try to make it compile again

satrs-example/Cargo.toml

@@ -23,23 +23,17 @@ derive-new = "0.7"
 cfg-if = "1"
 arbitrary-int = "2"
 bitbybit = "1.4"
+postcard = "1"
 serde = { version = "1", features = ["derive"] }
 serde_json = "1"
 
-[dependencies.satrs]
-path = "../satrs"
-features = ["test_util"]
-
-[dependencies.satrs-minisim]
-path = "../satrs-minisim"
-
-[dependencies.satrs-mib]
-version = "0.1.1"
-path = "../satrs-mib"
+satrs = { path = "../satrs", features = ["test_util"] }
+satrs-minisim = { path = "../satrs-minisim" }
+satrs-mib = { path = "../satrs-mib" }
 
 [features]
-default = ["heap_tmtc"]
-heap_tmtc = []
+# default = ["heap_tmtc"]
+# heap_tmtc = []
 
 [dev-dependencies]
 env_logger = "0.11"

satrs-example/src/acs/mgm.rs

@@ -1,3 +1,4 @@
+/*
 use derive_new::new;
 use satrs::hk::{HkRequest, HkRequestVariant};
 use satrs::mode_tree::{ModeChild, ModeNode};
@@ -717,3 +718,4 @@ mod tests {
         assert!(mgm_set.valid);
     }
 }
+*/

satrs-example/src/eps/pcdu.rs

@@ -22,7 +22,7 @@ use satrs::{
 use satrs_example::{
     config::components::NO_SENDER,
     ids::{eps::PCDU, generic_pus::PUS_MODE},
-    DeviceMode, TimestampHelper,
+    CcsdsTmPacketOwned, DeviceMode, TimestampHelper,
 };
 use satrs_minisim::{
     eps::{
@@ -32,12 +32,7 @@ use satrs_minisim::{
 };
 use serde::{Deserialize, Serialize};
 
-use crate::{
-    hk::PusHkHelper,
-    pus::hk::{HkReply, HkReplyVariant},
-    requests::CompositeRequest,
-    tmtc::sender::TmTcSender,
-};
+use crate::{hk::PusHkHelper, requests::CompositeRequest};
 
 pub trait SerialInterface {
     type Error: core::fmt::Debug;
@@ -210,9 +205,10 @@ pub struct PcduHandler<ComInterface: SerialInterface> {
     dev_str: &'static str,
     mode_node: ModeRequestHandlerMpscBounded,
     composite_request_rx: mpsc::Receiver<GenericMessage<CompositeRequest>>,
-    hk_reply_tx: mpsc::SyncSender<GenericMessage<HkReply>>,
+    //hk_reply_tx: mpsc::SyncSender<GenericMessage<HkReply>>,
+    hk_tx: std::sync::mpsc::SyncSender<CcsdsTmPacketOwned>,
     switch_request_rx: mpsc::Receiver<GenericMessage<SwitchRequest>>,
-    tm_sender: TmTcSender,
+    tm_tx: mpsc::SyncSender<CcsdsTmPacketOwned>,
     pub com_interface: ComInterface,
     shared_switch_map: Arc<Mutex<SwitchSet>>,
     #[new(value = "PusHkHelper::new(id)")]
@@ -273,7 +269,7 @@ impl<ComInterface: SerialInterface> PcduHandler<ComInterface> {
         }
     }
 
-    pub fn handle_hk_request(&mut self, requestor_info: &MessageMetadata, hk_request: &HkRequest) {
+    pub fn handle_hk_request(&mut self, _requestor_info: &MessageMetadata, hk_request: &HkRequest) {
         match hk_request.variant {
             HkRequestVariant::OneShot => {
                 if hk_request.unique_id == SetId::SwitcherSet as u32 {
@@ -300,8 +296,10 @@ impl<ComInterface: SerialInterface> PcduHandler<ComInterface> {
                         },
                         &mut self.tm_buf,
                     ) {
+                        // TODO: Fix
+                        /*
                         self.tm_sender
-                            .send_tm(self.id.id(), PusTmVariant::Direct(hk_tm))
+                            .send(self.id.id(), PusTmVariant::Direct(hk_tm))
                             .expect("failed to send HK TM");
                         self.hk_reply_tx
                             .send(GenericMessage::new(
@@ -309,6 +307,7 @@ impl<ComInterface: SerialInterface> PcduHandler<ComInterface> {
                                 HkReply::new(hk_request.unique_id, HkReplyVariant::Ack),
                             ))
                             .expect("failed to send HK reply");
+                        */
                     }
                 }
             }
@@ -507,9 +506,7 @@ mod tests {
     use std::sync::mpsc;
 
     use arbitrary_int::u21;
-    use satrs::{
-        mode::ModeRequest, power::SwitchStateBinary, request::GenericMessage, tmtc::PacketAsVec,
-    };
+    use satrs::{mode::ModeRequest, power::SwitchStateBinary, request::GenericMessage};
     use satrs_example::ids::{self, Apid};
     use satrs_minisim::eps::SwitchMapBinary;
 
@@ -555,8 +552,9 @@ mod tests {
         pub mode_reply_rx_to_pus: mpsc::Receiver<GenericMessage<ModeReply>>,
         pub mode_reply_rx_to_parent: mpsc::Receiver<GenericMessage<ModeReply>>,
         pub composite_request_tx: mpsc::Sender<GenericMessage<CompositeRequest>>,
-        pub hk_reply_rx: mpsc::Receiver<GenericMessage<HkReply>>,
-        pub tm_rx: mpsc::Receiver<PacketAsVec>,
+        //pub hk_reply_rx: mpsc::Receiver<GenericMessage<HkReply>>,
+        pub hk_rx: std::sync::mpsc::Receiver<CcsdsTmPacketOwned>,
+        pub tm_rx: mpsc::Receiver<CcsdsTmPacketOwned>,
         pub switch_request_tx: mpsc::Sender<GenericMessage<SwitchRequest>>,
         pub handler: PcduHandler<SerialInterfaceTest>,
     }
@@ -568,8 +566,8 @@ mod tests {
             let (mode_reply_tx_to_parent, mode_reply_rx_to_parent) = mpsc::sync_channel(5);
             let mode_node = ModeRequestHandlerMpscBounded::new(PCDU.into(), mode_request_rx);
             let (composite_request_tx, composite_request_rx) = mpsc::channel();
-            let (hk_reply_tx, hk_reply_rx) = mpsc::sync_channel(10);
-            let (tm_tx, tm_rx) = mpsc::sync_channel::<PacketAsVec>(5);
+            let (hk_tx, hk_rx) = mpsc::sync_channel(10);
+            let (tm_tx, tm_rx) = mpsc::sync_channel(5);
             let (switch_request_tx, switch_reqest_rx) = mpsc::channel();
             let shared_switch_map = Arc::new(Mutex::new(SwitchSet::default()));
             let mut handler = PcduHandler::new(
@@ -577,9 +575,10 @@ mod tests {
                 "TEST_PCDU",
                 mode_node,
                 composite_request_rx,
-                hk_reply_tx,
+                hk_tx,
                 switch_reqest_rx,
-                TmTcSender::Heap(tm_tx.clone()),
+                tm_tx.clone(),
+                //TmTcSender::Normal(tm_tx.clone()),
                 SerialInterfaceTest::default(),
                 shared_switch_map,
             );
@@ -590,7 +589,7 @@ mod tests {
                 mode_reply_rx_to_pus,
                 mode_reply_rx_to_parent,
                 composite_request_tx,
-                hk_reply_rx,
+                hk_rx,
                 tm_rx,
                 switch_request_tx,
                 handler,

