Merge pull request 'updated STM32F3 RTICv2 example' (#254) from update-embedded-examples into main

Reviewed-on: #254

Cargo.toml

@@ -6,6 +6,7 @@ members = [
     "satrs-example",
     "satrs-minisim",
     "satrs-shared",
+    "embedded-examples/embedded-client",
 ]
 
 exclude = [

embedded-examples/embedded-client/Cargo.toml

@@ -0,0 +1,18 @@
+[package]
+name = "embedded-client"
+version = "0.1.0"
+edition = "2024"
+
+[dependencies]
+clap = { version = "4", features = ["derive"] }
+serialport = "4"
+toml = "0.9"
+serde = { version = "1", features = ["derive"] }
+satrs-stm32f3-disco-rtic = { path = "../stm32f3-disco-rtic" }
+spacepackets = { git = "https://egit.irs.uni-stuttgart.de/rust/spacepackets.git", version = "0.17" }
+tmtc-utils = { git = "https://egit.irs.uni-stuttgart.de/rust/tmtc-utils.git", version = "0.1" }
+postcard = { version = "1", features = ["alloc"] }
+cobs = "0.5"
+fern = "0.7"
+humantime = "2"
+log = "0.4"

embedded-examples/embedded-client/config.toml

@@ -0,0 +1,2 @@
+[interface]
+serial_port = "/dev/ttyUSB0"

embedded-examples/embedded-client/src/main.rs

@@ -0,0 +1,107 @@
+use std::{
+    fs::File,
+    io::Read,
+    path::Path,
+    time::{Duration, SystemTime},
+};
+
+use clap::Parser;
+use cobs::CobsDecoderOwned;
+use satrs_stm32f3_disco_rtic::Request;
+use spacepackets::{CcsdsPacketCreatorOwned, CcsdsPacketReader, SpHeader};
+use tmtc_utils::transport::{PacketTransport, serial::PacketTransportSerialCobs};
+
+#[derive(Parser, Debug)]
+struct Cli {
+    #[arg(short, long)]
+    ping: bool,
+
+    /// Set frequency in milliseconds.
+    #[arg(short, long)]
+    set_led_frequency: Option<u32>,
+}
+
+#[derive(Debug, serde::Deserialize)]
+struct Config {
+    interface: Interface,
+}
+
+#[derive(Debug, serde::Deserialize)]
+struct Interface {
+    serial_port: String,
+}
+
+fn setup_logger() -> Result<(), fern::InitError> {
+    fern::Dispatch::new()
+        .format(|out, message, record| {
+            out.finish(format_args!(
+                "[{} {} {}] {}",
+                humantime::format_rfc3339_seconds(SystemTime::now()),
+                record.level(),
+                record.target(),
+                message
+            ))
+        })
+        .level(log::LevelFilter::Debug)
+        .chain(std::io::stdout())
+        .chain(fern::log_file("output.log")?)
+        .apply()?;
+    Ok(())
+}
+
+fn main() {
+    setup_logger().expect("failed to initialize logger");
+    println!("sat-rs embedded examples TMTC client");
+
+    let cli = Cli::parse();
+    let mut config_file =
+        File::open(Path::new("config.toml")).expect("opening config.toml file failed");
+    let mut toml_str = String::new();
+    config_file
+        .read_to_string(&mut toml_str)
+        .expect("reading config.toml file failed");
+    let config: Config = toml::from_str(&toml_str).expect("parsing config.toml file failed");
+    println!("Connecting to serial port {}", config.interface.serial_port);
+
+    let serial = serialport::new(config.interface.serial_port, 115200)
+        .open()
+        .expect("opening serial port failed");
+    let mut transport = PacketTransportSerialCobs::new(serial, CobsDecoderOwned::new(1024));
+
+    if cli.ping {
+        let request = Request::Ping;
+        let tc = create_stm32f3_tc(&request);
+        log::info!(
+            "Sending ping request with TC ID: {:#010x}",
+            tc.ccsds_packet_id_and_psc().raw()
+        );
+        transport.send(&tc.to_vec()).unwrap();
+    }
+
+    if let Some(freq_ms) = cli.set_led_frequency {
+        let request = Request::ChangeBlinkFrequency(Duration::from_millis(freq_ms as u64));
+        let tc = create_stm32f3_tc(&request);
+        log::info!(
+            "Sending change blink frequency request {:?} with TC ID: {:#010x}",
+            request,
+            tc.ccsds_packet_id_and_psc().raw()
+        );
+        transport.send(&tc.to_vec()).unwrap();
+    }
+
+    log::info!("Waiting for response...");
+    loop {
+        transport
+            .receive(|packet: &[u8]| {
+                let reader = CcsdsPacketReader::new_with_checksum(packet);
+                log::info!("Received packet: {:?}", reader);
+            })
+            .unwrap();
+    }
+}
+
+fn create_stm32f3_tc(request: &Request) -> CcsdsPacketCreatorOwned {
+    let req_raw = postcard::to_allocvec(&request).unwrap();
+    let sp_header = SpHeader::new_from_apid(satrs_stm32f3_disco_rtic::APID);
+    CcsdsPacketCreatorOwned::new_tc_with_checksum(sp_header, &req_raw).unwrap()
+}

embedded-examples/stm32f3-disco-rtic/.cargo/config.toml.template

@@ -34,4 +34,4 @@ rustflags = [
 target = "thumbv7em-none-eabihf" # Cortex-M4F and Cortex-M7F (with FPU)
 
 [env]
-DEFMT_LOG = "info"
+DEFMT_LOG = "info"

embedded-examples/stm32f3-disco-rtic/.gitignore

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

embedded-examples/stm32f3-disco-rtic/Cargo.toml

@@ -9,49 +9,33 @@ default-run = "satrs-stm32f3-disco-rtic"
 [dependencies]
 cortex-m = { version = "0.7", features = ["critical-section-single-core"] }
 cortex-m-rt = "0.7"
-defmt = "0.3"
-defmt-brtt = { version = "0.1", default-features = false, features = ["rtt"] }
-panic-probe = { version = "0.3", features = ["print-defmt"] }
-embedded-hal = "0.2.7"
+defmt = "1"
+defmt-rtt = { version = "1" }
+panic-probe = { version = "1", features = ["print-defmt"] }
+embedded-hal = "1"
 cortex-m-semihosting = "0.5.0"
+embassy-stm32 = { version = "0.4", features = ["defmt", "stm32f303vc", "unstable-pac"] }
 enumset = "1"
-heapless = "0.8"
+heapless = "0.9"
+spacepackets = { version = "0.17", git = "https://egit.irs.uni-stuttgart.de/rust/spacepackets.git", default-features = false, features = ["defmt", "serde"] }
+static_cell = "2"
+cobs = { version = "0.5", default-features = false, features = ["defmt"] }
+postcard = { version = "1" }
+arbitrary-int = "2"
+thiserror = { version = "2", default-features = false }
+serde = { version = "1", default-features = false, features = ["derive"] }
 
-[dependencies.rtic]
-version = "2"
-features = ["thumbv7-backend"]
+rtic = { version = "2", features = ["thumbv7-backend"] }
+rtic-sync = { version = "1" }
+rtic-monotonics = { version = "2", features = ["cortex-m-systick"] }
 
-[dependencies.rtic-monotonics]
-version = "2"
-features = ["cortex-m-systick"]
-
-[dependencies.cobs]
-version = "0.3"
-default-features = false
-
-[dependencies.stm32f3xx-hal]
-git = "https://github.com/robamu/stm32f3xx-hal"
-version = "0.11.0-alpha.0"
-features = ["stm32f303xc", "rt", "enumset"]
-branch = "complete-dma-update"
-# Can be used in workspace to develop and update HAL
-# path = "../stm32f3xx-hal"
-
-[dependencies.stm32f3-discovery]
-git = "https://github.com/robamu/stm32f3-discovery"
-version = "0.8.0-alpha.0"
-branch = "complete-dma-update-hal"
-# Can be used in workspace to develop and update BSP
-# path = "../stm32f3-discovery"
-
-[dependencies.satrs]
-# path = "satrs"
-version = "0.2"
-default-features = false
-features = ["defmt"]
+#[dependencies.satrs]
+# path = "../../satrs"
+#default-features = false
+# features = ["defmt"]
 
 [dev-dependencies]
-defmt-test = "0.3"
+defmt-test = "0.4"
 
 # cargo test
 [profile.test]

embedded-examples/stm32f3-disco-rtic/legacy/jlink.gdb

@@ -1,10 +0,0 @@
-target extended-remote localhost:2331
-
-monitor reset
-
-# *try* to stop at the user entry point (it might be gone due to inlining)
-break main
-
-load
-
-continue

embedded-examples/stm32f3-disco-rtic/legacy/openocd.cfg

@@ -1,12 +0,0 @@
-# Sample OpenOCD configuration for the STM32F3DISCOVERY development board
-
-# Depending on the hardware revision you got you'll have to pick ONE of these
-# interfaces. At any time only one interface should be commented out.
-
-# Revision C (newer revision)
-source [find interface/stlink.cfg]
-
-# Revision A and B (older revisions)
-# source [find interface/stlink-v2.cfg]
-
-source [find target/stm32f3x.cfg]

embedded-examples/stm32f3-disco-rtic/legacy/openocd.gdb

@@ -1,42 +0,0 @@
-target extended-remote :3333
-
-# print demangled symbols
-set print asm-demangle on
-
-# set backtrace limit to not have infinite backtrace loops
-set backtrace limit 32
-
-# detect unhandled exceptions, hard faults and panics
-break DefaultHandler
-break HardFault
-break rust_begin_unwind
-# # run the next few lines so the panic message is printed immediately
-# # the number needs to be adjusted for your panic handler
-# commands $bpnum
-# next 4
-# end
-
-# *try* to stop at the user entry point (it might be gone due to inlining)
-break main
-
-# monitor arm semihosting enable
-
-# # send captured ITM to the file itm.fifo
-# # (the microcontroller SWO pin must be connected to the programmer SWO pin)
-# # 8000000 must match the core clock frequency
-# # 2000000 is the frequency of the SWO pin. This was added for newer
-# openocd versions like v0.12.0.
-# monitor tpiu config internal itm.txt uart off 8000000 2000000
-
-# # OR: make the microcontroller SWO pin output compatible with UART (8N1)
-# # 8000000 must match the core clock frequency
-# # 2000000 is the frequency of the SWO pin
-# monitor tpiu config external uart off 8000000 2000000
-
-# # enable ITM port 0
-# monitor itm port 0 on
-
-load
-
-# start the process but immediately halt the processor
-stepi

embedded-examples/stm32f3-disco-rtic/pyclient/.gitignore

@@ -1,8 +0,0 @@
-/venv
-/.tmtc-history.txt
-/log
-/.idea/*
-!/.idea/runConfigurations
-
-/seqcnt.txt
-/tmtc_conf.json

embedded-examples/stm32f3-disco-rtic/pyclient/def_tmtc_conf.json

@@ -1,4 +0,0 @@
-{
-    "com_if": "serial_cobs",
-    "serial_baudrate": 115200
-}

embedded-examples/stm32f3-disco-rtic/pyclient/main.py

@@ -1,305 +0,0 @@
-#!/usr/bin/env python3
-"""Example client for the sat-rs example application"""
-import struct
-import logging
-import sys
-import time
-from typing import Any, Optional, cast
-from prompt_toolkit.history import FileHistory, History
-from spacepackets.ecss.tm import CdsShortTimestamp
-
-import tmtccmd
-from spacepackets.ecss import PusTelemetry, PusTelecommand, PusTm, PusVerificator
-from spacepackets.ecss.pus_17_test import Service17Tm
-from spacepackets.ecss.pus_1_verification import UnpackParams, Service1Tm
-
-from tmtccmd import TcHandlerBase, ProcedureParamsWrapper
-from tmtccmd.core.base import BackendRequest
-from tmtccmd.core.ccsds_backend import QueueWrapper
-from tmtccmd.logging import add_colorlog_console_logger
-from tmtccmd.pus import VerificationWrapper
-from tmtccmd.tmtc import CcsdsTmHandler, SpecificApidHandlerBase
-from tmtccmd.com import ComInterface
-from tmtccmd.config import (
-    CmdTreeNode,
-    default_json_path,
-    SetupParams,
-    HookBase,
-    params_to_procedure_conversion,
-)
-from tmtccmd.config.com import SerialCfgWrapper
-from tmtccmd.config import PreArgsParsingWrapper, SetupWrapper
-from tmtccmd.logging.pus import (
-    RegularTmtcLogWrapper,
-    RawTmtcTimedLogWrapper,
-    TimedLogWhen,
-)
-from tmtccmd.tmtc import (
-    TcQueueEntryType,
-    ProcedureWrapper,
-    TcProcedureType,
-    FeedWrapper,
-    SendCbParams,
-    DefaultPusQueueHelper,
-)
-from tmtccmd.pus.s5_fsfw_event import Service5Tm
-from spacepackets.seqcount import FileSeqCountProvider, PusFileSeqCountProvider
-from tmtccmd.util.obj_id import ObjectIdDictT
-
-_LOGGER = logging.getLogger()
-
-EXAMPLE_PUS_APID = 0x02
-
-
-class SatRsConfigHook(HookBase):
-    def __init__(self, json_cfg_path: str):
-        super().__init__(json_cfg_path)
-
-    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=None,
-        )
-        if cfg is None:
-            raise ValueError(
-                f"No valid configuration could be retrieved for the COM IF with key {com_if_key}"
-            )
-        if cfg.com_if_key == "serial_cobs":
-            cfg = cast(SerialCfgWrapper, cfg)
-            cfg.serial_cfg.serial_timeout = 0.5
-        return create_com_interface_default(cfg)
-
-    def get_command_definitions(self) -> CmdTreeNode:
-        """This function should return the root node of the command definition tree."""
-        return create_cmd_definition_tree()
-
-    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
-
-        return get_core_object_ids()
-
-
-def create_cmd_definition_tree() -> CmdTreeNode:
-    root_node = CmdTreeNode.root_node()
-    root_node.add_child(CmdTreeNode("ping", "Send PUS ping TC"))
-    root_node.add_child(CmdTreeNode("change_blink_freq", "Change blink frequency"))
-    return root_node
-
-
-class PusHandler(SpecificApidHandlerBase):
-    def __init__(
-        self,
-        file_logger: logging.Logger,
-        verif_wrapper: VerificationWrapper,
-        raw_logger: RawTmtcTimedLogWrapper,
-    ):
-        super().__init__(EXAMPLE_PUS_APID, None)
-        self.file_logger = file_logger
-        self.raw_logger = raw_logger
-        self.verif_wrapper = verif_wrapper
-
-    def handle_tm(self, packet: bytes, _user_args: Any):
-        try:
-            pus_tm = PusTm.unpack(
-                packet, timestamp_len=CdsShortTimestamp.TIMESTAMP_SIZE
-            )
-        except ValueError as e:
-            _LOGGER.warning("Could not generate PUS TM object from raw data")
-            _LOGGER.warning(f"Raw Packet: [{packet.hex(sep=',')}], REPR: {packet!r}")
-            raise e
-        service = pus_tm.service
-        tm_packet = None
-        if service == 1:
-            tm_packet = Service1Tm.unpack(
-                data=packet, params=UnpackParams(CdsShortTimestamp.TIMESTAMP_SIZE, 1, 2)
-            )
-            res = self.verif_wrapper.add_tm(tm_packet)
-            if res is None:
-                _LOGGER.info(
-                    f"Received Verification TM[{tm_packet.service}, {tm_packet.subservice}] "
-                    f"with Request ID {tm_packet.tc_req_id.as_u32():#08x}"
-                )
-                _LOGGER.warning(
-                    f"No matching telecommand found for {tm_packet.tc_req_id}"
-                )
-            else:
-                self.verif_wrapper.log_to_console(tm_packet, res)
-                self.verif_wrapper.log_to_file(tm_packet, res)
-        if service == 3:
-            _LOGGER.info("No handling for HK packets implemented")
-            _LOGGER.info(f"Raw packet: 0x[{packet.hex(sep=',')}]")
-            pus_tm = PusTelemetry.unpack(packet, CdsShortTimestamp.TIMESTAMP_SIZE)
-            if pus_tm.subservice == 25:
-                if len(pus_tm.source_data) < 8:
-                    raise ValueError("No addressable ID in HK packet")
-                json_str = pus_tm.source_data[8:]
-                _LOGGER.info("received JSON string: " + json_str.decode("utf-8"))
-        if service == 5:
-            tm_packet = Service5Tm.unpack(packet, CdsShortTimestamp.TIMESTAMP_SIZE)
-        if service == 17:
-            tm_packet = Service17Tm.unpack(packet, CdsShortTimestamp.TIMESTAMP_SIZE)
-            if tm_packet.subservice == 2:
-                _LOGGER.info("Received Ping Reply TM[17,2]")
-            else:
-                _LOGGER.info(
-                    f"Received Test Packet with unknown subservice {tm_packet.subservice}"
-                )
-        if tm_packet is None:
-            _LOGGER.info(
-                f"The service {service} is not implemented in Telemetry Factory"
-            )
-            tm_packet = PusTelemetry.unpack(packet, CdsShortTimestamp.TIMESTAMP_SIZE)
-        self.raw_logger.log_tm(pus_tm)
-
-
-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))
-    return byte_string
-
-
-class TcHandler(TcHandlerBase):
-    def __init__(
-        self,
-        seq_count_provider: FileSeqCountProvider,
-        verif_wrapper: VerificationWrapper,
-    ):
-        super(TcHandler, self).__init__()
-        self.seq_count_provider = seq_count_provider
-        self.verif_wrapper = verif_wrapper
-        self.queue_helper = DefaultPusQueueHelper(
-            queue_wrapper=QueueWrapper.empty(),
-            tc_sched_timestamp_len=7,
-            seq_cnt_provider=seq_count_provider,
-            pus_verificator=verif_wrapper.pus_verificator,
-            default_pus_apid=EXAMPLE_PUS_APID,
-        )
-
-    def send_cb(self, send_params: SendCbParams):
-        entry_helper = send_params.entry
-        if entry_helper.is_tc:
-            if entry_helper.entry_type == TcQueueEntryType.PUS_TC:
-                pus_tc_wrapper = entry_helper.to_pus_tc_entry()
-                pus_tc_wrapper.pus_tc.seq_count = (
-                    self.seq_count_provider.get_and_increment()
-                )
-                self.verif_wrapper.add_tc(pus_tc_wrapper.pus_tc)
-                raw_tc = pus_tc_wrapper.pus_tc.pack()
-                _LOGGER.info(f"Sending {pus_tc_wrapper.pus_tc}")
-                send_params.com_if.send(raw_tc)
-        elif entry_helper.entry_type == TcQueueEntryType.LOG:
-            log_entry = entry_helper.to_log_entry()
-            _LOGGER.info(log_entry.log_str)
-
-    def queue_finished_cb(self, info: ProcedureWrapper):
-        if info.proc_type == TcProcedureType.TREE_COMMANDING:
-            def_proc = info.to_tree_commanding_procedure()
-            _LOGGER.info(f"Queue handling finished for command {def_proc.cmd_path}")
-
-    def feed_cb(self, info: ProcedureWrapper, wrapper: FeedWrapper):
-        q = self.queue_helper
-        q.queue_wrapper = wrapper.queue_wrapper
-        if info.proc_type == TcProcedureType.TREE_COMMANDING:
-            def_proc = info.to_tree_commanding_procedure()
-            cmd_path = def_proc.cmd_path
-            if cmd_path == "/ping":
-                q.add_log_cmd("Sending PUS ping telecommand")
-                q.add_pus_tc(PusTelecommand(service=17, subservice=1))
-            if cmd_path == "/change_blink_freq":
-                self.create_change_blink_freq_command(q)
-
-    def create_change_blink_freq_command(self, q: DefaultPusQueueHelper):
-        q.add_log_cmd("Changing blink frequency")
-        while True:
-            blink_freq = int(
-                input(
-                    "Please specify new blink frequency in ms. Valid Range [2..10000]: "
-                )
-            )
-            if blink_freq < 2 or blink_freq > 10000:
-                print(
-                    "Invalid blink frequency. Please specify a value between 2 and 10000."
-                )
-                continue
-            break
-        app_data = struct.pack("!I", blink_freq)
-        q.add_pus_tc(PusTelecommand(service=8, subservice=1, app_data=app_data))
-
-
-def main():
-    add_colorlog_console_logger(_LOGGER)
-    tmtccmd.init_printout(False)
-    hook_obj = SatRsConfigHook(json_cfg_path=default_json_path())
-    parser_wrapper = PreArgsParsingWrapper()
-    parser_wrapper.create_default_parent_parser()
-    parser_wrapper.create_default_parser()
-    parser_wrapper.add_def_proc_args()
-    params = SetupParams()
-    post_args_wrapper = parser_wrapper.parse(hook_obj, params)
-    proc_wrapper = ProcedureParamsWrapper()
-    if post_args_wrapper.use_gui:
-        post_args_wrapper.set_params_without_prompts(proc_wrapper)
-    else:
-        post_args_wrapper.set_params_with_prompts(proc_wrapper)
-    params.apid = EXAMPLE_PUS_APID
-    setup_args = SetupWrapper(
-        hook_obj=hook_obj, setup_params=params, proc_param_wrapper=proc_wrapper
-    )
-    # Create console logger helper and file loggers
-    tmtc_logger = RegularTmtcLogWrapper()
-    file_logger = tmtc_logger.logger
-    raw_logger = RawTmtcTimedLogWrapper(when=TimedLogWhen.PER_HOUR, interval=1)
-    verificator = PusVerificator()
-    verification_wrapper = VerificationWrapper(verificator, _LOGGER, file_logger)
-    # Create primary TM handler and add it to the CCSDS Packet Handler
-    tm_handler = PusHandler(file_logger, verification_wrapper, raw_logger)
-    ccsds_handler = CcsdsTmHandler(generic_handler=None)
-    ccsds_handler.add_apid_handler(tm_handler)
-
-    # Create TC handler
-    seq_count_provider = PusFileSeqCountProvider()
-    tc_handler = TcHandler(seq_count_provider, verification_wrapper)
-    tmtccmd.setup(setup_args=setup_args)
-    init_proc = params_to_procedure_conversion(setup_args.proc_param_wrapper)
-    tmtc_backend = tmtccmd.create_default_tmtc_backend(
-        setup_wrapper=setup_args,
-        tm_handler=ccsds_handler,
-        tc_handler=tc_handler,
-        init_procedure=init_proc,
-    )
-    tmtccmd.start(tmtc_backend=tmtc_backend, hook_obj=hook_obj)
-    try:
-        while True:
-            state = tmtc_backend.periodic_op(None)
-            if state.request == BackendRequest.TERMINATION_NO_ERROR:
-                sys.exit(0)
-            elif state.request == BackendRequest.DELAY_IDLE:
-                _LOGGER.info("TMTC Client in IDLE mode")
-                time.sleep(3.0)
-            elif state.request == BackendRequest.DELAY_LISTENER:
-                time.sleep(0.8)
-            elif state.request == BackendRequest.DELAY_CUSTOM:
-                if state.next_delay.total_seconds() <= 0.4:
-                    time.sleep(state.next_delay.total_seconds())
-                else:
-                    time.sleep(0.4)
-            elif state.request == BackendRequest.CALL_NEXT:
-                pass
-    except KeyboardInterrupt:
-        sys.exit(0)
-
-
-if __name__ == "__main__":
-    main()

embedded-examples/stm32f3-disco-rtic/pyclient/requirements.txt

@@ -1,2 +0,0 @@
-tmtccmd == 8.0.1
-# -e git+https://github.com/robamu-org/tmtccmd.git@main#egg=tmtccmd

embedded-examples/stm32f3-disco-rtic/src/bin/blinky.rs

@@ -1,76 +1,61 @@
-#![no_std]
 #![no_main]
-use satrs_stm32f3_disco_rtic as _;
+#![no_std]
 
-use stm32f3_discovery::leds::Leds;
-use stm32f3_discovery::stm32f3xx_hal::delay::Delay;
-use stm32f3_discovery::stm32f3xx_hal::{pac, prelude::*};
-use stm32f3_discovery::switch_hal::{OutputSwitch, ToggleableOutputSwitch};
+use panic_probe as _;
+use rtic::app;
 
-#[cortex_m_rt::entry]
-fn main() -> ! {
-    defmt::println!("STM32F3 Discovery Blinky");
-    let dp = pac::Peripherals::take().unwrap();
-    let mut rcc = dp.RCC.constrain();
-    let cp = cortex_m::Peripherals::take().unwrap();
-    let mut flash = dp.FLASH.constrain();
-    let clocks = rcc.cfgr.freeze(&mut flash.acr);
-    let mut delay = Delay::new(cp.SYST, clocks);
+#[app(device = embassy_stm32)]
+mod app {
+    use rtic_monotonics::fugit::ExtU32;
+    use rtic_monotonics::Monotonic as _;
+    use satrs_stm32f3_disco_rtic::{Direction, LedPinSet, Leds};
 
-    let mut gpioe = dp.GPIOE.split(&mut rcc.ahb);
-    let mut leds = Leds::new(
-        gpioe.pe8,
-        gpioe.pe9,
-        gpioe.pe10,
-        gpioe.pe11,
-        gpioe.pe12,
-        gpioe.pe13,
-        gpioe.pe14,
-        gpioe.pe15,
-        &mut gpioe.moder,
-        &mut gpioe.otyper,
-    );
-    let delay_ms = 200u16;
-    loop {
-        leds.ld3_n.toggle().ok();
-        delay.delay_ms(delay_ms);
-        leds.ld3_n.toggle().ok();
-        delay.delay_ms(delay_ms);
+    rtic_monotonics::systick_monotonic!(Mono, 1000);
 
-        //explicit on/off
-        leds.ld4_nw.on().ok();
-        delay.delay_ms(delay_ms);
-        leds.ld4_nw.off().ok();
-        delay.delay_ms(delay_ms);
+    #[shared]
+    struct Shared {}
 
-        leds.ld5_ne.on().ok();
-        delay.delay_ms(delay_ms);
-        leds.ld5_ne.off().ok();
-        delay.delay_ms(delay_ms);
+    #[local]
+    struct Local {
+        leds: Leds,
+        current_dir: Direction,
+    }
 
-        leds.ld6_w.on().ok();
-        delay.delay_ms(delay_ms);
-        leds.ld6_w.off().ok();
-        delay.delay_ms(delay_ms);
+    #[init]
+    fn init(cx: init::Context) -> (Shared, Local) {
+        let p = embassy_stm32::init(Default::default());
 
-        leds.ld7_e.on().ok();
-        delay.delay_ms(delay_ms);
-        leds.ld7_e.off().ok();
-        delay.delay_ms(delay_ms);
+        defmt::info!("Starting sat-rs demo application for the STM32F3-Discovery using RTICv2");
 
-        leds.ld8_sw.on().ok();
-        delay.delay_ms(delay_ms);
-        leds.ld8_sw.off().ok();
-        delay.delay_ms(delay_ms);
+        let led_pin_set = LedPinSet {
+            pin_n: p.PE8,
+            pin_ne: p.PE9,
+            pin_e: p.PE10,
+            pin_se: p.PE11,
+            pin_s: p.PE12,
+            pin_sw: p.PE13,
+            pin_w: p.PE14,
+            pin_nw: p.PE15,
+        };
+        let leds = Leds::new(led_pin_set);
 
-        leds.ld9_se.on().ok();
-        delay.delay_ms(delay_ms);
-        leds.ld9_se.off().ok();
-        delay.delay_ms(delay_ms);
+        // Initialize the systick interrupt & obtain the token to prove that we did
+        Mono::start(cx.core.SYST, 8_000_000);
+        blinky::spawn().expect("failed to spawn blinky task");
+        (
+            Shared {},
+            Local {
+                leds,
+                current_dir: Direction::North,
+            },
+        )
+    }
 
-        leds.ld10_s.on().ok();
-        delay.delay_ms(delay_ms);
-        leds.ld10_s.off().ok();
-        delay.delay_ms(delay_ms);
+    #[task(local = [leds, current_dir])]
+    async fn blinky(cx: blinky::Context) {
+        loop {
+            cx.local.leds.blink_next(cx.local.current_dir);
+            Mono::delay(200.millis()).await;
+        }
     }
 }

embedded-examples/stm32f3-disco-rtic/src/lib.rs

@@ -1,51 +1,190 @@
 #![no_main]
 #![no_std]
 
-use cortex_m_semihosting::debug;
+use arbitrary_int::u11;
+use core::time::Duration;
+use embassy_stm32::gpio::Output;
+use spacepackets::{
+    ccsds_packet_len_for_user_data_len_with_checksum, CcsdsPacketCreationError,
+    CcsdsPacketCreatorWithReservedData, CcsdsPacketIdAndPsc, SpacePacketHeader,
+};
 
-use defmt_brtt as _; // global logger
+pub const APID: u11 = u11::new(0x02);
 
-use stm32f3xx_hal as _; // memory layout
-
-use panic_probe as _;
-
-// same panicking *behavior* as `panic-probe` but doesn't print a panic message
-// this prevents the panic message being printed *twice* when `defmt::panic` is invoked
-#[defmt::panic_handler]
-fn panic() -> ! {
-    cortex_m::asm::udf()
+#[derive(defmt::Format, serde::Serialize, serde::Deserialize, PartialEq, Eq, Clone, Copy)]
+pub enum Direction {
+    North,
+    NorthEast,
+    East,
+    SouthEast,
+    South,
+    SouthWest,
+    West,
+    NorthWest,
 }
 
-/// Terminates the application and makes a semihosting-capable debug tool exit
-/// with status code 0.
-pub fn exit() -> ! {
-    loop {
-        debug::exit(debug::EXIT_SUCCESS);
+impl Direction {
+    pub fn switch_to_next(&mut self) -> (Self, Self) {
+        let curr = *self;
+        *self = match self {
+            Direction::North => Direction::NorthEast,
+            Direction::NorthEast => Direction::East,
+            Direction::East => Direction::SouthEast,
+            Direction::SouthEast => Direction::South,
+            Direction::South => Direction::SouthWest,
+            Direction::SouthWest => Direction::West,
+            Direction::West => Direction::NorthWest,
+            Direction::NorthWest => Direction::North,
+        };
+        (curr, *self)
     }
 }
 
-/// Hardfault handler.
-///
-/// Terminates the application and makes a semihosting-capable debug tool exit
-/// with an error. This seems better than the default, which is to spin in a
-/// loop.
-#[cortex_m_rt::exception]
-unsafe fn HardFault(_frame: &cortex_m_rt::ExceptionFrame) -> ! {
-    loop {
-        debug::exit(debug::EXIT_FAILURE);
+#[derive(Copy, Clone, Debug, defmt::Format, serde::Serialize, serde::Deserialize)]
+pub enum Request {
+    Ping,
+    ChangeBlinkFrequency(Duration),
+}
+
+#[derive(Debug, defmt::Format, serde::Serialize, serde::Deserialize)]
+pub struct TmHeader {
+    pub tc_packet_id: Option<CcsdsPacketIdAndPsc>,
+    pub uptime_millis: u32,
+}
+
+#[derive(Debug, defmt::Format, serde::Serialize, serde::Deserialize)]
+pub enum Response {
+    CommandDone,
+}
+
+pub fn tm_size(tm_header: &TmHeader, response: &Response) -> usize {
+    ccsds_packet_len_for_user_data_len_with_checksum(
+        postcard::experimental::serialized_size(tm_header).unwrap()
+            + postcard::experimental::serialized_size(response).unwrap(),
+    )
+    .unwrap()
+}
+
+pub fn create_tm_packet(
+    buf: &mut [u8],
+    sp_header: SpacePacketHeader,
+    tm_header: TmHeader,
+    response: Response,
+) -> Result<usize, CcsdsPacketCreationError> {
+    let packet_data_size = postcard::experimental::serialized_size(&tm_header).unwrap()
+        + postcard::experimental::serialized_size(&response).unwrap();
+    let mut creator =
+        CcsdsPacketCreatorWithReservedData::new_tm_with_checksum(sp_header, packet_data_size, buf)?;
+
+    let current_index = postcard::to_slice(&tm_header, creator.packet_data_mut())
+        .unwrap()
+        .len();
+    postcard::to_slice(&response, &mut creator.packet_data_mut()[current_index..]).unwrap();
+    Ok(creator.finish())
+}
+
+pub struct Leds {
+    pub north: Output<'static>,
+    pub north_east: Output<'static>,
+    pub east: Output<'static>,
+    pub south_east: Output<'static>,
+    pub south: Output<'static>,
+    pub south_west: Output<'static>,
+    pub west: Output<'static>,
+    pub north_west: Output<'static>,
+}
+
+impl Leds {
+    pub fn blink_next(&mut self, current_dir: &mut Direction) {
+        let (prev, curr) = current_dir.switch_to_next();
+        self.set_dir_low(prev);
+        self.set_dir_high(curr);
+    }
+
+    pub fn set_dir(&mut self, dir: Direction, level: embassy_stm32::gpio::Level) {
+        match dir {
+            Direction::North => self.north.set_level(level),
+            Direction::NorthEast => self.north_east.set_level(level),
+            Direction::East => self.east.set_level(level),
+            Direction::SouthEast => self.south_east.set_level(level),
+            Direction::South => self.south.set_level(level),
+            Direction::SouthWest => self.south_west.set_level(level),
+            Direction::West => self.west.set_level(level),
+            Direction::NorthWest => self.north_west.set_level(level),
+        }
+    }
+
+    pub fn set_dir_low(&mut self, dir: Direction) {
+        self.set_dir(dir, embassy_stm32::gpio::Level::Low);
+    }
+
+    pub fn set_dir_high(&mut self, dir: Direction) {
+        self.set_dir(dir, embassy_stm32::gpio::Level::High);
     }
 }
 
-// defmt-test 0.3.0 has the limitation that this `#[tests]` attribute can only be used
-// once within a crate. the module can be in any file but there can only be at most
-// one `#[tests]` module in this library crate
-#[cfg(test)]
-#[defmt_test::tests]
-mod unit_tests {
-    use defmt::assert;
+pub struct LedPinSet {
+    pub pin_n: embassy_stm32::Peri<'static, embassy_stm32::peripherals::PE8>,
+    pub pin_ne: embassy_stm32::Peri<'static, embassy_stm32::peripherals::PE9>,
+    pub pin_e: embassy_stm32::Peri<'static, embassy_stm32::peripherals::PE10>,
+    pub pin_se: embassy_stm32::Peri<'static, embassy_stm32::peripherals::PE11>,
+    pub pin_s: embassy_stm32::Peri<'static, embassy_stm32::peripherals::PE12>,
+    pub pin_sw: embassy_stm32::Peri<'static, embassy_stm32::peripherals::PE13>,
+    pub pin_w: embassy_stm32::Peri<'static, embassy_stm32::peripherals::PE14>,
+    pub pin_nw: embassy_stm32::Peri<'static, embassy_stm32::peripherals::PE15>,
+}
 
-    #[test]
-    fn it_works() {
-        assert!(true)
+impl Leds {
+    pub fn new(pin_set: LedPinSet) -> Self {
+        let led_n = Output::new(
+            pin_set.pin_n,
+            embassy_stm32::gpio::Level::Low,
+            embassy_stm32::gpio::Speed::Medium,
+        );
+        let led_ne = Output::new(
+            pin_set.pin_ne,
+            embassy_stm32::gpio::Level::Low,
+            embassy_stm32::gpio::Speed::Medium,
+        );
+        let led_e = Output::new(
+            pin_set.pin_e,
+            embassy_stm32::gpio::Level::Low,
+            embassy_stm32::gpio::Speed::Medium,
+        );
+        let led_se = Output::new(
+            pin_set.pin_se,
+            embassy_stm32::gpio::Level::Low,
+            embassy_stm32::gpio::Speed::Medium,
+        );
+        let led_s = Output::new(
+            pin_set.pin_s,
+            embassy_stm32::gpio::Level::Low,
+            embassy_stm32::gpio::Speed::Medium,
+        );
+        let led_sw = Output::new(
+            pin_set.pin_sw,
+            embassy_stm32::gpio::Level::Low,
+            embassy_stm32::gpio::Speed::Medium,
+        );
+        let led_w = Output::new(
+            pin_set.pin_w,
+            embassy_stm32::gpio::Level::Low,
+            embassy_stm32::gpio::Speed::Medium,
+        );
+        let led_nw = Output::new(
+            pin_set.pin_nw,
+            embassy_stm32::gpio::Level::Low,
+            embassy_stm32::gpio::Speed::Medium,
+        );
+        Self {
+            north: led_n,
+            north_east: led_ne,
+            east: led_e,
+            south_east: led_se,
+            south: led_s,
+            south_west: led_sw,
+            west: led_w,
+            north_west: led_nw,
+        }
     }
 }

embedded-examples/stm32f3-disco-rtic/src/main.rs

@@ -1,682 +1,349 @@
 #![no_std]
 #![no_main]
-use satrs::pus::verification::{
-    FailParams, TcStateAccepted, VerificationReportCreator, VerificationToken,
-};
-use satrs::spacepackets::ecss::tc::PusTcReader;
-use satrs::spacepackets::ecss::tm::{PusTmCreator, PusTmSecondaryHeader};
-use satrs::spacepackets::ecss::EcssEnumU16;
-use satrs::spacepackets::CcsdsPacket;
-use satrs::spacepackets::{ByteConversionError, SpHeader};
-// global logger + panicking-behavior + memory layout
-use satrs_stm32f3_disco_rtic as _;
+use arbitrary_int::{u11, u14};
+use cortex_m_semihosting::debug::{self, EXIT_FAILURE, EXIT_SUCCESS};
+use satrs_stm32f3_disco_rtic::{create_tm_packet, tm_size, CcsdsPacketId, Request, Response};
+use spacepackets::{CcsdsPacketCreationError, SpHeader};
+
+use defmt_rtt as _; // global logger
+
+use panic_probe as _;
 
 use rtic::app;
 
