continue CCSDS scheduler

justfile

@@ -14,12 +14,12 @@ test:
 embedded:
   cargo check -p satrs --target=thumbv7em-none-eabihf --no-default-features
 
-fmt:
-  cargo fmt --all
-
 check-fmt:
   cargo fmt --all -- --check
 
+fmt:
+  cargo fmt --all
+
 clippy:
   cargo clippy -- -D warnings
 

satrs-example/Cargo.toml

@@ -26,9 +26,16 @@ bitbybit = "1.4"
 serde = { version = "1", features = ["derive"] }
 serde_json = "1"
 
-satrs = { path = "../satrs", features = ["test_util"] }
-satrs-minisim = { path = "../satrs-minisim" }
-satrs-mib = { path = "../satrs-mib" }
+[dependencies.satrs]
+path = "../satrs"
+features = ["test_util"]
+
+[dependencies.satrs-minisim]
+path = "../satrs-minisim"
+
+[dependencies.satrs-mib]
+version = "0.1.1"
+path = "../satrs-mib"
 
 [features]
 default = ["heap_tmtc"]

satrs-example/src/main.rs

@@ -18,7 +18,6 @@ use interface::{
 };
 use log::info;
 use logger::setup_logger;
-/*
 use pus::{
     action::create_action_service,
     event::create_event_service,
@@ -29,7 +28,6 @@ use pus::{
     test::create_test_service,
     PusTcDistributor, PusTcMpscRouter,
 };
-*/
 use requests::GenericRequestRouter;
 use satrs::{
     hal::std::{tcp_server::ServerConfig, udp_server::UdpTcServer},
@@ -80,7 +78,7 @@ mod events;
 mod hk;
 mod interface;
 mod logger;
-//mod pus;
+mod pus;
 mod requests;
 mod spi;
 mod tmtc;
@@ -179,7 +177,6 @@ fn main() {
             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,
@@ -236,7 +233,6 @@ fn main() {
         pus_scheduler_service,
         pus_mode_service,
     );
-    */
 
     cfg_if::cfg_if! {
         if #[cfg(not(feature = "heap_tmtc"))] {

satrs-example/src/pus/mod.rs

@@ -39,7 +39,6 @@ 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>,
@@ -188,7 +187,6 @@ impl PusTcDistributor {
         Ok(HandlingStatus::HandledOne)
     }
 }
-*/
 
 pub trait TargetedPusService {
     const SERVICE_ID: u8;

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::{PusScheduler, TcInfo};
+use satrs::pus::scheduler::{PusSchedulerAlloc, 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,
-        PusScheduler,
+        PusSchedulerAlloc,
     >,
     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 = PusScheduler::new_with_current_init_time(Duration::from_secs(5))
+    let scheduler = PusSchedulerAlloc::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/tmtc/tc_source.rs

@@ -2,12 +2,8 @@ use satrs::{
     pool::PoolProvider,
     pus::HandlingStatus,
     tmtc::{PacketAsVec, PacketInPool, SharedPacketPool},
-    ComponentId,
-};
-use std::{
-    collections::HashMap,
-    sync::mpsc::{self, TryRecvError},
 };
+use std::sync::mpsc::{self, TryRecvError};
 
 use crate::pus::PusTcDistributor;
 
@@ -69,24 +65,18 @@ impl TcSourceTaskStatic {
     }
 }
 
-pub type CcsdsDistributorDyn = HashMap<ComponentId, std::sync::mpsc::SyncSender<PacketAsVec>>;
-pub type CcsdsDistributorStatic = HashMap<ComponentId, std::sync::mpsc::SyncSender<PacketInPool>>;
-
 // TC source components where the heap is the backing memory of the received telecommands.
 pub struct TcSourceTaskDynamic {
     pub tc_receiver: mpsc::Receiver<PacketAsVec>,
-    ccsds_distributor: CcsdsDistributorDyn,
+    pus_distributor: PusTcDistributor,
 }
 