satrs-example/src/events.rs

@@ -1,6 +1,6 @@
 use std::sync::mpsc::{self};
 
-use crate::pus::create_verification_reporter;
+//use crate::pus::create_verification_reporter;
 use arbitrary_int::traits::Integer as _;
 use arbitrary_int::u11;
 use satrs::event_man_legacy::{EventMessageU32, EventRoutingError};
@@ -34,6 +34,7 @@ impl EventTmHook for EventApidSetter {
     }
 }
 
+/*
 /// The PUS event handler subscribes for all events and converts them into ECSS PUS 5 event
 /// packets. It also handles the verification completion of PUS event service requests.
 pub struct PusEventHandler<TmSender: EcssTmSender> {
@@ -292,3 +293,4 @@ mod tests {
         // TODO: Add test.
     }
 }
+*/

satrs-example/src/interface/udp.rs

@@ -1,22 +1,22 @@
 #![allow(dead_code)]
+use std::collections::VecDeque;
 use std::net::{SocketAddr, UdpSocket};
-use std::sync::mpsc;
+use std::sync::{mpsc, Arc, Mutex};
 
 use log::{info, warn};
 use satrs::hal::std::udp_server::{ReceiveResult, UdpTcServer};
 use satrs::pus::HandlingStatus;
 use satrs::queue::GenericSendError;
-use satrs::tmtc::PacketAsVec;
 
-use satrs::pool::{PoolProviderWithGuards, SharedStaticMemoryPool};
-use satrs::tmtc::PacketInPool;
+use satrs_example::CcsdsTmPacketOwned;
 
 use crate::tmtc::sender::TmTcSender;
 
-pub trait UdpTmHandler {
+pub trait UdpTmHandlerProvider {
     fn send_tm_to_udp_client(&mut self, socket: &UdpSocket, recv_addr: &SocketAddr);
 }
 
+/*
 pub struct StaticUdpTmHandler {
     pub tm_rx: mpsc::Receiver<PacketInPool>,
     pub tm_store: SharedStaticMemoryPool,
@@ -45,22 +45,17 @@ impl UdpTmHandler for StaticUdpTmHandler {
         }
     }
 }
+*/
 
-pub struct DynamicUdpTmHandler {
-    pub tm_rx: mpsc::Receiver<PacketAsVec>,
+pub struct UdpTmHandlerWithChannel {
+    pub tm_rx: mpsc::Receiver<CcsdsTmPacketOwned>,
 }
 
-impl UdpTmHandler for DynamicUdpTmHandler {
+impl UdpTmHandlerProvider for UdpTmHandlerWithChannel {
     fn send_tm_to_udp_client(&mut self, socket: &UdpSocket, recv_addr: &SocketAddr) {
         while let Ok(tm) = self.tm_rx.try_recv() {
-            if tm.packet.len() > 9 {
-                let service = tm.packet[7];
-                let subservice = tm.packet[8];
-                info!("Sending PUS TM[{service},{subservice}]")
-            } else {
-                info!("Sending PUS TM");
-            }
-            let result = socket.send_to(&tm.packet, recv_addr);
+            info!("Sending PUS TM with header {:?}", tm.tm_header);
+            let result = socket.send_to(&tm.to_vec(), recv_addr);
             if let Err(e) = result {
                 warn!("Sending TM with UDP socket failed: {e}")
             }
@@ -68,12 +63,49 @@ impl UdpTmHandler for DynamicUdpTmHandler {
     }
 }
 
-pub struct UdpTmtcServer<TmHandler: UdpTmHandler> {
-    pub udp_tc_server: UdpTcServer<TmTcSender, GenericSendError>,
-    pub tm_handler: TmHandler,
+#[derive(Default, Debug, Clone)]
+pub struct TestTmHandler {
+    addrs_to_send_to: Arc<Mutex<VecDeque<SocketAddr>>>,
 }
 
-impl<TmHandler: UdpTmHandler> UdpTmtcServer<TmHandler> {
+impl UdpTmHandlerProvider for TestTmHandler {
+    fn send_tm_to_udp_client(&mut self, _socket: &UdpSocket, recv_addr: &SocketAddr) {
+        self.addrs_to_send_to.lock().unwrap().push_back(*recv_addr);
+    }
+}
+
+pub enum UdpTmHandler {
+    Normal(UdpTmHandlerWithChannel),
+    Test(TestTmHandler),
+}
+
+impl From<UdpTmHandlerWithChannel> for UdpTmHandler {
+    fn from(handler: UdpTmHandlerWithChannel) -> Self {
+        UdpTmHandler::Normal(handler)
+    }
+}
+
+impl From<TestTmHandler> for UdpTmHandler {
+    fn from(handler: TestTmHandler) -> Self {
+        UdpTmHandler::Test(handler)
+    }
+}
+
+impl UdpTmHandlerProvider for UdpTmHandler {
+    fn send_tm_to_udp_client(&mut self, socket: &UdpSocket, recv_addr: &SocketAddr) {
+        match self {
+            UdpTmHandler::Normal(handler) => handler.send_tm_to_udp_client(socket, recv_addr),
+            UdpTmHandler::Test(handler) => handler.send_tm_to_udp_client(socket, recv_addr),
+        }
+    }
+}
+
+pub struct UdpTmtcServer {
+    pub udp_tc_server: UdpTcServer<TmTcSender, GenericSendError>,
+    pub tm_handler: UdpTmHandler,
+}
+
+impl UdpTmtcServer {
     pub fn periodic_operation(&mut self) {
         loop {
             if self.poll_tc_server() == HandlingStatus::Empty {
@@ -107,12 +139,8 @@ impl<TmHandler: UdpTmHandler> UdpTmtcServer<TmHandler> {
 