-use heapless::{mpmc::Q8, Vec};
 #[allow(unused_imports)]
 use rtic_monotonics::fugit::{MillisDurationU32, TimerInstantU32};
 use rtic_monotonics::systick::prelude::*;
-use satrs::seq_count::SequenceCountProviderCore;
-use satrs::spacepackets::{ecss::PusPacket, ecss::WritablePusPacket};
-use stm32f3xx_hal::dma::dma1;
-use stm32f3xx_hal::gpio::{PushPull, AF7, PA2, PA3};
-use stm32f3xx_hal::pac::USART2;
-use stm32f3xx_hal::serial::{Rx, RxEvent, Serial, SerialDmaRx, SerialDmaTx, Tx, TxEvent};
+
+use crate::app::Mono;
 
 const UART_BAUD: u32 = 115200;
 const DEFAULT_BLINK_FREQ_MS: u32 = 1000;
 const TX_HANDLER_FREQ_MS: u32 = 20;
-const MIN_DELAY_BETWEEN_TX_PACKETS_MS: u32 = 5;
 const MAX_TC_LEN: usize = 128;
 const MAX_TM_LEN: usize = 128;
-pub const PUS_APID: u16 = 0x02;
 
-type TxType = Tx<USART2, PA2<AF7<PushPull>>>;
-type RxType = Rx<USART2, PA3<AF7<PushPull>>>;
-type InstantFugit = TimerInstantU32<1000>;
-type TxDmaTransferType = SerialDmaTx<&'static [u8], dma1::C7, TxType>;
-type RxDmaTransferType = SerialDmaRx<&'static mut [u8], dma1::C6, RxType>;
+pub const PUS_APID: u11 = u11::new(0x02);
 
 // This is the predictable maximum overhead of the COBS encoding scheme.
 // It is simply the maximum packet lenght dividied by 254 rounded up.
-const COBS_TC_OVERHEAD: usize = (MAX_TC_LEN + 254 - 1) / 254;
-const COBS_TM_OVERHEAD: usize = (MAX_TM_LEN + 254 - 1) / 254;
+const COBS_TM_OVERHEAD: usize = cobs::max_encoding_overhead(MAX_TM_LEN);
 
-const TC_BUF_LEN: usize = MAX_TC_LEN + COBS_TC_OVERHEAD;
 const TM_BUF_LEN: usize = MAX_TC_LEN + COBS_TM_OVERHEAD;
 
-// This is a static buffer which should ONLY (!) be used as the TX DMA
-// transfer buffer.
-static mut DMA_TX_BUF: [u8; TM_BUF_LEN] = [0; TM_BUF_LEN];
-// This is a static buffer which should ONLY (!) be used as the RX DMA
-// transfer buffer.
-static mut DMA_RX_BUF: [u8; TC_BUF_LEN] = [0; TC_BUF_LEN];
+const TC_DMA_BUF_LEN: usize = 512;
 
-type TmPacket = Vec<u8, MAX_TM_LEN>;
-type TcPacket = Vec<u8, MAX_TC_LEN>;
+type TmPacket = heapless::Vec<u8, MAX_TM_LEN>;
 
-static TM_REQUESTS: Q8<TmPacket> = Q8::new();
+static TM_QUEUE: heapless::mpmc::Queue<TmPacket, 16> = heapless::mpmc::Queue::new();
 
-use core::sync::atomic::{AtomicU16, Ordering};
-
-pub struct SeqCountProviderAtomicRef {
-    atomic: AtomicU16,
-    ordering: Ordering,
-}
-
-impl SeqCountProviderAtomicRef {
-    pub const fn new(ordering: Ordering) -> Self {
-        Self {
-            atomic: AtomicU16::new(0),
-            ordering,
-        }
-    }
-}
-
-impl SequenceCountProviderCore<u16> for SeqCountProviderAtomicRef {
-    fn get(&self) -> u16 {
-        self.atomic.load(self.ordering)
-    }
-
-    fn increment(&self) {
-        self.atomic.fetch_add(1, self.ordering);
-    }
-
-    fn get_and_increment(&self) -> u16 {
-        self.atomic.fetch_add(1, self.ordering)
-    }
-}
-
-static SEQ_COUNT_PROVIDER: SeqCountProviderAtomicRef =
-    SeqCountProviderAtomicRef::new(Ordering::Relaxed);
-
-pub struct TxIdle {
-    tx: TxType,
-    dma_channel: dma1::C7,
-}
-
-#[derive(Debug, defmt::Format)]
+#[derive(Debug, defmt::Format, thiserror::Error)]
 pub enum TmSendError {
-    ByteConversion(ByteConversionError),
+    #[error("packet creation error: {0}")]
+    PacketCreation(#[from] CcsdsPacketCreationError),
+    #[error("queue error")]
     Queue,
 }
 
-impl From<ByteConversionError> for TmSendError {
-    fn from(value: ByteConversionError) -> Self {
-        Self::ByteConversion(value)
-    }
-}
-
-fn send_tm(tm_creator: PusTmCreator) -> Result<(), TmSendError> {
-    if tm_creator.len_written() > MAX_TM_LEN {
-        return Err(ByteConversionError::ToSliceTooSmall {
-            expected: tm_creator.len_written(),
-            found: MAX_TM_LEN,
-        }
-        .into());
-    }
-    let mut tm_vec = TmPacket::new();
-    tm_vec
-        .resize(tm_creator.len_written(), 0)
-        .expect("vec resize failed");
-    tm_creator.write_to_bytes(tm_vec.as_mut_slice())?;
-    defmt::info!(
-        "Sending TM[{},{}] with size {}",
-        tm_creator.service(),
-        tm_creator.subservice(),
-        tm_creator.len_written()
-    );
-    TM_REQUESTS
-        .enqueue(tm_vec)
-        .map_err(|_| TmSendError::Queue)?;
-    Ok(())
-}
-
-fn handle_tm_send_error(error: TmSendError) {
-    defmt::warn!("sending tm failed with error {}", error);
-}
-
-pub enum UartTxState {
-    // Wrapped in an option because we need an owned type later.
-    Idle(Option<TxIdle>),
-    // Same as above
-    Transmitting(Option<TxDmaTransferType>),
-}
-
-pub struct UartTxShared {
-    last_completed: Option<InstantFugit>,
-    state: UartTxState,
-}
-
-pub struct RequestWithToken {
-    token: VerificationToken<TcStateAccepted>,
-    request: Request,
-}
-
 #[derive(Debug, defmt::Format)]
-pub enum Request {
-    Ping,
-    ChangeBlinkFrequency(u32),
+pub struct RequestWithTcId {
+    pub request: Request,
+    pub tc_id: CcsdsPacketId,
 }
 
-#[derive(Debug, defmt::Format)]
-pub enum RequestError {
-    InvalidApid = 1,
-    InvalidService = 2,
-    InvalidSubservice = 3,
-    NotEnoughAppData = 4,
-}
-
-pub fn convert_pus_tc_to_request(
-    tc: &PusTcReader,
-    verif_reporter: &mut VerificationReportCreator,
-    src_data_buf: &mut [u8],
-    timestamp: &[u8],
-) -> Result<RequestWithToken, RequestError> {
-    defmt::info!(
-        "Found PUS TC [{},{}] with length {}",
-        tc.service(),
-        tc.subservice(),
-        tc.len_packed()
-    );
-
-    let token = verif_reporter.add_tc(tc);
-    if tc.apid() != PUS_APID {
-        defmt::warn!("Received tc with unknown APID {}", tc.apid());
-        let result = send_tm(
-            verif_reporter
-                .acceptance_failure(
-                    src_data_buf,
-                    token,
-                    SEQ_COUNT_PROVIDER.get_and_increment(),
-                    0,
-                    FailParams::new(timestamp, &EcssEnumU16::new(0), &[]),
-                )
-                .unwrap(),
-        );
-        if let Err(e) = result {
-            handle_tm_send_error(e);
-        }
-        return Err(RequestError::InvalidApid);
-    }
-    let (tm_creator, accepted_token) = verif_reporter
-        .acceptance_success(
-            src_data_buf,
-            token,
-            SEQ_COUNT_PROVIDER.get_and_increment(),
-            0,
-            timestamp,
-        )
-        .unwrap();
-
-    if let Err(e) = send_tm(tm_creator) {
-        handle_tm_send_error(e);
-    }
-
-    if tc.service() == 17 && tc.subservice() == 1 {
-        if tc.subservice() == 1 {
-            return Ok(RequestWithToken {
-                request: Request::Ping,
-                token: accepted_token,
-            });
-        } else {
-            return Err(RequestError::InvalidSubservice);
-        }
-    } else if tc.service() == 8 {
-        if tc.subservice() == 1 {
-            if tc.user_data().len() < 4 {
-                return Err(RequestError::NotEnoughAppData);
-            }
-            let new_freq_ms = u32::from_be_bytes(tc.user_data()[0..4].try_into().unwrap());
-            return Ok(RequestWithToken {
-                request: Request::ChangeBlinkFrequency(new_freq_ms),
-                token: accepted_token,
-            });
-        } else {
-            return Err(RequestError::InvalidSubservice);
-        }
-    } else {
-        return Err(RequestError::InvalidService);
-    }
-}
-
-#[app(device = stm32f3xx_hal::pac, peripherals = true)]
+#[app(device = embassy_stm32)]
 mod app {
-    use super::*;
-    use core::slice::Iter;
-    use satrs::pus::verification::{TcStateStarted, VerificationReportCreator};
-    use satrs::spacepackets::{ecss::tc::PusTcReader, time::cds::P_FIELD_BASE};
-    #[allow(unused_imports)]
-    use stm32f3_discovery::leds::Direction;
-    use stm32f3_discovery::leds::Leds;
-    use stm32f3xx_hal::prelude::*;
+    use core::time::Duration;
 
-    use stm32f3_discovery::switch_hal::OutputSwitch;
-    use stm32f3xx_hal::Switch;
-    #[allow(dead_code)]
-    type SerialType = Serial<USART2, (PA2<AF7<PushPull>>, PA3<AF7<PushPull>>)>;
+    use super::*;
+    use arbitrary_int::u14;
+    use rtic::Mutex;
+    use rtic_sync::{
+        channel::{Receiver, Sender},
+        make_channel,
+    };
+    use satrs_stm32f3_disco_rtic::{CcsdsPacketId, LedPinSet, Request, Response};
+    use spacepackets::CcsdsPacketReader;
 
     systick_monotonic!(Mono, 1000);
 
+    embassy_stm32::bind_interrupts!(struct Irqs {
+        USART2 => embassy_stm32::usart::InterruptHandler<embassy_stm32::peripherals::USART2>;
+    });
+
     #[shared]
     struct Shared {
-        blink_freq: MillisDurationU32,
-        tx_shared: UartTxShared,
-        rx_transfer: Option<RxDmaTransferType>,
+        blink_freq: Duration,
     }
 
     #[local]
     struct Local {
-        verif_reporter: VerificationReportCreator,
-        leds: Leds,
-        last_dir: Direction,
-        curr_dir: Iter<'static, Direction>,
+        leds: satrs_stm32f3_disco_rtic::Leds,
+        current_dir: satrs_stm32f3_disco_rtic::Direction,
+        seq_count: u14,
+        tx: embassy_stm32::usart::UartTx<'static, embassy_stm32::mode::Async>,
+        rx: embassy_stm32::usart::RingBufferedUartRx<'static>,
     }
 
     #[init]
     fn init(cx: init::Context) -> (Shared, Local) {
-        let mut rcc = cx.device.RCC.constrain();
+        static DMA_BUF: static_cell::ConstStaticCell<[u8; TC_DMA_BUF_LEN]> =
+            static_cell::ConstStaticCell::new([0; TC_DMA_BUF_LEN]);
 
+        let p = embassy_stm32::init(Default::default());
+
+        let (req_sender, req_receiver) = make_channel!(RequestWithTcId, 16);
         // Initialize the systick interrupt & obtain the token to prove that we did
         Mono::start(cx.core.SYST, 8_000_000);
 
-        let mut flash = cx.device.FLASH.constrain();
-        let clocks = rcc
-            .cfgr
-            .use_hse(8.MHz())
-            .sysclk(8.MHz())
-            .pclk1(8.MHz())
-            .freeze(&mut flash.acr);
+        defmt::info!("sat-rs demo application for the STM32F3-Discovery with RTICv2");
+        let led_pin_set = LedPinSet {
+            pin_n: p.PE8,
+            pin_ne: p.PE9,
+            pin_e: p.PE10,
+            pin_se: p.PE11,
+            pin_s: p.PE12,
+            pin_sw: p.PE13,
+            pin_w: p.PE14,
+            pin_nw: p.PE15,
+        };
+        let leds = satrs_stm32f3_disco_rtic::Leds::new(led_pin_set);
 
-        // Set up monotonic timer.
-        //let mono_timer = MonoTimer::new(cx.core.DWT, clocks, &mut cx.core.DCB);
+        let mut config = embassy_stm32::usart::Config::default();
+        config.baudrate = UART_BAUD;
+        let uart = embassy_stm32::usart::Uart::new(
+            p.USART2, p.PA3, p.PA2, Irqs, p.DMA1_CH7, p.DMA1_CH6, config,
+        )
+        .unwrap();
 
-        defmt::info!("Starting sat-rs demo application for the STM32F3-Discovery");
-        let mut gpioe = cx.device.GPIOE.split(&mut rcc.ahb);
-
-        let leds = Leds::new(
-            gpioe.pe8,
-            gpioe.pe9,
-            gpioe.pe10,
-            gpioe.pe11,
-            gpioe.pe12,
-            gpioe.pe13,
-            gpioe.pe14,
-            gpioe.pe15,
-            &mut gpioe.moder,
-            &mut gpioe.otyper,
-        );
-        let mut gpioa = cx.device.GPIOA.split(&mut rcc.ahb);
-        // USART2 pins
-        let mut pins = (
-            // TX pin: PA2
-            gpioa
-                .pa2
-                .into_af_push_pull(&mut gpioa.moder, &mut gpioa.otyper, &mut gpioa.afrl),
-            // RX pin: PA3
-            gpioa
-                .pa3
-                .into_af_push_pull(&mut gpioa.moder, &mut gpioa.otyper, &mut gpioa.afrl),
-        );
-        pins.1.internal_pull_up(&mut gpioa.pupdr, true);
-        let mut usart2 = Serial::new(
-            cx.device.USART2,
-            pins,
-            UART_BAUD.Bd(),
-            clocks,
-            &mut rcc.apb1,
-        );
-        usart2.configure_rx_interrupt(RxEvent::Idle, Switch::On);
-        // This interrupt is enabled to re-schedule new transfers in the interrupt handler immediately.
-        usart2.configure_tx_interrupt(TxEvent::TransmissionComplete, Switch::On);
-
-        let dma1 = cx.device.DMA1.split(&mut rcc.ahb);
-        let (mut tx_serial, mut rx_serial) = usart2.split();
-
-        // This interrupt is immediately triggered, clear it. It will only be reset
-        // by the hardware when data is received on RX (RXNE event)
-        rx_serial.clear_event(RxEvent::Idle);
-        // For some reason, this is also immediately triggered..
-        tx_serial.clear_event(TxEvent::TransmissionComplete);
-        let rx_transfer = rx_serial.read_exact(unsafe { DMA_RX_BUF.as_mut_slice() }, dma1.ch6);
+        let (tx, rx) = uart.split();
         defmt::info!("Spawning tasks");
-        blink::spawn().unwrap();
+        blinky::spawn().unwrap();
         serial_tx_handler::spawn().unwrap();
-
-        let verif_reporter = VerificationReportCreator::new(PUS_APID).unwrap();
+        serial_rx_handler::spawn(req_sender).unwrap();
+        req_handler::spawn(req_receiver).unwrap();
 
         (
             Shared {
-                blink_freq: MillisDurationU32::from_ticks(DEFAULT_BLINK_FREQ_MS),
-                tx_shared: UartTxShared {
-                    last_completed: None,
-                    state: UartTxState::Idle(Some(TxIdle {
-                        tx: tx_serial,
-                        dma_channel: dma1.ch7,
-                    })),
-                },
-                rx_transfer: Some(rx_transfer),
+                blink_freq: Duration::from_millis(DEFAULT_BLINK_FREQ_MS as u64),
             },
             Local {
-                verif_reporter,
                 leds,
-                last_dir: Direction::North,
-                curr_dir: Direction::iter(),
+                tx,
+                seq_count: u14::new(0),
+                rx: rx.into_ring_buffered(DMA_BUF.take()),
+                current_dir: satrs_stm32f3_disco_rtic::Direction::North,
             },
         )
     }
 
-    #[task(local = [leds, curr_dir, last_dir], shared=[blink_freq])]
-    async fn blink(mut cx: blink::Context) {
-        let blink::LocalResources {
-            leds,
-            curr_dir,
-            last_dir,
-            ..
-        } = cx.local;
-        let mut toggle_leds = |dir: &Direction| {
-            let last_led = leds.for_direction(*last_dir);
-            last_led.off().ok();
-            let led = leds.for_direction(*dir);
-            led.on().ok();
-            *last_dir = *dir;
-        };
+    #[task(local = [leds, current_dir], shared=[blink_freq])]
+    async fn blinky(mut cx: blinky::Context) {
         loop {
-            match curr_dir.next() {
-                Some(dir) => {
-                    toggle_leds(dir);
-                }
-                None => {
-                    *curr_dir = Direction::iter();
-                    toggle_leds(curr_dir.next().unwrap());
-                }
-            }
+            cx.local.leds.blink_next(cx.local.current_dir);
             let current_blink_freq = cx.shared.blink_freq.lock(|current| *current);
-            Mono::delay(current_blink_freq).await;
+            Mono::delay(MillisDurationU32::from_ticks(
+                current_blink_freq.as_millis() as u32,
+            ))
+            .await;
         }
     }
 
     #[task(
-        shared = [tx_shared],
+        local = [
+            tx,
+            encoded_buf: [u8; TM_BUF_LEN] = [0; TM_BUF_LEN]
+        ],
+        shared = [],
     )]
-    async fn serial_tx_handler(mut cx: serial_tx_handler::Context) {
+    async fn serial_tx_handler(cx: serial_tx_handler::Context) {
         loop {
-            let is_idle = cx.shared.tx_shared.lock(|tx_shared| {
-                if let UartTxState::Idle(_) = tx_shared.state {
-                    return true;
-                }
-                false
-            });
-            if is_idle {
-                let last_completed = cx.shared.tx_shared.lock(|shared| shared.last_completed);
-                if let Some(last_completed) = last_completed {
-                    let elapsed_ms = (Mono::now() - last_completed).to_millis();
-                    if elapsed_ms < MIN_DELAY_BETWEEN_TX_PACKETS_MS {
-                        Mono::delay((MIN_DELAY_BETWEEN_TX_PACKETS_MS - elapsed_ms).millis()).await;
-                    }
-                }
-            } else {
-                // Check for completion after 1 ms
-                Mono::delay(1.millis()).await;
+            while let Some(vec) = TM_QUEUE.dequeue() {
+                let encoded_len =
+                    cobs::encode_including_sentinels(&vec[0..vec.len()], cx.local.encoded_buf);
+                defmt::debug!("sending {} bytes over UART", encoded_len);
+                cx.local
+                    .tx
+                    .write(&cx.local.encoded_buf[0..encoded_len])
+                    .await
+                    .unwrap();
                 continue;
             }
-            if let Some(vec) = TM_REQUESTS.dequeue() {
-                cx.shared
-                    .tx_shared
-                    .lock(|tx_shared| match &mut tx_shared.state {
-                        UartTxState::Idle(tx) => {
-                            let encoded_len;
-                            //debug!(target: "serial_tx_handler", "bytes: {:x?}", &buf[0..len]);
-                            // Safety: We only copy the data into the TX DMA buffer in this task.
-                            // If the DMA is active, another branch will be taken.
-                            unsafe {
-                                // 0 sentinel value as start marker
-                                DMA_TX_BUF[0] = 0;
-                                encoded_len =
-                                    cobs::encode(&vec[0..vec.len()], &mut DMA_TX_BUF[1..]);
-                                // Should never panic, we accounted for the overhead.
-                                // Write into transfer buffer directly, no need for intermediate
-                                // encoding buffer.
-                                // 0 end marker
-                                DMA_TX_BUF[encoded_len + 1] = 0;
-                            }
-                            //debug!(target: "serial_tx_handler", "Sending {} bytes", encoded_len + 2);
-                            //debug!("sent: {:x?}", &mut_tx_dma_buf[0..encoded_len + 2]);
-                            let tx_idle = tx.take().unwrap();
-                            // Transfer completion and re-scheduling of new TX transfers will be done
-                            // by the IRQ handler.
-                            // SAFETY: The DMA is the exclusive writer to the DMA buffer now.
-                            let transfer = tx_idle.tx.write_all(
-                                unsafe { &DMA_TX_BUF[0..encoded_len + 2] },
-                                tx_idle.dma_channel,
-                            );
-                            tx_shared.state = UartTxState::Transmitting(Some(transfer));
-                            // The memory block is automatically returned to the pool when it is dropped.
-                        }
-                        UartTxState::Transmitting(_) => (),
-                    });
-                // Check for completion after 1 ms
-                Mono::delay(1.millis()).await;
-                continue;
-            }
-            // Nothing to do, and we are idle.
             Mono::delay(TX_HANDLER_FREQ_MS.millis()).await;
         }
     }
 
     #[task(
         local = [
-            verif_reporter,
+            rx,
+            read_buf: [u8; 128] = [0; 128],
             decode_buf: [u8; MAX_TC_LEN] = [0; MAX_TC_LEN],
-            src_data_buf: [u8; MAX_TM_LEN] = [0; MAX_TM_LEN],
-            timestamp: [u8; 7] = [0; 7],
         ],
         shared = [blink_freq]
     )]
     async fn serial_rx_handler(
-        mut cx: serial_rx_handler::Context,
-        received_packet: Vec<u8, MAX_TC_LEN>,
+        cx: serial_rx_handler::Context,
+        mut sender: Sender<'static, RequestWithTcId, 16>,
     ) {
-        cx.local.timestamp[0] = P_FIELD_BASE;
-        defmt::info!("Received packet with {} bytes", received_packet.len());
-        let decode_buf = cx.local.decode_buf;
-        let packet = received_packet.as_slice();
-        let mut start_idx = None;
-        for (idx, byte) in packet.iter().enumerate() {
-            if *byte != 0 {
-                start_idx = Some(idx);
-                break;
-            }
-        }
-        if start_idx.is_none() {
-            defmt::warn!("decoding error, can only process cobs encoded frames, data is all 0");
-            return;
-        }
-        let start_idx = start_idx.unwrap();
-        match cobs::decode(&received_packet.as_slice()[start_idx..], decode_buf) {
-            Ok(len) => {
-                defmt::info!("Decoded packet length: {}", len);
-                let pus_tc = PusTcReader::new(decode_buf);
-                match pus_tc {
-                    Ok((tc, _tc_len)) => {
-                        match convert_pus_tc_to_request(
-                            &tc,
-                            cx.local.verif_reporter,
-                            cx.local.src_data_buf,
-                            cx.local.timestamp,
-                        ) {
-                            Ok(request_with_token) => {
-                                let started_token = handle_start_verification(
-                                    request_with_token.token,
-                                    cx.local.verif_reporter,
-                                    cx.local.src_data_buf,
-                                    cx.local.timestamp,
-                                );
-
-                                match request_with_token.request {
-                                    Request::Ping => {
-                                        handle_ping_request(cx.local.timestamp);
+        let mut decoder = cobs::CobsDecoder::new(cx.local.decode_buf);
+        loop {
+            match cx.local.rx.read(cx.local.read_buf).await {
+                Ok(bytes) => {
+                    defmt::debug!("received {} bytes over UART", bytes);
+                    for byte in cx.local.read_buf[0..bytes].iter() {
+                        match decoder.feed(*byte) {
+                            Ok(None) => (),
+                            Ok(Some(packet_size)) => {
+                                match CcsdsPacketReader::new_with_checksum(
+                                    &decoder.dest()[0..packet_size],
+                                ) {
+                                    Ok(packet) => {
+                                        let packet_id = packet.packet_id();
+                                        let psc = packet.psc();
+                                        let tc_packet_id = CcsdsPacketId { packet_id, psc };
+                                        if let Ok(request) =
+                                            postcard::from_bytes::<Request>(packet.packet_data())
+                                        {
+                                            sender
+                                                .send(RequestWithTcId {
+                                                    request,
+                                                    tc_id: tc_packet_id,
+                                                })
+                                                .await
+                                                .unwrap();
+                                        }
                                     }
-                                    Request::ChangeBlinkFrequency(new_freq_ms) => {
-                                        defmt::info!("Received blink frequency change request with new frequncy {}", new_freq_ms);
-                                        cx.shared.blink_freq.lock(|blink_freq| {
-                                            *blink_freq =
-                                                MillisDurationU32::from_ticks(new_freq_ms);
-                                        });
+                                    Err(e) => {
+                                        defmt::error!("error unpacking ccsds packet: {}", e);
                                     }
                                 }
-                                handle_completion_verification(
-                                    started_token,
-                                    cx.local.verif_reporter,
-                                    cx.local.src_data_buf,
-                                    cx.local.timestamp,
-                                );
                             }
                             Err(e) => {
-                                // TODO: Error handling: Send verification failure based on request error.
-                                defmt::warn!("request error {}", e);
+                                defmt::error!("cobs decoding error: {}", e);
                             }
                         }
                     }
-                    Err(e) => {
-                        defmt::warn!("Error unpacking PUS TC: {}", e);
-                    }
+                }
+                Err(e) => {
+                    defmt::error!("uart read error: {}", e);
                 }
             }
-            Err(_) => {
-                defmt::warn!("decoding error, can only process cobs encoded frames")
-            }
         }
     }
 
-    fn handle_ping_request(timestamp: &[u8]) {
-        defmt::info!("Received PUS ping telecommand, sending ping reply TM[17,2]");
-        let sp_header =
-            SpHeader::new_for_unseg_tc(PUS_APID, SEQ_COUNT_PROVIDER.get_and_increment(), 0);
-        let sec_header = PusTmSecondaryHeader::new_simple(17, 2, timestamp);
-        let ping_reply = PusTmCreator::new(sp_header, sec_header, &[], true);
-        let mut tm_packet = TmPacket::new();
-        tm_packet
-            .resize(ping_reply.len_written(), 0)
-            .expect("vec resize failed");
-        ping_reply.write_to_bytes(&mut tm_packet).unwrap();
-        if TM_REQUESTS.enqueue(tm_packet).is_err() {
-            defmt::warn!("TC queue full");
-            return;
-        }
-    }
-
-    fn handle_start_verification(
-        accepted_token: VerificationToken<TcStateAccepted>,
-        verif_reporter: &mut VerificationReportCreator,
-        src_data_buf: &mut [u8],
-        timestamp: &[u8],
-    ) -> VerificationToken<TcStateStarted> {
-        let (tm_creator, started_token) = verif_reporter
-            .start_success(
-                src_data_buf,
-                accepted_token,
-                SEQ_COUNT_PROVIDER.get(),
-                0,
-                &timestamp,
-            )
-            .unwrap();
-        let result = send_tm(tm_creator);
-        if let Err(e) = result {
-            handle_tm_send_error(e);
-        }
-        started_token
-    }
-
-    fn handle_completion_verification(
-        started_token: VerificationToken<TcStateStarted>,
-        verif_reporter: &mut VerificationReportCreator,
-        src_data_buf: &mut [u8],
-        timestamp: &[u8],
+    #[task(shared = [blink_freq], local = [seq_count])]
+    async fn req_handler(
+        mut cx: req_handler::Context,
+        mut receiver: Receiver<'static, RequestWithTcId, 16>,
     ) {
-        let result = send_tm(
-            verif_reporter
-                .completion_success(
-                    src_data_buf,
-                    started_token,
-                    SEQ_COUNT_PROVIDER.get(),
-                    0,
-                    timestamp,
-                )
-                .unwrap(),
-        );
-        if let Err(e) = result {
-            handle_tm_send_error(e);
+        loop {
+            match receiver.recv().await {
+                Ok(request_with_tc_id) => {
+                    let tm_send_result = match request_with_tc_id.request {
+                        Request::Ping => handle_ping_request(&mut cx, request_with_tc_id.tc_id),
+                        Request::ChangeBlinkFrequency(duration) => {
+                            handle_change_blink_frequency_request(
+                                &mut cx,
+                                request_with_tc_id.tc_id,
+                                duration,
+                            )
+                        }
+                    };
+                    if let Err(e) = tm_send_result {
+                        defmt::error!("error sending TM response: {}", e);
+                    }
+                }
+                Err(_e) => defmt::error!("request receive error"),
+            }
         }
     }
 
-    #[task(binds = DMA1_CH6, shared = [rx_transfer])]
-    fn rx_dma_isr(mut cx: rx_dma_isr::Context) {
-        let mut tc_packet = TcPacket::new();
-        cx.shared.rx_transfer.lock(|rx_transfer| {
-            let rx_ref = rx_transfer.as_ref().unwrap();
-            if rx_ref.is_complete() {
-                let uart_rx_owned = rx_transfer.take().unwrap();
-                let (buf, c, rx) = uart_rx_owned.stop();
-                // The received data is transferred to another task now to avoid any processing overhead
-                // during the interrupt. There are multiple ways to do this, we use a stack allocaed vector here
-                // to do this.
-                tc_packet.resize(buf.len(), 0).expect("vec resize failed");
-                tc_packet.copy_from_slice(buf);
-
-                // Start the next transfer as soon as possible.
-                *rx_transfer = Some(rx.read_exact(buf, c));
-
-                // Send the vector to a regular task.
-                serial_rx_handler::spawn(tc_packet).expect("spawning rx handler task failed");
-                // If this happens, there is a high chance that the maximum packet length was
-                // exceeded. Circular mode is not used here, so data might be missed.
-                defmt::warn!(
-                    "rx transfer with maximum length {}, might miss data",
-                    TC_BUF_LEN
-                );
-            }
-        });
+    fn handle_ping_request(
+        cx: &mut req_handler::Context,
+        tc_packet_id: CcsdsPacketId,
+    ) -> Result<(), TmSendError> {
+        defmt::info!("Received PUS ping telecommand, sending ping reply");
+        send_tm(tc_packet_id, Response::CommandDone, *cx.local.seq_count)?;
+        *cx.local.seq_count = cx.local.seq_count.wrapping_add(u14::new(1));
+        Ok(())
     }
 
-    #[task(binds = USART2_EXTI26, shared = [rx_transfer, tx_shared])]
-    fn serial_isr(mut cx: serial_isr::Context) {
+    fn handle_change_blink_frequency_request(
+        cx: &mut req_handler::Context,
+        tc_packet_id: CcsdsPacketId,
+        duration: Duration,
+    ) -> Result<(), TmSendError> {
+        defmt::info!(
+            "Received ChangeBlinkFrequency request, new frequency: {} ms",
+            duration.as_millis()
+        );
         cx.shared
-            .tx_shared
-            .lock(|tx_shared| match &mut tx_shared.state {
-                UartTxState::Idle(_) => (),
-                UartTxState::Transmitting(transfer) => {
-                    let transfer_ref = transfer.as_ref().unwrap();
-                    if transfer_ref.is_complete() {
-                        let transfer = transfer.take().unwrap();
-                        let (_, dma_channel, mut tx) = transfer.stop();
-                        tx.clear_event(TxEvent::TransmissionComplete);
-                        tx_shared.state = UartTxState::Idle(Some(TxIdle { tx, dma_channel }));
-                        // We cache the last completed time to ensure that there is a minimum delay between consecutive
-                        // transferred packets.
-                        tx_shared.last_completed = Some(Mono::now());
-                    }
-                }
-            });
-        let mut tc_packet = TcPacket::new();
-        cx.shared.rx_transfer.lock(|rx_transfer| {
-            let rx_transfer_ref = rx_transfer.as_ref().unwrap();
-            // Received a partial packet.
-            if rx_transfer_ref.is_event_triggered(RxEvent::Idle) {
-                let rx_transfer_owned = rx_transfer.take().unwrap();
-                let (buf, ch, mut rx, rx_len) = rx_transfer_owned.stop_and_return_received_bytes();
-                // The received data is transferred to another task now to avoid any processing overhead
-                // during the interrupt. There are multiple ways to do this, we use a stack
-                // allocated vector to do this.
-                tc_packet
-                    .resize(rx_len as usize, 0)
-                    .expect("vec resize failed");
-                tc_packet[0..rx_len as usize].copy_from_slice(&buf[0..rx_len as usize]);
-                rx.clear_event(RxEvent::Idle);
-                serial_rx_handler::spawn(tc_packet).expect("spawning rx handler failed");
-                *rx_transfer = Some(rx.read_exact(buf, ch));
-            }
-        });
+            .blink_freq
+            .lock(|blink_freq| *blink_freq = duration);
+        send_tm(tc_packet_id, Response::CommandDone, *cx.local.seq_count)?;
+        *cx.local.seq_count = cx.local.seq_count.wrapping_add(u14::new(1));
+        Ok(())
+    }
+}
+
+fn send_tm(
+    tc_packet_id: CcsdsPacketId,
+    response: Response,
+    current_seq_count: u14,
+) -> Result<(), TmSendError> {
+    let sp_header = SpHeader::new_for_unseg_tc(PUS_APID, current_seq_count, 0);
+    let tm_header = satrs_stm32f3_disco_rtic::TmHeader {
+        tc_packet_id: Some(tc_packet_id),
+        uptime_millis: Mono::now().duration_since_epoch().to_millis(),
+    };
+    let mut tm_packet = TmPacket::new();
+    let tm_size = tm_size(&tm_header, &response);
+    tm_packet.resize(tm_size, 0).expect("vec resize failed");
+    create_tm_packet(&mut tm_packet, sp_header, tm_header, response)?;
+    if TM_QUEUE.enqueue(tm_packet).is_err() {
+        defmt::warn!("TC queue full");
+        return Err(TmSendError::Queue);
+    }
+    Ok(())
+}
+
+// same panicking *behavior* as `panic-probe` but doesn't print a panic message
+// this prevents the panic message being printed *twice* when `defmt::panic` is invoked
+#[defmt::panic_handler]
+fn panic() -> ! {
+    cortex_m::asm::udf()
+}
+
+/// Terminates the application and makes a semihosting-capable debug tool exit
+/// with status code 0.
+pub fn exit() -> ! {
+    loop {
+        debug::exit(EXIT_SUCCESS);
+    }
+}
+
+/// Hardfault handler.
+///
+/// Terminates the application and makes a semihosting-capable debug tool exit
+/// with an error. This seems better than the default, which is to spin in a
+/// loop.
+#[cortex_m_rt::exception]
+unsafe fn HardFault(_frame: &cortex_m_rt::ExceptionFrame) -> ! {
+    loop {
+        debug::exit(EXIT_FAILURE);
+    }
+}
+
+// defmt-test 0.3.0 has the limitation that this `#[tests]` attribute can only be used
+// once within a crate. the module can be in any file but there can only be at most
+// one `#[tests]` module in this library crate
+#[cfg(test)]
+#[defmt_test::tests]
+mod unit_tests {
+    use defmt::assert;
+
+    #[test]
+    fn it_works() {
+        assert!(true)
     }
 }

embedded-examples/stm32h7-nucleo-rtic/Cargo.toml

@@ -16,16 +16,17 @@ harness = false
 [dependencies]
 cortex-m = { version = "0.7", features = ["critical-section-single-core"] }
 cortex-m-rt = "0.7"
-defmt = "0.3"
+defmt = "1"
 defmt-brtt = { version = "0.1", default-features = false, features = ["rtt"] }
-panic-probe = { version = "0.3", features = ["print-defmt"] }
+panic-probe = { version = "1", features = ["print-defmt"] }
 cortex-m-semihosting = "0.5.0"
+# TODO: Replace with embassy-hal.
 stm32h7xx-hal = { version="0.16", features= ["stm32h743v", "ethernet"] }
 embedded-alloc = "0.6"
 rtic-sync = { version = "1", features = ["defmt-03"] }
 
