition(request.requestor_info, mode_and_submode)
+            }
+            ModeRequest::ReadMode => self.send_mode_reply(
+                request.requestor_info,
+                ModeReply::ModeReply(self.mode_and_submode()),
+            ),
+            ModeRequest::AnnounceMode => {
+                self.announce_mode(request.requestor_info, false);
+                Ok(())
+            }
+            ModeRequest::AnnounceModeRecursive => {
+                self.announce_mode(request.requestor_info, true);
+                Ok(())
+            }
+            ModeRequest::ModeInfo(info) => self.handle_mode_info(request.requestor_info, info),
+        }
+    }
 }
 
 pub trait ModeReplyReceiver {
@@ -255,23 +289,6 @@ pub mod alloc_mod {
         }
     }
 
-    /*
-    impl<S: MessageSender<ModeReply>> ModeReplySender for MessageSenderMapWithId<ModeReply, S> {
-        fn send_mode_reply(
-            &self,
-            request_id: RequestId,
-            target_channel_id: ComponentId,
-            reply: ModeReply,
-        ) -> Result<(), GenericTargetedMessagingError> {
-            self.send_message(request_id, target_channel_id, reply)
-        }
-
-        fn local_channel_id(&self) -> ComponentId {
-            self.local_channel_id
-        }
-    }
-    */
-
     impl<FROM, S: MessageSender<ModeReply>, R: MessageReceiver<FROM>> ModeReplySender
         for MessageSenderAndReceiver<ModeReply, FROM, S, R>
     {

satrs/src/pus/event.rs

@@ -234,6 +234,7 @@ mod alloc_mod {
 mod tests {
     use super::*;
     use crate::events::{EventU32, Severity};
+    use crate::pus::test_util::TEST_COMPONENT_ID;
     use crate::pus::tests::CommonTmInfo;
     use crate::pus::{ChannelWithId, PusTmVariant};
     use crate::ComponentId;
@@ -250,6 +251,7 @@ mod tests {
 
     #[derive(Debug, Eq, PartialEq, Clone)]
     struct TmInfo {
+        pub sender_id: ComponentId,
         pub common: CommonTmInfo,
         pub event: EventU32,
         pub aux_data: Vec<u8>,
@@ -283,6 +285,7 @@ mod tests {
                         aux_data.extend_from_slice(&src_data[4..]);
                     }
                     self.service_queue.borrow_mut().push_back(TmInfo {
+                        sender_id,
                         common: CommonTmInfo::new_from_tm(&tm),
                         event,
                         aux_data,
@@ -340,7 +343,8 @@ mod tests {
         error_data: Option<&[u8]>,
     ) {
         let mut sender = TestSender::default();
-        let reporter = EventReporter::new(0, EXAMPLE_APID, max_event_aux_data_buf);
+        let reporter =
+            EventReporter::new(TEST_COMPONENT_ID.id(), EXAMPLE_APID, max_event_aux_data_buf);
         assert!(reporter.is_some());
         let mut reporter = reporter.unwrap();
         let time_stamp_empty: [u8; 7] = [0; 7];
@@ -370,6 +374,7 @@ mod tests {
         assert_eq!(tm_info.common.msg_counter, 0);
         assert_eq!(tm_info.common.apid, EXAMPLE_APID);
         assert_eq!(tm_info.event, event);
+        assert_eq!(tm_info.sender_id, TEST_COMPONENT_ID.id());
         assert_eq!(tm_info.aux_data, error_copy);
     }
 

satrs/src/pus/event_man.rs

@@ -283,10 +283,10 @@ mod tests {
 
     #[test]
     fn test_basic() {
-        let mut event_man = create_basic_man_1();
-        let (mut event_tx, event_rx) = mpsc::channel::<PusTmAsVec>();
+        let event_man = create_basic_man_1();
+        let (event_tx, event_rx) = mpsc::channel::<PusTmAsVec>();
         let event_sent = event_man
-            .generate_pus_event_tm(&mut event_tx, &EMPTY_STAMP, INFO_EVENT, None)
+            .generate_pus_event_tm(&event_tx, &EMPTY_STAMP, INFO_EVENT, None)
             .expect("Sending info event failed");
 
         assert!(event_sent);

satrs/src/pus/mod.rs

@@ -1610,7 +1610,7 @@ pub mod tests {
         MpscTcReceiver,
         MpscTmAsVecSender,
         EcssTcInVecConverter,
-        TestVerificationReporter,
+        VerificationReporter,
     >;
 
     impl PusServiceHandlerWithVecCommon {
@@ -1620,6 +1620,8 @@ pub mod tests {
             let (test_srv_tc_tx, test_srv_tc_rx) = mpsc::channel();
             let (tm_tx, tm_rx) = mpsc::channel();
 