 #[cfg(test)]
 mod tests {
+    use std::net::IpAddr;
     use std::net::Ipv4Addr;
-    use std::{
-        collections::VecDeque,
-        net::IpAddr,
-        sync::{Arc, Mutex},
-    };
 
     use arbitrary_int::traits::Integer as _;
     use arbitrary_int::u14;
@@ -127,23 +155,12 @@ mod tests {
     use satrs_example::config::OBSW_SERVER_ADDR;
     use satrs_example::ids;
 
-    use crate::tmtc::sender::{MockSender, TmTcSender};
+    use crate::tmtc::sender::MockSender;
 
     use super::*;
 
     const UDP_SERVER_ID: ComponentId = 0x05;
 
-    #[derive(Default, Debug, Clone)]
-    pub struct TestTmHandler {
-        addrs_to_send_to: Arc<Mutex<VecDeque<SocketAddr>>>,
-    }
-
-    impl UdpTmHandler for TestTmHandler {
-        fn send_tm_to_udp_client(&mut self, _socket: &UdpSocket, recv_addr: &SocketAddr) {
-            self.addrs_to_send_to.lock().unwrap().push_back(*recv_addr);
-        }
-    }
-
     #[test]
     fn test_basic() {
         let sock_addr = SocketAddr::new(IpAddr::V4(OBSW_SERVER_ADDR), 0);
@@ -154,7 +171,7 @@ mod tests {
         let tm_handler_calls = tm_handler.addrs_to_send_to.clone();
         let mut udp_dyn_server = UdpTmtcServer {
             udp_tc_server,
-            tm_handler,
+            tm_handler: tm_handler.into(),
         };
         udp_dyn_server.periodic_operation();
         let queue = udp_dyn_server
@@ -179,7 +196,7 @@ mod tests {
         let tm_handler_calls = tm_handler.addrs_to_send_to.clone();
         let mut udp_dyn_server = UdpTmtcServer {
             udp_tc_server,
-            tm_handler,
+            tm_handler: tm_handler.into(),
         };
         let sph = SpHeader::new_for_unseg_tc(ids::Apid::GenericPus.raw_value(), u14::ZERO, 0);
         let ping_tc = PusTcCreator::new_simple(

satrs-example/src/legacy/pus/mod.rs

@@ -39,6 +39,7 @@ pub fn create_verification_reporter(owner_id: ComponentId, apid: Apid) -> Verifi
     VerificationReporter::new(owner_id, &verif_cfg)
 }
 
+/*
 /// Simple router structure which forwards PUS telecommands to dedicated handlers.
 pub struct PusTcMpscRouter {
     pub test_tc_sender: mpsc::SyncSender<EcssTcAndToken>,
@@ -187,6 +188,7 @@ impl PusTcDistributor {
         Ok(HandlingStatus::HandledOne)
     }
 }
+*/
 
 pub trait TargetedPusService {
     const SERVICE_ID: u8;

satrs-example/src/lib.rs

@@ -1,8 +1,129 @@
-use satrs::spacepackets::time::cds::CdsTime;
+extern crate alloc;
+
+use satrs::spacepackets::{
+    ccsds_packet_len_for_user_data_len_with_checksum, time::cds::CdsTime, CcsdsPacketCreationError,
+    CcsdsPacketCreatorWithReservedData, CcsdsPacketIdAndPsc, SpacePacketHeader,
+};
 
 pub mod config;
 pub mod ids;
 
+#[derive(
+    Debug,
+    Copy,
+    Clone,
+    PartialEq,
+    Eq,
+    Hash,
+    serde::Serialize,
+    serde::Deserialize,
+    num_enum::TryFromPrimitive,
+    num_enum::IntoPrimitive,
+)]
+#[repr(u64)]
+pub enum ComponentId {
+    Pcdu,
+}
+
+#[derive(Debug, Copy, Clone, PartialEq, Eq, serde::Serialize, serde::Deserialize)]
+pub enum MessageType {
+    Ping,
+    Mode,
+    Hk,
+    Action,
+    Verification,
+}
+
+/// Unserialized owned TM packet which can be cloned and sent around.
+#[derive(Debug, Clone, PartialEq, Eq)]
+pub struct CcsdsTmPacketOwned {
+    pub sp_header: SpacePacketHeader,
+    pub tm_header: TmHeader,
+    pub payload: alloc::vec::Vec<u8>,
+}
+
+/// Simple type modelling packet stored in the heap. This structure is intended to
+/// be used when sending a packet via a message queue, so it also contains the sender ID.
+#[derive(Debug, PartialEq, Eq, Clone)]
+pub struct PacketAsVec {
+    pub sender_id: ComponentId,
+    pub packet: Vec<u8>,
+}
+
+impl PacketAsVec {
+    pub fn new(sender_id: ComponentId, packet: Vec<u8>) -> Self {
+        Self { sender_id, packet }
+    }
+}
+
+#[derive(Debug, thiserror::Error)]
+pub enum CcsdsCreationError {
+    #[error("CCSDS packet creation error: {0}")]
+    CcsdsPacketCreation(#[from] CcsdsPacketCreationError),
+    #[error("postcard error: {0}")]
+    Postcard(#[from] postcard::Error),
+    #[error("timestamp generation error")]
+    Time,
+}
+
+impl CcsdsTmPacketOwned {
+    pub fn write_to_bytes(&self, buf: &mut [u8]) -> Result<usize, CcsdsCreationError> {
+        let response_len =
+            postcard::experimental::serialized_size(&self.tm_header)? + self.payload.len();
+        let mut ccsds_tm = CcsdsPacketCreatorWithReservedData::new_tm_with_checksum(
+            self.sp_header,
+            response_len,
+            buf,
+        )?;
+        let user_data = ccsds_tm.packet_data_mut();
+        let ser_len = postcard::to_slice(&self.tm_header, user_data)?.len();
+        user_data[ser_len..ser_len + self.payload.len()].copy_from_slice(&self.payload);
+        let ccsds_packet_len = ccsds_tm.finish();
+        Ok(ccsds_packet_len)
+    }
+
+    pub fn len_written(&self) -> usize {
+        ccsds_packet_len_for_user_data_len_with_checksum(
+            postcard::experimental::serialized_size(&self.tm_header).unwrap() as usize
+                + postcard::experimental::serialized_size(&self.payload).unwrap() as usize,
+        )
+        .unwrap()
+    }
+
+    pub fn to_vec(&self) -> alloc::vec::Vec<u8> {
+        let mut buf = alloc::vec![0u8; self.len_written()];
+        let len = self.write_to_bytes(&mut buf).unwrap();
+        buf.truncate(len);
+        buf
+    }
+}
+
+#[derive(Debug, Copy, Clone, PartialEq, Eq, serde::Serialize, serde::Deserialize)]
+#[non_exhaustive]
+pub struct TmHeader {
+    pub sender_id: ComponentId,
+    pub target_id: ComponentId,
+    pub message_type: MessageType,
+    /// Telemetry can either be sent unsolicited, or as a response to telecommands.
+    pub tc_id: Option<CcsdsPacketIdAndPsc>,
+    /// Raw CDS short timestamp.
+    pub timestamp: Option<[u8; 7]>,
+}
+
+#[derive(Debug, Copy, Clone, PartialEq, Eq, serde::Serialize, serde::Deserialize)]
+#[non_exhaustive]
+pub struct TcHeader {
+    pub target_id: ComponentId,
+    pub request_type: MessageType,
+}
+
+#[derive(Debug, Clone, PartialEq, Eq)]
+pub struct CcsdsTcPacketOwned {
+    pub sp_header: SpacePacketHeader,
+    pub tc_header: TcHeader,
+    pub payload: alloc::vec::Vec<u8>,
+}
+
 #[derive(Debug, PartialEq, Eq, Copy, Clone)]
 pub enum DeviceMode {
     Off = 0,