 [dependencies.smoltcp]
-version = "0.11"
+version = "0.12"
 default-features = false
 features = ["medium-ethernet", "proto-ipv4", "socket-raw", "socket-dhcpv4", "socket-udp", "defmt"]
 
@@ -39,12 +40,12 @@ features = ["cortex-m-systick"]
 
 [dependencies.satrs]
 path = "../../satrs"
-version = "0.2"
+# version = "0.2"
 default-features = false
 features = ["defmt", "heapless"]
 
 [dev-dependencies]
-defmt-test = "0.3"
+defmt-test = "0.4"
 
 # cargo build/run
 [profile.dev]

justfile

@@ -1,9 +1,12 @@
-all: check embedded test fmt clippy docs
+all: check build embedded test fmt clippy docs
 
 check:
   cargo check
   cargo check -p satrs-example --no-default-features
 
+build:
+  cargo build
+
 test:
   cargo nextest run --all-features
   cargo test --doc --all-features

satrs-example/src/acs/mgm.rs

@@ -484,6 +484,7 @@ mod tests {
         sync::{mpsc, Arc},
     };
 
+    use arbitrary_int::u21;
     use satrs::{
         mode::{ModeReply, ModeRequest},
         mode_tree::ModeParent,
@@ -574,7 +575,7 @@ mod tests {
             let (request_tx, request_rx) = mpsc::sync_channel(5);
             let (reply_tx_to_pus, reply_rx_to_pus) = mpsc::sync_channel(5);
             let (reply_tx_to_parent, reply_rx_to_parent) = mpsc::sync_channel(5);
-            let id = UniqueApidTargetId::new(Apid::Acs.raw_value(), 1);
+            let id = UniqueApidTargetId::new(Apid::Acs.raw_value(), u21::new(1));
             let mode_node = ModeRequestHandlerMpscBounded::new(id.into(), request_rx);
             let (composite_request_tx, composite_request_rx) = mpsc::channel();
             let (hk_reply_tx, hk_reply_rx) = mpsc::sync_channel(10);

satrs-example/src/bin/simpleclient.rs

@@ -2,7 +2,7 @@ use arbitrary_int::u11;
 use satrs::pus::verification::RequestId;
 use satrs::spacepackets::ecss::tc::PusTcCreator;
 use satrs::spacepackets::ecss::tm::PusTmReader;
-use satrs::spacepackets::ecss::CreatorConfig;
+use satrs::spacepackets::ecss::{CreatorConfig, MessageTypeId};
 use satrs::spacepackets::SpHeader;
 use satrs_example::config::{OBSW_SERVER_ADDR, SERVER_PORT};
 use std::net::{IpAddr, SocketAddr, UdpSocket};
@@ -13,8 +13,7 @@ fn main() {
     let addr = SocketAddr::new(IpAddr::V4(OBSW_SERVER_ADDR), SERVER_PORT);
     let pus_tc = PusTcCreator::new_simple(
         SpHeader::new_from_apid(u11::new(0x02)),
-        17,
-        1,
+        MessageTypeId::new(17, 1),
         &[],
         CreatorConfig::default(),
     );
@@ -35,9 +34,9 @@ fn main() {
         match res {
             Ok(_len) => {
                 let pus_tm = PusTmReader::new(&buf, 7).expect("Parsing PUS TM failed");
-                if pus_tm.service() == 17 && pus_tm.subservice() == 2 {
+                if pus_tm.service_type_id() == 17 && pus_tm.message_subtype_id() == 2 {
                     println!("Received PUS Ping Reply TM[17,2]")
-                } else if pus_tm.service() == 1 {
+                } else if pus_tm.service_type_id() == 1 {
                     if pus_tm.source_data().is_empty() {
                         println!("Invalid verification TM, no source data");
                     }
@@ -46,28 +45,29 @@ fn main() {
                         println!("Invalid verification TM source data, less than 4 bytes")
                     }
                     let req_id = RequestId::from_bytes(src_data).unwrap();
-                    if pus_tm.subservice() == 1 {
+                    let subtype_id = pus_tm.message_subtype_id();
+                    if subtype_id == 1 {
                         println!("Received TM[1,1] acceptance success for request ID {req_id}")
-                    } else if pus_tm.subservice() == 2 {
+                    } else if subtype_id == 2 {
                         println!("Received TM[1,2] acceptance failure for request ID {req_id}")
-                    } else if pus_tm.subservice() == 3 {
+                    } else if subtype_id == 3 {
                         println!("Received TM[1,3] start success for request ID {req_id}")
-                    } else if pus_tm.subservice() == 4 {
+                    } else if subtype_id == 4 {
                         println!("Received TM[1,2] start failure for request ID {req_id}")
-                    } else if pus_tm.subservice() == 5 {
+                    } else if subtype_id == 5 {
                         println!("Received TM[1,5] step success for request ID {req_id}")
-                    } else if pus_tm.subservice() == 6 {
+                    } else if subtype_id == 6 {
                         println!("Received TM[1,6] step failure for request ID {req_id}")
-                    } else if pus_tm.subservice() == 7 {
+                    } else if subtype_id == 7 {
                         println!("Received TM[1,7] completion success for request ID {req_id}")
-                    } else if pus_tm.subservice() == 8 {
+                    } else if subtype_id == 8 {
                         println!("Received TM[1,8] completion failure for request ID {req_id}");
                     }
                 } else {
                     println!(
                         "Received TM[{}, {}] with {} bytes",
-                        pus_tm.service(),
-                        pus_tm.subservice(),
+                        pus_tm.service_type_id(),
+                        pus_tm.message_subtype_id(),
                         size
                     );
                 }

satrs-example/src/eps/pcdu.rs

@@ -506,6 +506,7 @@ impl<ComInterface: SerialInterface> ModeChild for PcduHandler<ComInterface> {
 mod tests {
     use std::sync::mpsc;
 
+    use arbitrary_int::u21;
     use satrs::{
         mode::ModeRequest, power::SwitchStateBinary, request::GenericMessage, tmtc::PacketAsVec,
     };
@@ -572,7 +573,7 @@ mod tests {
             let (switch_request_tx, switch_reqest_rx) = mpsc::channel();
             let shared_switch_map = Arc::new(Mutex::new(SwitchSet::default()));
             let mut handler = PcduHandler::new(
-                UniqueApidTargetId::new(Apid::Eps.raw_value(), 0),
+                UniqueApidTargetId::new(Apid::Eps.raw_value(), u21::new(0)),
                 "TEST_PCDU",
                 mode_node,
                 composite_request_rx,

satrs-example/src/events.rs

@@ -218,6 +218,7 @@ impl<TmSender: EcssTmSender> EventHandler<TmSender> {
 
 #[cfg(test)]
 mod tests {
+    use arbitrary_int::u21;
     use satrs::{
         events_legacy::EventU32,
         pus::verification::VerificationReporterConfig,
@@ -227,7 +228,7 @@ mod tests {
 
     use super::*;
 
-    const TEST_CREATOR_ID: UniqueApidTargetId = UniqueApidTargetId::new(u11::new(1), 2);
+    const TEST_CREATOR_ID: UniqueApidTargetId = UniqueApidTargetId::new(u11::new(1), u21::new(2));
     const TEST_EVENT: EventU32 = EventU32::new(satrs::events_legacy::Severity::Info, 1, 1);
 
     pub struct EventManagementTestbench {

satrs-example/src/hk.rs

@@ -1,8 +1,9 @@
+use arbitrary_int::traits::Integer as _;
 use derive_new::new;
 use satrs::hk::UniqueId;
 use satrs::request::UniqueApidTargetId;
 use satrs::spacepackets::ecss::tm::{PusTmCreator, PusTmSecondaryHeader};
-use satrs::spacepackets::ecss::{hk, CreatorConfig};
+use satrs::spacepackets::ecss::{hk, CreatorConfig, MessageTypeId};
 use satrs::spacepackets::{ByteConversionError, SpHeader};
 
 #[derive(Debug, new, Copy, Clone)]
@@ -29,7 +30,7 @@ impl HkUniqueId {
                 expected: 8,
             });
         }
-        buf[0..4].copy_from_slice(&self.target_id.unique_id.to_be_bytes());
+        buf[0..4].copy_from_slice(&self.target_id.unique_id.as_u32().to_be_bytes());
         buf[4..8].copy_from_slice(&self.set_id.to_be_bytes());
 
         Ok(8)
@@ -53,9 +54,13 @@ impl PusHkHelper {
         hk_data_writer: &mut HkWriter,
         buf: &'b mut [u8],
     ) -> Result<PusTmCreator<'a, 'b>, ByteConversionError> {
-        let sec_header =
-            PusTmSecondaryHeader::new(3, hk::Subservice::TmHkPacket as u8, 0, 0, timestamp);
-        buf[0..4].copy_from_slice(&self.component_id.unique_id.to_be_bytes());
+        let sec_header = PusTmSecondaryHeader::new(
+            MessageTypeId::new(3, hk::Subservice::TmHkPacket as u8),
+            0,
+            0,
+            timestamp,
+        );
+        buf[0..4].copy_from_slice(&self.component_id.unique_id.as_u32().to_be_bytes());
         buf[4..8].copy_from_slice(&set_id.to_be_bytes());
         let (_, second_half) = buf.split_at_mut(8);
         let hk_data_len = hk_data_writer(second_half)?;

satrs-example/src/ids.rs

@@ -14,7 +14,8 @@ pub enum Apid {
 
 pub mod acs {
 
-    #[derive(Debug, Copy, Clone, PartialEq, Eq)]
+    #[derive(Debug, PartialEq, Eq)]
+    #[bitbybit::bitenum(u21, exhaustive = false)]
     pub enum Id {
         Subsystem = 1,
         Assembly = 2,
@@ -23,30 +24,32 @@ pub mod acs {
     }
 
     pub const SUBSYSTEM: super::UniqueApidTargetId =
-        super::UniqueApidTargetId::new(super::Apid::Acs.raw_value(), Id::Subsystem as u32);
+        super::UniqueApidTargetId::new(super::Apid::Acs.raw_value(), Id::Subsystem.raw_value());
     pub const ASSEMBLY: super::UniqueApidTargetId =
-        super::UniqueApidTargetId::new(super::Apid::Acs.raw_value(), Id::Assembly as u32);
+        super::UniqueApidTargetId::new(super::Apid::Acs.raw_value(), Id::Assembly.raw_value());
     pub const MGM0: super::UniqueApidTargetId =
-        super::UniqueApidTargetId::new(super::Apid::Acs.raw_value(), Id::Mgm0 as u32);
+        super::UniqueApidTargetId::new(super::Apid::Acs.raw_value(), Id::Mgm0.raw_value());
     pub const MGM1: super::UniqueApidTargetId =
-        super::UniqueApidTargetId::new(super::Apid::Acs.raw_value(), Id::Mgm1 as u32);
+        super::UniqueApidTargetId::new(super::Apid::Acs.raw_value(), Id::Mgm1.raw_value());
 }
 
 pub mod eps {
-    #[derive(Debug, Copy, Clone, PartialEq, Eq)]
+    #[derive(Debug, PartialEq, Eq)]
+    #[bitbybit::bitenum(u21, exhaustive = false)]
     pub enum Id {
         Pcdu = 0,
         Subsystem = 1,
     }
 
     pub const PCDU: super::UniqueApidTargetId =
-        super::UniqueApidTargetId::new(super::Apid::Eps.raw_value(), Id::Pcdu as u32);
+        super::UniqueApidTargetId::new(super::Apid::Eps.raw_value(), Id::Pcdu.raw_value());
     pub const SUBSYSTEM: super::UniqueApidTargetId =
-        super::UniqueApidTargetId::new(super::Apid::Eps.raw_value(), Id::Subsystem as u32);
+        super::UniqueApidTargetId::new(super::Apid::Eps.raw_value(), Id::Subsystem.raw_value());
 }
 
 pub mod generic_pus {
-    #[derive(Debug, Copy, Clone, PartialEq, Eq)]
+    #[derive(Debug, PartialEq, Eq)]
+    #[bitbybit::bitenum(u21, exhaustive = false)]
     pub enum Id {
         PusEventManagement = 0,
         PusRouting = 1,
@@ -58,39 +61,49 @@ pub mod generic_pus {
 
     pub const PUS_EVENT_MANAGEMENT: super::UniqueApidTargetId = super::UniqueApidTargetId::new(
         super::Apid::GenericPus.raw_value(),
-        Id::PusEventManagement as u32,
+        Id::PusEventManagement.raw_value(),
+    );
+    pub const PUS_ROUTING: super::UniqueApidTargetId = super::UniqueApidTargetId::new(
+        super::Apid::GenericPus.raw_value(),
+        Id::PusRouting.raw_value(),
+    );
+    pub const PUS_TEST: super::UniqueApidTargetId = super::UniqueApidTargetId::new(
+        super::Apid::GenericPus.raw_value(),
+        Id::PusTest.raw_value(),
+    );
+    pub const PUS_ACTION: super::UniqueApidTargetId = super::UniqueApidTargetId::new(
+        super::Apid::GenericPus.raw_value(),
+        Id::PusAction.raw_value(),
+    );
+    pub const PUS_MODE: super::UniqueApidTargetId = super::UniqueApidTargetId::new(
+        super::Apid::GenericPus.raw_value(),
+        Id::PusMode.raw_value(),
     );
-    pub const PUS_ROUTING: super::UniqueApidTargetId =
-        super::UniqueApidTargetId::new(super::Apid::GenericPus.raw_value(), Id::PusRouting as u32);
-    pub const PUS_TEST: super::UniqueApidTargetId =
-        super::UniqueApidTargetId::new(super::Apid::GenericPus.raw_value(), Id::PusTest as u32);
-    pub const PUS_ACTION: super::UniqueApidTargetId =
-        super::UniqueApidTargetId::new(super::Apid::GenericPus.raw_value(), Id::PusAction as u32);
-    pub const PUS_MODE: super::UniqueApidTargetId =
-        super::UniqueApidTargetId::new(super::Apid::GenericPus.raw_value(), Id::PusMode as u32);
     pub const PUS_HK: super::UniqueApidTargetId =
-        super::UniqueApidTargetId::new(super::Apid::GenericPus.raw_value(), Id::PusHk as u32);
+        super::UniqueApidTargetId::new(super::Apid::GenericPus.raw_value(), Id::PusHk.raw_value());
 }
 
 pub mod sched {
-    #[derive(Debug, Copy, Clone, PartialEq, Eq)]
+    #[derive(Debug, PartialEq, Eq)]
+    #[bitbybit::bitenum(u21, exhaustive = false)]
     pub enum Id {
         PusSched = 0,
     }
 
     pub const PUS_SCHED: super::UniqueApidTargetId =
-        super::UniqueApidTargetId::new(super::Apid::Sched.raw_value(), Id::PusSched as u32);
+        super::UniqueApidTargetId::new(super::Apid::Sched.raw_value(), Id::PusSched.raw_value());
 }
 
 pub mod tmtc {
-    #[derive(Debug, Copy, Clone, PartialEq, Eq)]
+    #[derive(Debug, PartialEq, Eq)]
+    #[bitbybit::bitenum(u21, exhaustive = false)]
     pub enum Id {
         UdpServer = 0,
         TcpServer = 1,
     }
 
     pub const UDP_SERVER: super::UniqueApidTargetId =
-        super::UniqueApidTargetId::new(super::Apid::Tmtc.raw_value(), Id::UdpServer as u32);
+        super::UniqueApidTargetId::new(super::Apid::Tmtc.raw_value(), Id::UdpServer.raw_value());
     pub const TCP_SERVER: super::UniqueApidTargetId =
-        super::UniqueApidTargetId::new(super::Apid::Tmtc.raw_value(), Id::TcpServer as u32);
+        super::UniqueApidTargetId::new(super::Apid::Tmtc.raw_value(), Id::TcpServer.raw_value());
 }

satrs-example/src/interface/tcp.rs

@@ -5,7 +5,7 @@ use std::{
 };
 
 use log::{info, warn};
-use satrs::tmtc::StoreAndSendError;
+use satrs::hal::std::tcp_spacepackets_server::CcsdsPacketParser;
 use satrs::{
     encoding::ccsds::{SpValidity, SpacePacketValidator},
     hal::std::tcp_server::{HandledConnectionHandler, ServerConfig, TcpSpacepacketsServer},
@@ -103,16 +103,14 @@ impl PacketSource for SyncTcpTmSource {
     }
 }
 
-pub type TcpServer<ReceivesTc, SendError> = TcpSpacepacketsServer<
+pub type TcpServer<ReceivesTc> = TcpSpacepacketsServer<
     SyncTcpTmSource,
     ReceivesTc,
     SimplePacketValidator,
     ConnectionFinishedHandler,
-    (),
-    SendError,
 >;
 
-pub struct TcpTask(pub TcpServer<TmTcSender, StoreAndSendError>);
+pub struct TcpTask(pub TcpServer<TmTcSender>);
 
 impl TcpTask {
     pub fn new(
@@ -124,8 +122,7 @@ impl TcpTask {
         Ok(Self(TcpSpacepacketsServer::new(
             cfg,
             tm_source,
-            tc_sender,
-            SimplePacketValidator { valid_ids },
+            CcsdsPacketParser::new(cfg.id, 2048, tc_sender, SimplePacketValidator { valid_ids }),
             ConnectionFinishedHandler::default(),
             None,
         )?))

satrs-example/src/interface/udp.rs

@@ -5,7 +5,8 @@ use std::sync::mpsc;
 use log::{info, warn};
 use satrs::hal::std::udp_server::{ReceiveResult, UdpTcServer};
 use satrs::pus::HandlingStatus;
-use satrs::tmtc::{PacketAsVec, StoreAndSendError};
+use satrs::queue::GenericSendError;
+use satrs::tmtc::PacketAsVec;
 
 use satrs::pool::{PoolProviderWithGuards, SharedStaticMemoryPool};
 use satrs::tmtc::PacketInPool;
@@ -68,7 +69,7 @@ impl UdpTmHandler for DynamicUdpTmHandler {
 }
 
 pub struct UdpTmtcServer<TmHandler: UdpTmHandler> {
-    pub udp_tc_server: UdpTcServer<TmTcSender, StoreAndSendError>,
+    pub udp_tc_server: UdpTcServer<TmTcSender, GenericSendError>,
     pub tm_handler: TmHandler,
 }
 
@@ -115,7 +116,7 @@ mod tests {
 
     use arbitrary_int::traits::Integer as _;
     use arbitrary_int::u14;
-    use satrs::spacepackets::ecss::CreatorConfig;
+    use satrs::spacepackets::ecss::{CreatorConfig, MessageTypeId};
     use satrs::{
         spacepackets::{
             ecss::{tc::PusTcCreator, WritablePusPacket},
@@ -181,9 +182,14 @@ mod tests {
             tm_handler,
         };
         let sph = SpHeader::new_for_unseg_tc(ids::Apid::GenericPus.raw_value(), u14::ZERO, 0);
-        let ping_tc = PusTcCreator::new_simple(sph, 17, 1, &[], CreatorConfig::default())
-            .to_vec()
-            .unwrap();
+        let ping_tc = PusTcCreator::new_simple(
+            sph,
+            MessageTypeId::new(17, 1),
+            &[],
+            CreatorConfig::default(),
+        )
+        .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();
         println!("{}", server_addr);

satrs-example/src/pus/action.rs

@@ -161,7 +161,7 @@ impl PusTcToRequestConverter<ActivePusActionRequestStd, ActionRequest> for Actio
         verif_reporter: &impl VerificationReportingProvider,
         time_stamp: &[u8],
     ) -> Result<(ActivePusActionRequestStd, ActionRequest), Self::Error> {
-        let subservice = tc.subservice();
+        let subservice = tc.message_subtype_id();
         let user_data = tc.user_data();
         if user_data.len() < 8 {
             verif_reporter
@@ -270,13 +270,14 @@ impl TargetedPusService for ActionServiceWrapper {
 
 #[cfg(test)]
 mod tests {
+    use arbitrary_int::traits::Integer as _;
     use satrs::pus::test_util::{
         TEST_APID, TEST_COMPONENT_ID_0, TEST_COMPONENT_ID_1, TEST_UNIQUE_ID_0, TEST_UNIQUE_ID_1,
     };
     use satrs::pus::verification::test_util::TestVerificationReporter;
     use satrs::pus::{verification, EcssTcVecCacher};
     use satrs::request::MessageMetadata;
-    use satrs::spacepackets::ecss::CreatorConfig;
+    use satrs::spacepackets::ecss::{CreatorConfig, MessageTypeId};
     use satrs::tmtc::PacketAsVec;
     use satrs::ComponentId;
     use satrs::{
@@ -449,10 +450,10 @@ mod tests {
         );
         // Create a basic action request and verify forwarding.
         let sp_header = SpHeader::new_from_apid(TEST_APID);
-        let sec_header = PusTcSecondaryHeader::new_simple(8, 128);
+        let sec_header = PusTcSecondaryHeader::new_simple(MessageTypeId::new(8, 128));
         let action_id = 5_u32;
         let mut app_data: [u8; 8] = [0; 8];
-        app_data[0..4].copy_from_slice(&TEST_UNIQUE_ID_1.to_be_bytes());
+        app_data[0..4].copy_from_slice(&TEST_UNIQUE_ID_1.as_u32().to_be_bytes());
         app_data[4..8].copy_from_slice(&action_id.to_be_bytes());
         let pus8_packet =
             PusTcCreator::new(sp_header, sec_header, &app_data, CreatorConfig::default());
@@ -491,7 +492,7 @@ mod tests {
             TEST_COMPONENT_ID_1.id(),
         );
         // Create a basic action request and verify forwarding.
-        let sec_header = PusTcSecondaryHeader::new_simple(8, 128);
+        let sec_header = PusTcSecondaryHeader::new_simple(MessageTypeId::new(8, 128));
         let action_id = 5_u32;
         let mut app_data: [u8; 8] = [0; 8];
         // Invalid ID, routing should fail.
@@ -517,11 +518,11 @@ mod tests {
             TEST_COMPONENT_ID_0.raw(),
             ActionRequestConverter::default(),
         );
-        let sec_header = PusTcSecondaryHeader::new_simple(8, 128);
+        let sec_header = PusTcSecondaryHeader::new_simple(MessageTypeId::new(8, 128));
         let action_id = 5_u32;
         let mut app_data: [u8; 8] = [0; 8];
         // Invalid ID, routing should fail.
-        app_data[0..4].copy_from_slice(&TEST_UNIQUE_ID_0.to_be_bytes());
+        app_data[0..4].copy_from_slice(&TEST_UNIQUE_ID_0.as_u32().to_be_bytes());
         app_data[4..8].copy_from_slice(&action_id.to_be_bytes());
         let pus8_packet = PusTcCreator::new(
             SpHeader::new_from_apid(TEST_APID),
@@ -553,11 +554,11 @@ mod tests {
     fn converter_action_req_with_data() {
         let mut testbench =
             PusConverterTestbench::new(TEST_COMPONENT_ID_0.id(), ActionRequestConverter::default());
-        let sec_header = PusTcSecondaryHeader::new_simple(8, 128);
+        let sec_header = PusTcSecondaryHeader::new_simple(MessageTypeId::new(8, 128));
         let action_id = 5_u32;
         let mut app_data: [u8; 16] = [0; 16];
         // Invalid ID, routing should fail.
-        app_data[0..4].copy_from_slice(&TEST_UNIQUE_ID_0.to_be_bytes());
+        app_data[0..4].copy_from_slice(&TEST_UNIQUE_ID_0.as_u32().to_be_bytes());
         app_data[4..8].copy_from_slice(&action_id.to_be_bytes());
         for i in 0..8 {
             app_data[i + 8] = i as u8;
@@ -696,7 +697,7 @@ mod tests {
             ReplyHandlerTestbench::new(TEST_COMPONENT_ID_0.id(), ActionReplyHandler::default());
         let action_reply = ActionReplyPus::new(5_u32, ActionReplyVariant::Completed);
         let unrequested_reply =
-            GenericMessage::new(MessageMetadata::new(10_u32, 15_u64), action_reply);
+            GenericMessage::new(MessageMetadata::new(10_u32, 15_u32), action_reply);
         // Right now this function does not do a lot. We simply check that it does not panic or do
         // weird stuff.
         let result = testbench.handle_unrequested_reply(&unrequested_reply);

satrs-example/src/pus/hk.rs

@@ -164,7 +164,7 @@ impl PusTcToRequestConverter<ActivePusRequestStd, HkRequest> for HkRequestConver
                 found: 4,
             });
         }
-        let subservice = tc.subservice();
+        let subservice = tc.message_subtype_id();
         let target_id_and_apid = UniqueApidTargetId::from_pus_tc(tc).expect("invalid tc format");
         let unique_id = u32::from_be_bytes(tc.user_data()[4..8].try_into().unwrap());
 
@@ -303,12 +303,12 @@ impl TargetedPusService for HkServiceWrapper {
 #[cfg(test)]
 mod tests {
     use arbitrary_int::traits::Integer as _;
-    use arbitrary_int::u14;
+    use arbitrary_int::{u14, u21};
     use satrs::pus::test_util::{
         TEST_COMPONENT_ID_0, TEST_COMPONENT_ID_1, TEST_UNIQUE_ID_0, TEST_UNIQUE_ID_1,
     };
     use satrs::request::MessageMetadata;
-    use satrs::spacepackets::ecss::CreatorConfig;
+    use satrs::spacepackets::ecss::{CreatorConfig, MessageTypeId};
     use satrs::{
         hk::HkRequestVariant,
         pus::test_util::TEST_APID,
@@ -335,13 +335,12 @@ mod tests {
         let target_id = TEST_UNIQUE_ID_0;
         let unique_id = 5_u32;
         let mut app_data: [u8; 8] = [0; 8];
-        app_data[0..4].copy_from_slice(&target_id.to_be_bytes());
+        app_data[0..4].copy_from_slice(&target_id.as_u32().to_be_bytes());
         app_data[4..8].copy_from_slice(&unique_id.to_be_bytes());
 
         let hk_req = PusTcCreator::new_simple(
             sp_header,
-            3,
-            Subservice::TcGenerateOneShotHk as u8,
+            MessageTypeId::new(3, Subservice::TcGenerateOneShotHk as u8),
             &app_data,
             CreatorConfig::default(),
         );
@@ -365,7 +364,7 @@ mod tests {
         let target_id = TEST_UNIQUE_ID_0;
         let unique_id = 5_u32;
         let mut app_data: [u8; 8] = [0; 8];
-        app_data[0..4].copy_from_slice(&target_id.to_be_bytes());
+        app_data[0..4].copy_from_slice(&target_id.as_u32().to_be_bytes());
         app_data[4..8].copy_from_slice(&unique_id.to_be_bytes());
         let mut generic_check = |tc: &PusTcCreator| {
             let accepted_token = hk_bench.add_tc(tc);
@@ -380,16 +379,14 @@ mod tests {
         };
         let tc0 = PusTcCreator::new_simple(
             sp_header,
-            3,
-            Subservice::TcEnableHkGeneration as u8,
+            MessageTypeId::new(3, Subservice::TcEnableHkGeneration as u8),
             &app_data,
             CreatorConfig::default(),
         );
         generic_check(&tc0);
         let tc1 = PusTcCreator::new_simple(
             sp_header,
-            3,
-            Subservice::TcEnableDiagGeneration as u8,
+            MessageTypeId::new(3, Subservice::TcEnableDiagGeneration as u8),
             &app_data,
             CreatorConfig::default(),
         );
@@ -404,7 +401,7 @@ mod tests {
         let target_id = TEST_UNIQUE_ID_0;
         let unique_id = 5_u32;
         let mut app_data: [u8; 8] = [0; 8];
-        app_data[0..4].copy_from_slice(&target_id.to_be_bytes());
+        app_data[0..4].copy_from_slice(&target_id.as_u32().to_be_bytes());
         app_data[4..8].copy_from_slice(&unique_id.to_be_bytes());
         let mut generic_check = |tc: &PusTcCreator| {
             let accepted_token = hk_bench.add_tc(tc);
@@ -419,16 +416,14 @@ mod tests {
         };
         let tc0 = PusTcCreator::new_simple(
             sp_header,
-            3,
-            Subservice::TcDisableHkGeneration as u8,
+            MessageTypeId::new(3, Subservice::TcDisableHkGeneration as u8),
             &app_data,
             CreatorConfig::default(),
         );
         generic_check(&tc0);
         let tc1 = PusTcCreator::new_simple(
             sp_header,
-            3,
-            Subservice::TcDisableDiagGeneration as u8,
+            MessageTypeId::new(3, Subservice::TcDisableDiagGeneration as u8),
             &app_data,
             CreatorConfig::default(),
         );
@@ -444,7 +439,7 @@ mod tests {
         let unique_id = 5_u32;
         let mut app_data: [u8; 12] = [0; 12];
         let collection_interval_factor = 5_u32;
-        app_data[0..4].copy_from_slice(&target_id.to_be_bytes());
+        app_data[0..4].copy_from_slice(&target_id.as_u32().to_be_bytes());
         app_data[4..8].copy_from_slice(&unique_id.to_be_bytes());
         app_data[8..12].copy_from_slice(&collection_interval_factor.to_be_bytes());
 
@@ -462,16 +457,14 @@ mod tests {
         };
         let tc0 = PusTcCreator::new_simple(
             sp_header,
-            3,
-            Subservice::TcModifyHkCollectionInterval as u8,
+            MessageTypeId::new(3, Subservice::TcModifyHkCollectionInterval as u8),
             &app_data,
             CreatorConfig::default(),
         );
         generic_check(&tc0);
         let tc1 = PusTcCreator::new_simple(
             sp_header,
-            3,
-            Subservice::TcModifyDiagCollectionInterval as u8,
+            MessageTypeId::new(3, Subservice::TcModifyDiagCollectionInterval as u8),
             &app_data,
             CreatorConfig::default(),
         );
@@ -482,8 +475,8 @@ mod tests {
     fn hk_reply_handler() {
         let mut reply_testbench =
             ReplyHandlerTestbench::new(TEST_COMPONENT_ID_0.id(), HkReplyHandler::default());
-        let sender_id = 2_u64;
-        let apid_target_id = 3_u32;
+        let sender_id = 2_u32;
+        let apid_target_id = u21::new(3);
         let unique_id = 5_u32;
         let (req_id, active_req) = reply_testbench.add_tc(TEST_APID, apid_target_id, &[]);
         let reply = GenericMessage::new(
@@ -504,7 +497,7 @@ mod tests {
             ReplyHandlerTestbench::new(TEST_COMPONENT_ID_1.id(), HkReplyHandler::default());
         let action_reply = HkReply::new(5_u32, HkReplyVariant::Ack);
         let unrequested_reply =
-            GenericMessage::new(MessageMetadata::new(10_u32, 15_u64), action_reply);
+            GenericMessage::new(MessageMetadata::new(10_u32, 15_u32), action_reply);
         // Right now this function does not do a lot. We simply check that it does not panic or do
         // weird stuff.
         let result = testbench.handle_unrequested_reply(&unrequested_reply);

satrs-example/src/pus/mod.rs

@@ -113,7 +113,7 @@ impl PusTcDistributor {
             .verif_reporter
             .acceptance_success(&self.tm_sender, init_token, self.stamp_helper.stamp())
             .expect("Acceptance success failure");
-        let service = PusServiceId::try_from(pus_tc.service());
+        let service = PusServiceId::try_from(pus_tc.service_type_id());
         let tc_in_memory: TcInMemory = if let Some(store_addr) = addr_opt {
             PacketInPool::new(sender_id, store_addr).into()
         } else {
@@ -531,11 +531,11 @@ pub fn generic_pus_request_timeout_handler(
 pub(crate) mod tests {
     use std::time::Duration;
 