+            let verif_cfg = VerificationReporterCfg::new(TEST_APID, 1, 2, 8).unwrap();
+            let verification_handler = VerificationReporter::new(&verif_cfg);
             let in_store_converter = EcssTcInVecConverter::default();
             (
                 Self {
@@ -1631,7 +1633,7 @@ pub mod tests {
                     id,
                     test_srv_tc_rx,
                     tm_tx,
-                    TestVerificationReporter::default(),
+                    verification_handler,
                     in_store_converter,
                 ),
             )

satrs/src/pus/mode.rs

@@ -137,12 +137,12 @@ mod tests {
         );
         mode_connector.add_reply_target(TEST_COMPONENT_ID_2, reply_sender_to_channel_2);
 
-        // Send a request and verify it arrives at the receiver.
+        // Send a reply and verify it arrives at the receiver.
         let request_id = 2;
         let sent_reply = ModeReply::ModeReply(ModeAndSubmode::new(3, 5));
         mode_connector
             .send_mode_reply(
-                MessageMetadata::new(request_id, TEST_COMPONENT_ID_0),
+                MessageMetadata::new(request_id, TEST_COMPONENT_ID_2),
                 sent_reply,
             )
             .expect("send failed");

satrs/src/pus/test.rs

@@ -162,7 +162,6 @@ mod tests {
     use crate::pus::tests::{
         PusServiceHandlerWithSharedStoreCommon, PusServiceHandlerWithVecCommon,
     };
-    use crate::pus::verification::test_util::TestVerificationReporter;
     use crate::pus::verification::{
         RequestId, VerificationReporter, VerificationReportingProvider,
     };
@@ -244,7 +243,7 @@ mod tests {
             MpscTcReceiver,
             MpscTmAsVecSender,
             EcssTcInVecConverter,
-            TestVerificationReporter,
+            VerificationReporter,
         >,
     }
 

satrs/src/pus/verification.rs

@@ -1146,21 +1146,6 @@ pub mod test_util {
 
     use super::*;
 
-    /*
-    #[derive(Clone)]
-    pub struct VerificationStatus {
-        pub accepted: Option<bool>,
-        pub started: Option<bool>,
-        pub step: u16,
-        pub step_status: Option<bool>,
-        pub completed: Option<bool>,
-        pub failure_data: Option<Vec<u8>>,
-        pub fail_enum: Option<u64>,
-    }
-     */
-
-    //pub type SharedVerificationMap = Arc<Mutex<RefCell<HashMap<RequestId, VerificationStatus>>>>;
-
     #[derive(Default)]
     pub struct TestVerificationReporter {
         pub report_queue: RefCell<VecDeque<(RequestId, VerificationReportInfo)>>,
@@ -1366,98 +1351,99 @@ pub mod test_util {
     }
 
     impl TestVerificationReporter {
-        pub fn check_next_was_added(&mut self, request_id: RequestId) {
+        pub fn check_next_was_added(&self, request_id: RequestId) {
             let (last_report_req_id, info) = self
                 .report_queue
-                .get_mut()
+                .borrow_mut()
                 .pop_front()
                 .expect("report queue is empty");
             assert_eq!(request_id, last_report_req_id);
             assert_eq!(info, VerificationReportInfo::Added);
         }
-        pub fn check_next_is_acceptance_success(
-            &mut self,
-            sender_id: ComponentId,
-            req_id: RequestId,
-        ) {
+        pub fn check_next_is_acceptance_success(&self, sender_id: ComponentId, req_id: RequestId) {
             let (last_report_req_id, info) = self
                 .report_queue
-                .get_mut()
+                .borrow_mut()
                 .pop_front()
                 .expect("report queue is empty");
             assert_eq!(req_id, last_report_req_id);
             if let VerificationReportInfo::AcceptanceSuccess(data) = info {
                 assert_eq!(data.sender, sender_id);
+                return;
             }
             panic!("next message is not acceptance success message")
         }
 