satrs-example/src/main.rs

@@ -5,12 +5,10 @@ use std::{
     time::Duration,
 };
 
-use acs::mgm::{MgmHandlerLis3Mdl, SpiDummyInterface, SpiSimInterface, SpiSimInterfaceWrapper};
 use eps::{
     pcdu::{PcduHandler, SerialInterfaceDummy, SerialInterfaceToSim, SerialSimInterfaceWrapper},
     PowerSwitchHelper,
 };
-use events::EventHandler;
 use interface::{
     sim_client_udp::create_sim_client,
     tcp::{SyncTcpTmSource, TcpTask},
@@ -18,29 +16,17 @@ use interface::{
 };
 use log::info;
 use logger::setup_logger;
-use pus::{
-    action::create_action_service,
-    event::create_event_service,
-    hk::create_hk_service,
-    mode::create_mode_service,
-    scheduler::{create_scheduler_service, TcReleaser},
-    stack::PusStack,
-    test::create_test_service,
-    PusTcDistributor, PusTcMpscRouter,
-};
 use requests::GenericRequestRouter;
 use satrs::{
     hal::std::{tcp_server::ServerConfig, udp_server::UdpTcServer},
     mode::{Mode, ModeAndSubmode, ModeRequest, ModeRequestHandlerMpscBounded},
-    mode_tree::connect_mode_nodes,
-    pus::{event_man::EventRequestWithToken, EcssTcCacher, HandlingStatus},
+    pus::{event_man::EventRequestWithToken, HandlingStatus},
     request::{GenericMessage, MessageMetadata},
     spacepackets::time::cds::CdsTime,
 };
 use satrs_example::{
     config::{
         components::NO_SENDER,
-        pool::create_sched_tc_pool,
         tasks::{FREQ_MS_AOCS, FREQ_MS_PUS_STACK, FREQ_MS_UDP_TMTC, SIM_CLIENT_IDLE_DELAY_MS},
         OBSW_SERVER_ADDR, PACKET_ID_VALIDATOR, SERVER_PORT,
     },
@@ -54,23 +40,7 @@ use satrs_example::{
 use tmtc::sender::TmTcSender;
 use tmtc::{tc_source::TcSourceTask, tm_sink::TmSink};
 
-cfg_if::cfg_if! {
-    if #[cfg(feature = "heap_tmtc")] {
-        use interface::udp::DynamicUdpTmHandler;
-        use satrs::pus::EcssTcVecCacher;
-        use tmtc::{tc_source::TcSourceTaskDynamic, tm_sink::TmSinkDynamic};
-    } else {
-        use std::sync::RwLock;
-        use interface::udp::StaticUdpTmHandler;
-        use satrs::pus::EcssTcInSharedPoolCacher;
-        use satrs::tmtc::{PacketSenderWithSharedPool, SharedPacketPool};
-        use satrs_example::config::pool::create_static_pools;
-        use tmtc::{
-            tc_source::TcSourceTaskStatic,
-            tm_sink::TmSinkStatic,
-        };
-    }
-}
+use crate::{interface::udp::UdpTmHandlerWithChannel, tmtc::tc_source::CcsdsDistributor};
 
 mod acs;
 mod eps;
@@ -78,7 +48,7 @@ mod events;
 mod hk;
 mod interface;
 mod logger;
-mod pus;
+//mod pus;
 mod requests;
 mod spi;
 mod tmtc;
@@ -87,33 +57,13 @@ fn main() {
     setup_logger().expect("setting up logging with fern failed");
     println!("Running OBSW example");
 
-    cfg_if::cfg_if! {
-        if #[cfg(not(feature = "heap_tmtc"))] {
-            let (tm_pool, tc_pool) = create_static_pools();
-            let shared_tm_pool = Arc::new(RwLock::new(tm_pool));
-            let shared_tc_pool = Arc::new(RwLock::new(tc_pool));
-            let shared_tm_pool_wrapper = SharedPacketPool::new(&shared_tm_pool);
-            let shared_tc_pool_wrapper = SharedPacketPool::new(&shared_tc_pool);
-        }
-    }
-
     let (tc_source_tx, tc_source_rx) = mpsc::sync_channel(50);
     let (tm_sink_tx, tm_sink_rx) = mpsc::sync_channel(50);
     let (tm_server_tx, tm_server_rx) = mpsc::sync_channel(50);
 
-    cfg_if::cfg_if! {
-        if #[cfg(not(feature = "heap_tmtc"))] {
-            let tm_sender = TmTcSender::Static(
-                PacketSenderWithSharedPool::new(tm_sink_tx.clone(), shared_tm_pool_wrapper.clone())
-            );
-        } else if #[cfg(feature = "heap_tmtc")] {
-            let tm_sender = TmTcSender::Heap(tm_sink_tx.clone());
-        }
-    }
-
     let (sim_request_tx, sim_request_rx) = mpsc::channel();
-    let (mgm_0_sim_reply_tx, mgm_0_sim_reply_rx) = mpsc::channel();
-    let (mgm_1_sim_reply_tx, mgm_1_sim_reply_rx) = mpsc::channel();
+    //let (mgm_0_sim_reply_tx, mgm_0_sim_reply_rx) = mpsc::channel();
+    //let (mgm_1_sim_reply_tx, mgm_1_sim_reply_rx) = mpsc::channel();
     let (pcdu_sim_reply_tx, pcdu_sim_reply_rx) = mpsc::channel();
     let mut opt_sim_client = create_sim_client(sim_request_rx);
 