-    use arbitrary_int::u11;
+    use arbitrary_int::{u11, u21};
     use satrs::pus::test_util::TEST_COMPONENT_ID_0;
     use satrs::pus::{MpscTmAsVecSender, PusTmVariant};
     use satrs::request::RequestId;
-    use satrs::spacepackets::ecss::CreatorConfig;
+    use satrs::spacepackets::ecss::{CreatorConfig, MessageTypeId};
     use satrs::{
         pus::{
             verification::test_util::TestVerificationReporter, ActivePusRequestStd,
@@ -593,11 +593,11 @@ pub(crate) mod tests {
         pub fn add_tc(
             &mut self,
             apid: u11,
-            apid_target: u32,
+            apid_target: u21,
             time_stamp: &[u8],
         ) -> (verification::RequestId, ActivePusRequestStd) {
             let sp_header = SpHeader::new_from_apid(apid);
-            let sec_header_dummy = PusTcSecondaryHeader::new_simple(0, 0);
+            let sec_header_dummy = PusTcSecondaryHeader::new_simple(MessageTypeId::new(0, 0));
             let init = self.verif_reporter.start_verification(&PusTcCreator::new(
                 sp_header,
                 sec_header_dummy,
@@ -722,7 +722,7 @@ pub(crate) mod tests {
             token: VerificationToken<TcStateAccepted>,
             time_stamp: &[u8],
             expected_apid: u11,
-            expected_apid_target: u32,
+            expected_apid_target: u21,
         ) -> Result<(ActiveRequestInfo, Request), Converter::Error> {
             if self.current_packet.is_none() {
                 return Err(GenericConversionError::InvalidAppData(

satrs-example/src/pus/mode.rs

@@ -2,7 +2,7 @@ use arbitrary_int::traits::Integer as _;
 use arbitrary_int::u14;
 use derive_new::new;
 use satrs::mode_tree::{ModeNode, ModeParent};
-use satrs::spacepackets::ecss::CreatorConfig;
+use satrs::spacepackets::ecss::{CreatorConfig, MessageTypeId};
 use satrs_example::ids;
 use std::sync::mpsc;
 use std::time::Duration;
@@ -81,8 +81,12 @@ impl PusReplyHandler<ActivePusRequestStd, ModeReply> for ModeReplyHandler {
                     .expect("writing mode reply failed");
                 let req_id = verification::RequestId::from(reply.request_id());
                 let sp_header = SpHeader::new_for_unseg_tm(req_id.packet_id().apid(), u14::ZERO, 0);
-                let sec_header =
-                    PusTmSecondaryHeader::new(200, Subservice::TmModeReply as u8, 0, 0, time_stamp);
+                let sec_header = PusTmSecondaryHeader::new(
+                    MessageTypeId::new(200, Subservice::TmModeReply as u8),
+                    0,
+                    0,
+                    time_stamp,
+                );
                 let pus_tm = PusTmCreator::new(
                     sp_header,
                     sec_header,
@@ -154,7 +158,7 @@ impl PusTcToRequestConverter<ActivePusRequestStd, ModeRequest> for ModeRequestCo
         verif_reporter: &impl VerificationReportingProvider,
         time_stamp: &[u8],
     ) -> Result<(ActivePusRequestStd, ModeRequest), Self::Error> {
-        let subservice = tc.subservice();
+        let subservice = tc.message_subtype_id();
         let user_data = tc.user_data();
         let not_enough_app_data = |expected: usize| {
             verif_reporter
@@ -302,7 +306,7 @@ mod tests {
     use arbitrary_int::u14;
     use satrs::pus::test_util::{TEST_APID, TEST_COMPONENT_ID_0, TEST_UNIQUE_ID_0};
     use satrs::request::MessageMetadata;
-    use satrs::spacepackets::ecss::CreatorConfig;
+    use satrs::spacepackets::ecss::{CreatorConfig, MessageTypeId};
     use satrs::{
         mode::{ModeAndSubmode, ModeReply, ModeRequest},
         pus::mode::Subservice,
@@ -326,9 +330,10 @@ mod tests {
         let mut testbench =
             PusConverterTestbench::new(TEST_COMPONENT_ID_0.id(), ModeRequestConverter::default());
         let sp_header = SpHeader::new_for_unseg_tc(TEST_APID, u14::ZERO, 0);
-        let sec_header = PusTcSecondaryHeader::new_simple(200, Subservice::TcReadMode as u8);
+        let sec_header =
+            PusTcSecondaryHeader::new_simple(MessageTypeId::new(200, Subservice::TcReadMode as u8));
         let mut app_data: [u8; 4] = [0; 4];
-        app_data[0..4].copy_from_slice(&TEST_UNIQUE_ID_0.to_be_bytes());
+        app_data[0..4].copy_from_slice(&TEST_UNIQUE_ID_0.as_u32().to_be_bytes());
         let tc = PusTcCreator::new(sp_header, sec_header, &app_data, CreatorConfig::default());
         let token = testbench.add_tc(&tc);
         let (_active_req, req) = testbench
@@ -342,10 +347,11 @@ mod tests {
         let mut testbench =
             PusConverterTestbench::new(TEST_COMPONENT_ID_0.id(), ModeRequestConverter::default());
         let sp_header = SpHeader::new_for_unseg_tc(TEST_APID, u14::ZERO, 0);
-        let sec_header = PusTcSecondaryHeader::new_simple(200, Subservice::TcSetMode as u8);
+        let sec_header =
+            PusTcSecondaryHeader::new_simple(MessageTypeId::new(200, Subservice::TcSetMode as u8));
         let mut app_data: [u8; 4 + ModeAndSubmode::RAW_LEN] = [0; 4 + ModeAndSubmode::RAW_LEN];
         let mode_and_submode = ModeAndSubmode::new(2, 1);
-        app_data[0..4].copy_from_slice(&TEST_UNIQUE_ID_0.to_be_bytes());
+        app_data[0..4].copy_from_slice(&TEST_UNIQUE_ID_0.as_u32().to_be_bytes());
         mode_and_submode
             .write_to_be_bytes(&mut app_data[4..])
             .unwrap();
@@ -368,9 +374,12 @@ mod tests {
         let mut testbench =
             PusConverterTestbench::new(TEST_COMPONENT_ID_0.id(), ModeRequestConverter::default());
         let sp_header = SpHeader::new_for_unseg_tc(TEST_APID, u14::ZERO, 0);
-        let sec_header = PusTcSecondaryHeader::new_simple(200, Subservice::TcAnnounceMode as u8);
+        let sec_header = PusTcSecondaryHeader::new_simple(MessageTypeId::new(
+            200,
+            Subservice::TcAnnounceMode as u8,
+        ));
         let mut app_data: [u8; 4] = [0; 4];
-        app_data[0..4].copy_from_slice(&TEST_UNIQUE_ID_0.to_be_bytes());
+        app_data[0..4].copy_from_slice(&TEST_UNIQUE_ID_0.as_u32().to_be_bytes());
         let tc = PusTcCreator::new(sp_header, sec_header, &app_data, CreatorConfig::default());
         let token = testbench.add_tc(&tc);
         let (_active_req, req) = testbench
@@ -384,10 +393,12 @@ mod tests {
         let mut testbench =
             PusConverterTestbench::new(TEST_COMPONENT_ID_0.id(), ModeRequestConverter::default());
         let sp_header = SpHeader::new_for_unseg_tc(TEST_APID, u14::ZERO, 0);
-        let sec_header =
-            PusTcSecondaryHeader::new_simple(200, Subservice::TcAnnounceModeRecursive as u8);
+        let sec_header = PusTcSecondaryHeader::new_simple(MessageTypeId::new(
+            200,
+            Subservice::TcAnnounceModeRecursive as u8,
+        ));
         let mut app_data: [u8; 4] = [0; 4];
-        app_data[0..4].copy_from_slice(&TEST_UNIQUE_ID_0.to_be_bytes());
+        app_data[0..4].copy_from_slice(&TEST_UNIQUE_ID_0.as_u32().to_be_bytes());
         let tc = PusTcCreator::new(sp_header, sec_header, &app_data, CreatorConfig::default());
         let token = testbench.add_tc(&tc);
         let (_active_req, req) = testbench
@@ -404,7 +415,7 @@ mod tests {
         );
         let mode_reply = ModeReply::ModeReply(ModeAndSubmode::new(5, 1));
         let unrequested_reply =
-            GenericMessage::new(MessageMetadata::new(10_u32, 15_u64), mode_reply);
+            GenericMessage::new(MessageMetadata::new(10_u32, 15_u32), mode_reply);
         // Right now this function does not do a lot. We simply check that it does not panic or do
         // weird stuff.
         let result = testbench.handle_unrequested_reply(&unrequested_reply);

satrs-example/src/pus/scheduler.rs

@@ -5,7 +5,7 @@ use crate::pus::create_verification_reporter;
 use crate::tmtc::sender::TmTcSender;
 use log::info;
 use satrs::pool::{PoolProvider, StaticMemoryPool};
-use satrs::pus::scheduler::{PusSchedulerAlloc, TcInfo};
+use satrs::pus::scheduler::{PusScheduler, TcInfo};
 use satrs::pus::scheduler_srv::PusSchedServiceHandler;
 use satrs::pus::verification::VerificationReporter;
 use satrs::pus::{
@@ -86,7 +86,7 @@ pub struct SchedulingServiceWrapper {
         TmTcSender,
         EcssTcCacher,
         VerificationReporter,
-        PusSchedulerAlloc,
+        PusScheduler,
     >,
     pub sched_tc_pool: StaticMemoryPool,
     pub releaser_buf: [u8; 4096],
@@ -179,7 +179,7 @@ pub fn create_scheduler_service(
     pus_sched_rx: mpsc::Receiver<EcssTcAndToken>,
     sched_tc_pool: StaticMemoryPool,
 ) -> SchedulingServiceWrapper {
-    let scheduler = PusSchedulerAlloc::new_with_current_init_time(Duration::from_secs(5))
+    let scheduler = PusScheduler::new_with_current_init_time(Duration::from_secs(5))
         .expect("Creating PUS Scheduler failed");
     let pus_11_handler = PusSchedServiceHandler::new(
         PusServiceHelper::new(

satrs-example/src/pus/test.rs

@@ -122,7 +122,7 @@ impl DirectPusService for TestCustomServiceWrapper {
                         }
                     }
                 } else {
-                    let fail_data = [tc.subservice()];
+                    let fail_data = [tc.message_subtype_id()];
                     self.handler
                         .service_helper
                         .verif_reporter()

satrs-example/src/requests.rs

@@ -55,7 +55,7 @@ impl GenericRequestRouter {
     ) {
         warn!(
             "Routing request for service {} failed: {error:?}",
-            tc.service()
+            tc.service_type_id()
         );
         let accepted_token: VerificationToken<TcStateAccepted> = active_request
             .token()
@@ -66,7 +66,8 @@ impl GenericRequestRouter {
                 let apid_target_id = UniqueApidTargetId::from(id);
                 warn!("Target APID for request: {}", apid_target_id.apid);
                 warn!("Target Unique ID for request: {}", apid_target_id.unique_id);
-                let mut fail_data: [u8; 8] = [0; 8];
+                let mut fail_data: [u8; core::mem::size_of::<ComponentId>()] =
+                    [0; core::mem::size_of::<ComponentId>()];
                 fail_data.copy_from_slice(&id.to_be_bytes());
                 verif_reporter
                     .completion_failure(

satrs-example/src/tmtc/sender.rs

@@ -4,7 +4,7 @@ use satrs::{
     pus::EcssTmSender,
     queue::GenericSendError,
     spacepackets::ecss::WritablePusPacket,
-    tmtc::{PacketAsVec, PacketSenderRaw, PacketSenderWithSharedPool, StoreAndSendError},
+    tmtc::{PacketAsVec, PacketHandler, PacketSenderWithSharedPool},
     ComponentId,
 };
 
@@ -48,26 +48,33 @@ impl EcssTmSender for TmTcSender {
     }
 }
 
-impl PacketSenderRaw for TmTcSender {
-    type Error = StoreAndSendError;
+impl PacketHandler for TmTcSender {
+    type Error = GenericSendError;
 
-    fn send_packet(&self, sender_id: ComponentId, packet: &[u8]) -> Result<(), Self::Error> {
+    fn handle_packet(&self, sender_id: ComponentId, packet: &[u8]) -> Result<(), Self::Error> {
         match self {
             TmTcSender::Static(packet_sender_with_shared_pool) => {
-                packet_sender_with_shared_pool.send_packet(sender_id, packet)
+                if let Err(e) = packet_sender_with_shared_pool.handle_packet(sender_id, packet) {
+                    log::error!("Error sending packet via Static TM/TC sender: {:?}", e);
+                }
+            }
+            TmTcSender::Heap(sync_sender) => {
+                if let Err(e) = sync_sender.handle_packet(sender_id, packet) {
+                    log::error!("Error sending packet via Heap TM/TC sender: {:?}", e);
+                }
+            }
+            TmTcSender::Mock(sender) => {
+                sender.handle_packet(sender_id, packet).unwrap();
             }
-            TmTcSender::Heap(sync_sender) => sync_sender
-                .send_packet(sender_id, packet)
-                .map_err(StoreAndSendError::Send),
-            TmTcSender::Mock(sender) => sender.send_packet(sender_id, packet),
         }
+        Ok(())
     }
 }
 
-impl PacketSenderRaw for MockSender {
-    type Error = StoreAndSendError;
+impl PacketHandler for MockSender {
+    type Error = GenericSendError;
 
-    fn send_packet(&self, sender_id: ComponentId, tc_raw: &[u8]) -> Result<(), Self::Error> {
+    fn handle_packet(&self, sender_id: ComponentId, tc_raw: &[u8]) -> Result<(), Self::Error> {
         let mut mut_queue = self.0.borrow_mut();
         mut_queue.push_back(PacketAsVec::new(sender_id, tc_raw.to_vec()));
         Ok(())

satrs-example/src/tmtc/tm_sink.rs

@@ -59,7 +59,7 @@ impl TmFunnelCommon {
         );
         let entry = self
             .msg_counter_map
-            .entry(zero_copy_writer.service())
+            .entry(zero_copy_writer.service_type_id())
             .or_insert(0);
         zero_copy_writer.set_msg_count(*entry);
         if *entry == u16::MAX {
@@ -76,8 +76,8 @@ impl TmFunnelCommon {
     fn packet_printout(tm: &PusTmZeroCopyWriter) {
         info!(
             "Sending PUS TM[{},{}] with APID {}",
-            tm.service(),
-            tm.subservice(),
+            tm.service_type_id(),
+            tm.message_subtype_id(),
             tm.apid()
         );
     }

satrs-shared/Cargo.toml

@@ -11,17 +11,9 @@ license = "Apache-2.0"
 # See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
 
 [dependencies]
-spacepackets = { version = ">=0.14, <=0.16", default-features = false }
-
-[dependencies.serde]
-version = "1"
-default-features = false
-optional = true
-
-[dependencies.defmt]
-version = "1"
-optional = true
-
+spacepackets = { version = "0.17", git = "https://egit.irs.uni-stuttgart.de/rust/spacepackets.git", default-features = false }
+serde = { version = "1", default-features = false, optional = true }
+defmt = {version = "1", optional = true }
 
 [features]
 serde = ["dep:serde", "spacepackets/serde"]

satrs-shared/src/lib.rs

@@ -1,4 +1,4 @@
 //! This crates contains modules shared among other sat-rs framework crates.
 #![no_std]
-#![cfg_attr(docsrs, feature(doc_auto_cfg))]
+#![cfg_attr(docsrs, feature(doc_cfg))]
 pub mod res_code;

satrs-shared/src/res_code.rs

@@ -14,6 +14,7 @@ pub struct ResultU16 {
 }
 
 impl ResultU16 {
+    #[inline]
     pub const fn new(group_id: u8, unique_id: u8) -> Self {
         Self {
             group_id,
@@ -21,18 +22,22 @@ impl ResultU16 {
         }
     }
 
-    pub fn raw(&self) -> u16 {
+    #[inline]
+    pub const fn raw(&self) -> u16 {
         ((self.group_id as u16) << 8) | self.unique_id as u16
     }
 
-    pub fn group_id(&self) -> u8 {
+    #[inline]
+    pub const fn group_id(&self) -> u8 {
         self.group_id
     }
 
-    pub fn unique_id(&self) -> u8 {
+    #[inline]
+    pub const fn unique_id(&self) -> u8 {
         self.unique_id
     }
 
+    #[inline]
     pub fn from_be_bytes(bytes: [u8; 2]) -> Self {
         Self::from(u16::from_be_bytes(bytes))
     }
@@ -51,6 +56,7 @@ impl From<ResultU16> for EcssEnumU16 {
 }
 
 impl UnsignedEnum for ResultU16 {
+    #[inline]
     fn size(&self) -> usize {
         core::mem::size_of::<u16>()
     }
@@ -67,12 +73,14 @@ impl UnsignedEnum for ResultU16 {
         Ok(self.size())
     }
 
-    fn value(&self) -> u64 {
+    #[inline]
+    fn value_raw(&self) -> u64 {
         self.raw() as u64
     }
 }
 
 impl EcssEnumeration for ResultU16 {
+    #[inline]
     fn pfc(&self) -> u8 {
         16
     }

satrs/CHANGELOG.md

@@ -12,6 +12,8 @@ and this project adheres to [Semantic Versioning](http://semver.org/).
 
 - Bump `sat-rs` edition to 2024.
 - Bumped `spacepackets` to v0.16
+- `ComponentId` is u32 now
+- Simplified TCP servers
 
 ## Changed
 

satrs/Cargo.toml

@@ -14,16 +14,16 @@ categories = ["aerospace", "aerospace::space-protocols", "no-std", "hardware-sup
 
 [dependencies]
 satrs-shared = { version = "0.2", path = "../satrs-shared" }
-spacepackets = { version = "0.16", default-features = false }
+spacepackets = { version = "0.17", git = "https://egit.irs.uni-stuttgart.de/rust/spacepackets.git", default-features = false }
 
-delegate = ">0.7, <=0.13"
+delegate = "0.13"
 paste = "1"
-derive-new = ">=0.6, <=0.7"
-num_enum = { version = ">0.5, <=0.7", default-features = false }
-cobs = { version = "0.4", default-features = false }
+derive-new = "0.7"
+num_enum = { version = "0.7", default-features = false }
+cobs = { version = "0.5", default-features = false }
 thiserror = { version = "2", default-features = false }
 
-hashbrown = { version = ">=0.14, <=0.15", optional = true }
+hashbrown = { version = "0.16", optional = true }
 static_cell = { version = "2" }
 heapless = { version = "0.9", optional = true }
 dyn-clone = { version = "1", optional = true }
@@ -64,6 +64,7 @@ std = [
 ]
 alloc = [
     "serde/alloc",
+    "cobs/alloc",
     "spacepackets/alloc",
     "hashbrown",
     "dyn-clone",
@@ -71,7 +72,6 @@ alloc = [
 ]
 serde = ["dep:serde", "spacepackets/serde", "satrs-shared/serde"]
 crossbeam = ["crossbeam-channel"]
-# heapless = ["dep:heapless", "static_cell"]
 defmt = ["dep:defmt", "spacepackets/defmt"]
 test_util = []
 

satrs/src/ccsds/mod.rs

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

satrs/src/ccsds/scheduler.rs

@@ -1,129 +0,0 @@
-use core::{hash::Hash, time::Duration};
-
-#[cfg(feature = "alloc")]
-pub use alloc_mod::*;
-use spacepackets::{
-    ByteConversionError, PacketId, PacketSequenceControl,
-    time::{TimestampError, UnixTime},
-};
-
-#[derive(Debug, Clone, PartialEq, Eq, thiserror::Error)]
-#[cfg_attr(feature = "serde", derive(serde::Serialize, serde::Deserialize))]
-pub enum ScheduleError {
-    /// The release time is within the time-margin added on top of the current time.
-    /// The first parameter is the current time, the second one the time margin, and the third one
-    /// the release time.
-    #[error("release time in margin")]
-    ReleaseTimeInTimeMargin {
-        current_time: UnixTime,
-        time_margin: Duration,
-        release_time: UnixTime,
-    },
-    /// Nested time-tagged commands are not allowed.
-    #[error("nested scheduled tc")]
-    NestedScheduledTc,
-    #[error("tc data empty")]
-    TcDataEmpty,
-    #[error("timestamp error: {0}")]
-    TimestampError(#[from] TimestampError),
-    #[error("wrong subservice number {0}")]
-    WrongSubservice(u8),
-    #[error("wrong service number {0}")]
-    WrongService(u8),
-    #[error("byte conversion error: {0}")]
-    ByteConversionError(#[from] ByteConversionError),
-}
-
-#[derive(Debug, PartialEq, Eq, Clone)]
-#[cfg_attr(feature = "serde", derive(serde::Serialize, serde::Deserialize))]
-pub struct CcsdsPacketId {
-    pub packet_id: PacketId,
-    pub psc: PacketSequenceControl,
-    pub crc16: u16,
-}
-
-impl Hash for CcsdsPacketId {
-    fn hash<H: core::hash::Hasher>(&self, state: &mut H) {
-        self.packet_id.hash(state);
-        self.psc.raw().hash(state);
-        self.crc16.hash(state);
-    }
-}
-
-pub mod alloc_mod {
-    use core::time::Duration;
-    #[cfg(feature = "std")]
-    use std::time::SystemTimeError;
-
-    use spacepackets::time::UnixTime;
-
-    use crate::ccsds::scheduler::CcsdsPacketId;
-
-    pub struct CcsdsScheduler {
-        tc_map: alloc::collections::BTreeMap<
-            UnixTime,
-            alloc::vec::Vec<(CcsdsPacketId, alloc::vec::Vec<u8>)>,
-        >,
-        packet_limit: usize,
-        pub(crate) current_time: UnixTime,
-        time_margin: Duration,
-        enabled: bool,
-    }
-
-    impl CcsdsScheduler {
-        pub fn new(current_time: UnixTime, packet_limit: usize, time_margin: Duration) -> Self {
-            Self {
-                tc_map: alloc::collections::BTreeMap::new(),
-                packet_limit,
-                current_time,
-                time_margin,
-                enabled: true,
-            }
-        }
-
-        /// Like [Self::new], but sets the `init_current_time` parameter to the current system time.
-        #[cfg(feature = "std")]
-        pub fn new_with_current_init_time(
-            packet_limit: usize,
-            time_margin: Duration,
-        ) -> Result<Self, SystemTimeError> {
-            Ok(Self::new(UnixTime::now()?, packet_limit, time_margin))
-        }
-
-        pub fn num_of_entries(&self) -> usize {
-            self.tc_map
-                .values()
-                .map(|v| v.iter().map(|(_, v)| v.len()).sum::<usize>())
-                .sum()
-        }
-
-        #[inline]
-        pub fn enable(&mut self) {
-            self.enabled = true;
-        }
-
-        #[inline]
-        pub fn disable(&mut self) {
-            self.enabled = false;
-        }
-
-        #[inline]
-        pub fn update_time(&mut self, current_time: UnixTime) {
-            self.current_time = current_time;
-        }
-
-        #[inline]
-        pub fn current_time(&self) -> &UnixTime {
-            &self.current_time
-        }
-
-        // TODO: Implementation
-        pub fn insert_telecommand(
-            &mut self,
-            packet_id: CcsdsPacketId,
-            packet: alloc::vec::Vec<u8>,
-            release_time: UnixTime,
-        ) {
-        }
-    }
-}

satrs/src/dev_mgmt.rs

@@ -296,18 +296,18 @@ mod tests {
     fn test_mode_announce() {
         let mut assy_helper = DevManagerCommandingHelper::new(TransparentDevManagerHook::default());
         let mode_req_sender = ModeReqSenderMock::default();
-        assy_helper.add_mode_child(ExampleId::Id1 as u64, UNKNOWN_MODE);
-        assy_helper.add_mode_child(ExampleId::Id2 as u64, UNKNOWN_MODE);
+        assy_helper.add_mode_child(ExampleId::Id1 as ComponentId, UNKNOWN_MODE);
+        assy_helper.add_mode_child(ExampleId::Id2 as ComponentId, UNKNOWN_MODE);
         assy_helper
             .send_announce_mode_cmd_to_children(1, &mode_req_sender, false)
             .unwrap();
         assert_eq!(mode_req_sender.requests.borrow().len(), 2);
         let mut req = mode_req_sender.requests.borrow_mut().pop_front().unwrap();
-        assert_eq!(req.target_id, ExampleId::Id1 as u64);
+        assert_eq!(req.target_id, ExampleId::Id1 as ComponentId);
         assert_eq!(req.request_id, 1);
         assert_eq!(req.request, ModeRequest::AnnounceMode);
         req = mode_req_sender.requests.borrow_mut().pop_front().unwrap();
-        assert_eq!(req.target_id, ExampleId::Id2 as u64);
+        assert_eq!(req.target_id, ExampleId::Id2 as ComponentId);
         assert_eq!(req.request_id, 1);
         assert_eq!(req.request, ModeRequest::AnnounceMode);
     }
@@ -316,18 +316,18 @@ mod tests {
     fn test_mode_announce_recursive() {
         let mut assy_helper = DevManagerCommandingHelper::new(TransparentDevManagerHook::default());
         let mode_req_sender = ModeReqSenderMock::default();
-        assy_helper.add_mode_child(ExampleId::Id1 as u64, UNKNOWN_MODE);
-        assy_helper.add_mode_child(ExampleId::Id2 as u64, UNKNOWN_MODE);
+        assy_helper.add_mode_child(ExampleId::Id1 as ComponentId, UNKNOWN_MODE);
+        assy_helper.add_mode_child(ExampleId::Id2 as ComponentId, UNKNOWN_MODE);
         assy_helper
             .send_announce_mode_cmd_to_children(1, &mode_req_sender, true)
             .unwrap();
         assert_eq!(mode_req_sender.requests.borrow().len(), 2);
         let mut req = mode_req_sender.requests.borrow_mut().pop_front().unwrap();
-        assert_eq!(req.target_id, ExampleId::Id1 as u64);
+        assert_eq!(req.target_id, ExampleId::Id1 as ComponentId);
         assert_eq!(req.request_id, 1);
         assert_eq!(req.request, ModeRequest::AnnounceModeRecursive);
         req = mode_req_sender.requests.borrow_mut().pop_front().unwrap();
-        assert_eq!(req.target_id, ExampleId::Id2 as u64);
+        assert_eq!(req.target_id, ExampleId::Id2 as ComponentId);
         assert_eq!(req.request_id, 1);
         assert_eq!(req.request, ModeRequest::AnnounceModeRecursive);
     }
@@ -337,12 +337,12 @@ mod tests {
         let mut dev_mgmt_helper =
             DevManagerCommandingHelper::new(TransparentDevManagerHook::default());
         let mode_req_sender = ModeReqSenderMock::default();
-        dev_mgmt_helper.add_mode_child(ExampleId::Id1 as u64, UNKNOWN_MODE);
+        dev_mgmt_helper.add_mode_child(ExampleId::Id1 as ComponentId, UNKNOWN_MODE);
         let expected_mode = ModeAndSubmode::new(ExampleMode::Mode1 as u32, 0);
         dev_mgmt_helper
             .send_mode_cmd_to_one_child(
                 1,
-                ExampleId::Id1 as u64,
+                ExampleId::Id1 as ComponentId,
                 expected_mode,
                 false,
                 &mode_req_sender,
@@ -350,7 +350,7 @@ mod tests {
             .unwrap();
         assert_eq!(mode_req_sender.requests.borrow().len(), 1);
         let req = mode_req_sender.requests.borrow_mut().pop_front().unwrap();
-        assert_eq!(req.target_id, ExampleId::Id1 as u64);
+        assert_eq!(req.target_id, ExampleId::Id1 as ComponentId);
         assert_eq!(req.request_id, 1);
         assert_eq!(
             req.request,
@@ -368,7 +368,7 @@ mod tests {
             assert_eq!(ctx.active_request_id, 1);
         }
         let reply = GenericMessage::new(
-            MessageMetadata::new(1, ExampleId::Id1 as u64),
+            MessageMetadata::new(1, ExampleId::Id1 as ComponentId),
             ModeReply::ModeReply(expected_mode),
         );
         if let DevManagerHelperResult::ModeCommandingDone(ActiveModeCommandContext {
@@ -387,15 +387,15 @@ mod tests {
         let mut dev_mgmt_helper =
             DevManagerCommandingHelper::new(TransparentDevManagerHook::default());
         let mode_req_sender = ModeReqSenderMock::default();
-        dev_mgmt_helper.add_mode_child(ExampleId::Id1 as u64, UNKNOWN_MODE);
-        dev_mgmt_helper.add_mode_child(ExampleId::Id2 as u64, UNKNOWN_MODE);
+        dev_mgmt_helper.add_mode_child(ExampleId::Id1 as ComponentId, UNKNOWN_MODE);
+        dev_mgmt_helper.add_mode_child(ExampleId::Id2 as ComponentId, UNKNOWN_MODE);
         let expected_mode = ModeAndSubmode::new(ExampleMode::Mode2 as u32, 0);
         dev_mgmt_helper
             .send_mode_cmd_to_all_children(1, expected_mode, false, &mode_req_sender)
             .unwrap();
         assert_eq!(mode_req_sender.requests.borrow().len(), 2);
         let req = mode_req_sender.requests.borrow_mut().pop_front().unwrap();
-        assert_eq!(req.target_id, ExampleId::Id1 as u64);
+        assert_eq!(req.target_id, ExampleId::Id1 as ComponentId);
         assert_eq!(req.request_id, 1);
         assert_eq!(
             req.request,
@@ -405,7 +405,7 @@ mod tests {
             }
         );
         let req = mode_req_sender.requests.borrow_mut().pop_front().unwrap();
-        assert_eq!(req.target_id, ExampleId::Id2 as u64);
+        assert_eq!(req.target_id, ExampleId::Id2 as ComponentId);
         assert_eq!(req.request_id, 1);
         assert_eq!(
             req.request,
@@ -424,7 +424,7 @@ mod tests {
         }
 
         let reply = GenericMessage::new(
-            MessageMetadata::new(1, ExampleId::Id1 as u64),
+            MessageMetadata::new(1, ExampleId::Id1 as ComponentId),
             ModeReply::ModeReply(expected_mode),
         );
         assert_eq!(
@@ -432,7 +432,7 @@ mod tests {
             DevManagerHelperResult::Busy
         );
         let reply = GenericMessage::new(
-            MessageMetadata::new(1, ExampleId::Id2 as u64),
+            MessageMetadata::new(1, ExampleId::Id2 as ComponentId),
             ModeReply::ModeReply(expected_mode),
         );
         if let DevManagerHelperResult::ModeCommandingDone(ActiveModeCommandContext {

satrs/src/encoding/ccsds.rs

@@ -1,6 +1,6 @@
 use spacepackets::SpHeader;
 
-use crate::{ComponentId, tmtc::PacketSenderRaw};
+use crate::{ComponentId, tmtc::PacketHandler};
 
 #[derive(Debug, Copy, Clone, PartialEq, Eq)]
 pub enum SpValidity {
@@ -24,13 +24,17 @@ pub trait SpacePacketValidator {
 #[derive(Default, Debug, PartialEq, Eq)]
 pub struct ParseResult {
     pub packets_found: u32,
-    /// If an incomplete space packet was found, its start index is indicated by this value.
-    pub incomplete_tail_start: Option<usize>,
+    pub parsed_bytes: usize,
+    // If an incomplete space packet was found, its start index is indicated by this value.
+    //pub incomplete_packet_start: Option<usize>,
 }
 
-/// This function parses a given buffer for tightly packed CCSDS space packets. It uses the
-/// [spacepackets::SpHeader] of the CCSDS packets and a user provided [SpacePacketValidator]
-/// to check whether a received space packet is relevant for processing.
+/// This function parses a given buffer for tightly packed CCSDS space packets.
+///
+/// Please note that it is recommended to use a proper data link layer instead to have proper
+/// packet framing and to allow more reliable recovery from packet loss.
+/// It uses the [spacepackets::SpHeader] of the CCSDS packets and a user provided
+/// [SpacePacketValidator] to check whether a received space packet is relevant for processing.
 ///
 /// This function is also able to deal with broken tail packets at the end as long a the parser
 /// can read the full 7 bytes which constitue a space packet header plus one byte minimal size.
@@ -41,17 +45,18 @@ pub struct ParseResult {
 /// [SpacePacketValidator]:
 ///
 ///  1. [SpValidity::Valid]: The parser will forward all packets to the given `packet_sender` and
-///     return the number of packets found.If the [PacketSenderRaw::send_packet] calls fails, the
+///     return the number of packets found.If the [PacketHandler::handle_packet] calls fails, the
 ///     error will be returned.
 ///  2. [SpValidity::Invalid]: The parser assumes that the synchronization is lost and tries to
 ///     find the start of a new space packet header by scanning all the following bytes.
 ///  3. [SpValidity::Skip]: The parser skips the packet using the packet length determined from the
 ///     space packet header.
+///
 pub fn parse_buffer_for_ccsds_space_packets<SendError>(
     buf: &[u8],
     packet_validator: &(impl SpacePacketValidator + ?Sized),
     sender_id: ComponentId,
-    packet_sender: &(impl PacketSenderRaw<Error = SendError> + ?Sized),
+    packet_sender: &(impl PacketHandler<Error = SendError> + ?Sized),
 ) -> Result<ParseResult, SendError> {
     let mut parse_result = ParseResult::default();
     let mut current_idx = 0;
@@ -66,11 +71,12 @@ pub fn parse_buffer_for_ccsds_space_packets<SendError>(
                 let packet_size = sp_header.packet_len();
                 if (current_idx + packet_size) <= buf_len {
                     packet_sender
-                        .send_packet(sender_id, &buf[current_idx..current_idx + packet_size])?;
+                        .handle_packet(sender_id, &buf[current_idx..current_idx + packet_size])?;
                     parse_result.packets_found += 1;
                 } else {
                     // Move packet to start of buffer if applicable.
-                    parse_result.incomplete_tail_start = Some(current_idx);
+                    //parse_result.incomplete_packet_start = Some(current_idx);
+                    break;
                 }
                 current_idx += packet_size;
                 continue;
@@ -84,6 +90,7 @@ pub fn parse_buffer_for_ccsds_space_packets<SendError>(
             }
         }
     }
+    parse_result.parsed_bytes = current_idx;
     Ok(parse_result)
 }
 
@@ -92,7 +99,7 @@ mod tests {
     use arbitrary_int::{u11, u14};
     use spacepackets::{
         CcsdsPacket, PacketId, PacketSequenceControl, PacketType, SequenceFlags, SpHeader,
-        ecss::{CreatorConfig, tc::PusTcCreator},
+        ecss::{CreatorConfig, MessageTypeId, tc::PusTcCreator},
     };
 
     use crate::{ComponentId, encoding::tests::TcCacher};
@@ -132,7 +139,12 @@ mod tests {
     #[test]
     fn test_basic() {
         let sph = SpHeader::new_from_apid(TEST_APID_0);
-        let ping_tc = PusTcCreator::new_simple(sph, 17, 1, &[], CreatorConfig::default());
+        let ping_tc = PusTcCreator::new_simple(
+            sph,
+            MessageTypeId::new(17, 1),
+            &[],
+            CreatorConfig::default(),
+        );
         let mut buffer: [u8; 32] = [0; 32];
         let packet_len = ping_tc
             .write_to_bytes(&mut buffer)
@@ -157,8 +169,14 @@ mod tests {
     #[test]
     fn test_multi_packet() {
         let sph = SpHeader::new_from_apid(TEST_APID_0);
-        let ping_tc = PusTcCreator::new_simple(sph, 17, 1, &[], CreatorConfig::default());
-        let action_tc = PusTcCreator::new_simple(sph, 8, 0, &[], CreatorConfig::default());
+        let ping_tc = PusTcCreator::new_simple(
+            sph,
+            MessageTypeId::new(17, 1),
+            &[],
+            CreatorConfig::default(),
+        );
+        let action_tc =
+            PusTcCreator::new_simple(sph, MessageTypeId::new(8, 0), &[], CreatorConfig::default());
         let mut buffer: [u8; 32] = [0; 32];
         let packet_len_ping = ping_tc
             .write_to_bytes(&mut buffer)
@@ -192,9 +210,15 @@ mod tests {
     #[test]
     fn test_multi_apid() {
         let sph = SpHeader::new_from_apid(TEST_APID_0);
-        let ping_tc = PusTcCreator::new_simple(sph, 17, 1, &[], CreatorConfig::default());
+        let ping_tc = PusTcCreator::new_simple(
+            sph,
+            MessageTypeId::new(17, 1),
+            &[],
+            CreatorConfig::default(),
+        );
         let sph = SpHeader::new_from_apid(TEST_APID_1);
-        let action_tc = PusTcCreator::new_simple(sph, 8, 0, &[], CreatorConfig::default());
+        let action_tc =
+            PusTcCreator::new_simple(sph, MessageTypeId::new(8, 0), &[], CreatorConfig::default());
         let mut buffer: [u8; 32] = [0; 32];
         let packet_len_ping = ping_tc
             .write_to_bytes(&mut buffer)
@@ -224,15 +248,13 @@ mod tests {
     fn test_split_packet_multi() {
         let ping_tc = PusTcCreator::new_simple(
             SpHeader::new_from_apid(TEST_APID_0),
-            17,
-            1,
+            MessageTypeId::new(17, 1),
             &[],
             CreatorConfig::default(),
         );
         let action_tc = PusTcCreator::new_simple(
             SpHeader::new_from_apid(TEST_APID_1),
-            8,
-            0,
+            MessageTypeId::new(8, 0),
             &[],
             CreatorConfig::default(),
         );
@@ -254,8 +276,7 @@ mod tests {
         assert!(parse_result.is_ok());
         let parse_result = parse_result.unwrap();
         assert_eq!(parse_result.packets_found, 1);
-        assert!(parse_result.incomplete_tail_start.is_some());
-        let incomplete_tail_idx = parse_result.incomplete_tail_start.unwrap();
+        let incomplete_tail_idx = parse_result.parsed_bytes;
         assert_eq!(incomplete_tail_idx, packet_len_ping);
 
         let queue = tc_cacher.tc_queue.borrow();
@@ -268,8 +289,7 @@ mod tests {
     fn test_one_split_packet() {
         let ping_tc = PusTcCreator::new_simple(
             SpHeader::new_from_apid(TEST_APID_0),
-            17,
-            1,
+            MessageTypeId::new(17, 1),
             &[],
             CreatorConfig::default(),
         );

satrs/src/encoding/cobs.rs

@@ -1,5 +1,5 @@
-use crate::{ComponentId, tmtc::PacketSenderRaw};
-use cobs::{decode_in_place, encode, max_encoding_length};
+use crate::{ComponentId, tmtc::PacketHandler};
+use cobs::{decode_in_place, encode_including_sentinels, max_encoding_length};
 
 /// This function encodes the given packet with COBS and also wraps the encoded packet with
 /// the sentinel value 0. It can be used repeatedly on the same encoded buffer by expecting
@@ -37,15 +37,16 @@ pub fn encode_packet_with_cobs(
     if *current_idx + max_encoding_len + 2 > encoded_buf.len() {
         return false;
     }
-    encoded_buf[*current_idx] = 0;
-    *current_idx += 1;
-    *current_idx += encode(packet, &mut encoded_buf[*current_idx..]);
-    encoded_buf[*current_idx] = 0;
-    *current_idx += 1;
+    *current_idx += encode_including_sentinels(packet, &mut encoded_buf[*current_idx..]);
     true
 }
 
-/// This function parses a given buffer for COBS encoded packets. The packet structure is
+/// This function parses a given buffer for COBS encoded packets.
+///
+/// Please note that, it is recommended to use [cobs::CobsDecoderOwned] or [cobs::CobsDecoder]
+/// instead.
+///
+/// The packet structure is
 /// expected to be like this, assuming a sentinel value of 0 as the packet delimiter:
 ///
 /// 0 | ... Encoded Packet Data ... | 0 | 0 | ... Encoded Packet Data ... | 0
@@ -58,7 +59,7 @@ pub fn encode_packet_with_cobs(
 pub fn parse_buffer_for_cobs_encoded_packets<SendError>(
     buf: &mut [u8],
     sender_id: ComponentId,
-    packet_sender: &(impl PacketSenderRaw<Error = SendError> + ?Sized),
+    packet_sender: &(impl PacketHandler<Error = SendError> + ?Sized),
     next_write_idx: &mut usize,
 ) -> Result<u32, SendError> {
     let mut start_index_packet = 0;
@@ -79,7 +80,7 @@ pub fn parse_buffer_for_cobs_encoded_packets<SendError>(
                 let decode_result = decode_in_place(&mut buf[start_index_packet..i]);
                 if let Ok(packet_len) = decode_result {
                     packets_found += 1;
-                    packet_sender.send_packet(
+                    packet_sender.handle_packet(
                         sender_id,
                         &buf[start_index_packet..start_index_packet + packet_len],
                     )?;

satrs/src/encoding/mod.rs

@@ -12,7 +12,7 @@ pub(crate) mod tests {
 
     use crate::{
         ComponentId,
-        tmtc::{PacketAsVec, PacketSenderRaw},
+        tmtc::{PacketAsVec, PacketHandler},
     };
 
     use super::cobs::encode_packet_with_cobs;
@@ -25,10 +25,10 @@ pub(crate) mod tests {
         pub(crate) tc_queue: RefCell<VecDeque<PacketAsVec>>,
     }
 