-        pub fn check_next_is_started_success(&mut self, sender_id: ComponentId, req_id: RequestId) {
+        pub fn check_next_is_started_success(&self, sender_id: ComponentId, req_id: RequestId) {
             let (last_report_req_id, info) = self
                 .report_queue
-                .get_mut()
+                .borrow_mut()
                 .pop_front()
                 .expect("report queue is empty");
             assert_eq!(req_id, last_report_req_id);
             if let VerificationReportInfo::StartedSuccess(data) = info {
                 assert_eq!(data.sender, sender_id);
+                return;
             }
             panic!("next message is not start success message")
         }
 
         pub fn check_next_is_step_success(
-            &mut self,
+            &self,
             sender_id: ComponentId,
             request_id: RequestId,
             expected_step: u16,
         ) {
             let (last_report_req_id, info) = self
                 .report_queue
-                .get_mut()
+                .borrow_mut()
                 .pop_front()
                 .expect("report queue is empty");
             assert_eq!(request_id, last_report_req_id);
             if let VerificationReportInfo::StepSuccess { data, step } = info {
                 assert_eq!(data.sender, sender_id);
                 assert_eq!(expected_step, step);
+                return;
             }
-            panic!("next message is not step success message")
+            panic!("next message is not step success message: {info:?}")
         }
 
         pub fn check_next_is_step_failure(
-            &mut self,
+            &self,
             sender_id: ComponentId,
             request_id: RequestId,
             error_code: u64,
         ) {
             let (last_report_req_id, info) = self
                 .report_queue
-                .get_mut()
+                .borrow_mut()
                 .pop_front()
                 .expect("report queue is empty");
             assert_eq!(request_id, last_report_req_id);
             if let VerificationReportInfo::StepFailure(data) = info {
                 assert_eq!(data.sender, sender_id);
                 assert_eq!(data.error_enum, error_code);
+                return;
             }
-            panic!("next message is not step success message")
+            panic!("next message is not step failure message")
         }
 
         pub fn check_next_is_completion_success(
-            &mut self,
+            &self,
             sender_id: ComponentId,
             request_id: RequestId,
         ) {
             let (last_report_req_id, info) = self
                 .report_queue
-                .get_mut()
+                .borrow_mut()
                 .pop_front()
                 .expect("report queue is empty");
             assert_eq!(request_id, last_report_req_id);
             if let VerificationReportInfo::CompletionSuccess(data) = info {
                 assert_eq!(data.sender, sender_id);
+                return;
             }
-            panic!("next message is not completion success message")
+            panic!("next message is not completion success message: {info:?}")
         }
 
         pub fn check_next_is_completion_failure(
@@ -1475,8 +1461,9 @@ pub mod test_util {
             if let VerificationReportInfo::CompletionFailure(data) = info {
                 assert_eq!(data.sender, sender_id);
                 assert_eq!(data.error_enum, error_code);
+                return;
             }
-            panic!("next message is not completion success message")
+            panic!("next message is not completion failure message: {info:?}")
         }
 
         pub fn assert_full_completion_success(
@@ -1487,6 +1474,7 @@ pub mod test_util {
         ) {
             self.check_next_was_added(request_id);
             self.check_next_is_acceptance_success(sender_id, request_id);
+            self.check_next_is_started_success(sender_id, request_id);
             if let Some(highest_num) = expected_steps {
                 for i in 0..highest_num {
                     self.check_next_is_step_success(sender_id, request_id, i);
@@ -1504,6 +1492,7 @@ pub mod test_util {
         ) {
             self.check_next_was_added(request_id);
             self.check_next_is_acceptance_success(sender_id, request_id);
+            self.check_next_is_started_success(sender_id, request_id);
             if let Some(highest_num) = expected_steps {
                 for i in 0..highest_num {
                     self.check_next_is_step_success(sender_id, request_id, i);
@@ -1580,13 +1569,14 @@ pub mod test_util {
 #[cfg(test)]
 pub mod tests {
     use crate::pool::{StaticMemoryPool, StaticPoolConfig};
-    use crate::pus::test_util::TEST_APID;
+    use crate::pus::test_util::{TEST_APID, TEST_COMPONENT_ID};
     use crate::pus::tests::CommonTmInfo;
     use crate::pus::verification::{
         EcssTmSenderCore, EcssTmtcError, FailParams, FailParamsWithStep, RequestId, TcStateNone,
         VerificationReporter, VerificationReporterCfg, VerificationToken,
     };
     use crate::pus::{ChannelWithId, MpscTmInSharedPoolSender, PusTmVariant};
+    use crate::request::MessageMetadata;
     use crate::tmtc::tm_helper::SharedTmPool;
     use crate::ComponentId;
     use alloc::format;
@@ -1615,8 +1605,8 @@ pub mod tests {
 