@@ -136,134 +86,44 @@ fn main() {
         .composite_router_map
         .insert(PCDU.id(), pcdu_handler_composite_tx);
 
-    // This helper structure is used by all telecommand providers which need to send telecommands
-    // to the TC source.
-    cfg_if::cfg_if! {
-        if #[cfg(not(feature = "heap_tmtc"))] {
-            let tc_sender_with_shared_pool =
-                PacketSenderWithSharedPool::new(tc_source_tx, shared_tc_pool_wrapper.clone());
-            let tc_in_mem_converter =
-                EcssTcCacher::Static(EcssTcInSharedPoolCacher::new(shared_tc_pool, 4096));
-        } else if #[cfg(feature = "heap_tmtc")] {
-            let tc_in_mem_converter = EcssTcCacher::Heap(EcssTcVecCacher::default());
-        }
-    }
-
     // Create event handling components
     // These sender handles are used to send event requests, for example to enable or disable
     // certain events.
-    let (event_tx, event_rx) = mpsc::sync_channel(100);
+    //let (event_tx, event_rx) = mpsc::sync_channel(100);
     let (event_request_tx, event_request_rx) = mpsc::channel::<EventRequestWithToken>();
 
     // The event task is the core handler to perform the event routing and TM handling as specified
     // in the sat-rs documentation.
-    let mut event_handler = EventHandler::new(tm_sink_tx.clone(), event_rx, event_request_rx);
+    //let mut event_handler = EventHandler::new(tm_sink_tx.clone(), event_rx, event_request_rx);
 
-    let (pus_test_tx, pus_test_rx) = mpsc::sync_channel(20);
-    let (pus_event_tx, pus_event_rx) = mpsc::sync_channel(10);
-    let (pus_sched_tx, pus_sched_rx) = mpsc::sync_channel(50);
-    let (pus_hk_tx, pus_hk_rx) = mpsc::sync_channel(50);
-    let (pus_action_tx, pus_action_rx) = mpsc::sync_channel(50);
-    let (pus_mode_tx, pus_mode_rx) = mpsc::sync_channel(50);
+    //let (pus_test_tx, pus_test_rx) = mpsc::sync_channel(20);
+    //let (pus_event_tx, pus_event_rx) = mpsc::sync_channel(10);
+    //let (pus_sched_tx, pus_sched_rx) = mpsc::sync_channel(50);
+    //let (pus_hk_tx, pus_hk_rx) = mpsc::sync_channel(50);
+    //let (pus_action_tx, pus_action_rx) = mpsc::sync_channel(50);
+    //let (pus_mode_tx, pus_mode_rx) = mpsc::sync_channel(50);
 
-    let (_pus_action_reply_tx, pus_action_reply_rx) = mpsc::channel();
+    //let (_pus_action_reply_tx, pus_action_reply_rx) = mpsc::channel();
     let (pus_hk_reply_tx, pus_hk_reply_rx) = mpsc::sync_channel(50);
-    let (pus_mode_reply_tx, pus_mode_reply_rx) = mpsc::sync_channel(30);
+    //let (pus_mode_reply_tx, pus_mode_reply_rx) = mpsc::sync_channel(30);
 
-    cfg_if::cfg_if! {
-        if #[cfg(not(feature = "heap_tmtc"))] {
-            let tc_releaser = TcReleaser::Static(tc_sender_with_shared_pool.clone());
-        } else if #[cfg(feature = "heap_tmtc")] {
-            let tc_releaser = TcReleaser::Heap(tc_source_tx.clone());
-        }
-    }
-    let pus_router = PusTcMpscRouter {
-        test_tc_sender: pus_test_tx,
-        event_tc_sender: pus_event_tx,
-        sched_tc_sender: pus_sched_tx,
-        hk_tc_sender: pus_hk_tx,
-        action_tc_sender: pus_action_tx,
-        mode_tc_sender: pus_mode_tx,
+    let mut ccsds_distributor = CcsdsDistributor::default();
+    let mut tmtc_task = TcSourceTask::new(
+        tc_source_rx,
+        ccsds_distributor,
+        //PusTcDistributor::new(tm_sender.clone(), pus_router),
+    );
+    let tc_sender = TmTcSender::Normal(tc_source_tx.clone());
+    let udp_tm_handler = UdpTmHandlerWithChannel {
+        tm_rx: tm_server_rx,
     };
-    let pus_test_service = create_test_service(
-        tm_sender.clone(),
-        tc_in_mem_converter.clone(),
-        event_tx.clone(),
-        pus_test_rx,
-    );
-    let pus_scheduler_service = create_scheduler_service(
-        tm_sender.clone(),
-        tc_in_mem_converter.clone(),
-        tc_releaser,
-        pus_sched_rx,
-        create_sched_tc_pool(),
-    );
-    let pus_event_service = create_event_service(
-        tm_sender.clone(),
-        tc_in_mem_converter.clone(),
-        pus_event_rx,
-        event_request_tx,
-    );
-    let pus_action_service = create_action_service(
-        tm_sender.clone(),
-        tc_in_mem_converter.clone(),
-        pus_action_rx,
-        request_map.clone(),
-        pus_action_reply_rx,
-    );
-    let pus_hk_service = create_hk_service(
-        tm_sender.clone(),
-        tc_in_mem_converter.clone(),
-        pus_hk_rx,
-        request_map.clone(),
-        pus_hk_reply_rx,
-    );
-    let pus_mode_service = create_mode_service(
-        tm_sender.clone(),
-        tc_in_mem_converter.clone(),
-        pus_mode_rx,
-        request_map,
-        pus_mode_reply_rx,
-    );
-    let mut pus_stack = PusStack::new(
-        pus_test_service,
-        pus_hk_service,
-        pus_event_service,
-        pus_action_service,
-        pus_scheduler_service,
-        pus_mode_service,
-    );
-
-    cfg_if::cfg_if! {
-        if #[cfg(not(feature = "heap_tmtc"))] {
-            let mut tmtc_task = TcSourceTask::Static(TcSourceTaskStatic::new(
-                shared_tc_pool_wrapper.clone(),
-                tc_source_rx,
-                PusTcDistributor::new(tm_sender.clone(), pus_router),
-            ));
-            let tc_sender = TmTcSender::Static(tc_sender_with_shared_pool);
-            let udp_tm_handler = StaticUdpTmHandler {
-                tm_rx: tm_server_rx,
-                tm_store: shared_tm_pool.clone(),
-            };
-        } else if #[cfg(feature = "heap_tmtc")] {
-            let mut tmtc_task = TcSourceTask::Heap(TcSourceTaskDynamic::new(
-                tc_source_rx,
-                PusTcDistributor::new(tm_sender.clone(), pus_router),
-            ));
-            let tc_sender = TmTcSender::Heap(tc_source_tx.clone());
-            let udp_tm_handler = DynamicUdpTmHandler {
-                tm_rx: tm_server_rx,
-            };
-        }
-    }
 
     let sock_addr = SocketAddr::new(IpAddr::V4(OBSW_SERVER_ADDR), SERVER_PORT);
     let udp_tc_server = UdpTcServer::new(UDP_SERVER.id(), sock_addr, 2048, tc_sender.clone())
         .expect("creating UDP TMTC server failed");
     let mut udp_tmtc_server = UdpTmtcServer {
         udp_tc_server,
-        tm_handler: udp_tm_handler,
+        tm_handler: udp_tm_handler.into(),
     };
 
     let tcp_server_cfg = ServerConfig::new(
@@ -282,88 +142,75 @@ fn main() {
     )
     .expect("tcp server creation failed");
 