-    impl PacketSenderRaw for TcCacher {
+    impl PacketHandler for TcCacher {
         type Error = ();
 
-        fn send_packet(&self, sender_id: ComponentId, tc_raw: &[u8]) -> Result<(), Self::Error> {
+        fn handle_packet(&self, sender_id: ComponentId, tc_raw: &[u8]) -> Result<(), Self::Error> {
             let mut mut_queue = self.tc_queue.borrow_mut();
             mut_queue.push_back(PacketAsVec::new(sender_id, tc_raw.to_vec()));
             Ok(())

satrs/src/events_legacy.rs

@@ -386,7 +386,7 @@ impl UnsignedEnum for EventU32 {
         self.base.write_to_bytes(self.raw(), buf, self.size())
     }
 
-    fn value(&self) -> u64 {
+    fn value_raw(&self) -> u64 {
         self.raw().into()
     }
 }
@@ -445,7 +445,7 @@ impl<SEVERITY: HasSeverity> UnsignedEnum for EventU32TypedSev<SEVERITY> {
     delegate!(to self.event {
         fn size(&self) -> usize;
         fn write_to_be_bytes(&self, buf: &mut [u8]) -> Result<usize, ByteConversionError>;
-        fn value(&self) -> u64;
+        fn value_raw(&self) -> u64;
     });
 }
 
@@ -558,7 +558,7 @@ impl UnsignedEnum for EventU16 {
         self.base.write_to_bytes(self.raw(), buf, self.size())
     }
 
-    fn value(&self) -> u64 {
+    fn value_raw(&self) -> u64 {
         self.raw().into()
     }
 }
@@ -611,7 +611,7 @@ impl<SEVERITY: HasSeverity> UnsignedEnum for EventU16TypedSev<SEVERITY> {
     delegate!(to self.event {
         fn size(&self) -> usize;
         fn write_to_be_bytes(&self, buf: &mut [u8]) -> Result<usize, ByteConversionError>;
-        fn value(&self) -> u64;
+        fn value_raw(&self) -> u64;
     });
 }
 

satrs/src/hal/std/mod.rs

@@ -2,5 +2,5 @@
 pub mod tcp_server;
 pub mod udp_server;
 
-mod tcp_cobs_server;
-mod tcp_spacepackets_server;
+pub mod tcp_cobs_server;
+pub mod tcp_spacepackets_server;

satrs/src/hal/std/tcp_cobs_server.rs

@@ -1,5 +1,7 @@
 use alloc::sync::Arc;
 use alloc::vec;
+use cobs::CobsDecoderOwned;
+use cobs::DecodeError;
 use cobs::encode;
 use core::sync::atomic::AtomicBool;
 use core::time::Duration;
@@ -9,40 +11,58 @@ use std::io::Write;
 use std::net::SocketAddr;
 use std::vec::Vec;
 
-use crate::encoding::parse_buffer_for_cobs_encoded_packets;
-use crate::tmtc::PacketSenderRaw;
+use crate::queue::GenericSendError;
+use crate::tmtc::PacketHandler;
 use crate::tmtc::PacketSource;
 
 use crate::ComponentId;
 use crate::hal::std::tcp_server::{
-    ConnectionResult, ServerConfig, TcpTcParser, TcpTmSender, TcpTmtcError, TcpTmtcGenericServer,
+    ConnectionResult, ServerConfig, TcpTcParser, TcpTmSender, TcpTmtcGenericServer,
 };
 
 use super::tcp_server::HandledConnectionHandler;
 use super::tcp_server::HandledConnectionInfo;
 
 /// Concrete [TcpTcParser] implementation for the [TcpTmtcInCobsServer].
-#[derive(Default)]
-pub struct CobsTcParser {}
+pub struct CobsTcParser<PacketHandlerInstance: PacketHandler> {
+    sender_id: ComponentId,
+    owned_decoder: CobsDecoderOwned,
+    packet_handler: PacketHandlerInstance,
+    last_decode_error: Option<DecodeError>,
+}
 
-impl<TmError, TcError: 'static> TcpTcParser<TmError, TcError> for CobsTcParser {
-    fn handle_tc_parsing(
-        &mut self,
-        tc_buffer: &mut [u8],
+impl<PacketHandlerInstance: PacketHandler> CobsTcParser<PacketHandlerInstance> {
+    pub fn new(
         sender_id: ComponentId,
-        tc_sender: &(impl PacketSenderRaw<Error = TcError> + ?Sized),
-        conn_result: &mut HandledConnectionInfo,
-        current_write_idx: usize,
-        next_write_idx: &mut usize,
-    ) -> Result<(), TcpTmtcError<TmError, TcError>> {
-        conn_result.num_received_tcs += parse_buffer_for_cobs_encoded_packets(
-            &mut tc_buffer[..current_write_idx],
+        decoder_buf_size: usize,
+        packet_handler: PacketHandlerInstance,
+    ) -> Self {
+        Self {
             sender_id,
-            tc_sender,
-            next_write_idx,
-        )
-        .map_err(|e| TcpTmtcError::TcError(e))?;
-        Ok(())
+            owned_decoder: CobsDecoderOwned::new(decoder_buf_size),
+            packet_handler,
+            last_decode_error: None,
+        }
+    }
+}
+impl<PacketHandlerInstance: PacketHandler> TcpTcParser for CobsTcParser<PacketHandlerInstance> {
+    fn reset(&mut self) {
+        self.owned_decoder.reset();
+    }
+
+    fn push(&mut self, data: &[u8], conn_result: &mut HandledConnectionInfo) {
+        for byte in data {
+            match self.owned_decoder.feed(*byte) {
+                Ok(Some(packet_len)) => {
+                    self.packet_handler
+                        .handle_packet(self.sender_id, &self.owned_decoder.dest()[..packet_len])
+                        .ok();
+                    conn_result.num_received_tcs += 1;
+                }
+                Ok(None) => (),
+                Err(e) => self.last_decode_error = Some(e),
+            }
+        }
     }
 }
 
@@ -61,22 +81,18 @@ impl CobsTmSender {
     }
 }
 
-impl<TmError, TcError> TcpTmSender<TmError, TcError> for CobsTmSender {
+impl TcpTmSender for CobsTmSender {
     fn handle_tm_sending(
         &mut self,
         tm_buffer: &mut [u8],
-        tm_source: &mut (impl PacketSource<Error = TmError> + ?Sized),
+        tm_source: &mut (impl PacketSource<Error = ()> + ?Sized),
         conn_result: &mut HandledConnectionInfo,
         stream: &mut TcpStream,
-    ) -> Result<bool, TcpTmtcError<TmError, TcError>> {
+    ) -> Result<bool, std::io::Error> {
         let mut tm_was_sent = false;
-        loop {
-            // Write TM until TM source is exhausted. For now, there is no limit for the amount
-            // of TM written this way.
-            let read_tm_len = tm_source
-                .retrieve_packet(tm_buffer)
-                .map_err(|e| TcpTmtcError::TmError(e))?;
-
+        // Write TM until TM source is exhausted or there is an unexpected error. For now, there
+        // is no limit for the amount of TM written this way.
+        while let Ok(read_tm_len) = tm_source.retrieve_packet(tm_buffer) {
             if read_tm_len == 0 {
                 return Ok(tm_was_sent);
             }
@@ -95,6 +111,7 @@ impl<TmError, TcError> TcpTmSender<TmError, TcError> for CobsTmSender {
             current_idx += 1;
             stream.write_all(&self.tm_encoding_buffer[..current_idx])?;
         }
+        Ok(tm_was_sent)
     }
 }
 
@@ -108,8 +125,8 @@ impl<TmError, TcError> TcpTmSender<TmError, TcError> for CobsTmSender {
 ///
 /// Using a framing protocol like COBS imposes minimal restrictions on the type of TMTC data
 /// exchanged while also allowing packets with flexible size and a reliable way to reconstruct full
-/// packets even from a data stream which is split up. The server wil use the
-/// [parse_buffer_for_cobs_encoded_packets] function to parse for packets and pass them to a
+/// packets even from a data stream which is split up. The server wil use the streaming
+/// [CobsDecoderOwned] decoder to parse for packets and pass them to a
 /// generic TC receiver. The user can use [crate::encoding::encode_packet_with_cobs] to encode
 /// telecommands sent to the server.
 ///
@@ -118,30 +135,19 @@ impl<TmError, TcError> TcpTmSender<TmError, TcError> for CobsTmSender {
 /// The [TCP integration tests](https://egit.irs.uni-stuttgart.de/rust/sat-rs/src/branch/main/satrs/tests/tcp_servers.rs)
 /// test also serves as the example application for this module.
 pub struct TcpTmtcInCobsServer<
-    TmSource: PacketSource<Error = TmError>,
-    TcSender: PacketSenderRaw<Error = SendError>,
+    TmSource: PacketSource<Error = ()>,
+    TcHandler: PacketHandler<Error = GenericSendError>,
     HandledConnection: HandledConnectionHandler,
-    TmError,
-    SendError: 'static,
 > {
-    pub generic_server: TcpTmtcGenericServer<
-        TmSource,
-        TcSender,
-        CobsTmSender,
-        CobsTcParser,
-        HandledConnection,
-        TmError,
-        SendError,
-    >,
+    pub generic_server:
+        TcpTmtcGenericServer<TmSource, CobsTmSender, CobsTcParser<TcHandler>, HandledConnection>,
 }
 
 impl<
-    TmSource: PacketSource<Error = TmError>,
-    TcReceiver: PacketSenderRaw<Error = TcError>,
+    TmSource: PacketSource<Error = ()>,
+    TcHandler: PacketHandler<Error = GenericSendError>,
     HandledConnection: HandledConnectionHandler,
-    TmError: 'static,
-    TcError: 'static,
-> TcpTmtcInCobsServer<TmSource, TcReceiver, HandledConnection, TmError, TcError>
+> TcpTmtcInCobsServer<TmSource, TcHandler, HandledConnection>
 {
     /// Create a new TCP TMTC server which exchanges TMTC packets encoded with
     /// [COBS protocol](https://en.wikipedia.org/wiki/Consistent_Overhead_Byte_Stuffing).
@@ -156,17 +162,16 @@ impl<
     pub fn new(
         cfg: ServerConfig,
         tm_source: TmSource,
-        tc_receiver: TcReceiver,
+        cobs_tc_parser: CobsTcParser<TcHandler>,
         handled_connection: HandledConnection,
         stop_signal: Option<Arc<AtomicBool>>,
     ) -> Result<Self, std::io::Error> {
         Ok(Self {
             generic_server: TcpTmtcGenericServer::new(
                 cfg,
-                CobsTcParser::default(),
+                cobs_tc_parser,
                 CobsTmSender::new(cfg.tm_buffer_size),
                 tm_source,
-                tc_receiver,
                 handled_connection,
                 stop_signal,
             )?,
@@ -185,7 +190,7 @@ impl<
             pub fn handle_all_connections(
                 &mut self,
                 poll_duration: Option<Duration>,
-            ) -> Result<ConnectionResult, TcpTmtcError<TmError, TcError>>;
+            ) -> Result<ConnectionResult, std::io::Error>;
         }
     }
 }
@@ -212,7 +217,6 @@ mod tests {
             ConnectionResult, ServerConfig,
             tests::{ConnectionFinishedHandler, SyncTmSource},
         },
-        queue::GenericSendError,
         tmtc::PacketAsVec,
     };
     use alloc::sync::Arc;
@@ -243,17 +247,12 @@ mod tests {
         tc_sender: mpsc::Sender<PacketAsVec>,
         tm_source: SyncTmSource,
         stop_signal: Option<Arc<AtomicBool>>,
-    ) -> TcpTmtcInCobsServer<
-        SyncTmSource,
-        mpsc::Sender<PacketAsVec>,
-        ConnectionFinishedHandler,
-        (),
-        GenericSendError,
-    > {
+    ) -> TcpTmtcInCobsServer<SyncTmSource, mpsc::Sender<PacketAsVec>, ConnectionFinishedHandler>
+    {
         TcpTmtcInCobsServer::new(
             ServerConfig::new(TCP_SERVER_ID, *addr, Duration::from_millis(2), 1024, 1024),
             tm_source,
-            tc_sender,
+            super::CobsTcParser::new(TCP_SERVER_ID, 1024, tc_sender),
             ConnectionFinishedHandler::default(),
             stop_signal,
         )

satrs/src/hal/std/tcp_server.rs

@@ -12,7 +12,7 @@ use std::net::SocketAddr;
 use std::thread;
 
 use crate::ComponentId;
-use crate::tmtc::{PacketSenderRaw, PacketSource};
+use crate::tmtc::PacketSource;
 use thiserror::Error;
 
 // Re-export the TMTC in COBS server.
@@ -73,11 +73,9 @@ impl ServerConfig {
 }
 
 #[derive(Error, Debug)]
-pub enum TcpTmtcError<TmError, TcError> {
+pub enum TcpTmError<TmError> {
     #[error("TM retrieval error: {0}")]
     TmError(TmError),
-    #[error("TC retrieval error: {0}")]
-    TcError(TcError),
     #[error("io error: {0}")]
     Io(#[from] std::io::Error),
 }
@@ -116,32 +114,29 @@ pub trait HandledConnectionHandler {
 }
 
 /// Generic parser abstraction for an object which can parse for telecommands given a raw
-/// bytestream received from a TCP socket and send them using a generic [PacketSenderRaw]
-/// implementation. This allows different encoding schemes for telecommands.
-pub trait TcpTcParser<TmError, SendError> {
-    fn handle_tc_parsing(
-        &mut self,
-        tc_buffer: &mut [u8],
-        sender_id: ComponentId,
-        tc_sender: &(impl PacketSenderRaw<Error = SendError> + ?Sized),
-        conn_result: &mut HandledConnectionInfo,
-        current_write_idx: usize,
-        next_write_idx: &mut usize,
-    ) -> Result<(), TcpTmtcError<TmError, SendError>>;
+/// bytestream received from a TCP socket and extract packets from them. This allows different
+/// encoding schemes for telecommands.
+pub trait TcpTcParser {
+    /// Reset the state of the parser.
+    fn reset(&mut self);
+
+    /// Pushes received data into the parser.
+    fn push(&mut self, tc_data: &[u8], conn_result: &mut HandledConnectionInfo);
 }
 
 /// Generic sender abstraction for an object which can pull telemetry from a given TM source
 /// using a [PacketSource] and then send them back to a client using a given [TcpStream].
 /// The concrete implementation can also perform any encoding steps which are necessary before
 /// sending back the data to a client.
-pub trait TcpTmSender<TmError, TcError> {
+pub trait TcpTmSender {
+    /// Returns whether any packets were sent back to the client.
     fn handle_tm_sending(
         &mut self,
         tm_buffer: &mut [u8],
-        tm_source: &mut (impl PacketSource<Error = TmError> + ?Sized),
+        tm_source: &mut (impl PacketSource<Error = ()> + ?Sized),
         conn_result: &mut HandledConnectionInfo,
         stream: &mut TcpStream,
-    ) -> Result<bool, TcpTmtcError<TmError, TcError>>;
+    ) -> Result<bool, std::io::Error>;
 }
 
 /// TCP TMTC server implementation for exchange of generic TMTC packets in a generic way which
@@ -151,7 +146,8 @@ pub trait TcpTmSender<TmError, TcError> {
 /// through the following 4 core abstractions:
 ///
 /// 1. [TcpTcParser] to parse for telecommands from the raw bytestream received from a client.
-/// 2. Parsed telecommands will be sent using the [PacketSenderRaw] object.
+/// 2. Parsed telecommands will be handled by the [TcpTcParser] object as well. For example, this
+///    parser can contain a message queue handle to send the packets somewhere.
 /// 3. [TcpTmSender] to send telemetry pulled from a TM source back to the client.
 /// 4. [PacketSource] as a generic TM source used by the [TcpTmSender].
 ///
@@ -163,13 +159,10 @@ pub trait TcpTmSender<TmError, TcError> {
 /// 1. [TcpTmtcInCobsServer] to exchange TMTC wrapped inside the COBS framing protocol.
 /// 2. [TcpSpacepacketsServer] to exchange space packets via TCP.
 pub struct TcpTmtcGenericServer<
-    TmSource: PacketSource<Error = TmError>,
-    TcSender: PacketSenderRaw<Error = TcSendError>,
-    TmSender: TcpTmSender<TmError, TcSendError>,
-    TcParser: TcpTcParser<TmError, TcSendError>,
+    TmSource: PacketSource<Error = ()>,
+    TmSender: TcpTmSender,
+    TcParser: TcpTcParser,
     HandledConnection: HandledConnectionHandler,
-    TmError,
-    TcSendError,
 > {
     pub id: ComponentId,
     pub finished_handler: HandledConnection,
@@ -177,7 +170,6 @@ pub struct TcpTmtcGenericServer<
     pub(crate) inner_loop_delay: Duration,
     pub(crate) tm_source: TmSource,
     pub(crate) tm_buffer: Vec<u8>,
-    pub(crate) tc_sender: TcSender,
     pub(crate) tc_buffer: Vec<u8>,
     poll: Poll,
     events: Events,
@@ -187,23 +179,11 @@ pub struct TcpTmtcGenericServer<
 }
 
 impl<
-    TmSource: PacketSource<Error = TmError>,
-    TcSender: PacketSenderRaw<Error = TcSendError>,
-    TmSender: TcpTmSender<TmError, TcSendError>,
-    TcParser: TcpTcParser<TmError, TcSendError>,
+    TmSource: PacketSource<Error = ()>,
+    TmSender: TcpTmSender,
+    TcParser: TcpTcParser,
     HandledConnection: HandledConnectionHandler,
-    TmError: 'static,
-    TcSendError: 'static,
->
-    TcpTmtcGenericServer<
-        TmSource,
-        TcSender,
-        TmSender,
-        TcParser,
-        HandledConnection,
-        TmError,
-        TcSendError,
-    >
+> TcpTmtcGenericServer<TmSource, TmSender, TcParser, HandledConnection>
 {
     /// Create a new generic TMTC server instance.
     ///
@@ -223,7 +203,6 @@ impl<
         tc_parser: TcParser,
         tm_sender: TmSender,
         tm_source: TmSource,
-        tc_receiver: TcSender,
         finished_handler: HandledConnection,
         stop_signal: Option<Arc<AtomicBool>>,
     ) -> Result<Self, std::io::Error> {
@@ -263,7 +242,6 @@ impl<
             inner_loop_delay: cfg.inner_loop_delay,
             tm_source,
             tm_buffer: vec![0; cfg.tm_buffer_size],
-            tc_sender: tc_receiver,
             tc_buffer: vec![0; cfg.tc_buffer_size],
             stop_signal,
             finished_handler,
@@ -297,7 +275,7 @@ impl<
     pub fn handle_all_connections(
         &mut self,
         poll_timeout: Option<Duration>,
-    ) -> Result<ConnectionResult, TcpTmtcError<TmError, TcSendError>> {
+    ) -> Result<ConnectionResult, std::io::Error> {
         let mut handled_connections = 0;
         // Poll Mio for events.
         self.poll.poll(&mut self.events, poll_timeout)?;
@@ -327,7 +305,7 @@ impl<
                     Err(ref err) if err.kind() == io::ErrorKind::WouldBlock => break,
                     Err(err) => {
                         self.reregister_poll_interest()?;
-                        return Err(TcpTmtcError::Io(err));
+                        return Err(err);
                     }
                 }
             }
@@ -350,58 +328,24 @@ impl<
         &mut self,
         mut stream: TcpStream,
         addr: SocketAddr,
-    ) -> Result<(), TcpTmtcError<TmError, TcSendError>> {
-        let mut current_write_idx;
-        let mut next_write_idx = 0;
+    ) -> Result<(), std::io::Error> {
+        self.tc_handler.reset();
         let mut connection_result = HandledConnectionInfo::new(addr);
-        current_write_idx = next_write_idx;
         loop {
-            let read_result = stream.read(&mut self.tc_buffer[current_write_idx..]);
+            let read_result = stream.read(&mut self.tc_buffer);
             match read_result {
                 Ok(0) => {
-                    // Connection closed by client. If any TC was read, parse for complete packets.
-                    // After that, break the outer loop.
-                    if current_write_idx > 0 {
-                        self.tc_handler.handle_tc_parsing(
-                            &mut self.tc_buffer,
-                            self.id,
-                            &self.tc_sender,
-                            &mut connection_result,
-                            current_write_idx,
-                            &mut next_write_idx,
-                        )?;
-                    }
+                    // Connection closed by client.
                     break;
                 }
                 Ok(read_len) => {
-                    current_write_idx += read_len;
-                    // TC buffer is full, we must parse for complete packets now.
-                    if current_write_idx == self.tc_buffer.capacity() {
-                        self.tc_handler.handle_tc_parsing(
-                            &mut self.tc_buffer,
-                            self.id,
-                            &self.tc_sender,
-                            &mut connection_result,
-                            current_write_idx,
-                            &mut next_write_idx,
-                        )?;
-                        current_write_idx = next_write_idx;
-                    }
+                    self.tc_handler
+                        .push(&self.tc_buffer[0..read_len], &mut connection_result);
                 }
                 Err(e) => match e.kind() {
                     // As per [TcpStream::set_read_timeout] documentation, this should work for
                     // both UNIX and Windows.
                     std::io::ErrorKind::WouldBlock | std::io::ErrorKind::TimedOut => {
-                        self.tc_handler.handle_tc_parsing(
-                            &mut self.tc_buffer,
-                            self.id,
-                            &self.tc_sender,
-                            &mut connection_result,
-                            current_write_idx,
-                            &mut next_write_idx,
-                        )?;
-                        current_write_idx = next_write_idx;
-
                         if !self.tm_handler.handle_tm_sending(
                             &mut self.tm_buffer,
                             &mut self.tm_source,
@@ -426,7 +370,7 @@ impl<
                         }
                     }
                     _ => {
-                        return Err(TcpTmtcError::Io(e));
+                        return Err(e);
                     }
                 },
             }
@@ -502,8 +446,11 @@ pub(crate) mod tests {
                 .connection_info
                 .pop_back()
                 .expect("no connection info available");
-            assert_eq!(last_conn_result.num_received_tcs, num_tcs);
-            assert_eq!(last_conn_result.num_sent_tms, num_tms);
+            assert_eq!(
+                last_conn_result.num_received_tcs, num_tcs,
+                "received tcs mismatch"
+            );
+            assert_eq!(last_conn_result.num_sent_tms, num_tms, "sent tms missmatch");
         }
 
         pub fn check_no_connections_left(&self) {

satrs/src/hal/std/tcp_spacepackets_server.rs

@@ -7,39 +7,104 @@ use std::{io::Write, net::SocketAddr};
 use crate::{
     ComponentId,
     encoding::{ccsds::SpacePacketValidator, parse_buffer_for_ccsds_space_packets},
-    tmtc::{PacketSenderRaw, PacketSource},
+    queue::GenericSendError,
+    tmtc::{PacketHandler, PacketSource},
 };
 
 use super::tcp_server::{
     ConnectionResult, HandledConnectionHandler, HandledConnectionInfo, ServerConfig, TcpTcParser,
-    TcpTmSender, TcpTmtcError, TcpTmtcGenericServer,
+    TcpTmSender, TcpTmtcGenericServer,
 };
 
-impl<T: SpacePacketValidator, TmError, TcError: 'static> TcpTcParser<TmError, TcError> for T {
-    fn handle_tc_parsing(
-        &mut self,
-        tc_buffer: &mut [u8],
+pub struct CcsdsPacketParser<
+    PacketValidator: SpacePacketValidator,
+    PacketHandlerInstance: PacketHandler,
+> {
+    sender_id: ComponentId,
+    parsing_buffer: alloc::vec::Vec<u8>,
+    validator: PacketValidator,
+    packet_handler: PacketHandlerInstance,
+    current_write_index: usize,
+}
+
+impl<PacketValidator: SpacePacketValidator, PacketHandlerInstance: PacketHandler>
+    CcsdsPacketParser<PacketValidator, PacketHandlerInstance>
+{
+    pub fn new(
         sender_id: ComponentId,
-        tc_sender: &(impl PacketSenderRaw<Error = TcError> + ?Sized),
-        conn_result: &mut HandledConnectionInfo,
-        current_write_idx: usize,
-        next_write_idx: &mut usize,
-    ) -> Result<(), TcpTmtcError<TmError, TcError>> {
-        // Reader vec full, need to parse for packets.
-        let parse_result = parse_buffer_for_ccsds_space_packets(
-            &tc_buffer[..current_write_idx],
-            self,
+        parsing_buf_size: usize,
+        packet_handler: PacketHandlerInstance,
+        validator: PacketValidator,
+    ) -> Self {
+        Self {
             sender_id,
-            tc_sender,
-        )
-        .map_err(|e| TcpTmtcError::TcError(e))?;
-        if let Some(broken_tail_start) = parse_result.incomplete_tail_start {
-            // Copy broken tail to front of buffer.
-            tc_buffer.copy_within(broken_tail_start..current_write_idx, 0);
-            *next_write_idx = current_write_idx - broken_tail_start;
+            parsing_buffer: alloc::vec![0; parsing_buf_size],
+            validator,
+            packet_handler,
+            current_write_index: 0,
+        }
+    }
+
+    fn write_to_buffer(&mut self, data: &[u8]) -> usize {
+        let available = self.parsing_buffer.len() - self.current_write_index;
+        let to_write = core::cmp::min(data.len(), available);
+
+        self.parsing_buffer[self.current_write_index..self.current_write_index + to_write]
+            .copy_from_slice(&data[..to_write]);
+        self.current_write_index += to_write;
+
+        to_write
+    }
+
+    fn parse_and_handle_packets(&mut self) -> u32 {
+        match parse_buffer_for_ccsds_space_packets(
+            &self.parsing_buffer[..self.current_write_index],
+            &self.validator,
+            self.sender_id,
+            &self.packet_handler,
+        ) {
+            Ok(parse_result) => {
+                self.parsing_buffer
+                    .copy_within(parse_result.parsed_bytes..self.current_write_index, 0);
+                self.current_write_index -= parse_result.parsed_bytes;
+                parse_result.packets_found
+            }
+            Err(_) => 0,
+        }
+    }
+
+    fn drop_first_half_of_buffer(&mut self) {
+        let mid = self.parsing_buffer.len() / 2;
+        self.parsing_buffer.copy_within(mid.., 0);
+        self.current_write_index -= mid;
+    }
+}
+impl<PacketValidator: SpacePacketValidator, PacketHandlerInstance: PacketHandler> TcpTcParser
+    for CcsdsPacketParser<PacketValidator, PacketHandlerInstance>
+{
+    fn reset(&mut self) {
+        self.current_write_index = 0;
+    }
+
+    fn push(&mut self, mut tc_buffer: &[u8], conn_result: &mut HandledConnectionInfo) {
+        while !tc_buffer.is_empty() {
+            // Write as much as possible to buffer
+            let written = self.write_to_buffer(tc_buffer);
+            tc_buffer = &tc_buffer[written..];
+
+            // Parse for complete packets
+            let packets_found = self.parse_and_handle_packets();
+            conn_result.num_received_tcs += packets_found;
+
+            if tc_buffer.is_empty() {
+                break;
+            }
+
+            // Handle buffer overflow
+            if self.current_write_index == self.parsing_buffer.len() {
+                self.drop_first_half_of_buffer();
+            }
         }
-        conn_result.num_received_tcs += parse_result.packets_found;
-        Ok(())
     }
 }
 
@@ -47,21 +112,18 @@ impl<T: SpacePacketValidator, TmError, TcError: 'static> TcpTcParser<TmError, Tc
 #[derive(Default)]
 pub struct SpacepacketsTmSender {}
 
-impl<TmError, TcError> TcpTmSender<TmError, TcError> for SpacepacketsTmSender {
+impl TcpTmSender for SpacepacketsTmSender {
     fn handle_tm_sending(
         &mut self,
         tm_buffer: &mut [u8],
-        tm_source: &mut (impl PacketSource<Error = TmError> + ?Sized),
+        tm_source: &mut (impl PacketSource<Error = ()> + ?Sized),
         conn_result: &mut HandledConnectionInfo,
         stream: &mut TcpStream,
-    ) -> Result<bool, TcpTmtcError<TmError, TcError>> {
+    ) -> Result<bool, std::io::Error> {
         let mut tm_was_sent = false;
-        loop {
+        while let Ok(read_tm_len) = tm_source.retrieve_packet(tm_buffer) {
             // Write TM until TM source is exhausted. For now, there is no limit for the amount
             // of TM written this way.
-            let read_tm_len = tm_source
-                .retrieve_packet(tm_buffer)
-                .map_err(|e| TcpTmtcError::TmError(e))?;
 
             if read_tm_len == 0 {
                 return Ok(tm_was_sent);
@@ -71,6 +133,7 @@ impl<TmError, TcError> TcpTmSender<TmError, TcError> for SpacepacketsTmSender {
 
             stream.write_all(&tm_buffer[..read_tm_len])?;
         }
+        Ok(tm_was_sent)
     }
 }
 
@@ -88,32 +151,25 @@ impl<TmError, TcError> TcpTmSender<TmError, TcError> for SpacepacketsTmSender {
 /// The [TCP server integration tests](https://egit.irs.uni-stuttgart.de/rust/sat-rs/src/branch/main/satrs/tests/tcp_servers.rs)
 /// also serves as the example application for this module.
 pub struct TcpSpacepacketsServer<
-    TmSource: PacketSource<Error = TmError>,
-    TcSender: PacketSenderRaw<Error = SendError>,
+    TmSource: PacketSource<Error = ()>,
+    TcSender: PacketHandler<Error = GenericSendError>,
     Validator: SpacePacketValidator,
     HandledConnection: HandledConnectionHandler,
-    TmError,
-    SendError: 'static,
 > {
     pub generic_server: TcpTmtcGenericServer<
         TmSource,
-        TcSender,
         SpacepacketsTmSender,
-        Validator,
+        CcsdsPacketParser<Validator, TcSender>,
         HandledConnection,
-        TmError,
-        SendError,
     >,
 }
 
 impl<
-    TmSource: PacketSource<Error = TmError>,
-    TcSender: PacketSenderRaw<Error = TcError>,
+    TmSource: PacketSource<Error = ()>,
+    TcSender: PacketHandler<Error = GenericSendError>,
     Validator: SpacePacketValidator,
     HandledConnection: HandledConnectionHandler,
-    TmError: 'static,
-    TcError: 'static,
-> TcpSpacepacketsServer<TmSource, TcSender, Validator, HandledConnection, TmError, TcError>
+> TcpSpacepacketsServer<TmSource, TcSender, Validator, HandledConnection>
 {
     ///
     /// ## Parameter
@@ -122,7 +178,7 @@ impl<
     /// * `tm_source` - Generic TM source used by the server to pull telemetry packets which are
     ///   then sent back to the client.
     /// * `tc_sender` - Any received telecommands which were decoded successfully will be
-    ///   forwarded using this [PacketSenderRaw].
+    ///   forwarded using this [PacketHandler].
     /// * `validator` - Used to determine the space packets relevant for further processing and
     ///   to detect broken space packets.
     /// * `handled_connection_hook` - Called to notify the user about a succesfully handled
@@ -132,18 +188,16 @@ impl<
     pub fn new(
         cfg: ServerConfig,
         tm_source: TmSource,
-        tc_sender: TcSender,
-        validator: Validator,
+        tc_parser: CcsdsPacketParser<Validator, TcSender>,
         handled_connection_hook: HandledConnection,
         stop_signal: Option<Arc<AtomicBool>>,
     ) -> Result<Self, std::io::Error> {
         Ok(Self {
             generic_server: TcpTmtcGenericServer::new(
                 cfg,
-                validator,
+                tc_parser,
                 SpacepacketsTmSender::default(),
                 tm_source,
-                tc_sender,
                 handled_connection_hook,
                 stop_signal,
             )?,
@@ -162,7 +216,7 @@ impl<
             pub fn handle_all_connections(
                 &mut self,
                 poll_timeout: Option<Duration>
-            ) -> Result<ConnectionResult, TcpTmtcError<TmError, TcError>>;
+            ) -> Result<ConnectionResult, std::io::Error>;
         }
     }
 }
@@ -187,7 +241,7 @@ mod tests {
     use hashbrown::HashSet;
     use spacepackets::{
         CcsdsPacket, PacketId, SpHeader,
-        ecss::{CreatorConfig, WritablePusPacket, tc::PusTcCreator},
+        ecss::{CreatorConfig, MessageTypeId, WritablePusPacket, tc::PusTcCreator},
     };
 
     use crate::{
@@ -197,7 +251,6 @@ mod tests {
             ConnectionResult, ServerConfig,
             tests::{ConnectionFinishedHandler, SyncTmSource},
         },
-        queue::GenericSendError,
         tmtc::PacketAsVec,
     };
 
@@ -224,23 +277,19 @@ mod tests {
 
     fn generic_tmtc_server(
         addr: &SocketAddr,
-        tc_sender: mpsc::Sender<PacketAsVec>,
+        tc_parser: super::CcsdsPacketParser<SimpleValidator, mpsc::Sender<PacketAsVec>>,
         tm_source: SyncTmSource,
-        validator: SimpleValidator,
         stop_signal: Option<Arc<AtomicBool>>,
     ) -> TcpSpacepacketsServer<
         SyncTmSource,
         mpsc::Sender<PacketAsVec>,
         SimpleValidator,
         ConnectionFinishedHandler,
-        (),
-        GenericSendError,
     > {
         TcpSpacepacketsServer::new(
             ServerConfig::new(TCP_SERVER_ID, *addr, Duration::from_millis(2), 1024, 1024),
             tm_source,
-            tc_sender,
-            validator,
+            tc_parser,
             ConnectionFinishedHandler::default(),
             stop_signal,
         )
@@ -256,9 +305,8 @@ mod tests {
         validator.0.insert(TEST_PACKET_ID_0);
         let mut tcp_server = generic_tmtc_server(
             &auto_port_addr,
-            tc_sender.clone(),
+            super::CcsdsPacketParser::new(TCP_SERVER_ID, 1024, tc_sender.clone(), validator),
             tm_source,
-            validator,
             None,
         );
         let dest_addr = tcp_server
@@ -286,8 +334,7 @@ mod tests {
         });
         let ping_tc = PusTcCreator::new_simple(
             SpHeader::new_from_apid(TEST_APID_0),
-            17,
-            1,
+            MessageTypeId::new(17, 1),
             &[],
             CreatorConfig::default(),
         );
@@ -322,8 +369,7 @@ mod tests {
         let mut total_tm_len = 0;
         let verif_tm = PusTcCreator::new_simple(
             SpHeader::new_from_apid(TEST_APID_0),
-            1,
-            1,
+            MessageTypeId::new(1, 1),
             &[],
             CreatorConfig::default(),
         );
@@ -332,8 +378,7 @@ mod tests {
         tm_source.add_tm(&tm_0);
         let verif_tm = PusTcCreator::new_simple(
             SpHeader::new_from_apid(TEST_APID_1),
-            1,
-            3,
+            MessageTypeId::new(1, 3),
             &[],
             CreatorConfig::default(),
         );
@@ -347,9 +392,8 @@ mod tests {
         validator.0.insert(TEST_PACKET_ID_1);
         let mut tcp_server = generic_tmtc_server(
             &auto_port_addr,
-            tc_sender.clone(),
+            super::CcsdsPacketParser::new(TCP_SERVER_ID, 1024, tc_sender.clone(), validator),
             tm_source,
-            validator,
             None,
         );
         let dest_addr = tcp_server
@@ -384,8 +428,7 @@ mod tests {
         // Send telecommands
         let ping_tc = PusTcCreator::new_simple(
             SpHeader::new_from_apid(TEST_APID_0),
-            17,
-            1,
+            MessageTypeId::new(17, 1),
             &[],
             CreatorConfig::default(),
         );
@@ -395,8 +438,7 @@ mod tests {
             .expect("writing to TCP server failed");
         let action_tc = PusTcCreator::new_simple(
             SpHeader::new_from_apid(TEST_APID_1),
-            8,
-            0,
+            MessageTypeId::new(8, 0),
             &[],
             CreatorConfig::default(),
         );

satrs/src/hal/std/udp_server.rs

@@ -1,6 +1,6 @@
 //! Generic UDP TC server.
 use crate::ComponentId;
-use crate::tmtc::PacketSenderRaw;
+use crate::tmtc::PacketHandler;
 use core::fmt::Debug;
 use std::io::{self, ErrorKind};
 use std::net::{SocketAddr, ToSocketAddrs, UdpSocket};
@@ -12,7 +12,7 @@ use std::vec::Vec;
 ///
 /// It caches all received telecomands into a vector. The maximum expected telecommand size should
 /// be declared upfront. This avoids dynamic allocation during run-time. The user can specify a TC
-/// sender in form of a special trait object which implements [PacketSenderRaw]. For example, this
+/// sender in form of a special trait object which implements [PacketHandler]. For example, this
 /// can be used to send the telecommands to a centralized TC source component for further
 /// processing and routing.
 ///
@@ -24,9 +24,9 @@ use std::vec::Vec;
 /// use spacepackets::ecss::WritablePusPacket;
 /// use satrs::hal::std::udp_server::UdpTcServer;
 /// use satrs::ComponentId;
-/// use satrs::tmtc::PacketSenderRaw;
+/// use satrs::tmtc::PacketHandler;
 /// use spacepackets::SpHeader;
-/// use spacepackets::ecss::tc::{PusTcCreator, CreatorConfig};
+/// use spacepackets::ecss::tc::{MessageTypeId, PusTcCreator, CreatorConfig};
 /// use arbitrary_int::u11;
 ///
 /// const UDP_SERVER_ID: ComponentId = 0x05;
@@ -36,7 +36,7 @@ use std::vec::Vec;
 /// let mut udp_tc_server = UdpTcServer::new(UDP_SERVER_ID, dest_addr, 2048, packet_sender)
 ///       .expect("Creating UDP TMTC server failed");
 /// let sph = SpHeader::new_from_apid(u11::new(0x02));
-/// let pus_tc = PusTcCreator::new_simple(sph, 17, 1, &[], CreatorConfig::default());
+/// let pus_tc = PusTcCreator::new_simple(sph, MessageTypeId::new(17, 1), &[], CreatorConfig::default());
 /// // Can not fail.
 /// let ping_tc_raw = pus_tc.to_vec().unwrap();
 ///
@@ -60,7 +60,7 @@ use std::vec::Vec;
 /// [example code](https://egit.irs.uni-stuttgart.de/rust/sat-rs/src/branch/main/satrs-example/src/tmtc.rs#L67)
 /// on how to use this TC server. It uses the server to receive PUS telecommands on a specific port
 /// and then forwards them to a generic CCSDS packet receiver.
-pub struct UdpTcServer<TcSender: PacketSenderRaw<Error = SendError>, SendError> {
+pub struct UdpTcServer<TcSender: PacketHandler<Error = SendError>, SendError> {
     pub id: ComponentId,
     pub socket: UdpSocket,
     recv_buf: Vec<u8>,
@@ -78,7 +78,7 @@ pub enum ReceiveResult<SendError: Debug + 'static> {
     Send(SendError),
 }
 