 #[allow(dead_code)]
 impl TcSourceTaskDynamic {
-    pub fn new(
-        tc_receiver: mpsc::Receiver<PacketAsVec>,
-        ccsds_distributor: CcsdsDistributorDyn,
-    ) -> Self {
+    pub fn new(tc_receiver: mpsc::Receiver<PacketAsVec>, pus_receiver: PusTcDistributor) -> Self {
         Self {
             tc_receiver,
-            ccsds_distributor,
+            pus_distributor: pus_receiver,
         }
     }
 

satrs/src/ccsds/mod.rs

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

satrs/src/ccsds/scheduler.rs

@@ -0,0 +1,147 @@
+use core::{hash::Hash, time::Duration};
+
+#[cfg(feature = "alloc")]
+pub use alloc_mod::*;
+use spacepackets::{
+    ByteConversionError, CcsdsPacketIdAndPsc,
+    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("scheduler is full")]
+    Full,
+    #[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 CcsdsSchedulePacketId {
+    pub base: CcsdsPacketIdAndPsc,
+    pub crc16: Option<u16>,
+}
+
+impl Hash for CcsdsSchedulePacketId {
+    fn hash<H: core::hash::Hasher>(&self, state: &mut H) {
+        self.base.hash(state);
+        self.crc16.hash(state);
+    }
+}
+
+#[cfg(feature = "alloc")]
+pub mod alloc_mod {
+    use core::time::Duration;
+    #[cfg(feature = "std")]
+    use std::time::SystemTimeError;
+
+    use spacepackets::{CcsdsPacketIdAndPsc, CcsdsPacketReader, time::UnixTime};
+
+    use crate::ccsds::scheduler::CcsdsSchedulePacketId;
+
+    pub struct CcsdsScheduler {
+        tc_map: alloc::collections::BTreeMap<
+            UnixTime,
+            alloc::vec::Vec<(CcsdsSchedulePacketId, 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
+        }
+
+        pub fn insert_telecommand_with_reader(
+            &mut self,
+            reader: &CcsdsPacketReader,
+            release_time: UnixTime,
+        ) -> Result<(), super::ScheduleError> {
+            if self.num_of_entries() + 1 >= self.packet_limit {
+                return Err(super::ScheduleError::Full);
+            }
+            let base_id = CcsdsPacketIdAndPsc::new_from_ccsds_packet(reader);
+
+            Ok(())
+        }
+
+        // TODO: Implementation
+        pub fn insert_telecommand(
+            &mut self,
+            packet_id: CcsdsSchedulePacketId,
+            raw_packet: &[u8],
+            release_time: UnixTime,
+        ) -> Result<(), super::ScheduleError> {
+            if self.num_of_entries() + 1 >= self.packet_limit {
+                return Err(super::ScheduleError::Full);
+            }
+            Ok(())
+        }
+    }
+}

satrs/src/lib.rs

@@ -23,6 +23,7 @@ extern crate downcast_rs;
 extern crate std;
 
 pub mod action;
+pub mod ccsds;
 #[cfg(feature = "alloc")]
 pub mod dev_mgmt;
 pub mod encoding;

satrs/src/pool.rs

@@ -155,73 +155,34 @@ impl Display for StoreIdError {
 #[cfg(feature = "std")]
 impl Error for StoreIdError {}
 
-#[derive(Debug, Clone, PartialEq, Eq)]
+#[derive(Debug, Clone, PartialEq, Eq, thiserror::Error)]
 #[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
 pub enum PoolError {
     /// Requested data block is too large
+    #[error("data to store with size {0} is too large")]
     DataTooLarge(usize),
     /// The store is full. Contains the index of the full subpool
+    #[error("store does not have any capacity")]
     StoreFull(u16),
     /// The store can not hold any data.
+    #[error("store does not have any capacity")]
     NoCapacity,
     /// Store ID is invalid. This also includes partial errors where only the subpool is invalid
+    #[error("invalid store ID: {0}, address: {1:?}")]
     InvalidStoreId(StoreIdError, Option<PoolAddr>),
     /// Valid subpool and packet index, but no data is stored at the given address
+    #[error("no data exists at address {0:?}")]
     DataDoesNotExist(PoolAddr),
-    ByteConversionError(spacepackets::ByteConversionError),
+    #[error("byte conversion error: {0}")]
+    ByteConversion(#[from] spacepackets::ByteConversionError),
+    #[error("lock error")]
     LockError,
     /// Internal or configuration errors
+    #[error("lock error")]
     InternalError(u32),
 }
 