     #[derive(Debug, Eq, PartialEq, Clone)]
     struct TmInfo {
+        pub requestor: MessageMetadata,
         pub common: CommonTmInfo,
-        pub req_id: RequestId,
         pub additional_data: Option<Vec<u8>>,
     }
 
@@ -1656,8 +1646,8 @@ pub mod tests {
                         vec = Some(new_vec);
                     }
                     self.service_queue.borrow_mut().push_back(TmInfo {
+                        requestor: MessageMetadata::new(req_id.into(), sender_id),
                         common: CommonTmInfo::new_from_tm(&tm),
-                        req_id,
                         additional_data: vec,
                     });
                     Ok(())
@@ -1667,10 +1657,10 @@ pub mod tests {
     }
 
     struct VerificationReporterTestbench {
-        id: ComponentId,
+        pub id: ComponentId,
         sender: TestSender,
         reporter: VerificationReporter,
-        request_id: RequestId,
+        pub request_id: RequestId,
         tc: Vec<u8>,
     }
 
@@ -1681,7 +1671,7 @@ pub mod tests {
 
     impl VerificationReporterTestbench {
         fn new(id: ComponentId, tc: PusTcCreator) -> Self {
-            let mut reporter = base_reporter();
+            let reporter = base_reporter();
             Self {
                 id,
                 sender: TestSender::default(),
@@ -1691,6 +1681,7 @@ pub mod tests {
             }
         }
 
+        #[allow(dead_code)]
         fn set_dest_id(&mut self, dest_id: u16) {
             self.reporter.set_dest_id(dest_id);
         }
@@ -1774,6 +1765,7 @@ pub mod tests {
 
         fn acceptance_check(&self, time_stamp: &[u8; 7]) {
             let cmp_info = TmInfo {
+                requestor: MessageMetadata::new(self.request_id.into(), self.id),
                 common: CommonTmInfo {
                     subservice: 1,
                     apid: TEST_APID,
@@ -1782,7 +1774,6 @@ pub mod tests {
                     time_stamp: *time_stamp,
                 },
                 additional_data: None,
-                req_id: self.request_id,
             };
             let mut service_queue = self.sender.service_queue.borrow_mut();
             assert_eq!(service_queue.len(), 1);
@@ -1792,6 +1783,7 @@ pub mod tests {
 
         fn acceptance_fail_check(&mut self, stamp_buf: [u8; 7]) {
             let cmp_info = TmInfo {
+                requestor: MessageMetadata::new(self.request_id.into(), self.id),
                 common: CommonTmInfo {
                     subservice: 2,
                     apid: TEST_APID,
@@ -1800,7 +1792,6 @@ pub mod tests {
                     time_stamp: stamp_buf,
                 },
                 additional_data: Some([0, 2].to_vec()),
-                req_id: self.request_id,
             };
             let service_queue = self.sender.service_queue.get_mut();
             assert_eq!(service_queue.len(), 1);
@@ -1812,6 +1803,7 @@ pub mod tests {
             let mut srv_queue = self.sender.service_queue.borrow_mut();
             assert_eq!(srv_queue.len(), 2);
             let mut cmp_info = TmInfo {
+                requestor: MessageMetadata::new(self.request_id.into(), self.id),
                 common: CommonTmInfo {
                     subservice: 1,
                     apid: TEST_APID,
@@ -1820,12 +1812,12 @@ pub mod tests {
                     time_stamp: EMPTY_STAMP,
                 },
                 additional_data: None,
-                req_id: self.request_id,
             };
             let mut info = srv_queue.pop_front().unwrap();
             assert_eq!(info, cmp_info);
 
             cmp_info = TmInfo {
+                requestor: MessageMetadata::new(self.request_id.into(), self.id),
                 common: CommonTmInfo {
                     subservice: 4,
                     apid: TEST_APID,
@@ -1834,7 +1826,6 @@ pub mod tests {
                     time_stamp: EMPTY_STAMP,
                 },
                 additional_data: Some([&[22], fail_data_raw.as_slice()].concat().to_vec()),
-                req_id: self.request_id,
             };
             info = srv_queue.pop_front().unwrap();
             assert_eq!(info, cmp_info);
@@ -1842,6 +1833,7 @@ pub mod tests {
 