-impl<TcSender: PacketSenderRaw<Error = SendError>, SendError: Debug + 'static>
+impl<TcSender: PacketHandler<Error = SendError>, SendError: Debug + 'static>
     UdpTcServer<TcSender, SendError>
 {
     pub fn new<A: ToSocketAddrs>(
@@ -112,7 +112,7 @@ impl<TcSender: PacketSenderRaw<Error = SendError>, SendError: Debug + 'static>
         let (num_bytes, from) = res;
         self.sender_addr = Some(from);
         self.tc_sender
-            .send_packet(self.id, &self.recv_buf[0..num_bytes])
+            .handle_packet(self.id, &self.recv_buf[0..num_bytes])
             .map_err(ReceiveResult::Send)?;
         Ok(res)
     }
@@ -127,12 +127,12 @@ mod tests {
     use crate::ComponentId;
     use crate::hal::std::udp_server::{ReceiveResult, UdpTcServer};
     use crate::queue::GenericSendError;
-    use crate::tmtc::PacketSenderRaw;
+    use crate::tmtc::PacketHandler;
     use arbitrary_int::u11;
     use core::cell::RefCell;
     use spacepackets::SpHeader;
-    use spacepackets::ecss::CreatorConfig;
     use spacepackets::ecss::tc::PusTcCreator;
+    use spacepackets::ecss::{CreatorConfig, MessageTypeId};
     use std::collections::VecDeque;
     use std::net::{IpAddr, Ipv4Addr, SocketAddr, UdpSocket};
     use std::vec::Vec;
@@ -146,10 +146,10 @@ mod tests {
         pub sent_cmds: RefCell<VecDeque<Vec<u8>>>,
     }
 
-    impl PacketSenderRaw for PingReceiver {
+    impl PacketHandler for PingReceiver {
         type Error = GenericSendError;
 
-        fn send_packet(&self, sender_id: ComponentId, tc_raw: &[u8]) -> Result<(), Self::Error> {
+        fn handle_packet(&self, sender_id: ComponentId, tc_raw: &[u8]) -> Result<(), Self::Error> {
             assert_eq!(sender_id, UDP_SERVER_ID);
             let mut sent_data = Vec::new();
             sent_data.extend_from_slice(tc_raw);
@@ -169,7 +169,12 @@ mod tests {
             .expect("Creating UDP TMTC server failed");
         is_send(&udp_tc_server);
         let sph = SpHeader::new_from_apid(u11::new(0x02));
-        let pus_tc = PusTcCreator::new_simple(sph, 17, 1, &[], CreatorConfig::default());
+        let pus_tc = PusTcCreator::new_simple(
+            sph,
+            MessageTypeId::new(17, 1),
+            &[],
+            CreatorConfig::default(),
+        );
         let len = pus_tc
             .write_to_bytes(&mut buf)
             .expect("Error writing PUS TC packet");

satrs/src/lib.rs

@@ -14,7 +14,7 @@
 //!  - The [pus] module which provides special support for projects using
 //!    the [ECSS PUS C standard](https://ecss.nl/standard/ecss-e-st-70-41c-space-engineering-telemetry-and-telecommand-packet-utilization-15-april-2016/).
 #![no_std]
-#![cfg_attr(docsrs, feature(doc_auto_cfg))]
+#![cfg_attr(docsrs, feature(doc_cfg))]
 #[cfg(any(feature = "alloc", test))]
 extern crate alloc;
 #[cfg(feature = "alloc")]
@@ -51,14 +51,13 @@ pub mod scheduling;
 pub mod subsystem;
 pub mod time;
 pub mod tmtc;
-pub mod ccsds;
 
 pub use spacepackets;
 
 use spacepackets::PacketId;
 
 /// Generic component ID type.
-pub type ComponentId = u64;
+pub type ComponentId = u32;
 
 pub trait ValidatorU16Id {
     fn validate(&self, id: u16) -> bool;

satrs/src/pus/event.rs

@@ -4,6 +4,7 @@ use spacepackets::ByteConversionError;
 use spacepackets::SpHeader;
 use spacepackets::ecss::CreatorConfig;
 use spacepackets::ecss::EcssEnumeration;
+use spacepackets::ecss::MessageTypeId;
 use spacepackets::ecss::tm::PusTmCreator;
 use spacepackets::ecss::tm::PusTmSecondaryHeader;
 
@@ -110,8 +111,12 @@ impl EventReportCreator {
             src_data_len += aux_data.len();
         }
         source_buffer_large_enough(src_data_buf.len(), src_data_len)?;
-        let sec_header =
-            PusTmSecondaryHeader::new(5, subservice.into(), 0, self.dest_id, time_stamp);
+        let sec_header = PusTmSecondaryHeader::new(
+            MessageTypeId::new(5, subservice.into()),
+            0,
+            self.dest_id,
+            time_stamp,
+        );
         let mut current_idx = 0;
         event_id.write_to_be_bytes(&mut src_data_buf[0..event_id.size()])?;
         current_idx += event_id.size();

satrs/src/pus/event_man.rs

@@ -311,7 +311,7 @@ pub mod alloc_mod {
 mod tests {
     use alloc::string::{String, ToString};
     use alloc::vec;
-    use arbitrary_int::u11;
+    use arbitrary_int::{u11, u21};
     use spacepackets::ecss::PusPacket;
     use spacepackets::ecss::event::Subservice;
     use spacepackets::ecss::tm::PusTmReader;
@@ -325,7 +325,7 @@ mod tests {
     const LOW_SEV_EVENT: EventU32 = EventU32::new(Severity::Low, 1, 5);
     const EMPTY_STAMP: [u8; 7] = [0; 7];
     const TEST_APID: u11 = u11::new(0x02);
-    const TEST_ID: UniqueApidTargetId = UniqueApidTargetId::new(TEST_APID, 0x05);
+    const TEST_ID: UniqueApidTargetId = UniqueApidTargetId::new(TEST_APID, u21::new(0x05));
 
     fn create_basic_man_1() -> DefaultPusEventU32TmCreator {
         let reporter = EventReporter::new(TEST_ID.raw(), TEST_APID, 0, 128);
@@ -409,8 +409,8 @@ mod tests {
         assert!(res.params_were_propagated);
         let event_tm = event_rx.try_recv().expect("no event received");
         let tm = PusTmReader::new(&event_tm.packet, 7).expect("reading TM failed");
-        assert_eq!(tm.service(), 5);
-        assert_eq!(tm.subservice(), Subservice::TmInfoReport as u8);
+        assert_eq!(tm.service_type_id(), 5);
+        assert_eq!(tm.message_subtype_id(), Subservice::TmInfoReport as u8);
         assert_eq!(tm.user_data().len(), 4 + param_data.len());
         let u32_event = u32::from_be_bytes(tm.user_data()[0..4].try_into().unwrap());
         assert_eq!(u32_event, INFO_EVENT.raw());
@@ -437,8 +437,8 @@ mod tests {
         assert!(res.params_were_propagated);
         let event_tm = event_rx.try_recv().expect("no event received");
         let tm = PusTmReader::new(&event_tm.packet, 7).expect("reading TM failed");
-        assert_eq!(tm.service(), 5);
-        assert_eq!(tm.subservice(), Subservice::TmInfoReport as u8);
+        assert_eq!(tm.service_type_id(), 5);
+        assert_eq!(tm.message_subtype_id(), Subservice::TmInfoReport as u8);
         assert_eq!(tm.user_data().len(), 4 + param_data.len());
         let u32_event = u32::from_be_bytes(tm.user_data()[0..4].try_into().unwrap());
         assert_eq!(u32_event, INFO_EVENT.raw());

satrs/src/pus/event_srv.rs

@@ -60,11 +60,11 @@ impl<
             .tc_in_mem_converter_mut()
             .cache(&ecss_tc_and_token.tc_in_memory)?;
         let tc = self.service_helper.tc_in_mem_converter().convert()?;
-        let subservice = tc.subservice();
+        let subservice = tc.message_subtype_id();
         let srv = Subservice::try_from(subservice);
         if srv.is_err() {
             return Ok(DirectPusPacketHandlerResult::CustomSubservice(
-                tc.subservice(),
+                tc.message_subtype_id(),
                 ecss_tc_and_token.token,
             ));
         }
@@ -121,7 +121,7 @@ impl<
             | Subservice::TmMediumSeverityReport
             | Subservice::TmHighSeverityReport => {
                 return Err(PusPacketHandlingError::RequestConversion(
-                    GenericConversionError::WrongService(tc.subservice()),
+                    GenericConversionError::WrongService(tc.message_subtype_id()),
                 ));
             }
             Subservice::TcEnableEventGeneration => {
@@ -147,8 +147,8 @@ mod tests {
     use arbitrary_int::traits::Integer as _;
     use arbitrary_int::u14;
     use delegate::delegate;
-    use spacepackets::ecss::CreatorConfig;
     use spacepackets::ecss::event::Subservice;
+    use spacepackets::ecss::{CreatorConfig, MessageTypeId};
     use spacepackets::time::{TimeWriter, cds};
     use spacepackets::util::UnsignedEnum;
     use spacepackets::{
@@ -246,7 +246,7 @@ mod tests {
         event_req_receiver: mpsc::Receiver<EventRequestWithToken>,
     ) {
         let sp_header = SpHeader::new_for_unseg_tc(TEST_APID, u14::ZERO, 0);
-        let sec_header = PusTcSecondaryHeader::new_simple(5, subservice as u8);
+        let sec_header = PusTcSecondaryHeader::new_simple(MessageTypeId::new(5, subservice as u8));
         let mut app_data = [0; 4];
         TEST_EVENT_0
             .write_to_be_bytes(&mut app_data)
@@ -311,7 +311,7 @@ mod tests {
         let (event_request_tx, _) = mpsc::channel();
         let mut test_harness = Pus5HandlerWithStoreTester::new(event_request_tx);
         let sp_header = SpHeader::new_for_unseg_tc(TEST_APID, u14::ZERO, 0);
-        let sec_header = PusTcSecondaryHeader::new_simple(5, 200);
+        let sec_header = PusTcSecondaryHeader::new_simple(MessageTypeId::new(5, 200));
         let ping_tc =
             PusTcCreator::new_no_app_data(sp_header, sec_header, CreatorConfig::default());
         let token = test_harness.start_verification(&ping_tc);
@@ -331,8 +331,10 @@ mod tests {
         let (event_request_tx, _) = mpsc::channel();
         let mut test_harness = Pus5HandlerWithStoreTester::new(event_request_tx);
         let sp_header = SpHeader::new_for_unseg_tc(TEST_APID, u14::ZERO, 0);
-        let sec_header =
-            PusTcSecondaryHeader::new_simple(5, Subservice::TcEnableEventGeneration as u8);
+        let sec_header = PusTcSecondaryHeader::new_simple(MessageTypeId::new(
+            5,
+            Subservice::TcEnableEventGeneration as u8,
+        ));
         let ping_tc =
             PusTcCreator::new(sp_header, sec_header, &[0, 1, 2], CreatorConfig::default());
         let token = test_harness.start_verification(&ping_tc);

satrs/src/pus/mod.rs

@@ -1258,7 +1258,7 @@ pub(crate) fn source_buffer_large_enough(
 
 #[cfg(any(feature = "test_util", test))]
 pub mod test_util {
-    use arbitrary_int::u11;
+    use arbitrary_int::{u11, u21};
     use spacepackets::ecss::{tc::PusTcCreator, tm::PusTmReader};
 
     use crate::request::UniqueApidTargetId;
@@ -1269,8 +1269,8 @@ pub mod test_util {
     };
 
     pub const TEST_APID: u11 = u11::new(0x101);
-    pub const TEST_UNIQUE_ID_0: u32 = 0x05;
-    pub const TEST_UNIQUE_ID_1: u32 = 0x06;
+    pub const TEST_UNIQUE_ID_0: u21 = u21::new(0x05);
+    pub const TEST_UNIQUE_ID_1: u21 = u21::new(0x06);
 
     pub const TEST_COMPONENT_ID_0: UniqueApidTargetId =
         UniqueApidTargetId::new(TEST_APID, TEST_UNIQUE_ID_0);
@@ -1364,10 +1364,10 @@ pub mod tests {
             let mut timestamp = [0; 7];
             timestamp.clone_from_slice(&tm.timestamp()[0..7]);
             Self {
-                subservice: PusPacket::subservice(tm),
+                subservice: PusPacket::message_subtype_id(tm),
                 apid: tm.apid(),
                 seq_count: tm.seq_count(),
-                msg_counter: tm.msg_counter(),
+                msg_counter: tm.msg_type_counter(),
                 dest_id: tm.dest_id(),
                 timestamp: timestamp.to_vec(),
             }
@@ -1478,8 +1478,8 @@ pub mod tests {
             let tm_pool = self.tm_pool.0.read().unwrap();
             let tm_raw = tm_pool.read_as_vec(&tm_in_pool.store_addr).unwrap();
             let tm = PusTmReader::new(&tm_raw, 7).unwrap();
-            assert_eq!(PusPacket::service(&tm), 1);
-            assert_eq!(PusPacket::subservice(&tm), subservice);
+            assert_eq!(PusPacket::service_type_id(&tm), 1);
+            assert_eq!(PusPacket::message_subtype_id(&tm), subservice);
             assert_eq!(tm.apid(), TEST_APID);
             let req_id =
                 RequestId::from_bytes(tm.user_data()).expect("generating request ID failed");
@@ -1597,8 +1597,8 @@ pub mod tests {
             assert!(next_msg.is_ok());
             let next_msg = next_msg.unwrap();
             let tm = PusTmReader::new(next_msg.packet.as_slice(), 7).unwrap();
-            assert_eq!(PusPacket::service(&tm), 1);
-            assert_eq!(PusPacket::subservice(&tm), subservice);
+            assert_eq!(PusPacket::service_type_id(&tm), 1);
+            assert_eq!(PusPacket::message_subtype_id(&tm), subservice);
             assert_eq!(tm.apid(), TEST_APID);
             let req_id =
                 RequestId::from_bytes(tm.user_data()).expect("generating request ID failed");
@@ -1615,9 +1615,9 @@ pub mod tests {
 
     impl<const SERVICE: u8> TestConverter<SERVICE> {
         pub fn check_service(&self, tc: &PusTcReader) -> Result<(), PusPacketHandlingError> {
-            if tc.service() != SERVICE {
+            if tc.service_type_id() != SERVICE {
                 return Err(PusPacketHandlingError::RequestConversion(
-                    GenericConversionError::WrongService(tc.service()),
+                    GenericConversionError::WrongService(tc.service_type_id()),
                 ));
             }
             Ok(())

satrs/src/pus/mode.rs

@@ -37,6 +37,7 @@ mod tests {
     use std::sync::mpsc;
 
     use crate::{
+        ComponentId,
         mode::{
             ModeAndSubmode, ModeReply, ModeReplySender, ModeRequest, ModeRequestSender,
             ModeRequestorAndHandlerMpsc, ModeRequestorOneChildMpsc,
@@ -44,9 +45,9 @@ mod tests {
         request::{GenericMessage, MessageMetadata},
     };
 
-    const TEST_COMPONENT_ID_0: u64 = 5;
-    const TEST_COMPONENT_ID_1: u64 = 6;
-    const TEST_COMPONENT_ID_2: u64 = 7;
+    const TEST_COMPONENT_ID_0: ComponentId = 5;
+    const TEST_COMPONENT_ID_1: ComponentId = 6;
+    const TEST_COMPONENT_ID_2: ComponentId = 7;
 
     #[test]
     fn test_simple_mode_requestor() {

satrs/src/pus/scheduler.rs

@@ -3,7 +3,7 @@
 //! The core data structure of this module is the [PusScheduler]. This structure can be used
 //! to perform the scheduling of telecommands like specified in the ECSS standard.
 use arbitrary_int::{u11, u14};
-use core::fmt::Debug;
+use core::fmt::{Debug, Display, Formatter};
 use core::time::Duration;
 #[cfg(feature = "serde")]
 use serde::{Deserialize, Serialize};
@@ -12,6 +12,8 @@ use spacepackets::ecss::tc::{GenericPusTcSecondaryHeader, IsPusTelecommand, PusT
 use spacepackets::ecss::{PusError, PusPacket, WritablePusPacket};
 use spacepackets::time::{CcsdsTimeProvider, TimeReader, TimeWriter, TimestampError, UnixTime};
 use spacepackets::{ByteConversionError, CcsdsPacket};
+#[cfg(feature = "std")]
+use std::error::Error;
 
 use crate::pool::{PoolError, PoolProvider};
 #[cfg(feature = "alloc")]
@@ -142,39 +144,107 @@ impl<TimeProvider: CcsdsTimeProvider + Clone> TimeWindow<TimeProvider> {
     }
 }
 
-#[derive(Debug, Clone, PartialEq, Eq, thiserror::Error)]
+#[derive(Debug, Clone, PartialEq, Eq)]
 #[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
 pub enum ScheduleError {
-    #[error("pus error: {0}")]
-    PusError(#[from] PusError),
+    PusError(PusError),
     /// The release time is within the time-margin added on top of the current time.
     /// The first parameter is the current time, the second one the time margin, and the third one
     /// the release time.
-    #[error("release time in margin")]
     ReleaseTimeInTimeMargin {
         current_time: UnixTime,
         time_margin: Duration,
         release_time: UnixTime,
     },
     /// Nested time-tagged commands are not allowed.
-    #[error("nested scheduled tc")]
     NestedScheduledTc,
-    #[error("store error")]
-    Pool(#[from] PoolError),
-    #[error("tc data empty")]
+    StoreError(PoolError),
     TcDataEmpty,
-    #[error("timestamp error: {0}")]
-    TimestampError(#[from] TimestampError),
-    #[error("wrong subservice number {0}")]
+    TimestampError(TimestampError),
     WrongSubservice(u8),
-    #[error("wrong service number {0}")]
     WrongService(u8),
-    #[error("byte conversion error: {0}")]
-    ByteConversionError(#[from] ByteConversionError),
+    ByteConversionError(ByteConversionError),
+}
+
+impl Display for ScheduleError {
+    fn fmt(&self, f: &mut Formatter<'_>) -> core::fmt::Result {
+        match self {
+            ScheduleError::PusError(e) => {
+                write!(f, "Pus Error: {e}")
+            }
+            ScheduleError::ReleaseTimeInTimeMargin {
+                current_time,
+                time_margin,
+                release_time,
+            } => {
+                write!(
+                    f,
+                    "time margin too short, current time: {current_time:?}, time margin: {time_margin:?}, release time: {release_time:?}"
+                )
+            }
+            ScheduleError::NestedScheduledTc => {
+                write!(f, "nested scheduling is not allowed")
+            }
+            ScheduleError::StoreError(e) => {
+                write!(f, "pus scheduling: {e}")
+            }
+            ScheduleError::TcDataEmpty => {
+                write!(f, "empty TC data field")
+            }
+            ScheduleError::TimestampError(e) => {
+                write!(f, "pus scheduling: {e}")
+            }
+            ScheduleError::WrongService(srv) => {
+                write!(f, "pus scheduling: wrong service number {srv}")
+            }
+            ScheduleError::WrongSubservice(subsrv) => {
+                write!(f, "pus scheduling: wrong subservice number {subsrv}")
+            }
+            ScheduleError::ByteConversionError(e) => {
+                write!(f, "pus scheduling: {e}")
+            }
+        }
+    }
+}
+
+impl From<PusError> for ScheduleError {
+    fn from(e: PusError) -> Self {
+        Self::PusError(e)
+    }
+}
+
+impl From<PoolError> for ScheduleError {
+    fn from(e: PoolError) -> Self {
+        Self::StoreError(e)
+    }
+}
+
+impl From<TimestampError> for ScheduleError {
+    fn from(e: TimestampError) -> Self {
+        Self::TimestampError(e)
+    }
+}
+impl From<ByteConversionError> for ScheduleError {
+    fn from(e: ByteConversionError) -> Self {
+        Self::ByteConversionError(e)
+    }
+}
+
+#[cfg(feature = "std")]
+impl Error for ScheduleError {
+    fn source(&self) -> Option<&(dyn Error + 'static)> {
+        match self {
+            ScheduleError::PusError(e) => Some(e),
+            ScheduleError::StoreError(e) => Some(e),
+            ScheduleError::TimestampError(e) => Some(e),
+            ScheduleError::ByteConversionError(e) => Some(e),
+            _ => None,
+        }
+    }
 }
 
 /// Generic trait for scheduler objects which are able to schedule ECSS PUS C packets.
-pub trait PusScheduler {
+pub trait PusSchedulerProvider {
     type TimeProvider: CcsdsTimeProvider + TimeReader;
 
     fn reset(&mut self, store: &mut (impl PoolProvider + ?Sized)) -> Result<(), PoolError>;
@@ -202,14 +272,16 @@ pub trait PusScheduler {
         pus_tc: &(impl IsPusTelecommand + PusPacket + GenericPusTcSecondaryHeader),
         pool: &mut (impl PoolProvider + ?Sized),
     ) -> Result<TcInfo, ScheduleError> {
-        if PusPacket::service(pus_tc) != 11 {
-            return Err(ScheduleError::WrongService(PusPacket::service(pus_tc)));
-        }
-        if PusPacket::subservice(pus_tc) != 4 {
-            return Err(ScheduleError::WrongSubservice(PusPacket::subservice(
+        if PusPacket::service_type_id(pus_tc) != 11 {
+            return Err(ScheduleError::WrongService(PusPacket::service_type_id(
                 pus_tc,
             )));
         }
+        if PusPacket::message_subtype_id(pus_tc) != 4 {
+            return Err(ScheduleError::WrongSubservice(
+                PusPacket::message_subtype_id(pus_tc),
+            ));
+        }
         if pus_tc.user_data().is_empty() {
             return Err(ScheduleError::TcDataEmpty);
         }
@@ -229,7 +301,9 @@ pub trait PusScheduler {
         pool: &mut (impl PoolProvider + ?Sized),
     ) -> Result<TcInfo, ScheduleError> {
         let check_tc = PusTcReader::new(tc)?;
-        if PusPacket::service(&check_tc) == 11 && PusPacket::subservice(&check_tc) == 4 {
+        if PusPacket::service_type_id(&check_tc) == 11
+            && PusPacket::message_subtype_id(&check_tc) == 4
+        {
             return Err(ScheduleError::NestedScheduledTc);
         }
         let req_id = RequestId::from_tc(&check_tc);
@@ -331,7 +405,7 @@ pub mod alloc_mod {
     ///
     /// Currently, sub-schedules and groups are not supported.
     #[derive(Debug)]
-    pub struct PusSchedulerAlloc {
+    pub struct PusScheduler {
         // TODO: Use MonotonicTime from tai-time crate instead of UnixTime and cache leap seconds.
         // TODO: Introduce optional limit of commands stored in the TC map. If a limit is set,
         // there will be a check for each insertion whether the map is full, making the memory
@@ -341,8 +415,7 @@ pub mod alloc_mod {
         time_margin: Duration,
         enabled: bool,
     }
-
-    impl PusSchedulerAlloc {
+    impl PusScheduler {
         /// Create a new PUS scheduler.
         ///
         /// # Arguments
@@ -354,7 +427,7 @@ pub mod alloc_mod {
         /// * `tc_buf_size` - Buffer for temporary storage of telecommand packets. This buffer
         ///   should be large enough to accomodate the largest expected TC packets.
         pub fn new(init_current_time: UnixTime, time_margin: Duration) -> Self {
-            PusSchedulerAlloc {
+            PusScheduler {
                 tc_map: Default::default(),
                 current_time: init_current_time,
                 time_margin,
@@ -376,12 +449,10 @@ pub mod alloc_mod {
             num_entries
         }
 
-        #[inline]
         pub fn update_time(&mut self, current_time: UnixTime) {
             self.current_time = current_time;
         }
 
-        #[inline]
         pub fn current_time(&self) -> &UnixTime {
             &self.current_time
         }
@@ -420,7 +491,9 @@ pub mod alloc_mod {
             pool: &mut (impl PoolProvider + ?Sized),
         ) -> Result<TcInfo, ScheduleError> {
             let check_tc = PusTcReader::new(tc)?;
-            if PusPacket::service(&check_tc) == 11 && PusPacket::subservice(&check_tc) == 4 {
+            if PusPacket::service_type_id(&check_tc) == 11
+                && PusPacket::message_subtype_id(&check_tc) == 4
+            {
                 return Err(ScheduleError::NestedScheduledTc);
             }
             let req_id = RequestId::from_tc(&check_tc);
@@ -725,7 +798,7 @@ pub mod alloc_mod {
         }
     }
 
-    impl PusScheduler for PusSchedulerAlloc {
+    impl PusSchedulerProvider for PusScheduler {
         type TimeProvider = cds::CdsTime;
 
         /// This will disable the scheduler and clear the schedule as specified in 6.11.4.4.
@@ -798,7 +871,7 @@ mod tests {
     use arbitrary_int::traits::Integer;
     use arbitrary_int::{u11, u14};
     use spacepackets::ecss::tc::{PusTcCreator, PusTcReader, PusTcSecondaryHeader};
-    use spacepackets::ecss::{CreatorConfig, WritablePusPacket};
+    use spacepackets::ecss::{CreatorConfig, MessageTypeId, WritablePusPacket};
     use spacepackets::time::{TimeWriter, UnixTime, cds};
     use spacepackets::{PacketId, PacketSequenceControl, PacketType, SequenceFlags, SpHeader};
     use std::time::Duration;
@@ -822,17 +895,32 @@ mod tests {
 
     fn scheduled_tc(timestamp: UnixTime, buf: &mut [u8]) -> PusTcCreator<'_> {
         let (sph, len_app_data) = pus_tc_base(timestamp, buf);
-        PusTcCreator::new_simple(sph, 11, 4, &buf[..len_app_data], CreatorConfig::default())
+        PusTcCreator::new_simple(
+            sph,
+            MessageTypeId::new(11, 4),
+            &buf[..len_app_data],
+            CreatorConfig::default(),
+        )
     }
 
     fn wrong_tc_service(timestamp: UnixTime, buf: &mut [u8]) -> PusTcCreator<'_> {
         let (sph, len_app_data) = pus_tc_base(timestamp, buf);
-        PusTcCreator::new_simple(sph, 12, 4, &buf[..len_app_data], CreatorConfig::default())
+        PusTcCreator::new_simple(
+            sph,
+            MessageTypeId::new(12, 4),
+            &buf[..len_app_data],
+            CreatorConfig::default(),
+        )
     }
 
     fn wrong_tc_subservice(timestamp: UnixTime, buf: &mut [u8]) -> PusTcCreator<'_> {
         let (sph, len_app_data) = pus_tc_base(timestamp, buf);
-        PusTcCreator::new_simple(sph, 11, 5, &buf[..len_app_data], CreatorConfig::default())
+        PusTcCreator::new_simple(
+            sph,
+            MessageTypeId::new(11, 5),
+            &buf[..len_app_data],
+            CreatorConfig::default(),
+        )
     }
 
     fn double_wrapped_time_tagged_tc(timestamp: UnixTime, buf: &mut [u8]) -> PusTcCreator<'_> {
@@ -843,15 +931,18 @@ mod tests {
         let sph = SpHeader::new_for_unseg_tc(u11::new(0x02), u14::new(0x34), 0);
         // app data should not matter, double wrapped time-tagged commands should be rejected right
         // away
-        let inner_time_tagged_tc =
-            PusTcCreator::new_simple(sph, 11, 4, &[], CreatorConfig::default());
+        let inner_time_tagged_tc = PusTcCreator::new_simple(
+            sph,
+            MessageTypeId::new(11, 4),
+            &[],
+            CreatorConfig::default(),
+        );
         let packet_len = inner_time_tagged_tc
             .write_to_bytes(&mut buf[len_time_stamp..])
             .expect("writing inner time tagged tc failed");
         PusTcCreator::new_simple(
             sph,
-            11,
-            4,
+            MessageTypeId::new(11, 4),
             &buf[..len_time_stamp + packet_len],
             CreatorConfig::default(),
         )
@@ -859,12 +950,22 @@ mod tests {
 
     fn invalid_time_tagged_cmd() -> PusTcCreator<'static> {
         let sph = SpHeader::new_for_unseg_tc(u11::new(0x02), u14::new(0x34), 1);
-        PusTcCreator::new_simple(sph, 11, 4, &[], CreatorConfig::default())
+        PusTcCreator::new_simple(
+            sph,
+            MessageTypeId::new(11, 4),
+            &[],
+            CreatorConfig::default(),
+        )
     }
 
     fn base_ping_tc_simple_ctor(seq_count: u14, app_data: &'static [u8]) -> PusTcCreator<'static> {
         let sph = SpHeader::new_for_unseg_tc(u11::new(0x02), seq_count, 0);
-        PusTcCreator::new_simple(sph, 17, 1, app_data, CreatorConfig::default())
+        PusTcCreator::new_simple(
+            sph,
+            MessageTypeId::new(17, 1),
+            app_data,
+            CreatorConfig::default(),
+        )
     }
 
     fn ping_tc_to_store(
@@ -881,8 +982,7 @@ mod tests {
 
     #[test]
     fn test_enable_api() {
-        let mut scheduler =
-            PusSchedulerAlloc::new(UnixTime::new_only_secs(0), Duration::from_secs(5));
+        let mut scheduler = PusScheduler::new(UnixTime::new_only_secs(0), Duration::from_secs(5));
         assert!(scheduler.is_enabled());
         scheduler.disable();
         assert!(!scheduler.is_enabled());
@@ -896,8 +996,7 @@ mod tests {
             vec![(10, 32), (5, 64)],
             false,
         ));
-        let mut scheduler =
-            PusSchedulerAlloc::new(UnixTime::new_only_secs(0), Duration::from_secs(5));
+        let mut scheduler = PusScheduler::new(UnixTime::new_only_secs(0), Duration::from_secs(5));
 
         let mut buf: [u8; 32] = [0; 32];
         let tc_info_0 = ping_tc_to_store(&mut pool, &mut buf, u14::new(0), &[]);
@@ -939,8 +1038,7 @@ mod tests {
 
     #[test]
     fn insert_multi_with_same_time() {
-        let mut scheduler =
-            PusSchedulerAlloc::new(UnixTime::new_only_secs(0), Duration::from_secs(5));
+        let mut scheduler = PusScheduler::new(UnixTime::new_only_secs(0), Duration::from_secs(5));
 
         scheduler
             .insert_unwrapped_and_stored_tc(
@@ -999,8 +1097,7 @@ mod tests {
 
     #[test]
     fn test_time_update() {
-        let mut scheduler =
-            PusSchedulerAlloc::new(UnixTime::new_only_secs(0), Duration::from_secs(5));
+        let mut scheduler = PusScheduler::new(UnixTime::new_only_secs(0), Duration::from_secs(5));
         let time = UnixTime::new(1, 2_000_000);
         scheduler.update_time(time);
         assert_eq!(scheduler.current_time(), &time);
@@ -1033,7 +1130,7 @@ mod tests {
         let apid_to_set = u11::new(0x22);
         let seq_count = u14::new(105);
         let sp_header = SpHeader::new_for_unseg_tc(apid_to_set, u14::new(105), 0);
-        let mut sec_header = PusTcSecondaryHeader::new_simple(17, 1);
+        let mut sec_header = PusTcSecondaryHeader::new_simple(MessageTypeId::new(17, 1));
         sec_header.source_id = src_id_to_set;
         let ping_tc =
             PusTcCreator::new_no_app_data(sp_header, sec_header, CreatorConfig::default());
@@ -1054,8 +1151,7 @@ mod tests {
             vec![(10, 32), (5, 64)],
             false,
         ));
-        let mut scheduler =
-            PusSchedulerAlloc::new(UnixTime::new_only_secs(0), Duration::from_secs(5));
+        let mut scheduler = PusScheduler::new(UnixTime::new_only_secs(0), Duration::from_secs(5));
 
         let mut buf: [u8; 32] = [0; 32];
         let tc_info_0 = ping_tc_to_store(&mut pool, &mut buf, u14::ZERO, &[]);
@@ -1123,8 +1219,7 @@ mod tests {
             vec![(10, 32), (5, 64)],
             false,
         ));
-        let mut scheduler =
-            PusSchedulerAlloc::new(UnixTime::new_only_secs(0), Duration::from_secs(5));
+        let mut scheduler = PusScheduler::new(UnixTime::new_only_secs(0), Duration::from_secs(5));
 
         let mut buf: [u8; 32] = [0; 32];
         let tc_info_0 = ping_tc_to_store(&mut pool, &mut buf, u14::ZERO, &[]);
@@ -1184,8 +1279,7 @@ mod tests {
             vec![(10, 32), (5, 64)],
             false,
         ));
-        let mut scheduler =
-            PusSchedulerAlloc::new(UnixTime::new_only_secs(0), Duration::from_secs(5));
+        let mut scheduler = PusScheduler::new(UnixTime::new_only_secs(0), Duration::from_secs(5));
 
         scheduler.disable();
 
@@ -1250,8 +1344,7 @@ mod tests {
 
     #[test]
     fn insert_unwrapped_tc() {
-        let mut scheduler =
-            PusSchedulerAlloc::new(UnixTime::new_only_secs(0), Duration::from_secs(5));
+        let mut scheduler = PusScheduler::new(UnixTime::new_only_secs(0), Duration::from_secs(5));
 
         let mut pool = StaticMemoryPool::new(StaticPoolConfig::new_from_subpool_cfg_tuples(
             vec![(10, 32), (5, 64)],
@@ -1301,8 +1394,7 @@ mod tests {
 
     #[test]
     fn insert_wrapped_tc() {
-        let mut scheduler =
-            PusSchedulerAlloc::new(UnixTime::new_only_secs(0), Duration::from_secs(5));
+        let mut scheduler = PusScheduler::new(UnixTime::new_only_secs(0), Duration::from_secs(5));
 
         let mut pool = StaticMemoryPool::new(StaticPoolConfig::new_from_subpool_cfg_tuples(
             vec![(10, 32), (5, 64)],
@@ -1354,8 +1446,7 @@ mod tests {
 