-impl Display for PoolError {
-    fn fmt(&self, f: &mut Formatter<'_>) -> core::fmt::Result {
-        match self {
-            PoolError::DataTooLarge(size) => {
-                write!(f, "data to store with size {size} is too large")
-            }
-            PoolError::NoCapacity => {
-                write!(f, "store does not have any capacity")
-            }
-            PoolError::StoreFull(u16) => {
-                write!(f, "store is too full. index for full subpool: {u16}")
-            }
-            PoolError::InvalidStoreId(id_e, addr) => {
-                write!(f, "invalid store ID: {id_e}, address: {addr:?}")
-            }
-            PoolError::DataDoesNotExist(addr) => {
-                write!(f, "no data exists at address {addr:?}")
-            }
-            PoolError::InternalError(e) => {
-                write!(f, "internal error: {e}")
-            }
-            PoolError::ByteConversionError(e) => {
-                write!(f, "store error: {e}")
-            }
-            PoolError::LockError => {
-                write!(f, "lock error")
-            }
-        }
-    }
-}
-
-impl From<ByteConversionError> for PoolError {
-    fn from(value: ByteConversionError) -> Self {
-        Self::ByteConversionError(value)
-    }
-}
-
-#[cfg(feature = "std")]
-impl Error for PoolError {
-    fn source(&self) -> Option<&(dyn Error + 'static)> {
-        if let PoolError::InvalidStoreId(e, _) = self {
-            return Some(e);
-        }
-        None
-    }
-}
-
 /// Generic trait for pool providers which provide memory pools for variable sized packet data.
 ///
 /// It specifies a basic API to [Self::add], [Self::modify], [Self::read] and [Self::delete] data

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, Display, Formatter};
+use core::fmt::Debug;
 use core::time::Duration;
 #[cfg(feature = "serde")]
 use serde::{Deserialize, Serialize};
@@ -12,8 +12,6 @@ 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")]
@@ -144,107 +142,39 @@ impl<TimeProvider: CcsdsTimeProvider + Clone> TimeWindow<TimeProvider> {
     }
 }
 
-#[derive(Debug, Clone, PartialEq, Eq)]
+#[derive(Debug, Clone, PartialEq, Eq, thiserror::Error)]
 #[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
 pub enum ScheduleError {
-    PusError(PusError),
+    #[error("pus error: {0}")]
+    PusError(#[from] 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,
-    StoreError(PoolError),
+    #[error("store error")]
+    Pool(#[from] PoolError),
+    #[error("tc data empty")]
     TcDataEmpty,
-    TimestampError(TimestampError),
+    #[error("timestamp error: {0}")]
+    TimestampError(#[from] TimestampError),
+    #[error("wrong subservice number {0}")]
     WrongSubservice(u8),
+    #[error("wrong service number {0}")]
     WrongService(u8),
-    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,
-        }
-    }
+    #[error("byte conversion error: {0}")]
+    ByteConversionError(#[from] ByteConversionError),
 }
 
 /// Generic trait for scheduler objects which are able to schedule ECSS PUS C packets.
-pub trait PusSchedulerProvider {
+pub trait PusScheduler {
     type TimeProvider: CcsdsTimeProvider + TimeReader;
 
     fn reset(&mut self, store: &mut (impl PoolProvider + ?Sized)) -> Result<(), PoolError>;
@@ -405,7 +335,7 @@ pub mod alloc_mod {
     ///
     /// Currently, sub-schedules and groups are not supported.
     #[derive(Debug)]
-    pub struct PusScheduler {
+    pub struct PusSchedulerAlloc {
         // 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
@@ -415,7 +345,8 @@ pub mod alloc_mod {
         time_margin: Duration,
         enabled: bool,
     }
-    impl PusScheduler {
+
+    impl PusSchedulerAlloc {
         /// Create a new PUS scheduler.
         ///
         /// # Arguments
@@ -427,7 +358,7 @@ 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 {
-            PusScheduler {
+            PusSchedulerAlloc {
                 tc_map: Default::default(),
                 current_time: init_current_time,
                 time_margin,
@@ -449,10 +380,12 @@ 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
         }
@@ -798,7 +731,7 @@ pub mod alloc_mod {
         }
     }
 
-    impl PusSchedulerProvider for PusScheduler {
+    impl PusScheduler for PusSchedulerAlloc {
         type TimeProvider = cds::CdsTime;
 
         /// This will disable the scheduler and clear the schedule as specified in 6.11.4.4.
@@ -982,7 +915,8 @@ mod tests {
 