         fn step_success_check(&mut self, time_stamp: &[u8; 7]) {
             let mut cmp_info = TmInfo {
+                requestor: MessageMetadata::new(self.request_id.into(), self.id),
                 common: CommonTmInfo {
                     subservice: 1,
                     apid: TEST_APID,
@@ -1850,12 +1842,12 @@ pub mod tests {
                     time_stamp: *time_stamp,
                 },
                 additional_data: None,
-                req_id: self.request_id,
             };
             let mut srv_queue = self.sender.service_queue.borrow_mut();
             let mut info = srv_queue.pop_front().unwrap();
             assert_eq!(info, cmp_info);
             cmp_info = TmInfo {
+                requestor: MessageMetadata::new(self.request_id.into(), self.id),
                 common: CommonTmInfo {
                     subservice: 3,
                     apid: TEST_APID,
@@ -1864,11 +1856,11 @@ pub mod tests {
                     time_stamp: *time_stamp,
                 },
                 additional_data: None,
-                req_id: self.request_id,
             };
             info = srv_queue.pop_front().unwrap();
             assert_eq!(info, cmp_info);
             cmp_info = TmInfo {
+                requestor: MessageMetadata::new(self.request_id.into(), self.id),
                 common: CommonTmInfo {
                     subservice: 5,
                     apid: TEST_APID,
@@ -1877,11 +1869,11 @@ pub mod tests {
                     time_stamp: *time_stamp,
                 },
                 additional_data: Some([0].to_vec()),
-                req_id: self.request_id,
             };
             info = srv_queue.pop_front().unwrap();
             assert_eq!(info, cmp_info);
             cmp_info = TmInfo {
+                requestor: MessageMetadata::new(self.request_id.into(), self.id),
                 common: CommonTmInfo {
                     subservice: 5,
                     apid: TEST_APID,
@@ -1890,7 +1882,6 @@ pub mod tests {
                     time_stamp: *time_stamp,
                 },
                 additional_data: Some([1].to_vec()),
-                req_id: self.request_id,
             };
             info = srv_queue.pop_front().unwrap();
             assert_eq!(info, cmp_info);
@@ -1899,6 +1890,7 @@ pub mod tests {
         fn check_step_failure(&mut self, fail_data_raw: [u8; 4]) {
             assert_eq!(self.sender.service_queue.borrow().len(), 4);
             let mut cmp_info = TmInfo {
+                requestor: MessageMetadata::new(self.request_id.into(), self.id),
                 common: CommonTmInfo {
                     subservice: 1,
                     apid: TEST_APID,
@@ -1907,12 +1899,12 @@ pub mod tests {
                     time_stamp: EMPTY_STAMP,
                 },
                 additional_data: None,
-                req_id: self.request_id,
             };
             let mut info = self.sender.service_queue.borrow_mut().pop_front().unwrap();
             assert_eq!(info, cmp_info);
 
             cmp_info = TmInfo {
+                requestor: MessageMetadata::new(self.request_id.into(), self.id),
                 common: CommonTmInfo {
                     subservice: 3,
                     apid: TEST_APID,
@@ -1921,12 +1913,12 @@ pub mod tests {
                     time_stamp: [0, 1, 0, 1, 0, 1, 0],
                 },
                 additional_data: None,
-                req_id: self.request_id,
             };
             info = self.sender.service_queue.borrow_mut().pop_front().unwrap();
             assert_eq!(info, cmp_info);
 
             cmp_info = TmInfo {
+                requestor: MessageMetadata::new(self.request_id.into(), self.id),
                 common: CommonTmInfo {
                     subservice: 5,
                     apid: TEST_APID,
@@ -1935,12 +1927,12 @@ pub mod tests {
                     time_stamp: EMPTY_STAMP,
                 },
                 additional_data: Some([0].to_vec()),
-                req_id: self.request_id,
             };
             info = self.sender.service_queue.get_mut().pop_front().unwrap();
             assert_eq!(info, cmp_info);
 
             cmp_info = TmInfo {
+                requestor: MessageMetadata::new(self.request_id.into(), self.id),
                 common: CommonTmInfo {
                     subservice: 6,
                     apid: TEST_APID,
@@ -1957,7 +1949,6 @@ pub mod tests {
                     .concat()
                     .to_vec(),
                 ),
-                req_id: self.request_id,
             };
             info = self.sender.service_queue.get_mut().pop_front().unwrap();
             assert_eq!(info, cmp_info);
@@ -1967,6 +1958,7 @@ pub mod tests {
             assert_eq!(self.sender.service_queue.borrow().len(), 3);
 