     #[test]
     fn insert_wrong_service() {
-        let mut scheduler =
-            PusSchedulerAlloc::new(UnixTime::new_only_secs(0), Duration::from_secs(5));
+        let mut scheduler = PusScheduler::new(UnixTime::new_only_secs(0), Duration::from_secs(5));
 
         let mut pool = StaticMemoryPool::new(StaticPoolConfig::new_from_subpool_cfg_tuples(
             vec![(10, 32), (5, 64)],
@@ -1380,8 +1471,7 @@ mod tests {
 
     #[test]
     fn insert_wrong_subservice() {
-        let mut scheduler =
-            PusSchedulerAlloc::new(UnixTime::new_only_secs(0), Duration::from_secs(5));
+        let mut scheduler = PusScheduler::new(UnixTime::new_only_secs(0), Duration::from_secs(5));
 
         let mut pool = StaticMemoryPool::new(StaticPoolConfig::new_from_subpool_cfg_tuples(
             vec![(10, 32), (5, 64)],
@@ -1406,8 +1496,7 @@ mod tests {
 
     #[test]
     fn insert_wrapped_tc_faulty_app_data() {
-        let mut scheduler =
-            PusSchedulerAlloc::new(UnixTime::new_only_secs(0), Duration::from_secs(5));
+        let mut scheduler = PusScheduler::new(UnixTime::new_only_secs(0), Duration::from_secs(5));
         let mut pool = StaticMemoryPool::new(StaticPoolConfig::new_from_subpool_cfg_tuples(
             vec![(10, 32), (5, 64)],
             false,
@@ -1424,8 +1513,7 @@ mod tests {
 
     #[test]
     fn insert_doubly_wrapped_time_tagged_cmd() {
-        let mut scheduler =
-            PusSchedulerAlloc::new(UnixTime::new_only_secs(0), Duration::from_secs(5));
+        let mut scheduler = PusScheduler::new(UnixTime::new_only_secs(0), Duration::from_secs(5));
         let mut pool = StaticMemoryPool::new(StaticPoolConfig::new_from_subpool_cfg_tuples(
             vec![(10, 32), (5, 64)],
             false,
@@ -1443,7 +1531,7 @@ mod tests {
 
     #[test]
     fn test_ctor_from_current() {
-        let scheduler = PusSchedulerAlloc::new_with_current_init_time(Duration::from_secs(5))
+        let scheduler = PusScheduler::new_with_current_init_time(Duration::from_secs(5))
             .expect("creation from current time failed");
         let current_time = scheduler.current_time;
         assert!(current_time.as_secs() > 0);
@@ -1451,8 +1539,7 @@ mod tests {
 
     #[test]
     fn test_update_from_current() {
-        let mut scheduler =
-            PusSchedulerAlloc::new(UnixTime::new_only_secs(0), Duration::from_secs(5));
+        let mut scheduler = PusScheduler::new(UnixTime::new_only_secs(0), Duration::from_secs(5));
         assert_eq!(scheduler.current_time.as_secs(), 0);
         scheduler
             .update_time_from_now()
@@ -1462,8 +1549,7 @@ mod tests {
 
     #[test]
     fn release_time_within_time_margin() {
-        let mut scheduler =
-            PusSchedulerAlloc::new(UnixTime::new_only_secs(0), Duration::from_secs(5));
+        let mut scheduler = PusScheduler::new(UnixTime::new_only_secs(0), Duration::from_secs(5));
 
         let mut pool = StaticMemoryPool::new(StaticPoolConfig::new_from_subpool_cfg_tuples(
             vec![(10, 32), (5, 64)],
@@ -1496,8 +1582,7 @@ mod tests {
             vec![(10, 32), (5, 64)],
             false,
         ));
-        let mut scheduler =
-            PusSchedulerAlloc::new(UnixTime::new_only_secs(0), Duration::from_secs(5));
+        let mut scheduler = PusScheduler::new(UnixTime::new_only_secs(0), Duration::from_secs(5));
         let mut buf: [u8; 32] = [0; 32];
         let tc_info_0 = ping_tc_to_store(&mut pool, &mut buf, u14::ZERO, &[]);
         scheduler
@@ -1534,8 +1619,7 @@ mod tests {
             vec![(10, 32), (5, 64)],
             false,
         ));
-        let mut scheduler =
-            PusSchedulerAlloc::new(UnixTime::new_only_secs(0), Duration::from_secs(5));
+        let mut scheduler = PusScheduler::new(UnixTime::new_only_secs(0), Duration::from_secs(5));
         let mut buf: [u8; 32] = [0; 32];
         let tc_info_0 = ping_tc_to_store(&mut pool, &mut buf, u14::ZERO, &[]);
         scheduler
@@ -1561,8 +1645,7 @@ mod tests {
             vec![(10, 32), (5, 64)],
             false,
         ));
-        let mut scheduler =
-            PusSchedulerAlloc::new(UnixTime::new_only_secs(0), Duration::from_secs(5));
+        let mut scheduler = PusScheduler::new(UnixTime::new_only_secs(0), Duration::from_secs(5));
         let mut buf: [u8; 32] = [0; 32];
         let tc_info_0 = ping_tc_to_store(&mut pool, &mut buf, u14::ZERO, &[]);
         scheduler
@@ -1583,8 +1666,7 @@ mod tests {
             vec![(10, 32), (5, 64)],
             false,
         ));
-        let mut scheduler =
-            PusSchedulerAlloc::new(UnixTime::new_only_secs(0), Duration::from_secs(5));
+        let mut scheduler = PusScheduler::new(UnixTime::new_only_secs(0), Duration::from_secs(5));
         let mut buf: [u8; 32] = [0; 32];
         let tc_info_0 = ping_tc_to_store(&mut pool, &mut buf, u14::ZERO, &[]);
         scheduler
@@ -1605,8 +1687,7 @@ mod tests {
             vec![(10, 32), (5, 64)],
             false,
         ));
-        let mut scheduler =
-            PusSchedulerAlloc::new(UnixTime::new_only_secs(0), Duration::from_secs(5));
+        let mut scheduler = PusScheduler::new(UnixTime::new_only_secs(0), Duration::from_secs(5));
         let mut buf: [u8; 32] = [0; 32];
         let tc_info_0 = ping_tc_to_store(&mut pool, &mut buf, u14::ZERO, &[]);
         scheduler
@@ -1648,8 +1729,7 @@ mod tests {
 
     #[test]
     fn insert_full_store_test() {
-        let mut scheduler =
-            PusSchedulerAlloc::new(UnixTime::new_only_secs(0), Duration::from_secs(5));
+        let mut scheduler = PusScheduler::new(UnixTime::new_only_secs(0), Duration::from_secs(5));
 
         let mut pool = StaticMemoryPool::new(StaticPoolConfig::new_from_subpool_cfg_tuples(
             vec![(1, 64)],
@@ -1665,7 +1745,7 @@ mod tests {
         assert!(insert_res.is_err());
         let err = insert_res.unwrap_err();
         match err {
-            ScheduleError::Pool(e) => match e {
+            ScheduleError::StoreError(e) => match e {
                 PoolError::StoreFull(_) => {}
                 _ => panic!("unexpected store error {e}"),
             },
@@ -1675,7 +1755,7 @@ mod tests {
 
     fn insert_command_with_release_time(
         pool: &mut StaticMemoryPool,
-        scheduler: &mut PusSchedulerAlloc,
+        scheduler: &mut PusScheduler,
         seq_count: u14,
         release_secs: u64,
     ) -> TcInfo {
@@ -1694,8 +1774,7 @@ mod tests {
             vec![(10, 32), (5, 64)],
             false,
         ));
-        let mut scheduler =
-            PusSchedulerAlloc::new(UnixTime::new_only_secs(0), Duration::from_secs(5));
+        let mut scheduler = PusScheduler::new(UnixTime::new_only_secs(0), Duration::from_secs(5));
         let tc_info_0 = insert_command_with_release_time(&mut pool, &mut scheduler, u14::ZERO, 50);
         let tc_info_1 = insert_command_with_release_time(&mut pool, &mut scheduler, u14::ZERO, 100);
         assert_eq!(scheduler.num_scheduled_telecommands(), 2);
@@ -1727,8 +1806,7 @@ mod tests {
             vec![(10, 32), (5, 64)],
             false,
         ));
-        let mut scheduler =
-            PusSchedulerAlloc::new(UnixTime::new_only_secs(0), Duration::from_secs(5));
+        let mut scheduler = PusScheduler::new(UnixTime::new_only_secs(0), Duration::from_secs(5));
         let _ = insert_command_with_release_time(&mut pool, &mut scheduler, u14::ZERO, 50);
         let tc_info_1 = insert_command_with_release_time(&mut pool, &mut scheduler, u14::ZERO, 100);
         let tc_info_2 = insert_command_with_release_time(&mut pool, &mut scheduler, u14::ZERO, 150);
@@ -1763,8 +1841,7 @@ mod tests {
             vec![(10, 32), (5, 64)],
             false,
         ));
-        let mut scheduler =
-            PusSchedulerAlloc::new(UnixTime::new_only_secs(0), Duration::from_secs(5));
+        let mut scheduler = PusScheduler::new(UnixTime::new_only_secs(0), Duration::from_secs(5));
         let tc_info_0 = insert_command_with_release_time(&mut pool, &mut scheduler, u14::ZERO, 50);
         let tc_info_1 = insert_command_with_release_time(&mut pool, &mut scheduler, u14::ZERO, 100);
         let _ = insert_command_with_release_time(&mut pool, &mut scheduler, u14::ZERO, 150);
@@ -1799,8 +1876,7 @@ mod tests {
             vec![(10, 32), (5, 64)],
             false,
         ));
-        let mut scheduler =
-            PusSchedulerAlloc::new(UnixTime::new_only_secs(0), Duration::from_secs(5));
+        let mut scheduler = PusScheduler::new(UnixTime::new_only_secs(0), Duration::from_secs(5));
         let _ = insert_command_with_release_time(&mut pool, &mut scheduler, u14::ZERO, 50);
         let tc_info_1 = insert_command_with_release_time(&mut pool, &mut scheduler, u14::ZERO, 100);
         let tc_info_2 = insert_command_with_release_time(&mut pool, &mut scheduler, u14::ZERO, 150);
@@ -1841,8 +1917,7 @@ mod tests {
             vec![(10, 32), (5, 64)],
             false,
         ));
-        let mut scheduler =
-            PusSchedulerAlloc::new(UnixTime::new_only_secs(0), Duration::from_secs(5));
+        let mut scheduler = PusScheduler::new(UnixTime::new_only_secs(0), Duration::from_secs(5));
         insert_command_with_release_time(&mut pool, &mut scheduler, u14::ZERO, 50);
         insert_command_with_release_time(&mut pool, &mut scheduler, u14::ZERO, 100);
         assert_eq!(scheduler.num_scheduled_telecommands(), 2);
@@ -1871,8 +1946,7 @@ mod tests {
             vec![(10, 32), (5, 64)],
             false,
         ));
-        let mut scheduler =
-            PusSchedulerAlloc::new(UnixTime::new_only_secs(0), Duration::from_secs(5));
+        let mut scheduler = PusScheduler::new(UnixTime::new_only_secs(0), Duration::from_secs(5));
         insert_command_with_release_time(&mut pool, &mut scheduler, u14::ZERO, 50);
         let cmd_0_to_delete =
             insert_command_with_release_time(&mut pool, &mut scheduler, u14::ZERO, 100);
@@ -1899,8 +1973,7 @@ mod tests {
             vec![(10, 32), (5, 64)],
             false,
         ));
-        let mut scheduler =
-            PusSchedulerAlloc::new(UnixTime::new_only_secs(0), Duration::from_secs(5));
+        let mut scheduler = PusScheduler::new(UnixTime::new_only_secs(0), Duration::from_secs(5));
         let cmd_0_to_delete =
             insert_command_with_release_time(&mut pool, &mut scheduler, u14::ZERO, 50);
         let cmd_1_to_delete =
@@ -1928,8 +2001,7 @@ mod tests {
             vec![(10, 32), (5, 64)],
             false,
         ));
-        let mut scheduler =
-            PusSchedulerAlloc::new(UnixTime::new_only_secs(0), Duration::from_secs(5));
+        let mut scheduler = PusScheduler::new(UnixTime::new_only_secs(0), Duration::from_secs(5));
         let cmd_out_of_range_0 =
             insert_command_with_release_time(&mut pool, &mut scheduler, u14::ZERO, 50);
         let cmd_0_to_delete =
@@ -1967,8 +2039,7 @@ mod tests {
             vec![(10, 32), (5, 64)],
             false,
         ));
-        let mut scheduler =
-            PusSchedulerAlloc::new(UnixTime::new_only_secs(0), Duration::from_secs(5));
+        let mut scheduler = PusScheduler::new(UnixTime::new_only_secs(0), Duration::from_secs(5));
 
         let mut buf: [u8; 32] = [0; 32];
         let tc_info_0 = ping_tc_to_store(&mut pool, &mut buf, u14::ZERO, &[]);
@@ -2010,7 +2081,7 @@ mod tests {
             PacketSequenceControl::new(SequenceFlags::Unsegmented, u14::new(5)),
             0,
         );
-        let sec_header = PusTcSecondaryHeader::new_simple(17, 1);
+        let sec_header = PusTcSecondaryHeader::new_simple(MessageTypeId::new(17, 1));
         let ping_tc = PusTcCreator::new_no_app_data(sph, sec_header, CreatorConfig::default());
         let mut buf: [u8; 64] = [0; 64];
         let result = generate_insert_telecommand_app_data(&mut buf, &time_writer, &ping_tc);
@@ -2032,7 +2103,7 @@ mod tests {
             PacketSequenceControl::new(SequenceFlags::Unsegmented, u14::new(5)),
             0,
         );
-        let sec_header = PusTcSecondaryHeader::new_simple(17, 1);
+        let sec_header = PusTcSecondaryHeader::new_simple(MessageTypeId::new(17, 1));
         let ping_tc = PusTcCreator::new_no_app_data(sph, sec_header, CreatorConfig::default());
         let mut buf: [u8; 16] = [0; 16];
         let result = generate_insert_telecommand_app_data(&mut buf, &time_writer, &ping_tc);
@@ -2061,7 +2132,7 @@ mod tests {
             PacketSequenceControl::new(SequenceFlags::Unsegmented, u14::new(5)),
             0,
         );
-        let sec_header = PusTcSecondaryHeader::new_simple(17, 1);
+        let sec_header = PusTcSecondaryHeader::new_simple(MessageTypeId::new(17, 1));
         let ping_tc = PusTcCreator::new_no_app_data(sph, sec_header, CreatorConfig::default());
         let mut buf: [u8; 64] = [0; 64];
         generate_insert_telecommand_app_data(&mut buf, &time_writer, &ping_tc).unwrap();

satrs/src/pus/scheduler_srv.rs

@@ -1,4 +1,4 @@
-use super::scheduler::PusScheduler;
+use super::scheduler::PusSchedulerProvider;
 use super::verification::{VerificationReporter, VerificationReportingProvider};
 use super::{
     CacheAndReadRawEcssTc, DirectPusPacketHandlerResult, EcssTcInSharedPoolCacher, EcssTcReceiver,
@@ -26,11 +26,11 @@ pub struct PusSchedServiceHandler<
     TmSender: EcssTmSender,
     TcInMemConverter: CacheAndReadRawEcssTc,
     VerificationReporter: VerificationReportingProvider,
-    PusSchedulerInstance: PusScheduler,
+    PusScheduler: PusSchedulerProvider,
 > {
     pub service_helper:
         PusServiceHelper<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>,
-    scheduler: PusSchedulerInstance,
+    scheduler: PusScheduler,
 }
 
 impl<
@@ -38,7 +38,7 @@ impl<
     TmSender: EcssTmSender,
     TcInMemConverter: CacheAndReadRawEcssTc,
     VerificationReporter: VerificationReportingProvider,
-    Scheduler: PusScheduler,
+    Scheduler: PusSchedulerProvider,
 > PusSchedServiceHandler<TcReceiver, TmSender, TcInMemConverter, VerificationReporter, Scheduler>
 {
     pub fn new(
@@ -79,7 +79,7 @@ impl<
             .tc_in_mem_converter_mut()
             .cache(&ecss_tc_and_token.tc_in_memory)?;
         let tc = self.service_helper.tc_in_mem_converter().convert()?;
-        let subservice = PusPacket::subservice(&tc);
+        let subservice = PusPacket::message_subtype_id(&tc);
         let standard_subservice = scheduling::Subservice::try_from(subservice);
         if standard_subservice.is_err() {
             return Ok(DirectPusPacketHandlerResult::CustomSubservice(
@@ -254,7 +254,7 @@ mod tests {
     use crate::pus::{DirectPusPacketHandlerResult, MpscTcReceiver, PusPacketHandlingError};
     use crate::pus::{
         EcssTcInSharedPoolCacher,
-        scheduler::{self, PusScheduler, TcInfo},
+        scheduler::{self, PusSchedulerProvider, TcInfo},
         tests::PusServiceHandlerWithSharedStoreCommon,
         verification::{RequestId, TcStateAccepted, VerificationToken},
     };
@@ -266,7 +266,7 @@ mod tests {
     use spacepackets::SpHeader;
     use spacepackets::ecss::scheduling::Subservice;
     use spacepackets::ecss::tc::PusTcSecondaryHeader;
-    use spacepackets::ecss::{CreatorConfig, WritablePusPacket};
+    use spacepackets::ecss::{CreatorConfig, MessageTypeId, WritablePusPacket};
     use spacepackets::time::TimeWriter;
     use spacepackets::{
         ecss::{tc::PusTcCreator, tm::PusTmReader},
@@ -349,7 +349,7 @@ mod tests {
         inserted_tcs: VecDeque<TcInfo>,
     }
 
-    impl PusScheduler for TestScheduler {
+    impl PusSchedulerProvider for TestScheduler {
         type TimeProvider = cds::CdsTime;
 
         fn reset(
@@ -389,7 +389,7 @@ mod tests {
         subservice: Subservice,
     ) {
         let reply_header = SpHeader::new_for_unseg_tm(TEST_APID, u14::ZERO, 0);
-        let tc_header = PusTcSecondaryHeader::new_simple(11, subservice as u8);
+        let tc_header = PusTcSecondaryHeader::new_simple(MessageTypeId::new(11, subservice as u8));
         let enable_scheduling =
             PusTcCreator::new(reply_header, tc_header, &[0; 7], CreatorConfig::default());
         let token = test_harness.start_verification(&enable_scheduling);
@@ -437,7 +437,7 @@ mod tests {
     fn test_insert_activity_tc() {
         let mut test_harness = Pus11HandlerWithStoreTester::new();
         let mut reply_header = SpHeader::new_for_unseg_tc(TEST_APID, u14::ZERO, 0);
-        let mut sec_header = PusTcSecondaryHeader::new_simple(17, 1);
+        let mut sec_header = PusTcSecondaryHeader::new_simple(MessageTypeId::new(17, 1));
         let ping_tc = PusTcCreator::new(reply_header, sec_header, &[], CreatorConfig::default());
         let req_id_ping_tc = scheduler::RequestId::from_tc(&ping_tc);
         let stamper = cds::CdsTime::now_with_u16_days().expect("time provider failed");
@@ -447,7 +447,10 @@ mod tests {
         sched_app_data[written_len..written_len + ping_raw.len()].copy_from_slice(&ping_raw);
         written_len += ping_raw.len();
         reply_header = SpHeader::new_for_unseg_tc(TEST_APID, u14::ZERO, 0);
-        sec_header = PusTcSecondaryHeader::new_simple(11, Subservice::TcInsertActivity as u8);
+        sec_header = PusTcSecondaryHeader::new_simple(MessageTypeId::new(
+            11,
+            Subservice::TcInsertActivity as u8,
+        ));
         let enable_scheduling = PusTcCreator::new(
             reply_header,
             sec_header,

satrs/src/pus/test.rs

@@ -6,7 +6,7 @@ use arbitrary_int::traits::Integer as _;
 use arbitrary_int::u14;
 use spacepackets::SpHeader;
 use spacepackets::ecss::tm::{PusTmCreator, PusTmSecondaryHeader};
-use spacepackets::ecss::{CreatorConfig, PusPacket};
+use spacepackets::ecss::{CreatorConfig, MessageTypeId, PusPacket};
 use std::sync::mpsc;
 
 use super::verification::{VerificationReporter, VerificationReportingProvider};
@@ -59,10 +59,10 @@ impl<
             .tc_in_mem_converter_mut()
             .cache(&ecss_tc_and_token.tc_in_memory)?;
         let tc = self.service_helper.tc_in_mem_converter().convert()?;
-        if tc.service() != 17 {
-            return Err(GenericConversionError::WrongService(tc.service()).into());
+        if tc.service_type_id() != 17 {
+            return Err(GenericConversionError::WrongService(tc.service_type_id()).into());
         }
-        if tc.subservice() == 1 {
+        if tc.message_subtype_id() == 1 {
             let opt_started_token = match self.service_helper.verif_reporter().start_success(
                 &self.service_helper.common.tm_sender,
                 ecss_tc_and_token.token,
@@ -82,7 +82,7 @@ impl<
                 u14::ZERO,
                 0,
             );
-            let tc_header = PusTmSecondaryHeader::new_simple(17, 2, time_stamp);
+            let tc_header = PusTmSecondaryHeader::new_simple(MessageTypeId::new(17, 2), time_stamp);
             let ping_reply =
                 PusTmCreator::new(reply_header, tc_header, &[], CreatorConfig::default());
             if let Err(e) = self
@@ -104,7 +104,7 @@ impl<
             }
         } else {
             return Ok(DirectPusPacketHandlerResult::CustomSubservice(
-                tc.subservice(),
+                tc.message_subtype_id(),
                 ecss_tc_and_token.token,
             ));
         }
@@ -160,7 +160,7 @@ mod tests {
     use spacepackets::SpHeader;
     use spacepackets::ecss::tc::{PusTcCreator, PusTcSecondaryHeader};
     use spacepackets::ecss::tm::PusTmReader;
-    use spacepackets::ecss::{CreatorConfig, PusPacket};
+    use spacepackets::ecss::{CreatorConfig, MessageTypeId, PusPacket};
     use spacepackets::time::{TimeWriter, cds};
 
     use super::PusService17TestHandler;
@@ -292,7 +292,7 @@ mod tests {
     fn ping_test(test_harness: &mut (impl PusTestHarness + SimplePusPacketHandler)) {
         // Create a ping TC, verify acceptance.
         let sp_header = SpHeader::new_for_unseg_tc(TEST_APID, u14::ZERO, 0);
-        let sec_header = PusTcSecondaryHeader::new_simple(17, 1);
+        let sec_header = PusTcSecondaryHeader::new_simple(MessageTypeId::new(17, 1));
         let ping_tc =
             PusTcCreator::new_no_app_data(sp_header, sec_header, CreatorConfig::default());
         let token = test_harness.start_verification(&ping_tc);
@@ -311,8 +311,8 @@ mod tests {
 
         // Ping reply
         let tm = test_harness.read_next_tm();
-        assert_eq!(tm.service(), 17);
-        assert_eq!(tm.subservice(), 2);
+        assert_eq!(tm.service_type_id(), 17);
+        assert_eq!(tm.message_subtype_id(), 2);
         assert!(tm.user_data().is_empty());
 
         // TM completion
@@ -348,7 +348,7 @@ mod tests {
     fn test_sending_unsupported_service() {
         let mut test_harness = Pus17HandlerWithStoreTester::new(0);
         let sp_header = SpHeader::new_for_unseg_tc(TEST_APID, u14::ZERO, 0);
-        let sec_header = PusTcSecondaryHeader::new_simple(3, 1);
+        let sec_header = PusTcSecondaryHeader::new_simple(MessageTypeId::new(3, 1));
         let ping_tc =
             PusTcCreator::new_no_app_data(sp_header, sec_header, CreatorConfig::default());
         let token = test_harness.start_verification(&ping_tc);
@@ -370,7 +370,7 @@ mod tests {
     fn test_sending_custom_subservice() {
         let mut test_harness = Pus17HandlerWithStoreTester::new(0);
         let sp_header = SpHeader::new_for_unseg_tc(TEST_APID, u14::ZERO, 0);
-        let sec_header = PusTcSecondaryHeader::new_simple(17, 200);
+        let sec_header = PusTcSecondaryHeader::new_simple(MessageTypeId::new(17, 200));
         let ping_tc =
             PusTcCreator::new_no_app_data(sp_header, sec_header, CreatorConfig::default());
         let token = test_harness.start_verification(&ping_tc);

satrs/src/pus/verification.rs

@@ -23,13 +23,13 @@
 //! use satrs::request::UniqueApidTargetId;
 //! use spacepackets::ecss::PusPacket;
 //! use spacepackets::SpHeader;
-//! use spacepackets::ecss::tc::{PusTcCreator, PusTcSecondaryHeader, CreatorConfig};
+//! use spacepackets::ecss::tc::{MessageTypeId, PusTcCreator, PusTcSecondaryHeader, CreatorConfig};
 //! use spacepackets::ecss::tm::PusTmReader;
-//! use arbitrary_int::u11;
+//! use arbitrary_int::{u11, u21};
 //!
 //! const EMPTY_STAMP: [u8; 7] = [0; 7];
 //! const TEST_APID: u11 = u11::new(0x02);
-//! const TEST_COMPONENT_ID: UniqueApidTargetId = UniqueApidTargetId::new(TEST_APID, 0x05);
+//! const TEST_COMPONENT_ID: UniqueApidTargetId = UniqueApidTargetId::new(TEST_APID, u21::new(0x05));
 //!
 //! let pool_cfg = StaticPoolConfig::new_from_subpool_cfg_tuples(
 //!     vec![(10, 32), (10, 64), (10, 128), (10, 1024)], false
@@ -41,7 +41,7 @@
 //! let cfg = VerificationReporterConfig::new(TEST_APID, 1, 2, 8);
 //! let mut  reporter = VerificationReporter::new(TEST_COMPONENT_ID.id(), &cfg);
 //!
-//! let tc_header = PusTcSecondaryHeader::new_simple(17, 1);
+//! let tc_header = PusTcSecondaryHeader::new_simple(MessageTypeId::new(17, 1));
 //! let pus_tc_0 = PusTcCreator::new_no_app_data(
 //!     SpHeader::new_from_apid(TEST_APID),
 //!     tc_header,
@@ -67,11 +67,11 @@
 //!     }
 //!     let pus_tm = PusTmReader::new(&tm_buf[0..tm_len], 7).expect("Error reading verification TM");
 //!     if packet_idx == 0 {
-//!         assert_eq!(pus_tm.subservice(), 1);
+//!         assert_eq!(pus_tm.message_subtype_id(), 1);
 //!     } else if packet_idx == 1 {
-//!         assert_eq!(pus_tm.subservice(), 3);
+//!         assert_eq!(pus_tm.message_subtype_id(), 3);
 //!     } else if packet_idx == 2 {
-//!         assert_eq!(pus_tm.subservice(), 7);
+//!         assert_eq!(pus_tm.message_subtype_id(), 7);
 //!     }
 //!     packet_idx += 1;
 //! }
@@ -94,7 +94,7 @@ use serde::{Deserialize, Serialize};
 use spacepackets::SpHeader;
 use spacepackets::ecss::tc::IsPusTelecommand;
 use spacepackets::ecss::tm::{PusTmCreator, PusTmSecondaryHeader};
-use spacepackets::ecss::{CreatorConfig, EcssEnumeration};
+use spacepackets::ecss::{CreatorConfig, EcssEnumeration, MessageTypeId};
 use spacepackets::{ByteConversionError, CcsdsPacket, PacketId, PacketSequenceControl};
 
 pub use spacepackets::ecss::verification::*;
@@ -507,9 +507,7 @@ impl VerificationReportCreator {
         self.dest_id = dest_id;
     }
 
-    /// Initialize verification handling by passing a TC reference. This returns a token required
-    /// to call the acceptance functions
-    pub fn read_request_id_from_tc(pus_tc: &(impl CcsdsPacket + IsPusTelecommand)) -> RequestId {
+    pub fn read_request_id(&self, pus_tc: &(impl CcsdsPacket + IsPusTelecommand)) -> RequestId {
         RequestId::new(pus_tc)
     }
 
@@ -822,8 +820,12 @@ impl VerificationReportCreator {
         time_stamp: &'time [u8],
         source_data_len: usize,
     ) -> PusTmCreator<'time, 'src_data> {
-        let tm_sec_header =
-            PusTmSecondaryHeader::new(1, subservice, msg_counter, self.dest_id, time_stamp);
+        let tm_sec_header = PusTmSecondaryHeader::new(
+            MessageTypeId::new(1, subservice),
+            msg_counter,
+            self.dest_id,
+            time_stamp,
+        );
         PusTmCreator::new(
             sp_header,
             tm_sec_header,
@@ -897,7 +899,7 @@ pub mod alloc_mod {
     > {
         owner_id: ComponentId,
         source_data_buf: RefCell<alloc::vec::Vec<u8>>,
-        pub reporter_creator: VerificationReportCreator,
+        pub report_creator: VerificationReportCreator,
         pub tm_hook: VerificationHookInstance,
     }
 
@@ -913,7 +915,7 @@ pub mod alloc_mod {
                         + cfg.fail_code_field_width
                         + cfg.max_fail_data_len
                 ]),
-                reporter_creator: reporter,
+                report_creator: reporter,
                 tm_hook: DummyVerificationHook::default(),
             }
         }
@@ -937,7 +939,7 @@ pub mod alloc_mod {
                         + cfg.fail_code_field_width
                         + cfg.max_fail_data_len
                 ]),
-                reporter_creator: reporter,
+                report_creator: reporter,
                 tm_hook,
             }
         }
@@ -946,9 +948,7 @@ pub mod alloc_mod {
             &self,
             pus_tc: &(impl CcsdsPacket + IsPusTelecommand),
         ) -> VerificationToken<TcStateNone> {
-            VerificationToken::<TcStateNone>::new(
-                VerificationReportCreator::read_request_id_from_tc(pus_tc),
-            )
+            VerificationToken::<TcStateNone>::new(self.report_creator.read_request_id(pus_tc))
         }
 
         pub fn start_verification_with_req_id(
@@ -959,7 +959,7 @@ pub mod alloc_mod {
         }
 
         delegate!(
-            to self.reporter_creator {
+            to self.report_creator {
                 pub fn set_apid(&mut self, apid: u11);
                 pub fn apid(&self) -> u11;
                 pub fn dest_id(&self) -> u16;
@@ -976,7 +976,7 @@ pub mod alloc_mod {
         for VerificationReporter<VerificationHookInstance>
     {
         delegate!(
-            to self.reporter_creator {
+            to self.report_creator {
                 fn set_apid(&mut self, apid: Apid);
                 fn apid(&self) -> Apid;
             }
@@ -1002,7 +1002,7 @@ pub mod alloc_mod {
         ) -> Result<VerificationToken<TcStateAccepted>, EcssTmtcError> {
             let mut source_data_buf = self.source_data_buf.borrow_mut();
             let mut tm_creator = self
-                .reporter_creator
+                .report_creator
                 .acceptance_success(
                     source_data_buf.as_mut_slice(),
                     &token.request_id(),
@@ -1025,7 +1025,7 @@ pub mod alloc_mod {
         ) -> Result<(), EcssTmtcError> {
             let mut buf = self.source_data_buf.borrow_mut();
             let mut tm_creator = self
-                .reporter_creator
+                .report_creator
                 .acceptance_failure(
                     buf.as_mut_slice(),
                     &token.request_id(),
@@ -1050,7 +1050,7 @@ pub mod alloc_mod {
         ) -> Result<VerificationToken<TcStateStarted>, EcssTmtcError> {
             let mut buf = self.source_data_buf.borrow_mut();
             let mut tm_creator = self
-                .reporter_creator
+                .report_creator
                 .start_success(
                     buf.as_mut_slice(),
                     &token.request_id(),
@@ -1076,7 +1076,7 @@ pub mod alloc_mod {
         ) -> Result<(), EcssTmtcError> {
             let mut buf = self.source_data_buf.borrow_mut();
             let mut tm_creator = self
-                .reporter_creator
+                .report_creator
                 .start_failure(
                     buf.as_mut_slice(),
                     &token.request_id(),
@@ -1102,7 +1102,7 @@ pub mod alloc_mod {
         ) -> Result<(), EcssTmtcError> {
             let mut buf = self.source_data_buf.borrow_mut();
             let mut tm_creator = self
-                .reporter_creator
+                .report_creator
                 .step_success(
                     buf.as_mut_slice(),
                     &token.request_id(),
@@ -1129,7 +1129,7 @@ pub mod alloc_mod {
         ) -> Result<(), EcssTmtcError> {
             let mut buf = self.source_data_buf.borrow_mut();
             let mut tm_creator = self
-                .reporter_creator
+                .report_creator
                 .step_failure(buf.as_mut_slice(), token, u14::ZERO, 0, params)
                 .map_err(PusError::ByteConversion)?;
             self.tm_hook.modify_tm(&mut tm_creator);
@@ -1150,7 +1150,7 @@ pub mod alloc_mod {
         ) -> Result<(), EcssTmtcError> {
             let mut buf = self.source_data_buf.borrow_mut();
             let mut tm_creator = self
-                .reporter_creator
+                .report_creator
                 .completion_success(
                     buf.as_mut_slice(),
                     &token.request_id(),
@@ -1176,7 +1176,7 @@ pub mod alloc_mod {
         ) -> Result<(), EcssTmtcError> {
             let mut buf = self.source_data_buf.borrow_mut();
             let mut tm_creator = self
-                .reporter_creator
+                .report_creator
                 .completion_failure(
                     buf.as_mut_slice(),
                     &token.request_id(),
@@ -1427,7 +1427,7 @@ pub mod test_util {
                 token.request_id(),
                 VerificationReportInfo::AcceptanceFailure(FailureData {
                     sender: self.owner_id(),
-                    error_enum: params.failure_code.value(),
+                    error_enum: params.failure_code.value_raw(),
                     fail_data: params.failure_data.to_vec(),
                     time_stamp: params.time_stamp.to_vec(),
                 }),
@@ -1464,7 +1464,7 @@ pub mod test_util {
                 token.request_id(),
                 VerificationReportInfo::StartedFailure(FailureData {
                     sender: self.owner_id(),
-                    error_enum: params.failure_code.value(),
+                    error_enum: params.failure_code.value_raw(),
                     fail_data: params.failure_data.to_vec(),
                     time_stamp: params.time_stamp.to_vec(),
                 }),
@@ -1486,7 +1486,7 @@ pub mod test_util {
                         sender: self.owner_id(),
                         time_stamp: time_stamp.to_vec(),
                     },
-                    step: step.value() as u16,
+                    step: step.value_raw() as u16,
                 },
             ));
             Ok(())
@@ -1502,7 +1502,7 @@ pub mod test_util {
                 token.request_id(),
                 VerificationReportInfo::StepFailure(FailureData {
                     sender: self.owner_id(),
-                    error_enum: params.common.failure_code.value(),
+                    error_enum: params.common.failure_code.value_raw(),
                     fail_data: params.common.failure_data.to_vec(),
                     time_stamp: params.common.time_stamp.to_vec(),
                 }),
@@ -1536,7 +1536,7 @@ pub mod test_util {
                 token.request_id(),
                 VerificationReportInfo::CompletionFailure(FailureData {
                     sender: self.owner_id(),
-                    error_enum: params.failure_code.value(),
+                    error_enum: params.failure_code.value_raw(),
                     fail_data: params.failure_data.to_vec(),
                     time_stamp: params.time_stamp.to_vec(),
                 }),
@@ -1731,8 +1731,8 @@ pub mod tests {
     use arbitrary_int::{u11, u14};
     use spacepackets::ecss::tc::{PusTcCreator, PusTcReader, PusTcSecondaryHeader};
     use spacepackets::ecss::{
-        CreatorConfig, EcssEnumU8, EcssEnumU16, EcssEnumU32, EcssEnumeration, PusError, PusPacket,
-        WritablePusPacket,
+        CreatorConfig, EcssEnumU8, EcssEnumU16, EcssEnumU32, EcssEnumeration, MessageTypeId,
+        PusError, PusPacket, WritablePusPacket,
     };
     use spacepackets::util::UnsignedEnum;
     use spacepackets::{ByteConversionError, SpHeader};
@@ -1783,7 +1783,7 @@ pub mod tests {
                     panic!("TestSender: Can not deal with addresses");
                 }
                 PusTmVariant::Direct(tm) => {
-                    assert_eq!(PusPacket::service(&tm), 1);
+                    assert_eq!(PusPacket::service_type_id(&tm), 1);
                     assert!(!tm.source_data().is_empty());
                     let mut time_stamp = [0; 7];
                     time_stamp.clone_from_slice(&tm.timestamp()[0..7]);
@@ -2102,7 +2102,7 @@ pub mod tests {
 
     fn create_generic_ping() -> PusTcCreator<'static> {
         let sph = SpHeader::new_for_unseg_tc(TEST_APID, u14::new(0x34), 0);
-        let tc_header = PusTcSecondaryHeader::new_simple(17, 1);
+        let tc_header = PusTcSecondaryHeader::new_simple(MessageTypeId::new(17, 1));
         PusTcCreator::new(sph, tc_header, &[], CreatorConfig::default())
     }
 

satrs/src/request.rs

@@ -1,4 +1,4 @@
-use arbitrary_int::u11;
+use arbitrary_int::{prelude::*, u11, u21};
 use core::{fmt, marker::PhantomData};
 #[cfg(feature = "serde")]
 use serde::{Deserialize, Serialize};
@@ -29,11 +29,11 @@ pub type Apid = u11;
 #[derive(Copy, Clone, PartialEq, Eq, Hash, Debug)]
 pub struct UniqueApidTargetId {
     pub apid: Apid,
-    pub unique_id: u32,
+    pub unique_id: u21,
 }
 
 impl UniqueApidTargetId {
-    pub const fn new(apid: Apid, target: u32) -> Self {
+    pub const fn new(apid: Apid, target: u21) -> Self {
         Self {
             apid,
             unique_id: target,
@@ -41,7 +41,7 @@ impl UniqueApidTargetId {
     }
 
     pub fn raw(&self) -> ComponentId {
-        ((self.apid.value() as u64) << 32) | (self.unique_id as u64)
+        ((self.apid.value() as u32) << 21) | (self.unique_id.value())
     }
 
     pub fn id(&self) -> ComponentId {
@@ -61,21 +61,21 @@ impl UniqueApidTargetId {
         }
         Ok(Self::new(
             tc.apid(),
-            u32::from_be_bytes(tc.user_data()[0..4].try_into().unwrap()),
+            u21::new(u32::from_be_bytes(tc.user_data()[0..4].try_into().unwrap())),
         ))
     }
 }
 