-    cfg_if::cfg_if! {
-        if #[cfg(not(feature = "heap_tmtc"))] {
-            let mut tm_sink = TmSink::Static(TmSinkStatic::new(
-                shared_tm_pool_wrapper,
-                sync_tm_tcp_source,
-                tm_sink_rx,
-                tm_server_tx,
-            ));
-        } else if #[cfg(feature = "heap_tmtc")] {
-            let mut tm_sink = TmSink::Heap(TmSinkDynamic::new(
-                sync_tm_tcp_source,
-                tm_sink_rx,
-                tm_server_tx,
-            ));
-        }
-    }
+    let mut tm_sink = TmSink::new(sync_tm_tcp_source, tm_sink_rx, tm_server_tx);
 
     let shared_switch_set = Arc::new(Mutex::default());
     let (switch_request_tx, switch_request_rx) = mpsc::sync_channel(20);
     let switch_helper = PowerSwitchHelper::new(switch_request_tx, shared_switch_set.clone());
 
-    let shared_mgm_0_set = Arc::default();
-    let shared_mgm_1_set = Arc::default();
+    //let shared_mgm_0_set = Arc::default();
+    //let shared_mgm_1_set = Arc::default();
     let mgm_0_mode_node = ModeRequestHandlerMpscBounded::new(MGM0.into(), mgm_0_handler_mode_rx);
     let mgm_1_mode_node = ModeRequestHandlerMpscBounded::new(MGM1.into(), mgm_1_handler_mode_rx);
-    let (mgm_0_spi_interface, mgm_1_spi_interface) =
-        if let Some(sim_client) = opt_sim_client.as_mut() {
-            sim_client
-                .add_reply_recipient(satrs_minisim::SimComponent::Mgm0Lis3Mdl, mgm_0_sim_reply_tx);
-            sim_client
-                .add_reply_recipient(satrs_minisim::SimComponent::Mgm1Lis3Mdl, mgm_1_sim_reply_tx);
-            (
-                SpiSimInterfaceWrapper::Sim(SpiSimInterface {
-                    sim_request_tx: sim_request_tx.clone(),
-                    sim_reply_rx: mgm_0_sim_reply_rx,
-                }),
-                SpiSimInterfaceWrapper::Sim(SpiSimInterface {
-                    sim_request_tx: sim_request_tx.clone(),
-                    sim_reply_rx: mgm_1_sim_reply_rx,
-                }),
-            )
-        } else {
-            (
-                SpiSimInterfaceWrapper::Dummy(SpiDummyInterface::default()),
-                SpiSimInterfaceWrapper::Dummy(SpiDummyInterface::default()),
-            )
-        };
-    let mut mgm_0_handler = MgmHandlerLis3Mdl::new(
-        MGM0,
-        "MGM_0",
-        mgm_0_mode_node,
-        mgm_0_handler_composite_rx,
-        pus_hk_reply_tx.clone(),
-        switch_helper.clone(),
-        tm_sender.clone(),
-        mgm_0_spi_interface,
-        shared_mgm_0_set,
-    );
-    let mut mgm_1_handler = MgmHandlerLis3Mdl::new(
-        MGM1,
-        "MGM_1",
-        mgm_1_mode_node,
-        mgm_1_handler_composite_rx,
-        pus_hk_reply_tx.clone(),
-        switch_helper.clone(),
-        tm_sender.clone(),
-        mgm_1_spi_interface,
-        shared_mgm_1_set,
-    );
-    // Connect PUS service to device handlers.
-    connect_mode_nodes(
-        &mut pus_stack.mode_srv,
-        mgm_0_handler_mode_tx,
-        &mut mgm_0_handler,
-        pus_mode_reply_tx.clone(),
-    );
-    connect_mode_nodes(
-        &mut pus_stack.mode_srv,
-        mgm_1_handler_mode_tx,
-        &mut mgm_1_handler,
-        pus_mode_reply_tx.clone(),
-    );
+    /*
+        let (mgm_0_spi_interface, mgm_1_spi_interface) =
+            if let Some(sim_client) = opt_sim_client.as_mut() {
+                sim_client
+                    .add_reply_recipient(satrs_minisim::SimComponent::Mgm0Lis3Mdl, mgm_0_sim_reply_tx);
+                sim_client
+                    .add_reply_recipient(satrs_minisim::SimComponent::Mgm1Lis3Mdl, mgm_1_sim_reply_tx);
+                (
+                    SpiSimInterfaceWrapper::Sim(SpiSimInterface {
+                        sim_request_tx: sim_request_tx.clone(),
+                        sim_reply_rx: mgm_0_sim_reply_rx,
+                    }),
+                    SpiSimInterfaceWrapper::Sim(SpiSimInterface {
+                        sim_request_tx: sim_request_tx.clone(),
+                        sim_reply_rx: mgm_1_sim_reply_rx,
+                    }),
+                )
+            } else {
+                (
+                    SpiSimInterfaceWrapper::Dummy(SpiDummyInterface::default()),
+                    SpiSimInterfaceWrapper::Dummy(SpiDummyInterface::default()),
+                )
+            };
+        let mut mgm_0_handler = MgmHandlerLis3Mdl::new(
+            MGM0,
+            "MGM_0",
+            mgm_0_mode_node,
+            mgm_0_handler_composite_rx,
+            pus_hk_reply_tx.clone(),
+            switch_helper.clone(),
+            tm_sender.clone(),
+            mgm_0_spi_interface,
+            shared_mgm_0_set,
+        );
+        let mut mgm_1_handler = MgmHandlerLis3Mdl::new(
+            MGM1,
+            "MGM_1",
+            mgm_1_mode_node,
+            mgm_1_handler_composite_rx,
+            pus_hk_reply_tx.clone(),
+            switch_helper.clone(),
+            tm_sender.clone(),
+            mgm_1_spi_interface,
+            shared_mgm_1_set,
+        );
+        // Connect PUS service to device handlers.
+        connect_mode_nodes(
+            &mut pus_stack.mode_srv,
+            mgm_0_handler_mode_tx,
+            &mut mgm_0_handler,
+            pus_mode_reply_tx.clone(),
+        );
+        connect_mode_nodes(
+            &mut pus_stack.mode_srv,
+            mgm_1_handler_mode_tx,
+            &mut mgm_1_handler,
+            pus_mode_reply_tx.clone(),
+        );
+    */
 