             let mut cmp_info = TmInfo {
+                requestor: MessageMetadata::new(self.request_id.into(), self.id),
                 common: CommonTmInfo {
                     subservice: 1,
                     apid: TEST_APID,
@@ -1975,12 +1967,12 @@ pub mod tests {
                     time_stamp: EMPTY_STAMP,
                 },
                 additional_data: None,
-                req_id: self.request_id,
             };
             let mut info = self.sender.service_queue.get_mut().pop_front().unwrap();
             assert_eq!(info, cmp_info);
 
             cmp_info = TmInfo {
+                requestor: MessageMetadata::new(self.request_id.into(), self.id),
                 common: CommonTmInfo {
                     subservice: 3,
                     apid: TEST_APID,
@@ -1989,12 +1981,12 @@ pub mod tests {
                     time_stamp: [0, 1, 0, 1, 0, 1, 0],
                 },
                 additional_data: None,
-                req_id: self.request_id,
             };
             info = self.sender.service_queue.get_mut().pop_front().unwrap();
             assert_eq!(info, cmp_info);
 
             cmp_info = TmInfo {
+                requestor: MessageMetadata::new(self.request_id.into(), self.id),
                 common: CommonTmInfo {
                     subservice: 8,
                     apid: TEST_APID,
@@ -2003,7 +1995,6 @@ pub mod tests {
                     time_stamp: EMPTY_STAMP,
                 },
                 additional_data: Some([0, 0, 0x10, 0x20].to_vec()),
-                req_id: self.request_id,
             };
             info = self.sender.service_queue.get_mut().pop_front().unwrap();
             assert_eq!(info, cmp_info);
@@ -2012,6 +2003,7 @@ pub mod tests {
         fn completion_success_check(&mut self) {
             assert_eq!(self.sender.service_queue.borrow().len(), 3);
             let cmp_info = TmInfo {
+                requestor: MessageMetadata::new(self.request_id.into(), self.id),
                 common: CommonTmInfo {
                     subservice: 1,
                     apid: TEST_APID,
@@ -2020,12 +2012,12 @@ pub mod tests {
                     time_stamp: EMPTY_STAMP,
                 },
                 additional_data: None,
-                req_id: self.request_id,
             };
             let mut info = self.sender.service_queue.borrow_mut().pop_front().unwrap();
             assert_eq!(info, cmp_info);
 
             let cmp_info = TmInfo {
+                requestor: MessageMetadata::new(self.request_id.into(), self.id),
                 common: CommonTmInfo {
                     subservice: 3,
                     apid: TEST_APID,
@@ -2034,11 +2026,11 @@ pub mod tests {
                     time_stamp: [0, 1, 0, 1, 0, 1, 0],
                 },
                 additional_data: None,
-                req_id: self.request_id,
             };
             info = self.sender.service_queue.borrow_mut().pop_front().unwrap();
             assert_eq!(info, cmp_info);
             let cmp_info = TmInfo {
+                requestor: MessageMetadata::new(self.request_id.into(), self.id),
                 common: CommonTmInfo {
                     subservice: 7,
                     apid: TEST_APID,
@@ -2047,7 +2039,6 @@ pub mod tests {
                     time_stamp: EMPTY_STAMP,
                 },
                 additional_data: None,
-                req_id: self.request_id,
             };
             info = self.sender.service_queue.borrow_mut().pop_front().unwrap();
             assert_eq!(info, cmp_info);
@@ -2158,6 +2149,7 @@ pub mod tests {
             .acceptance_failure(init_token, fail_params)
             .expect("sending acceptance failure failed");
         let cmp_info = TmInfo {
+            requestor: MessageMetadata::new(testbench.request_id.into(), testbench.id),
             common: CommonTmInfo {
                 subservice: 2,
                 apid: TEST_APID,
@@ -2166,7 +2158,6 @@ pub mod tests {
                 time_stamp: EMPTY_STAMP,
             },
             additional_data: Some([10, 0, 0, 0, 12].to_vec()),
-            req_id: testbench.request_id,
         };
         let mut service_queue = testbench.sender.service_queue.borrow_mut();
         assert_eq!(service_queue.len(), 1);
@@ -2174,6 +2165,7 @@ pub mod tests {
         assert_eq!(info, cmp_info);
     }
 
+    #[test]
     fn test_start_failure() {
         let mut testbench = VerificationReporterTestbench::new(0, create_generic_ping());
         let init_token = testbench.init();
@@ -2283,9 +2275,9 @@ pub mod tests {
 