     #[test]
     fn test_enable_api() {
-        let mut scheduler = PusScheduler::new(UnixTime::new_only_secs(0), Duration::from_secs(5));
+        let mut scheduler =
+            PusSchedulerAlloc::new(UnixTime::new_only_secs(0), Duration::from_secs(5));
         assert!(scheduler.is_enabled());
         scheduler.disable();
         assert!(!scheduler.is_enabled());
@@ -996,7 +930,8 @@ mod tests {
             vec![(10, 32), (5, 64)],
             false,
         ));
-        let mut scheduler = PusScheduler::new(UnixTime::new_only_secs(0), Duration::from_secs(5));
+        let mut scheduler =
+            PusSchedulerAlloc::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), &[]);
@@ -1038,7 +973,8 @@ mod tests {
 
     #[test]
     fn insert_multi_with_same_time() {
-        let mut scheduler = PusScheduler::new(UnixTime::new_only_secs(0), Duration::from_secs(5));
+        let mut scheduler =
+            PusSchedulerAlloc::new(UnixTime::new_only_secs(0), Duration::from_secs(5));
 
         scheduler
             .insert_unwrapped_and_stored_tc(
@@ -1097,7 +1033,8 @@ mod tests {
 
     #[test]
     fn test_time_update() {
-        let mut scheduler = PusScheduler::new(UnixTime::new_only_secs(0), Duration::from_secs(5));
+        let mut scheduler =
+            PusSchedulerAlloc::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);
@@ -1151,7 +1088,8 @@ mod tests {
             vec![(10, 32), (5, 64)],
             false,
         ));
-        let mut scheduler = PusScheduler::new(UnixTime::new_only_secs(0), Duration::from_secs(5));
+        let mut scheduler =
+            PusSchedulerAlloc::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, &[]);
@@ -1219,7 +1157,8 @@ mod tests {
             vec![(10, 32), (5, 64)],
             false,
         ));
-        let mut scheduler = PusScheduler::new(UnixTime::new_only_secs(0), Duration::from_secs(5));
+        let mut scheduler =
+            PusSchedulerAlloc::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, &[]);
@@ -1279,7 +1218,8 @@ mod tests {
             vec![(10, 32), (5, 64)],
             false,
         ));
-        let mut scheduler = PusScheduler::new(UnixTime::new_only_secs(0), Duration::from_secs(5));
+        let mut scheduler =
+            PusSchedulerAlloc::new(UnixTime::new_only_secs(0), Duration::from_secs(5));
 
         scheduler.disable();
 
@@ -1344,7 +1284,8 @@ mod tests {
 
     #[test]
     fn insert_unwrapped_tc() {
-        let mut scheduler = PusScheduler::new(UnixTime::new_only_secs(0), Duration::from_secs(5));
+        let mut scheduler =
+            PusSchedulerAlloc::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)],
@@ -1394,7 +1335,8 @@ mod tests {
 
     #[test]
     fn insert_wrapped_tc() {
-        let mut scheduler = PusScheduler::new(UnixTime::new_only_secs(0), Duration::from_secs(5));
+        let mut scheduler =
+            PusSchedulerAlloc::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)],
@@ -1446,7 +1388,8 @@ mod tests {
 
     #[test]
     fn insert_wrong_service() {
-        let mut scheduler = PusScheduler::new(UnixTime::new_only_secs(0), Duration::from_secs(5));
+        let mut scheduler =
+            PusSchedulerAlloc::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)],
@@ -1471,7 +1414,8 @@ mod tests {
 
     #[test]
     fn insert_wrong_subservice() {
-        let mut scheduler = PusScheduler::new(UnixTime::new_only_secs(0), Duration::from_secs(5));
+        let mut scheduler =
+            PusSchedulerAlloc::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)],
@@ -1496,7 +1440,8 @@ mod tests {
 
     #[test]
     fn insert_wrapped_tc_faulty_app_data() {
-        let mut scheduler = PusScheduler::new(UnixTime::new_only_secs(0), Duration::from_secs(5));
+        let mut scheduler =
+            PusSchedulerAlloc::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,
@@ -1513,7 +1458,8 @@ mod tests {
 
     #[test]
     fn insert_doubly_wrapped_time_tagged_cmd() {
-        let mut scheduler = PusScheduler::new(UnixTime::new_only_secs(0), Duration::from_secs(5));
+        let mut scheduler =
+            PusSchedulerAlloc::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,
@@ -1531,7 +1477,7 @@ mod tests {
 