-impl From<u64> for UniqueApidTargetId {
-    fn from(raw: u64) -> Self {
+impl From<ComponentId> for UniqueApidTargetId {
+    fn from(raw: ComponentId) -> Self {
         Self {
-            apid: u11::new((raw >> 32) as u16),
-            unique_id: raw as u32,
+            apid: u11::new((raw >> 21) as u16),
+            unique_id: u21::new(raw & u21::MAX.value()),
         }
     }
 }
 
-impl From<UniqueApidTargetId> for u64 {
+impl From<UniqueApidTargetId> for ComponentId {
     fn from(target_and_apid_id: UniqueApidTargetId) -> Self {
         target_and_apid_id.raw()
     }
@@ -497,37 +497,38 @@ mod tests {
     use std::sync::mpsc;
 
     use alloc::string::ToString;
-    use arbitrary_int::{u11, u14};
+    use arbitrary_int::{u11, u14, u21};
     use spacepackets::{
         ByteConversionError, SpHeader,
         ecss::{
-            CreatorConfig,
+            CreatorConfig, MessageTypeId,
             tc::{PusTcCreator, PusTcSecondaryHeader},
         },
     };
 
     use crate::{
+        ComponentId,
         queue::{GenericReceiveError, GenericSendError},
         request::{Apid, MessageMetadata, MessageSenderMap, MessageSenderStoreProvider},
     };
 
     use super::{GenericMessage, MessageReceiverWithId, UniqueApidTargetId};
 
-    const TEST_CHANNEL_ID_0: u64 = 1;
-    const TEST_CHANNEL_ID_1: u64 = 2;
-    const TEST_CHANNEL_ID_2: u64 = 3;
+    const TEST_CHANNEL_ID_0: ComponentId = 1;
+    const TEST_CHANNEL_ID_1: ComponentId = 2;
+    const TEST_CHANNEL_ID_2: ComponentId = 3;
 
     #[test]
     fn test_basic_target_id_with_apid() {
-        let id = UniqueApidTargetId::new(Apid::new(0x111), 0x01);
+        let id = UniqueApidTargetId::new(Apid::new(0x111), u21::new(0x01));
         assert_eq!(id.apid.value(), 0x111);
-        assert_eq!(id.unique_id, 0x01);
+        assert_eq!(id.unique_id.value(), 0x01);
         assert_eq!(id.id(), id.raw());
-        assert_eq!(u64::from(id), id.raw());
+        assert_eq!(ComponentId::from(id), id.raw());
         let id_raw = id.raw();
         let id_from_raw = UniqueApidTargetId::from(id_raw);
         assert_eq!(id_from_raw, id);
-        assert_eq!(id.id(), (0x111 << 32) | 0x01);
+        assert_eq!(id.id(), (0x111 << 21) | 0x01);
         let string = id.to_string();
         assert_eq!(
             string,
@@ -539,17 +540,21 @@ mod tests {
     fn test_basic_target_id_with_apid_from_pus_tc() {
         let sp_header = SpHeader::new_for_unseg_tc(u11::new(0x111), u14::new(5), 0);
         let app_data = 1_u32.to_be_bytes();
-        let pus_tc =
-            PusTcCreator::new_simple(sp_header, 17, 1, &app_data, CreatorConfig::default());
+        let pus_tc = PusTcCreator::new_simple(
+            sp_header,
+            MessageTypeId::new(17, 1),
+            &app_data,
+            CreatorConfig::default(),
+        );
         let id = UniqueApidTargetId::from_pus_tc(&pus_tc).unwrap();
         assert_eq!(id.apid.value(), 0x111);
-        assert_eq!(id.unique_id, 1);
+        assert_eq!(id.unique_id.value(), 1);
     }
 
     #[test]
     fn test_basic_target_id_with_apid_from_pus_tc_invalid_app_data() {
         let sp_header = SpHeader::new_for_unseg_tc(u11::new(0x111), u14::new(5), 0);
-        let sec_header = PusTcSecondaryHeader::new_simple(17, 1);
+        let sec_header = PusTcSecondaryHeader::new_simple(MessageTypeId::new(17, 1));
         let pus_tc = PusTcCreator::new_no_app_data(sp_header, sec_header, CreatorConfig::default());
         let error = UniqueApidTargetId::from_pus_tc(&pus_tc);
         assert!(error.is_err());

satrs/src/subsystem.rs

@@ -782,7 +782,7 @@ mod tests {
             );
             assert_eq!(self.sender.requests.borrow().len(), 2);
             let req_0 = self.sender.requests.get_mut().pop_front().unwrap();
-            assert_eq!(req_0.target_id, ExampleTargetId::Target0 as u64);
+            assert_eq!(req_0.target_id, ExampleTargetId::Target0 as ComponentId);
             assert_eq!(req_0.request_id, expected_req_id);
             assert_eq!(
                 req_0.request,
@@ -792,7 +792,7 @@ mod tests {
                 }
             );
             let req_1 = self.sender.requests.borrow_mut().pop_front().unwrap();
-            assert_eq!(req_1.target_id, ExampleTargetId::Target1 as u64);
+            assert_eq!(req_1.target_id, ExampleTargetId::Target1 as ComponentId);
             assert_eq!(
                 req_1.request,
                 ModeRequest::SetMode {
@@ -808,7 +808,7 @@ mod tests {
             );
             assert_eq!(self.sender.requests.borrow().len(), 1);
             let req_0 = self.sender.requests.get_mut().pop_front().unwrap();
-            assert_eq!(req_0.target_id, ExampleTargetId::Target2 as u64);
+            assert_eq!(req_0.target_id, ExampleTargetId::Target2 as ComponentId);
             assert_eq!(req_0.request_id, expected_req_id);
             assert_eq!(
                 req_0.request,
@@ -827,7 +827,7 @@ mod tests {
             assert_eq!(self.execution_helper.current_sequence_index().unwrap(), 0);
             assert_eq!(self.sender.requests.borrow().len(), 2);
             let req_0 = self.sender.requests.get_mut().pop_front().unwrap();
-            assert_eq!(req_0.target_id, ExampleTargetId::Target0 as u64);
+            assert_eq!(req_0.target_id, ExampleTargetId::Target0 as ComponentId);
             assert_eq!(req_0.request_id, expected_req_id);
             assert_eq!(
                 req_0.request,
@@ -837,7 +837,7 @@ mod tests {
                 }
             );
             let req_1 = self.sender.requests.borrow_mut().pop_front().unwrap();
-            assert_eq!(req_1.target_id, ExampleTargetId::Target1 as u64);
+            assert_eq!(req_1.target_id, ExampleTargetId::Target1 as ComponentId);
             assert_eq!(
                 req_1.request,
                 ModeRequest::SetMode {
@@ -850,9 +850,9 @@ mod tests {
 
     fn create_default_mode_store() -> ModeStoreVec {
         let mut mode_store = ModeStoreVec::default();
-        mode_store.add_component(ExampleTargetId::Target0 as u64, UNKNOWN_MODE);
-        mode_store.add_component(ExampleTargetId::Target1 as u64, UNKNOWN_MODE);
-        mode_store.add_component(ExampleTargetId::Target2 as u64, UNKNOWN_MODE);
+        mode_store.add_component(ExampleTargetId::Target0 as ComponentId, UNKNOWN_MODE);
+        mode_store.add_component(ExampleTargetId::Target1 as ComponentId, UNKNOWN_MODE);
+        mode_store.add_component(ExampleTargetId::Target2 as ComponentId, UNKNOWN_MODE);
         mode_store
     }
 
@@ -863,13 +863,13 @@ mod tests {
         let mut table_seq_0 = SequenceTableMapTable::new("MODE_0_SEQ_0");
         table_seq_0.add_entry(SequenceTableEntry::new(
             "TARGET_0",
-            ExampleTargetId::Target0 as u64,
+            ExampleTargetId::Target0 as ComponentId,
             SUBSYSTEM_MD0_TGT0_MODE,
             false,
         ));
         table_seq_0.add_entry(SequenceTableEntry::new(
             "TARGET_1",
-            ExampleTargetId::Target1 as u64,
+            ExampleTargetId::Target1 as ComponentId,
             SUBSYSTEM_MD0_TGT1_MODE,
             false,
         ));
@@ -881,13 +881,13 @@ mod tests {
         let mut table_seq_0 = SequenceTableMapTable::new("MODE_1_SEQ_0");
         table_seq_0.add_entry(SequenceTableEntry::new(
             "MD1_SEQ0_TGT0",
-            ExampleTargetId::Target0 as u64,
+            ExampleTargetId::Target0 as ComponentId,
             SUBSYSTEM_MD1_ST0_TGT0_MODE,
             false,
         ));
         table_seq_0.add_entry(SequenceTableEntry::new(
             "MD1_SEQ0_TGT1",
-            ExampleTargetId::Target1 as u64,
+            ExampleTargetId::Target1 as ComponentId,
             SUBSYSTEM_MD1_ST0_TGT1_MODE,
             false,
         ));
@@ -895,7 +895,7 @@ mod tests {
         let mut table_seq_1 = SequenceTableMapTable::new("MODE_1_SEQ_1");
         table_seq_1.add_entry(SequenceTableEntry::new(
             "MD1_SEQ1_TGT2",
-            ExampleTargetId::Target2 as u64,
+            ExampleTargetId::Target2 as ComponentId,
             SUBSYSTEM_MD1_ST1_TGT2_MODE,
             false,
         ));
@@ -1263,11 +1263,11 @@ mod tests {
             assert_eq!(req.request, ModeRequest::AnnounceModeRecursive);
         };
         let req0 = tb.sender.requests.borrow_mut().pop_front().unwrap();
-        check_req(req0, ExampleTargetId::Target0 as u64);
+        check_req(req0, ExampleTargetId::Target0 as ComponentId);
         let req1 = tb.sender.requests.borrow_mut().pop_front().unwrap();
-        check_req(req1, ExampleTargetId::Target1 as u64);
+        check_req(req1, ExampleTargetId::Target1 as ComponentId);
         let req2 = tb.sender.requests.borrow_mut().pop_front().unwrap();
-        check_req(req2, ExampleTargetId::Target2 as u64);
+        check_req(req2, ExampleTargetId::Target2 as ComponentId);
     }
 
     #[test]
@@ -1283,11 +1283,11 @@ mod tests {
             assert_eq!(req.request, ModeRequest::AnnounceMode);
         };
         let req0 = tb.sender.requests.borrow_mut().pop_front().unwrap();
-        check_req(req0, ExampleTargetId::Target0 as u64);
+        check_req(req0, ExampleTargetId::Target0 as ComponentId);
         let req1 = tb.sender.requests.borrow_mut().pop_front().unwrap();
-        check_req(req1, ExampleTargetId::Target1 as u64);
+        check_req(req1, ExampleTargetId::Target1 as ComponentId);
         let req2 = tb.sender.requests.borrow_mut().pop_front().unwrap();
-        check_req(req2, ExampleTargetId::Target2 as u64);
+        check_req(req2, ExampleTargetId::Target2 as ComponentId);
     }
 
     #[test]

satrs/src/tmtc/mod.rs

@@ -50,20 +50,20 @@ impl PacketInPool {
 
 /// Generic trait for object which can send any packets in form of a raw bytestream, with
 /// no assumptions about the received protocol.
-pub trait PacketSenderRaw: Send {
+pub trait PacketHandler: Send {
     type Error;
-    fn send_packet(&self, sender_id: ComponentId, packet: &[u8]) -> Result<(), Self::Error>;
+    fn handle_packet(&self, sender_id: ComponentId, packet: &[u8]) -> Result<(), Self::Error>;
 }
 
-/// Extension trait of [PacketSenderRaw] which allows downcasting by implementing [Downcast].
+/// Extension trait of [PacketHandler] which allows downcasting by implementing [Downcast].
 #[cfg(feature = "alloc")]
-pub trait PacketSenderRawExt: PacketSenderRaw + Downcast {
+pub trait PacketSenderRawExt: PacketHandler + Downcast {
     // Remove this once trait upcasting coercion has been implemented.
     // Tracking issue: https://github.com/rust-lang/rust/issues/65991
-    fn upcast(&self) -> &dyn PacketSenderRaw<Error = Self::Error>;
+    fn upcast(&self) -> &dyn PacketHandler<Error = Self::Error>;
     // Remove this once trait upcasting coercion has been implemented.
     // Tracking issue: https://github.com/rust-lang/rust/issues/65991
-    fn upcast_mut(&mut self) -> &mut dyn PacketSenderRaw<Error = Self::Error>;
+    fn upcast_mut(&mut self) -> &mut dyn PacketHandler<Error = Self::Error>;
 }
 
 /// Blanket implementation to automatically implement [PacketSenderRawExt] when the [alloc]
@@ -71,16 +71,16 @@ pub trait PacketSenderRawExt: PacketSenderRaw + Downcast {
 #[cfg(feature = "alloc")]
 impl<T> PacketSenderRawExt for T
 where
-    T: PacketSenderRaw + Send + 'static,
+    T: PacketHandler + Send + 'static,
 {
     // Remove this once trait upcasting coercion has been implemented.
     // Tracking issue: https://github.com/rust-lang/rust/issues/65991
-    fn upcast(&self) -> &dyn PacketSenderRaw<Error = Self::Error> {
+    fn upcast(&self) -> &dyn PacketHandler<Error = Self::Error> {
         self
     }
     // Remove this once trait upcasting coercion has been implemented.
     // Tracking issue: https://github.com/rust-lang/rust/issues/65991
-    fn upcast_mut(&mut self) -> &mut dyn PacketSenderRaw<Error = Self::Error> {
+    fn upcast_mut(&mut self) -> &mut dyn PacketHandler<Error = Self::Error> {
         self
     }
 }
@@ -288,19 +288,19 @@ pub mod std_mod {
         }
     }
 
-    impl PacketSenderRaw for mpsc::Sender<PacketAsVec> {
+    impl PacketHandler for mpsc::Sender<PacketAsVec> {
         type Error = GenericSendError;
 
-        fn send_packet(&self, sender_id: ComponentId, packet: &[u8]) -> Result<(), Self::Error> {
+        fn handle_packet(&self, sender_id: ComponentId, packet: &[u8]) -> Result<(), Self::Error> {
             self.send(PacketAsVec::new(sender_id, packet.to_vec()))
                 .map_err(|_| GenericSendError::RxDisconnected)
         }
     }
 
-    impl PacketSenderRaw for mpsc::SyncSender<PacketAsVec> {
+    impl PacketHandler for mpsc::SyncSender<PacketAsVec> {
         type Error = GenericSendError;
 
-        fn send_packet(&self, sender_id: ComponentId, tc_raw: &[u8]) -> Result<(), Self::Error> {
+        fn handle_packet(&self, sender_id: ComponentId, tc_raw: &[u8]) -> Result<(), Self::Error> {
             self.try_send(PacketAsVec::new(sender_id, tc_raw.to_vec()))
                 .map_err(|e| match e {
                     mpsc::TrySendError::Full(_) => GenericSendError::QueueFull(None),
@@ -402,12 +402,12 @@ pub mod std_mod {
         }
     }
 
-    impl<Sender: PacketInPoolSender, PacketStore: CcsdsPacketPool + Send> PacketSenderRaw
+    impl<Sender: PacketInPoolSender, PacketStore: CcsdsPacketPool + Send> PacketHandler
         for PacketSenderWithSharedPool<Sender, PacketStore>
     {
         type Error = StoreAndSendError;
 
-        fn send_packet(&self, sender_id: ComponentId, packet: &[u8]) -> Result<(), Self::Error> {
+        fn handle_packet(&self, sender_id: ComponentId, packet: &[u8]) -> Result<(), Self::Error> {
             let mut shared_pool = self.shared_pool.borrow_mut();
             let store_addr = shared_pool.add_raw_tc(packet)?;
             drop(shared_pool);
@@ -450,7 +450,7 @@ pub mod std_mod {
             _sp_header: &SpHeader,
             tc_raw: &[u8],
         ) -> Result<(), Self::Error> {
-            self.send_packet(sender_id, tc_raw)
+            self.handle_packet(sender_id, tc_raw)
         }
     }
 
@@ -494,10 +494,10 @@ pub(crate) mod tests {
 
     pub(crate) fn send_with_sender<SendError>(
         sender_id: ComponentId,
-        packet_sender: &(impl PacketSenderRaw<Error = SendError> + ?Sized),
+        packet_sender: &(impl PacketHandler<Error = SendError> + ?Sized),
         packet: &[u8],
     ) -> Result<(), SendError> {
-        packet_sender.send_packet(sender_id, packet)
+        packet_sender.handle_packet(sender_id, packet)
     }
 
     #[test]

satrs/src/tmtc/tm_helper.rs

@@ -1,7 +1,7 @@
 use arbitrary_int::{u11, u14};
 use spacepackets::SpHeader;
-use spacepackets::ecss::CreatorConfig;
 use spacepackets::ecss::tm::{PusTmCreator, PusTmSecondaryHeader};
+use spacepackets::ecss::{CreatorConfig, MessageTypeId};
 use spacepackets::time::cds::CdsTime;
 
 pub struct PusTmWithCdsShortHelper {
@@ -50,7 +50,10 @@ impl PusTmWithCdsShortHelper {
         seq_count: u14,
     ) -> PusTmCreator<'_, 'data> {
         let reply_header = SpHeader::new_for_unseg_tm(self.apid, seq_count, 0);
-        let tc_header = PusTmSecondaryHeader::new_simple(service, subservice, &self.cds_short_buf);
+        let tc_header = PusTmSecondaryHeader::new_simple(
+            MessageTypeId::new(service, subservice),
+            &self.cds_short_buf,
+        );
         PusTmCreator::new(
             reply_header,
             tc_header,
@@ -73,8 +76,8 @@ mod tests {
         let stamper = CdsTime::new_with_u16_days(0, 0);
         let tm =
             pus_tm_helper.create_pus_tm_with_stamper(17, 1, &[1, 2, 3, 4], &stamper, u14::new(25));
-        assert_eq!(tm.service(), 17);
-        assert_eq!(tm.subservice(), 1);
+        assert_eq!(tm.service_type_id(), 17);
+        assert_eq!(tm.message_subtype_id(), 1);
         assert_eq!(tm.user_data(), &[1, 2, 3, 4]);
         assert_eq!(tm.seq_count().value(), 25);
         assert_eq!(tm.timestamp(), [64, 0, 0, 0, 0, 0, 0])
@@ -84,8 +87,8 @@ mod tests {
     fn test_helper_from_now() {
         let mut pus_tm_helper = PusTmWithCdsShortHelper::new(u11::new(0x123));
         let tm = pus_tm_helper.create_pus_tm_timestamp_now(17, 1, &[1, 2, 3, 4], u14::new(25));
-        assert_eq!(tm.service(), 17);
-        assert_eq!(tm.subservice(), 1);
+        assert_eq!(tm.service_type_id(), 17);
+        assert_eq!(tm.message_subtype_id(), 1);
         assert_eq!(tm.user_data(), &[1, 2, 3, 4]);
         assert_eq!(tm.seq_count().value(), 25);
         assert_eq!(tm.timestamp().len(), 7);

satrs/tests/mode_tree.rs

@@ -45,7 +45,7 @@ pub enum AcsMode {
 }
 
 #[derive(Debug, TryFromPrimitive)]
-#[repr(u64)]
+#[repr(u32)]
 pub enum TestComponentId {
     MagnetometerDevice0 = 1,
     MagnetometerDevice1 = 2,
@@ -299,7 +299,7 @@ struct AcsSubsystem {
 
 impl AcsSubsystem {
     pub fn id() -> ComponentId {
-        TestComponentId::AcsSubsystem as u64
+        TestComponentId::AcsSubsystem as ComponentId
     }
 
     pub fn new(mode_node: ModeRequestorAndHandlerMpscBounded) -> Self {
@@ -518,7 +518,7 @@ struct MgmAssembly {
 
 impl MgmAssembly {
     pub fn id() -> ComponentId {
-        TestComponentId::MagnetometerAssembly as u64
+        TestComponentId::MagnetometerAssembly as ComponentId
     }
     pub fn new(mode_node: ModeRequestorAndHandlerMpscBounded) -> Self {
         Self {
@@ -923,7 +923,7 @@ impl ModeRequestHandler for CommonDevice {
         mode_and_submode: ModeAndSubmode,
         forced: bool,
     ) -> Result<(), ModeError> {
-        if self.id() == TestComponentId::MagnetorquerDevice as u64 {
+        if self.id() == TestComponentId::MagnetorquerDevice as ComponentId {
             println!("test");
         }
         self.mode_and_submode = mode_and_submode;
@@ -996,7 +996,7 @@ pub struct AcsController {
 
 impl AcsController {
     pub fn id() -> ComponentId {
-        TestComponentId::AcsController as u64
+        TestComponentId::AcsController as ComponentId
     }
     pub fn new(mode_node: ModeRequestHandlerMpscBounded) -> Self {
         Self {
@@ -1020,7 +1020,7 @@ impl AcsController {
 
 impl ModeNode for AcsController {
     fn id(&self) -> ComponentId {
-        TestComponentId::AcsController as u64
+        TestComponentId::AcsController as ComponentId
     }
 }
 
@@ -1185,22 +1185,22 @@ impl TreeTestbench {
 
         let mut mgm_dev_0 = CommonDevice::new(
             "MGM_0",
-            TestComponentId::MagnetometerDevice0 as u64,
+            TestComponentId::MagnetometerDevice0 as ComponentId,
             mgm_dev_node_0,
         );
         let mut mgm_dev_1 = CommonDevice::new(
             "MGM_1",
-            TestComponentId::MagnetometerDevice1 as u64,
+            TestComponentId::MagnetometerDevice1 as ComponentId,
             mgm_dev_node_1,
         );
         let mut mgt_dev = CommonDevice::new(
             "MGT",
-            TestComponentId::MagnetorquerDevice as u64,
+            TestComponentId::MagnetorquerDevice as ComponentId,
             mgt_dev_node,
         );
         let mut mgt_manager = DeviceManager::new(
             "MGT_MANAGER",
-            TestComponentId::MgtDevManager as u64,
+            TestComponentId::MgtDevManager as ComponentId,
             mgt_dev_mgmt_node,
         );
         let mut mgm_assy = MgmAssembly::new(mgm_assy_node);
@@ -1212,38 +1212,38 @@ impl TreeTestbench {
         let mut target_table_safe = TargetTablesMapValue::new("SAFE_TARGET_TBL", None);
         target_table_safe.add_entry(TargetTableEntry::new(
             "CTRL_SAFE",
-            TestComponentId::AcsController as u64,
+            TestComponentId::AcsController as ComponentId,
             ModeAndSubmode::new(AcsMode::SAFE as u32, 0),
             // All submodes allowed.
             Some(0xffff),
         ));
         target_table_safe.add_entry(TargetTableEntry::new_with_precise_submode(
             "MGM_A_NML",
-            TestComponentId::MagnetometerAssembly as u64,
+            TestComponentId::MagnetometerAssembly as ComponentId,
             ModeAndSubmode::new(DefaultMode::NORMAL as u32, 0),
         ));
         target_table_safe.add_entry(TargetTableEntry::new_with_precise_submode(
             "MGT_MAN_NML",
-            TestComponentId::MgtDevManager as u64,
+            TestComponentId::MgtDevManager as ComponentId,
             ModeAndSubmode::new(DefaultMode::NORMAL as u32, 0),
         ));
         let mut sequence_tbl_safe_0 = SequenceTableMapTable::new("SAFE_SEQ_0_TBL");
         sequence_tbl_safe_0.add_entry(SequenceTableEntry::new(
             "SAFE_SEQ_0_MGM_A",
-            TestComponentId::MagnetometerAssembly as u64,
+            TestComponentId::MagnetometerAssembly as ComponentId,
             ModeAndSubmode::new(DefaultMode::NORMAL as Mode, 0),
             false,
         ));
         sequence_tbl_safe_0.add_entry(SequenceTableEntry::new(
             "SAFE_SEQ_0_MGT_MAN",
-            TestComponentId::MgtDevManager as u64,
+            TestComponentId::MgtDevManager as ComponentId,
             ModeAndSubmode::new(DefaultMode::NORMAL as Mode, 0),
             false,
         ));
         let mut sequence_tbl_safe_1 = SequenceTableMapTable::new("SAFE_SEQ_1_TBL");
         sequence_tbl_safe_1.add_entry(SequenceTableEntry::new(
             "SAFE_SEQ_1_ACS_CTRL",
-            TestComponentId::AcsController as u64,
+            TestComponentId::AcsController as ComponentId,
             ModeAndSubmode::new(AcsMode::SAFE as Mode, 0),
             false,
         ));
@@ -1408,7 +1408,7 @@ fn announce_recursively() {
 fn generic_mode_reply_checker(
     reply_meta: MessageMetadata,
     mode_and_submode: ModeAndSubmode,
-    expected_modes: &mut HashMap<u64, ModeAndSubmode>,
+    expected_modes: &mut HashMap<ComponentId, ModeAndSubmode>,
 ) {
     let id = TestComponentId::try_from(reply_meta.sender_id()).expect("invalid sender id");
     if !expected_modes.contains_key(&reply_meta.sender_id()) {
@@ -1528,15 +1528,15 @@ fn command_safe_mode() {
     );
     let mut expected_modes = HashMap::new();
     expected_modes.insert(
-        TestComponentId::AcsController as u64,
+        TestComponentId::AcsController as ComponentId,
         ModeAndSubmode::new(AcsMode::SAFE as u32, 0),
     );
     expected_modes.insert(
-        TestComponentId::MagnetometerAssembly as u64,
+        TestComponentId::MagnetometerAssembly as ComponentId,
         ModeAndSubmode::new(DefaultMode::NORMAL as u32, 0),
     );
     expected_modes.insert(
-        TestComponentId::MgtDevManager as u64,
+        TestComponentId::MgtDevManager as ComponentId,
         ModeAndSubmode::new(DefaultMode::NORMAL as u32, 0),
     );
     while let Some(reply) = tb.subsystem.mode_reply_mock.mode_reply_messages.pop_front() {
@@ -1558,11 +1558,11 @@ fn command_safe_mode() {
     );
     let mut expected_modes = HashMap::new();
     expected_modes.insert(
-        TestComponentId::MagnetometerDevice0 as u64,
+        TestComponentId::MagnetometerDevice0 as ComponentId,
         ModeAndSubmode::new(DefaultMode::NORMAL as u32, 0),
     );
     expected_modes.insert(
-        TestComponentId::MagnetometerDevice1 as u64,
+        TestComponentId::MagnetometerDevice1 as ComponentId,
         ModeAndSubmode::new(DefaultMode::NORMAL as u32, 0),
     );
     while let Some(reply) = tb.mgm_assy.mode_reply_mock.mode_reply_messages.pop_front() {
@@ -1578,7 +1578,7 @@ fn command_safe_mode() {
     );
     let mut expected_modes = HashMap::new();
     expected_modes.insert(
-        TestComponentId::MagnetorquerDevice as u64,
+        TestComponentId::MagnetorquerDevice as ComponentId,
         ModeAndSubmode::new(DefaultMode::NORMAL as u32, 0),
     );
     let reply = tb

satrs/tests/pus_events.rs

@@ -1,4 +1,4 @@
-use arbitrary_int::u11;
+use arbitrary_int::{u11, u21};
 use satrs::event_man_legacy::{
     EventManagerWithMpsc, EventMessage, EventMessageU32, EventRoutingError, EventSendProvider,
     EventU32SenderMpsc,
@@ -18,7 +18,7 @@ const INFO_EVENT: EventU32TypedSev<SeverityInfo> = EventU32TypedSev::<SeverityIn
 const LOW_SEV_EVENT: EventU32 = EventU32::new(Severity::Low, 1, 5);
 const EMPTY_STAMP: [u8; 7] = [0; 7];
 const TEST_APID: u11 = u11::new(0x02);
-const TEST_ID: UniqueApidTargetId = UniqueApidTargetId::new(TEST_APID, 0x05);
+const TEST_ID: UniqueApidTargetId = UniqueApidTargetId::new(TEST_APID, u21::new(0x05));
 
 #[derive(Debug, Clone)]
 pub enum CustomTmSenderError {
@@ -107,8 +107,8 @@ fn test_threaded_usage() {
                 Ok(event_tm) => {
                     let tm = PusTmReader::new(event_tm.packet.as_slice(), 7)
                         .expect("Deserializing TM failed");
-                    assert_eq!(tm.service(), 5);
-                    assert_eq!(tm.subservice(), 1);
+                    assert_eq!(tm.service_type_id(), 5);
+                    assert_eq!(tm.message_subtype_id(), 1);
                     let src_data = tm.source_data();
                     assert!(!src_data.is_empty());
                     assert_eq!(src_data.len(), 4);
@@ -137,8 +137,8 @@ fn test_threaded_usage() {
                 Ok(event_tm) => {
                     let tm = PusTmReader::new(event_tm.packet.as_slice(), 7)
                         .expect("Deserializing TM failed");
-                    assert_eq!(tm.service(), 5);
-                    assert_eq!(tm.subservice(), 2);
+                    assert_eq!(tm.service_type_id(), 5);
+                    assert_eq!(tm.message_subtype_id(), 2);
                     let src_data = tm.source_data();
                     assert!(!src_data.is_empty());
                     assert_eq!(src_data.len(), 12);

satrs/tests/pus_verification.rs

@@ -13,7 +13,9 @@ pub mod crossbeam_test {
     use spacepackets::SpHeader;
     use spacepackets::ecss::tc::{PusTcCreator, PusTcReader, PusTcSecondaryHeader};
     use spacepackets::ecss::tm::PusTmReader;
-    use spacepackets::ecss::{CreatorConfig, EcssEnumU8, EcssEnumU16, WritablePusPacket};
+    use spacepackets::ecss::{
+        CreatorConfig, EcssEnumU8, EcssEnumU16, MessageTypeId, WritablePusPacket,
+    };
     use std::sync::RwLock;
     use std::thread;
     use std::time::Duration;
@@ -60,7 +62,7 @@ pub mod crossbeam_test {
         {
             let mut tc_guard = shared_tc_pool.write().unwrap();
             let sph = SpHeader::new_for_unseg_tc(TEST_APID, u14::ZERO, 0);
-            let tc_header = PusTcSecondaryHeader::new_simple(17, 1);
+            let tc_header = PusTcSecondaryHeader::new_simple(MessageTypeId::new(17, 1));
             let pus_tc_0 = PusTcCreator::new_no_app_data(sph, tc_header, CreatorConfig::default());
             req_id_0 = RequestId::new(&pus_tc_0);
             let addr = tc_guard
@@ -70,7 +72,7 @@ pub mod crossbeam_test {
                 .unwrap();
             tx_tc_0.send(addr).unwrap();
             let sph = SpHeader::new_for_unseg_tc(TEST_APID, u14::new(1), 0);
-            let tc_header = PusTcSecondaryHeader::new_simple(5, 1);
+            let tc_header = PusTcSecondaryHeader::new_simple(MessageTypeId::new(5, 1));
             let pus_tc_1 = PusTcCreator::new_no_app_data(sph, tc_header, CreatorConfig::default());
             req_id_1 = RequestId::new(&pus_tc_1);
             let addr = tc_guard
@@ -164,11 +166,11 @@ pub mod crossbeam_test {
                     RequestId::from_bytes(&pus_tm.source_data()[0..RequestId::SIZE_AS_BYTES])
                         .expect("reading request ID from PUS TM source data failed");
                 if !verif_map.contains_key(&req_id) {
-                    let content = vec![pus_tm.subservice()];
+                    let content = vec![pus_tm.service_type_id()];
                     verif_map.insert(req_id, content);
                 } else {
                     let content = verif_map.get_mut(&req_id).unwrap();
-                    content.push(pus_tm.subservice())
+                    content.push(pus_tm.message_subtype_id())
                 }
                 packet_counter += 1;
             }

satrs/tests/tcp_servers.rs

@@ -29,15 +29,18 @@ use satrs::{
         ccsds::{SpValidity, SpacePacketValidator},
         cobs::encode_packet_with_cobs,
     },
-    hal::std::tcp_server::{
-        ConnectionResult, HandledConnectionHandler, HandledConnectionInfo, ServerConfig,
-        TcpSpacepacketsServer, TcpTmtcInCobsServer,
+    hal::std::{
+        tcp_server::{
+            CobsTcParser, ConnectionResult, HandledConnectionHandler, HandledConnectionInfo,
+            ServerConfig, TcpSpacepacketsServer, TcpTmtcInCobsServer,
+        },
+        tcp_spacepackets_server::CcsdsPacketParser,
     },
     tmtc::PacketSource,
 };
 use spacepackets::{
     CcsdsPacket, PacketId, SpHeader,
-    ecss::{CreatorConfig, WritablePusPacket, tc::PusTcCreator},
+    ecss::{CreatorConfig, MessageTypeId, WritablePusPacket, tc::PusTcCreator},
 };
 use std::{collections::VecDeque, sync::Arc, vec::Vec};
 
@@ -121,7 +124,7 @@ fn test_cobs_server() {
             1024,
         ),
         tm_source,
-        tc_sender.clone(),
+        CobsTcParser::new(TCP_SERVER_ID, 1024, tc_sender.clone()),
         ConnectionFinishedHandler::default(),
         None,
     )
@@ -219,7 +222,8 @@ fn test_ccsds_server() {
     let (tc_sender, tc_receiver) = mpsc::channel();
     let mut tm_source = SyncTmSource::default();
     let sph = SpHeader::new_for_unseg_tc(TEST_APID_0, u14::new(0), 0);
-    let verif_tm = PusTcCreator::new_simple(sph, 1, 1, &[], CreatorConfig::default());
+    let verif_tm =
+        PusTcCreator::new_simple(sph, MessageTypeId::new(1, 1), &[], CreatorConfig::default());
     let tm_0 = verif_tm.to_vec().expect("tm generation failed");
     tm_source.add_tm(&tm_0);
     let mut packet_id_lookup = SimpleVerificator::default();
@@ -233,8 +237,7 @@ fn test_ccsds_server() {
             1024,
         ),
         tm_source,
-        tc_sender,
-        packet_id_lookup,
+        CcsdsPacketParser::new(TCP_SERVER_ID, 1024, tc_sender, packet_id_lookup),
         ConnectionFinishedHandler::default(),
         None,
     )
@@ -269,7 +272,12 @@ fn test_ccsds_server() {
 
     // Send ping telecommand.
     let sph = SpHeader::new_for_unseg_tc(TEST_APID_0, u14::new(0), 0);
-    let ping_tc = PusTcCreator::new_simple(sph, 17, 1, &[], CreatorConfig::default());
+    let ping_tc = PusTcCreator::new_simple(
+        sph,
+        MessageTypeId::new(17, 1),
+        &[],
+        CreatorConfig::default(),
+    );
     let tc_0 = ping_tc.to_vec().expect("packet creation failed");
     stream
         .write_all(&tc_0)