     #[test]
     fn test_complete_success_sequence() {
-        let mut testbench = VerificationReporterTestbench::new(0, create_generic_ping());
+        let mut testbench =
+            VerificationReporterTestbench::new(TEST_COMPONENT_ID.id(), create_generic_ping());
         let token = testbench.init();
-        let mut sender = TestSender::default();
         let accepted_token = testbench
             .acceptance_success(token, &EMPTY_STAMP)
             .expect("Sending acceptance success failed");

satrs/src/request.rs

@@ -493,10 +493,10 @@ mod tests {
     fn test_sender_map() {
         let (sender0, receiver0) = mpsc::channel();
         let (sender1, receiver1) = mpsc::channel();
-        let mut sender_map_with_id = MessageSenderMap::default();
-        sender_map_with_id.add_message_target(TEST_CHANNEL_ID_1, sender0);
-        sender_map_with_id.add_message_target(TEST_CHANNEL_ID_2, sender1);
-        sender_map_with_id
+        let mut sender_map = MessageSenderMap::default();
+        sender_map.add_message_target(TEST_CHANNEL_ID_1, sender0);
+        sender_map.add_message_target(TEST_CHANNEL_ID_2, sender1);
+        sender_map
             .send_message(
                 MessageMetadata::new(1, TEST_CHANNEL_ID_0),
                 TEST_CHANNEL_ID_1,
@@ -507,9 +507,9 @@ mod tests {
         assert_eq!(reply.request_id(), 1);
         assert_eq!(reply.sender_id(), TEST_CHANNEL_ID_0);
         assert_eq!(reply.message, 5);
-        sender_map_with_id
+        sender_map
             .send_message(
-                MessageMetadata::new(2, TEST_CHANNEL_ID_1),
+                MessageMetadata::new(2, TEST_CHANNEL_ID_0),
                 TEST_CHANNEL_ID_2,
                 10,
             )

satrs/tests/mode_tree.rs

@@ -6,7 +6,7 @@ use satrs::mode::{
     ModeRequestHandlerMpscBounded, ModeRequestReceiver, ModeRequestorAndHandlerMpscBounded,
     ModeRequestorBoundedMpsc,
 };
-use satrs::request::{MessageMetadata, RequestId};
+use satrs::request::MessageMetadata;
 use satrs::{
     mode::{ModeAndSubmode, ModeReply, ModeRequest},
     queue::GenericTargetedMessagingError,
@@ -45,29 +45,6 @@ struct TestDevice {
     pub name: String,
     pub mode_node: ModeRequestHandlerMpscBounded,
     pub mode_and_submode: ModeAndSubmode,
-    pub mode_requestor_info: Option<MessageMetadata>,
-}
-
-fn mode_leaf_node_req_handler(
-    handler: &mut impl ModeRequestHandler,
-    request: GenericMessage<ModeRequest>,
-) {
-    match request.message {
-        ModeRequest::SetMode(mode_and_submode) => {
-            handler
-                .start_transition(request.requestor_info, mode_and_submode)
-                .unwrap();
-        }
-        ModeRequest::ReadMode => handler
-            .send_mode_reply(
-                request.requestor_info,
-                ModeReply::ModeReply(handler.mode_and_submode()),
-            )
-            .unwrap(),
-        ModeRequest::AnnounceMode => handler.announce_mode(request.requestor_info, false),
-        ModeRequest::AnnounceModeRecursive => handler.announce_mode(request.requestor_info, true),
-        ModeRequest::ModeInfo(_) => todo!(),
-    }
 }
 
 impl TestDevice {
@@ -75,27 +52,9 @@ impl TestDevice {
         self.check_mode_requests().expect("mode messaging error");
     }
 
-    pub fn check_mode_requests(&mut self) -> Result<(), GenericTargetedMessagingError> {
+    pub fn check_mode_requests(&mut self) -> Result<(), ModeError> {
         if let Some(request) = self.mode_node.try_recv_mode_request()? {
-            match request.message {
-                ModeRequest::SetMode(mode_and_submode) => {
-                    self.start_transition(request.requestor_info, mode_and_submode)
-                        .unwrap();
-                    self.mode_requestor_info = Some(request.requestor_info);
-                }
-                ModeRequest::ReadMode => self
-                    .mode_node
-                    .send_mode_reply(
-                        request.requestor_info,
-                        ModeReply::ModeReply(self.mode_and_submode),
-                    )
-                    .unwrap(),
-                ModeRequest::AnnounceMode => self.announce_mode(request.requestor_info, false),
-                ModeRequest::AnnounceModeRecursive => {
-                    self.announce_mode(request.requestor_info, true)
-                }
-                ModeRequest::ModeInfo(_) => todo!(),
-            }
+            self.handle_mode_request(request)?
         }
         Ok(())
     }
@@ -108,6 +67,8 @@ impl ModeProvider for TestDevice {
 }
 
 impl ModeRequestHandler for TestDevice {
+    type Error = ModeError;
+
     fn start_transition(
         &mut self,
         requestor: MessageMetadata,
@@ -118,18 +79,14 @@ impl ModeRequestHandler for TestDevice {
         Ok(())
     }
 