     #[test]
     fn test_ctor_from_current() {
-        let scheduler = PusScheduler::new_with_current_init_time(Duration::from_secs(5))
+        let scheduler = PusSchedulerAlloc::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);
@@ -1539,7 +1485,8 @@ mod tests {
 
     #[test]
     fn test_update_from_current() {
-        let mut scheduler = PusScheduler::new(UnixTime::new_only_secs(0), Duration::from_secs(5));
+        let mut scheduler =
+            PusSchedulerAlloc::new(UnixTime::new_only_secs(0), Duration::from_secs(5));
         assert_eq!(scheduler.current_time.as_secs(), 0);
         scheduler
             .update_time_from_now()
@@ -1549,7 +1496,8 @@ mod tests {
 
     #[test]
     fn release_time_within_time_margin() {
-        let mut scheduler = PusScheduler::new(UnixTime::new_only_secs(0), Duration::from_secs(5));
+        let mut scheduler =
+            PusSchedulerAlloc::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)],
@@ -1582,7 +1530,8 @@ mod tests {
             vec![(10, 32), (5, 64)],
             false,
         ));
-        let mut scheduler = PusScheduler::new(UnixTime::new_only_secs(0), Duration::from_secs(5));
+        let mut scheduler =
+            PusSchedulerAlloc::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
@@ -1619,7 +1568,8 @@ mod tests {
             vec![(10, 32), (5, 64)],
             false,
         ));
-        let mut scheduler = PusScheduler::new(UnixTime::new_only_secs(0), Duration::from_secs(5));
+        let mut scheduler =
+            PusSchedulerAlloc::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
@@ -1645,7 +1595,8 @@ mod tests {
             vec![(10, 32), (5, 64)],
             false,
         ));
-        let mut scheduler = PusScheduler::new(UnixTime::new_only_secs(0), Duration::from_secs(5));
+        let mut scheduler =
+            PusSchedulerAlloc::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
@@ -1666,7 +1617,8 @@ mod tests {
             vec![(10, 32), (5, 64)],
             false,
         ));
-        let mut scheduler = PusScheduler::new(UnixTime::new_only_secs(0), Duration::from_secs(5));
+        let mut scheduler =
+            PusSchedulerAlloc::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
@@ -1687,7 +1639,8 @@ mod tests {
             vec![(10, 32), (5, 64)],
             false,
         ));
-        let mut scheduler = PusScheduler::new(UnixTime::new_only_secs(0), Duration::from_secs(5));
+        let mut scheduler =
+            PusSchedulerAlloc::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
@@ -1729,7 +1682,8 @@ mod tests {
 
     #[test]
     fn insert_full_store_test() {
-        let mut scheduler = PusScheduler::new(UnixTime::new_only_secs(0), Duration::from_secs(5));
+        let mut scheduler =
+            PusSchedulerAlloc::new(UnixTime::new_only_secs(0), Duration::from_secs(5));
 
         let mut pool = StaticMemoryPool::new(StaticPoolConfig::new_from_subpool_cfg_tuples(
             vec![(1, 64)],
@@ -1745,7 +1699,7 @@ mod tests {
         assert!(insert_res.is_err());
         let err = insert_res.unwrap_err();
         match err {
-            ScheduleError::StoreError(e) => match e {
+            ScheduleError::Pool(e) => match e {
                 PoolError::StoreFull(_) => {}
                 _ => panic!("unexpected store error {e}"),
             },
@@ -1755,7 +1709,7 @@ mod tests {
 