     let pcdu_serial_interface = if let Some(sim_client) = opt_sim_client.as_mut() {
         sim_client.add_reply_recipient(satrs_minisim::SimComponent::Pcdu, pcdu_sim_reply_tx);
@@ -382,16 +229,18 @@ fn main() {
         pcdu_handler_composite_rx,
         pus_hk_reply_tx,
         switch_request_rx,
-        tm_sender.clone(),
+        tm_sink_tx.clone(),
         pcdu_serial_interface,
         shared_switch_set,
     );
+    /*
     connect_mode_nodes(
         &mut pus_stack.mode_srv,
         pcdu_handler_mode_tx.clone(),
         &mut pcdu_handler,
         pus_mode_reply_tx,
     );
+    */
 
     // The PCDU is a critical component which should be in normal mode immediately.
     pcdu_handler_mode_tx
@@ -455,8 +304,8 @@ fn main() {
     let jh_aocs = thread::Builder::new()
         .name("sat-rs aocs".to_string())
         .spawn(move || loop {
-            mgm_0_handler.periodic_operation();
-            mgm_1_handler.periodic_operation();
+            //mgm_0_handler.periodic_operation();
+            //mgm_1_handler.periodic_operation();
             thread::sleep(Duration::from_millis(FREQ_MS_AOCS));
         })
         .unwrap();
@@ -482,8 +331,8 @@ fn main() {
     let jh_pus_handler = thread::Builder::new()
         .name("sat-rs pus".to_string())
         .spawn(move || loop {
-            event_handler.periodic_operation();
-            pus_stack.periodic_operation();
+            //event_handler.periodic_operation();
+            //pus_stack.periodic_operation();
             thread::sleep(Duration::from_millis(FREQ_MS_PUS_STACK));
         })
         .unwrap();

satrs-example/src/tmtc/sender.rs

@@ -1,10 +1,8 @@
 use std::{cell::RefCell, collections::VecDeque, sync::mpsc};
 
 use satrs::{
-    pus::EcssTmSender,
     queue::GenericSendError,
-    spacepackets::ecss::WritablePusPacket,
-    tmtc::{PacketAsVec, PacketHandler, PacketSenderWithSharedPool},
+    tmtc::{PacketAsVec, PacketHandler},
     ComponentId,
 };
 
@@ -14,8 +12,7 @@ pub struct MockSender(pub RefCell<VecDeque<PacketAsVec>>);
 #[allow(dead_code)]
 #[derive(Debug, Clone)]
 pub enum TmTcSender {
-    Static(PacketSenderWithSharedPool),
-    Heap(mpsc::SyncSender<PacketAsVec>),
+    Normal(mpsc::SyncSender<PacketAsVec>),
     Mock(MockSender),
 }
 
@@ -29,6 +26,7 @@ impl TmTcSender {
     }
 }
 
+/*
 impl EcssTmSender for TmTcSender {
     fn send_tm(
         &self,
@@ -36,7 +34,7 @@ impl EcssTmSender for TmTcSender {
         tm: satrs::pus::PusTmVariant,
     ) -> Result<(), satrs::pus::EcssTmtcError> {
         match self {
-            TmTcSender::Static(sync_sender) => sync_sender.send_tm(sender_id, tm),
+            //TmTcSender::Static(sync_sender) => sync_sender.send_tm(sender_id, tm),
             TmTcSender::Heap(sync_sender) => match tm {
                 satrs::pus::PusTmVariant::InStore(_) => panic!("can not send TM in store"),
                 satrs::pus::PusTmVariant::Direct(pus_tm_creator) => sync_sender
@@ -47,19 +45,15 @@ impl EcssTmSender for TmTcSender {
         }
     }
 }
+*/
 
 impl PacketHandler for TmTcSender {
     type Error = GenericSendError;
 
     fn handle_packet(&self, sender_id: ComponentId, packet: &[u8]) -> Result<(), Self::Error> {
         match self {
-            TmTcSender::Static(packet_sender_with_shared_pool) => {
-                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) {
+            TmTcSender::Normal(sync_sender) => {
+                if let Err(e) = sync_sender.send(PacketAsVec::new(sender_id, packet.to_vec())) {
                     log::error!("Error sending packet via Heap TM/TC sender: {:?}", e);
                 }
             }

satrs-example/src/tmtc/tc_source.rs

@@ -1,13 +1,16 @@
 use satrs::{
-    pool::PoolProvider,
     pus::HandlingStatus,
-    tmtc::{PacketAsVec, PacketInPool, SharedPacketPool},
+    spacepackets::{CcsdsPacketReader, ChecksumType},
+    tmtc::PacketAsVec,
+};
+use satrs_example::{CcsdsTcPacketOwned, ComponentId, TcHeader};
+use std::{
+    collections::HashMap,
+    sync::mpsc::{self, TryRecvError},
 };
-use std::sync::mpsc::{self, TryRecvError};
-
-use crate::pus::PusTcDistributor;
 
 // TC source components where static pools are the backing memory of the received telecommands.
+/*
 pub struct TcSourceTaskStatic {
     shared_tc_pool: SharedPacketPool,
     tc_receiver: mpsc::Receiver<PacketInPool>,
@@ -64,19 +67,25 @@ impl TcSourceTaskStatic {
         }
     }
 }
+*/
+
+pub type CcsdsDistributor = HashMap<ComponentId, std::sync::mpsc::SyncSender<CcsdsTcPacketOwned>>;
 
 // TC source components where the heap is the backing memory of the received telecommands.
-pub struct TcSourceTaskDynamic {
+pub struct TcSourceTask {
     pub tc_receiver: mpsc::Receiver<PacketAsVec>,
-    pus_distributor: PusTcDistributor,
+    ccsds_distributor: CcsdsDistributor,
 }
 
-#[allow(dead_code)]
-impl TcSourceTaskDynamic {
-    pub fn new(tc_receiver: mpsc::Receiver<PacketAsVec>, pus_receiver: PusTcDistributor) -> Self {
+//#[allow(dead_code)]
+impl TcSourceTask {
+    pub fn new(
+        tc_receiver: mpsc::Receiver<PacketAsVec>,
+        ccsds_distributor: CcsdsDistributor,
+    ) -> Self {
         Self {
             tc_receiver,
-            pus_distributor: pus_receiver,
+            ccsds_distributor,
         }
     }
 