-    fn announce_mode(&self, requestor_info: MessageMetadata, _recursive: bool) {
+    fn announce_mode(&self, _requestor_info: MessageMetadata, _recursive: bool) {
         println!(
             "{}: announcing mode: {:?}",
             self.name, self.mode_and_submode
         );
     }
 
-    fn handle_mode_reached(
-        &mut self,
-
-        requestor: Option<MessageMetadata>,
-    ) -> Result<(), GenericTargetedMessagingError> {
+    fn handle_mode_reached(&mut self, requestor: Option<MessageMetadata>) -> Result<(), ModeError> {
         if let Some(requestor) = requestor {
             self.send_mode_reply(requestor, ModeReply::ModeReply(self.mode_and_submode))?;
         }
@@ -139,9 +96,23 @@ impl ModeRequestHandler for TestDevice {
         &self,
         requestor_info: MessageMetadata,
         reply: ModeReply,
-    ) -> Result<(), GenericTargetedMessagingError> {
-        self.mode_node
-            .send_mode_reply(requestor_info, ModeReply::ModeReply(self.mode_and_submode))?;
+    ) -> Result<(), ModeError> {
+        self.mode_node.send_mode_reply(requestor_info, reply)?;
+        Ok(())
+    }
+
+    fn handle_mode_info(
+        &mut self,
+        requestor_info: MessageMetadata,
+        info: ModeAndSubmode,
+    ) -> Result<(), ModeError> {
+        // A device is a leaf in the tree.. so this really should not happen
+        println!(
+            "{}: unexpected mode info from {:?} with mode: {:?}",
+            self.name,
+            requestor_info.sender_id(),
+            info
+        );
         Ok(())
     }
 }
@@ -215,11 +186,12 @@ impl TestAssembly {
 }
 
 impl ModeRequestHandler for TestAssembly {
+    type Error = ModeError;
     fn start_transition(
         &mut self,
         requestor: MessageMetadata,
         mode_and_submode: ModeAndSubmode,
-    ) -> Result<(), ModeError> {
+    ) -> Result<(), Self::Error> {
         self.mode_requestor_info = Some(requestor);
         self.target_mode_and_submode = Some(mode_and_submode);
         Ok(())
@@ -255,7 +227,7 @@ impl ModeRequestHandler for TestAssembly {
     fn handle_mode_reached(
         &mut self,
         mode_requestor: Option<MessageMetadata>,
-    ) -> Result<(), GenericTargetedMessagingError> {
+    ) -> Result<(), Self::Error> {
         if let Some(requestor) = mode_requestor {
             self.send_mode_reply(requestor, ModeReply::ModeReply(self.mode_and_submode))?;
         }
@@ -266,9 +238,17 @@ impl ModeRequestHandler for TestAssembly {
         &self,
         requestor: MessageMetadata,
         reply: ModeReply,
-    ) -> Result<(), GenericTargetedMessagingError> {
-        self.mode_node
-            .send_mode_reply(requestor, ModeReply::ModeReply(self.mode_and_submode))?;
+    ) -> Result<(), Self::Error> {
+        self.mode_node.send_mode_reply(requestor, reply)?;
+        Ok(())
+    }
+
+    fn handle_mode_info(
+        &mut self,
+        _requestor_info: MessageMetadata,
+        _info: ModeAndSubmode,
+    ) -> Result<(), Self::Error> {
+        // TODO: A proper assembly must reach to mode changes of its children..
         Ok(())
     }
 }
@@ -352,13 +332,11 @@ fn main() {
     let mut device1 = TestDevice {
         name: "Test Device 1".to_string(),
         mode_node: mode_node_dev1,
-        mode_requestor_info: None,
         mode_and_submode: ModeAndSubmode::new(0, 0),
     };
     let mut device2 = TestDevice {
         name: "Test Device 2".to_string(),
         mode_node: mode_node_dev2,
-        mode_requestor_info: None,
         mode_and_submode: ModeAndSubmode::new(0, 0),
     };
     let mut assy = TestAssembly {