     fn insert_command_with_release_time(
         pool: &mut StaticMemoryPool,
-        scheduler: &mut PusScheduler,
+        scheduler: &mut PusSchedulerAlloc,
         seq_count: u14,
         release_secs: u64,
     ) -> TcInfo {
@@ -1774,7 +1728,8 @@ mod tests {
             vec![(10, 32), (5, 64)],
             false,
         ));
-        let mut scheduler = PusScheduler::new(UnixTime::new_only_secs(0), Duration::from_secs(5));
+        let mut scheduler =
+            PusSchedulerAlloc::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);
@@ -1806,7 +1761,8 @@ mod tests {
             vec![(10, 32), (5, 64)],
             false,
         ));
-        let mut scheduler = PusScheduler::new(UnixTime::new_only_secs(0), Duration::from_secs(5));
+        let mut scheduler =
+            PusSchedulerAlloc::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);
@@ -1841,7 +1797,8 @@ mod tests {
             vec![(10, 32), (5, 64)],
             false,
         ));
-        let mut scheduler = PusScheduler::new(UnixTime::new_only_secs(0), Duration::from_secs(5));
+        let mut scheduler =
+            PusSchedulerAlloc::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);
@@ -1876,7 +1833,8 @@ mod tests {
             vec![(10, 32), (5, 64)],
             false,
         ));
-        let mut scheduler = PusScheduler::new(UnixTime::new_only_secs(0), Duration::from_secs(5));
+        let mut scheduler =
+            PusSchedulerAlloc::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);
@@ -1917,7 +1875,8 @@ mod tests {
             vec![(10, 32), (5, 64)],
             false,
         ));
-        let mut scheduler = PusScheduler::new(UnixTime::new_only_secs(0), Duration::from_secs(5));
+        let mut scheduler =
+            PusSchedulerAlloc::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);
@@ -1946,7 +1905,8 @@ mod tests {
             vec![(10, 32), (5, 64)],
             false,
         ));
-        let mut scheduler = PusScheduler::new(UnixTime::new_only_secs(0), Duration::from_secs(5));
+        let mut scheduler =
+            PusSchedulerAlloc::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);
@@ -1973,7 +1933,8 @@ mod tests {
             vec![(10, 32), (5, 64)],
             false,
         ));
-        let mut scheduler = PusScheduler::new(UnixTime::new_only_secs(0), Duration::from_secs(5));
+        let mut scheduler =
+            PusSchedulerAlloc::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 =
@@ -2001,7 +1962,8 @@ mod tests {
             vec![(10, 32), (5, 64)],
             false,
         ));
-        let mut scheduler = PusScheduler::new(UnixTime::new_only_secs(0), Duration::from_secs(5));
+        let mut scheduler =
+            PusSchedulerAlloc::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 =
@@ -2039,7 +2001,8 @@ mod tests {
             vec![(10, 32), (5, 64)],
             false,
         ));
-        let mut scheduler = PusScheduler::new(UnixTime::new_only_secs(0), Duration::from_secs(5));
+        let mut scheduler =
+            PusSchedulerAlloc::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, &[]);

satrs/src/pus/scheduler_srv.rs

@@ -1,4 +1,4 @@
-use super::scheduler::PusSchedulerProvider;
+use super::scheduler::PusScheduler;
 use super::verification::{VerificationReporter, VerificationReportingProvider};
 use super::{
     CacheAndReadRawEcssTc, DirectPusPacketHandlerResult, EcssTcInSharedPoolCacher, EcssTcReceiver,
@@ -26,11 +26,11 @@ pub struct PusSchedServiceHandler<
     TmSender: EcssTmSender,
     TcInMemConverter: CacheAndReadRawEcssTc,
     VerificationReporter: VerificationReportingProvider,
-    PusScheduler: PusSchedulerProvider,
+    PusSchedulerInstance: PusScheduler,
 > {
     pub service_helper:
         PusServiceHelper<TcReceiver, TmSender, TcInMemConverter, VerificationReporter>,
-    scheduler: PusScheduler,
+    scheduler: PusSchedulerInstance,
 }
 
 impl<
@@ -38,7 +38,7 @@ impl<
     TmSender: EcssTmSender,
     TcInMemConverter: CacheAndReadRawEcssTc,
     VerificationReporter: VerificationReportingProvider,
-    Scheduler: PusSchedulerProvider,
+    Scheduler: PusScheduler,
 > PusSchedServiceHandler<TcReceiver, TmSender, TcInMemConverter, VerificationReporter, Scheduler>
 {
     pub fn new(
@@ -254,7 +254,7 @@ mod tests {
     use crate::pus::{DirectPusPacketHandlerResult, MpscTcReceiver, PusPacketHandlingError};
     use crate::pus::{
         EcssTcInSharedPoolCacher,
-        scheduler::{self, PusSchedulerProvider, TcInfo},
+        scheduler::{self, PusScheduler, TcInfo},
         tests::PusServiceHandlerWithSharedStoreCommon,
         verification::{RequestId, TcStateAccepted, VerificationToken},
     };
@@ -349,7 +349,7 @@ mod tests {
         inserted_tcs: VecDeque<TcInfo>,
     }
 
-    impl PusSchedulerProvider for TestScheduler {
+    impl PusScheduler for TestScheduler {
         type TimeProvider = cds::CdsTime;
 
         fn reset(