@@ -88,10 +97,41 @@ impl TcSourceTaskDynamic {
         // Right now, we only expect ECSS PUS packets.
         // If packets like CFDP are expected, we might have to check the APID first.
         match self.tc_receiver.try_recv() {
-            Ok(packet_as_vec) => {
-                self.pus_distributor
-                    .handle_tc_packet_vec(packet_as_vec)
-                    .ok();
+            Ok(packet) => {
+                let ccsds_tc_reader_result =
+                    CcsdsPacketReader::new(&packet.packet, Some(ChecksumType::WithCrc16));
+                if ccsds_tc_reader_result.is_err() {
+                    log::warn!(
+                        "received invalid CCSDS TC packet: {:?}",
+                        ccsds_tc_reader_result.err()
+                    );
+                    // TODO: Send a dedicated TM packet.
+                    return HandlingStatus::HandledOne;
+                }
+                let ccsds_tc_reader = ccsds_tc_reader_result.unwrap();
+                let tc_header_result =
+                    postcard::take_from_bytes::<TcHeader>(ccsds_tc_reader.user_data());
+                if tc_header_result.is_err() {
+                    log::warn!(
+                        "received CCSDS TC packet with invalid TC header: {:?}",
+                        tc_header_result.err()
+                    );
+                    // TODO: Send a dedicated TM packet.
+                    return HandlingStatus::HandledOne;
+                }
+                let (tc_header, payload) = tc_header_result.unwrap();
+                if let Some(sender) = self.ccsds_distributor.get(&tc_header.target_id) {
+                    sender
+                        .send(CcsdsTcPacketOwned {
+                            sp_header: *ccsds_tc_reader.sp_header(),
+                            tc_header,
+                            payload: payload.to_vec(),
+                        })
+                        .ok();
+                } else {
+                    log::warn!("no TC handler for target ID {:?}", tc_header.target_id);
+                    // TODO: Send a dedicated TM packet.
+                }
                 HandlingStatus::HandledOne
             }
             Err(e) => match e {
@@ -104,18 +144,3 @@ impl TcSourceTaskDynamic {
         }
     }
 }
-
-#[allow(dead_code)]
-pub enum TcSourceTask {
-    Static(TcSourceTaskStatic),
-    Heap(TcSourceTaskDynamic),
-}
-
-impl TcSourceTask {
-    pub fn periodic_operation(&mut self) {
-        match self {
-            TcSourceTask::Static(task) => task.periodic_operation(),
-            TcSourceTask::Heap(task) => task.periodic_operation(),
-        }
-    }
-}

satrs-example/src/tmtc/tm_sink.rs

@@ -6,16 +6,14 @@ use std::{
 use arbitrary_int::{u11, u14};
 use log::info;
 use satrs::{
-    pool::PoolProvider,
     spacepackets::{
         ecss::{tm::PusTmZeroCopyWriter, PusPacket},
-        seq_count::SequenceCounter,
-        seq_count::SequenceCounterCcsdsSimple,
-        time::cds::MIN_CDS_FIELD_LEN,
+        seq_count::{SequenceCounter, SequenceCounterCcsdsSimple},
         CcsdsPacket,
     },
-    tmtc::{PacketAsVec, PacketInPool, SharedPacketPool},
+    tmtc::PacketAsVec,
 };
+use satrs_example::CcsdsTmPacketOwned;
 
 use crate::interface::tcp::SyncTcpTmSource;
 
@@ -83,6 +81,7 @@ impl TmFunnelCommon {
     }
 }
 
+/*
 pub struct TmSinkStatic {
     common: TmFunnelCommon,
     shared_tm_store: SharedPacketPool,
@@ -130,19 +129,20 @@ impl TmSinkStatic {
         }
     }
 }
+*/
 
-pub struct TmSinkDynamic {
+pub struct TmSink {
     common: TmFunnelCommon,
-    tm_funnel_rx: mpsc::Receiver<PacketAsVec>,
-    tm_server_tx: mpsc::SyncSender<PacketAsVec>,
+    tm_funnel_rx: mpsc::Receiver<CcsdsTmPacketOwned>,
+    tm_server_tx: mpsc::SyncSender<CcsdsTmPacketOwned>,
 }
 
-#[allow(dead_code)]
-impl TmSinkDynamic {
+//#[allow(dead_code)]
+impl TmSink {
     pub fn new(
         sync_tm_tcp_source: SyncTcpTmSource,
-        tm_funnel_rx: mpsc::Receiver<PacketAsVec>,
-        tm_server_tx: mpsc::SyncSender<PacketAsVec>,
+        tm_funnel_rx: mpsc::Receiver<CcsdsTmPacketOwned>,
+        tm_server_tx: mpsc::SyncSender<CcsdsTmPacketOwned>,
     ) -> Self {
         Self {
             common: TmFunnelCommon::new(sync_tm_tcp_source),
@@ -153,13 +153,21 @@ impl TmSinkDynamic {
 
     pub fn operation(&mut self) {
         if let Ok(mut tm) = self.tm_funnel_rx.recv() {
+            //let tm_raw = tm.to_vec();
+            tm.sp_header.set_seq_count(
+                self.common
+                    .seq_counter_map
+                    .get_and_increment(tm.sp_header.apid()),
+            );
             // Read the TM, set sequence counter and message counter, and finally update
             // the CRC.
+            /*
             let zero_copy_writer =
-                PusTmZeroCopyWriter::new(&mut tm.packet, MIN_CDS_FIELD_LEN, true)
+                PusTmZeroCopyWriter::new(&mut tm_raw, MIN_CDS_FIELD_LEN, true)
                     .expect("Creating TM zero copy writer failed");
             self.common.apply_packet_processing(zero_copy_writer);
-            self.common.sync_tm_tcp_source.add_tm(&tm.packet);
+            */
+            self.common.sync_tm_tcp_source.add_tm(&tm.to_vec());
             self.tm_server_tx
                 .send(tm)
                 .expect("Sending TM to server failed");
@@ -167,12 +175,13 @@ impl TmSinkDynamic {
     }
 }
 
-#[allow(dead_code)]
-pub enum TmSink {
-    Static(TmSinkStatic),
-    Heap(TmSinkDynamic),
-}
+//#[allow(dead_code)]
+//pub enum TmSink {
+//Static(TmSinkStatic),
+//Heap(TmSinkDynamic),
+//}
 
+/*
 impl TmSink {
     pub fn operation(&mut self) {
         match self {
@@ -181,3 +190,4 @@ impl TmSink {
         }
     }
 }
+*/